Cross-domain cooperative production scheduling method and system

Abstract

The application discloses a kind of cross-domain collaborative production scheduling method and system, it is related to industrial internet system integration technical field, method includes: S1, APS generates material movement event, sends to MES;S2, MES generates material preparation event based on material movement event, sends to AGV;S3, AGV generates time window accessible event or time window conflict event based on material preparation event, sends to APS;S4, APS generates second scheduling instruction, third scheduling instruction, updated material movement event or first scheduling instruction;S5, according to first, second, third scheduling instruction production scheduling is carried out;Or return to execute S2, until the number of updates reaches the preset threshold, third scheduling instruction is generated to carry out production scheduling.The application can generate first, second, third scheduling instruction and updated material movement event corresponding to material movement event, cooperate APS, MES, AGV three systems, generate corresponding scheduling instruction for changed production task, to improve production efficiency.

Description

Technical Field

[0001] This invention relates to the field of industrial internet system integration technology, specifically to a cross-domain collaborative production scheduling method and system. Background Technology

[0002] In intelligent manufacturing systems, APS (Advanced Planning and Scheduling), MES (Manufacturing Execution System), and AGV (Automated Guided Vehicle) are often deployed as independent subsystems, but they need to achieve data interoperability through REST APIs or database sharing. To address this cross-domain data exchange requirement, most current mainstream solutions adopt an ESB (Enterprise Service Bus) architecture, utilizing its message relay mechanism to efficiently achieve information collaboration and business integration between the three systems.

[0003] During production, unexpected events such as equipment failures or urgent order scheduling can disrupt the original production plan. Although the Enterprise Service Bus (ESB) architecture can efficiently achieve information collaboration between the three major systems, it is difficult to generate optimal production scheduling solutions in a timely manner to improve production efficiency in response to unexpected situations. Summary of the Invention

[0004] This invention provides a cross-domain collaborative production scheduling method and system, which can solve the technical problem in the prior art that it is difficult to generate the optimal production scheduling scheme in a timely manner in response to emergencies.

[0005] In a first aspect, embodiments of the present invention provide a cross-domain collaborative production scheduling method, comprising the following steps: Step S1: The Planning and Scheduling System (APS) generates material movement events based on production tasks and sends them to the Manufacturing Execution System (MES). Step S2: MES generates a material preparation event based on the material movement event and sends it to the Automated Guided Vehicle (AGV) system. Step S3: The AGV generates a time window reachable event or a time window conflict event based on the material preparation event and sends it to the APS. Step S4: APS generates a second scheduling instruction, a third scheduling instruction, or an updated material movement event based on the time window conflict event, or APS generates a first scheduling instruction based on the time window reachability event. In step S5, if the MES and AGV receive the first, second, or third scheduling instruction, they will perform production scheduling according to the corresponding scheduling instruction. If the MES receives an updated material movement event, it will return to step S2 until the number of updates reaches a preset threshold, at which point the APS will generate the third scheduling instruction.

[0006] In conjunction with the first aspect, in one implementation, the APS generates a second scheduling instruction, a third scheduling instruction, or an updated material movement event based on a time window conflict event, including the following steps: Determine whether the time window conflict event meets the preset update conditions of the material movement event. The preset update conditions include that the number of updates of the transportation time window corresponding to the material movement event has not reached a preset threshold and the expected available time of the AGV is within the allowable offset range of the transportation time window. If yes, then generate an updated material movement event; if no, then determine whether there are other available guided vehicles in the AGV that satisfy the constraints of the transport time window. If yes, a second scheduling instruction is generated, and the other available guided vehicles replace the original guided vehicle for execution; if no, the APS performs a partial rearrangement of the affected process and its downstream processes to adjust the transportation time window, and determines whether the AGV has a guided vehicle that meets the constraints of the transportation time window after the partial rearrangement. If yes, an updated material movement event is generated; otherwise, production tasks are manually rearranged and a third scheduling instruction is generated by APS.

[0007] In conjunction with the first aspect, in one implementation, if not, then determining whether there are other available guided vehicles in the AGV that satisfy the constraints of the transportation time window includes the following steps: The transportation tasks are sorted according to the priority of the parts transportation in the material movement event; The arrival times of all available guide vehicles are calculated in descending order of priority for the transportation tasks, and the guide vehicle with the earliest arrival time is assigned to the corresponding transportation task. Determine whether the guide vehicle assigned to each transportation task meets the constraints of the transportation time window; If yes, then there are other available guided vehicles that satisfy the constraints of the transportation time window; if no, then there are no other available guided vehicles that satisfy the constraints of the transportation time window.

[0008] In conjunction with the first aspect, in one implementation, the AGV generates a time window reachable event or a time window conflict event based on a material preparation event, including the following steps: Determine if there is a guide vehicle that is executable and satisfies the transportation time window constraint corresponding to the material movement event; If yes, then generate a time window reachable event; otherwise, generate a time window conflict event.

[0009] In conjunction with the first aspect, in one implementation, determining whether there is an executable guided vehicle that satisfies the transport time window constraint corresponding to the material movement event includes the following steps: Determine whether there is an executable guided vehicle based on the material preparation event; If not, it is determined that there is no executable guided vehicle that meets the transportation time window constraint; if so, the corresponding guided vehicle is selected, and the estimated arrival time corresponding to the completion of the material movement event is generated according to the current working status of the guided vehicle. A transportation time window is generated based on the material preparation event, and it is determined whether the expected arrival time is within the transportation time window. If yes, then it is determined that there is an executable guide vehicle that satisfies the transportation time window constraint; otherwise, it is determined that there is no executable guide vehicle that satisfies the transportation time window constraint.

[0010] In conjunction with the first aspect, in one implementation, generating a transportation time window based on material preparation events includes the following steps: Obtain the specified machine time window, part type, and workstation distance corresponding to the material preparation event; Calculate the loading allowance and process start-up allowance based on the part type and workstation distance; The transportation time window is generated based on the loading allowance, the process start allowance, and the designated machine time window.

[0011] In conjunction with the first aspect, in one implementation, obtaining the designated machine time window corresponding to the material preparation event includes the following steps: The target workstation coordinates, floor, and planned arrival time in the material movement event are converted into arrival time windows of the three-dimensional path nodes of the automated guided vehicle system, and the arrival time windows are used as the designated machine time windows.

[0012] In conjunction with the first aspect, in one implementation, if the statement is true, then selecting the corresponding guided vehicle includes the following steps: Calculate the arrival time of all guided vehicles capable of transporting this material; The guide car corresponding to the earliest arrival time is selected as the corresponding guide car.

[0013] In conjunction with the first aspect, in one implementation, calculating the arrival time of all guided vehicles with the material transport capability includes the following steps: Obtain the estimated availability time and shortest arrival time for all guided vehicles with the capability to transport this material; Calculate the arrival times of all guided vehicles with the material transport capability based on the estimated available time and the shortest arrival travel time.

[0014] Secondly, embodiments of the present invention provide a cross-domain collaborative production scheduling system, including: a planning and scheduling system, a manufacturing execution system, an automated guided vehicle (AGV) system, and a unified event bus. The planning and scheduling system, the manufacturing execution system, and the AGV system are interconnected through the unified event bus to execute the cross-domain collaborative production scheduling method.

[0015] The beneficial effects of the technical solutions provided by the embodiments of the present invention include: This invention discloses a cross-domain collaborative production scheduling method and system. The cross-domain collaborative production scheduling method includes the following steps: Step S1, the Planning and Scheduling System (APS) generates material movement events based on production tasks and sends them to the Manufacturing Execution System (MES); Step S2, the MES generates material preparation events based on the material movement events and sends them to the Automated Guided Vehicle (AGV) system; Step S3, the AGV generates time window reachability events or time window conflict events based on the material preparation events and sends them to the APS; Step S4, the APS generates a second scheduling instruction, a third scheduling instruction, or an updated material movement event based on the time window conflict event, or the APS generates a first scheduling instruction based on the time window reachability event; Step S5, if the MES and AGV receive the first, second, or third scheduling instruction, they perform production scheduling according to the corresponding scheduling instruction; if the MES receives an updated material movement event, it returns to step S2 until the number of updates reaches a preset threshold, at which point the APS generates a third scheduling instruction. This invention generates first, second, and third scheduling instructions and updated material movement events based on material movement events. It can coordinate the three systems of APS, MES, and AGV to generate corresponding scheduling instructions for changed production tasks, thereby improving production efficiency. Attached Figure Description

[0016] Figure 1 This is a flowchart illustrating an embodiment of the cross-domain collaborative production scheduling method of the present invention; Figure 2 For the present invention Figure 1 A detailed flowchart of step S4; Figure 3 For the present invention Figure 2 A detailed flowchart of step S42. Detailed Implementation

[0017] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] First, some of the technical terms used in this invention will be explained to help those skilled in the art understand the invention.

[0019] Planned arrival time; The latest start-up tolerance time is the data obtained from reading the production task and is included in the material movement event; The estimated availability time refers to the time when the default candidate AGV can be used, and is included in the arrival node event. ; The earliest time the convoy can execute its plan. ; The current system time refers to the actual time point in the time sequence; The remaining time required for the AGV to complete its current task refers to the remaining time required for the default candidate AGV to complete its current task. It is determined based on the current work task of the default candidate AGV and is included in the arrival node event. The loading start point is included in the material movement event; The current location node is included in the AGV arrival node event data; Shortest path, AGV based on Loading start point and The optimal route calculated by the node at the current location; The shortest travel time refers to the time from... arrive corresponding The shortest travel time required for the shortest path; Loading time allowance, The start-up time allowance is estimated by the AGV based on the part type and the distance between workstations; : The time window for concurrent contention detection. The time can be set independently according to the actual situation, with a default of 30 seconds; The maximum time offset is the maximum time offset that can be adjusted after the APS subscribes to a time window conflict event, while maintaining the overall optimal scheduling. Transportation time window ; : Default candidate guided vehicle; The maximum number of negotiation iterations corresponds to a preset threshold, which can be set independently according to the actual situation. The default is 2 times. : Number of negotiation iterations; like Figure 1 As shown in the figure, this invention discloses a cross-domain collaborative production scheduling method, including the following steps: Step S1: The Planning and Scheduling System (APS) generates material movement events based on production tasks and sends them to the Manufacturing Execution System (MES). Step S2: MES generates a material preparation event based on the material movement event and sends it to the Automated Guided Vehicle (AGV) system. Step S3: The AGV generates a time window reachable event or a time window conflict event based on the material preparation event and sends it to the APS. Step S4: APS generates a second scheduling instruction, a third scheduling instruction, or an updated material movement event based on the time window conflict event, or APS generates a first scheduling instruction based on the time window reachability event. In step S5, if the MES and AGV receive the first, second, or third scheduling instruction, they will perform production scheduling according to the corresponding scheduling instruction. If the MES receives an updated material movement event, it will return to step S2 until the number of updates reaches a preset threshold, at which point the APS will generate the third scheduling instruction.

[0020] The Planning and Scheduling System (APS) translates production tasks into material movement events, which include information such as part ID, new target workstation, planned arrival time, and priority.

[0021] The Manufacturing Execution System (MES) generates material preparation events based on the received material movement events. The material preparation events include: work order ID, process number, completed quantity, and quality result. At the same time, the material preparation events also inherit information such as part ID, new target workstation, planned arrival time, and priority from the material movement events.

[0022] The Automated Guided Vehicle (AGV) system verifies the received material preparation event in conjunction with the AGV's arrival node event to determine if there is an executable guided vehicle that meets the transportation time window constraint corresponding to the material movement event. If so, a time window reachable event is generated; otherwise, a time window conflict event is generated. Furthermore, the arrival node event includes the vehicle ID, current location, task status, and estimated arrival time.

[0023] The preset threshold is the upper limit of the number of negotiation iterations. .

[0024] Through the transportation time window For the selected guided vehicle Perform verification and judgment Does it meet the constraints of the transportation time window?

[0025] When an AGV generates a time window reachable event, it means that there is a selected executable guided vehicle that meets the transportation time window constraint. The APS generates the first scheduling instruction based on the time window reachable event. When an AGV generates a time window conflict event, it means that there is no selected executable guided vehicle or the selected executable guided vehicle does not meet the transportation time window constraint.

[0026] After the AGV generates a time window conflict event, it is necessary to determine whether the preset update conditions for fine-tuning the production task are met. If the preset update conditions are met, the production task is fine-tuned, and an updated material movement event corresponding to the fine-tuned production task is generated. Step S2 is then repeated based on the updated material movement event.

[0027] If not, AGV competition arbitration is performed based on the material movement event. If a guided vehicle passes the AGV competition arbitration, a second scheduling instruction is generated; otherwise, the production task is rearranged. If, after the production task is rearranged, a guided vehicle in the AGV satisfies the transportation time window constraint corresponding to the rearranged production task, an updated material movement event is generated. Step S2 is repeated based on the updated material movement event. If, after the production task is rearranged, no guided vehicle in the AGV satisfies the transportation time window constraint corresponding to the rearranged production task, the production task is manually rearranged, and the APS generates a third scheduling instruction.

[0028] Ultimately, the cross-domain collaborative production scheduling system generates a first scheduling instruction, a second scheduling instruction, or a third scheduling instruction based on the production task, and performs production scheduling based on the first scheduling instruction, the second scheduling instruction, or the third scheduling instruction.

[0029] This invention generates first, second, and third scheduling instructions and updated material movement events based on material movement events. It can coordinate the three systems of APS, MES, and AGV to generate corresponding scheduling instructions for changed production tasks, thereby improving production efficiency.

[0030] like Figure 2 As shown, in one embodiment, the APS generates a second scheduling instruction, a third scheduling instruction, or an updated material movement event based on a time window conflict event, including the following steps: Step S41: Determine whether the time window conflict event meets the preset update conditions of the material movement event. The preset update conditions include that the number of updates of the transportation time window corresponding to the material movement event has not reached a preset threshold and the expected available time of the AGV is within the allowable offset range of the transportation time window. Step S42: If yes, generate an updated material movement event; if no, determine whether there are other available guided vehicles in the AGV that satisfy the constraints of the transportation time window. Step S43: If yes, then generate a second scheduling instruction, which is executed by the other available guided vehicles in place of the original guided vehicle; if no, then the APS performs a partial rearrangement of the affected process and its downstream processes to adjust the transportation time window, and determines whether the AGV has a guided vehicle that meets the constraints of the transportation time window after the partial rearrangement. Step S44: If yes, generate an updated material movement event; otherwise, manually rearrange the production tasks and then have the APS generate a third scheduling instruction.

[0031] The time window conflict event sent by the AGV to the APS carries the selected guided vehicle. Vehicle ID, current location Expected available time Original planned time window Under the same associated event ID, targeting the same Number of negotiation iterations .

[0032] Furthermore, the associated event ID is a unified code created by APS to generate material movement events. It is shared by the three major systems, APS, MES, and AGV, when processing related events for the same business task, and is used to achieve accurate association between production tasks and the events generated by the three systems.

[0033] Upon receiving a time window conflict event, APS calculates the maximum allowable time offset while maintaining optimal overall scheduling. .

[0034] If the expected available time and If the preset update conditions are met, and the current event is still within the maximum number of negotiations and the time window is adjustable: APS releases the adjusted and updated material movement event, and the updated transportation time window is [not specified]. Number of negotiation iterations Incrementing by 1 is then passed along with the event. Furthermore, it can be transmitted synchronously via payload. This avoids building separate ID transmission channels between the three systems, while ensuring that the binding relationship between the associated event ID and the corresponding event does not shift during transmission, significantly reducing the error rate of cross-system event matching. After receiving the data, the AGV... Re-verify.

[0035] like or If the preset update conditions are not met, then the same update will no longer be performed. Continue fine-tuning and make a judgment. If the constraints cannot be met, the process transitions to a re-competition allocation process among multiple guided vehicles in the AGV system. Each AGV is checked individually to determine if there are other available guided vehicles that satisfy the transport time window constraints. If a vehicle satisfies the constraints, it is replaced by the selected new guided vehicle. And lock the path, generate a second dispatch instruction; if no guide vehicle passes the screening, or it cannot be determined... When this happens, the AGV system sends an unexecutable alarm event back to the APS.

[0036] Non-executable alarm events include associated event ID, part ID, target workstation code, and original time window. Reason code, earliest executable time of the fleet .

[0037] The target workstation code is generated based on the destination of the parts to be transported according to the production task and the corresponding processing station. The target workstation code is generated using a coding rule shared by the APS, MES, and AGV systems.

[0038] Upon receiving an unexecutable alarm event, APS marks the task as "pending rescheduling"; partially reschedules production tasks within the affected processes and their direct downstream processes; and prioritizes postponing the transportation time window. to Secondly, the tasks corresponding to lower priority events are moved to the next level, and it is determined whether there are any guided vehicles that meet the constraints of the transportation time window corresponding to the production tasks after the partial rearrangement. If they do, an updated material movement event is generated; otherwise, a manual scheduling event is issued and awaits confirmation. After confirmation, the production tasks are manually rearranged, and the APS then generates a third scheduling instruction based on the manually rearranged production tasks.

[0039] This invention determines whether the material movement event corresponding to the time window conflict event meets the preset update conditions, and generates a second scheduling instruction, a third scheduling instruction, or an updated material movement event accordingly. Based on the actual production task scheduling, it coordinates with the APS, MES, and AGV systems to generate scheduling instructions, thereby improving production efficiency.

[0040] like Figure 3 As shown, in one embodiment, if not, then determining whether there are other available guided vehicles in the AGV that satisfy the constraints of the transportation time window includes the following steps: Step S421: Sort the transportation tasks according to the priority of part transportation in the material movement event; Step S422: Calculate the arrival time of all executable guide vehicles in descending order of priority of the transportation task, and assign the guide vehicle with the earliest arrival time to the corresponding transportation task in turn. Step S423: Determine whether the guide vehicle assigned to each transportation task meets the constraints of the transportation time window; Step S424: If yes, then there are other available guided vehicles that satisfy the constraints of the transportation time window; if no, then there are no other available guided vehicles that satisfy the constraints of the transportation time window.

[0041] Determining whether there are other available guided vehicles in the AGV system that meet the transportation time window constraint is done by re-competing for and allocating guided vehicles in the AGV system, and then determining whether the transportation time window constraint is met.

[0042] During the re-allocation process, when the AGV system is in the concurrent contention detection time window... (Default 30 seconds) Multiple messages pointing to the same loading start point are received within this period. And the transportation time window When there are overlapping material movement events, they are sorted according to the transportation task priority (urgent > high > normal > low). Furthermore, if the priorities are the same, they are sorted according to the expected arrival point of the guide vehicle corresponding to each material movement event at the loading start point. The time sequence is sorted; the guide vehicles are judged in order to determine whether they meet the transportation time window constraints.

[0043] Furthermore, in one instance, to determine the priority of transportation tasks and resolve the issue of processing order for concurrent contention events, this invention defines a four-level priority system and arbitration rules: Priority system (from high to low): Urgent, High, Normal, Low.

[0044] Emergency: Equipment malfunction event, safety alarm event – ​​immediately interrupt all current low-priority tasks; High: Emergency order insertion events and manual dispatch instructions – executed immediately upon completion of the smallest unit of transaction; Normal: Routine plan adjustment events and process completion events are processed in the order of the event queue; Low: Status synchronization events and heartbeat events are processed in batches when the system is idle.

[0045] Arbitration Rules: When an emergency-level event (such as equipment failure) is triggered, the event bus immediately issues an interrupt command to the relevant AGV. After completing the current minimum safe action (such as stopping at the nearest safe stopping point), the AGV enters a repath planning state. The MES synchronously freezes subsequent scheduling instructions for the affected work orders. Upon receiving the fault event, the APS triggers a local dynamic rescheduling, limiting the rescheduling scope to the set of associated processes of the affected equipment to avoid the computational overhead of global rescheduling. When a high-level event is triggered, the system performs path recalculation after the current AGV path node is completed, without forcibly interrupting the currently executing physical action, thus reducing safety risks. The priority arbitration result is broadcast to all relevant subscribers via the event bus to ensure system-wide consistency.

[0046] The arrival times of all available guide vehicles are calculated in descending order of priority based on the transportation task, and the guide vehicle with the earliest arrival time is assigned to the corresponding transportation task.

[0047] The AGV set was selected through screening and ranked according to transportation task priority and expected arrival time. The system performs a dual sorting process, sequentially determining whether the AGV system's selected guide vehicle meets the transportation time window constraint. If it does, then there are other available guide vehicles that satisfy the transportation time window constraint; otherwise, there are no other available guide vehicles that satisfy the transportation time window constraint.

[0048] This invention re-competitively allocates other available guided vehicles in the AGV system, selecting guided vehicles sequentially according to the priority of the transportation task to maximize the satisfaction of transportation requirements.

[0049] In one embodiment, the AGV generates a time window reachable event or a time window conflict event based on a material preparation event, including the following steps: determining whether there is an executable guide vehicle that satisfies the transportation time window constraint corresponding to the material movement event; if yes, then a time window reachable event is generated; if no, then a time window conflict event is generated.

[0050] In one embodiment, determining whether there is an executable guided vehicle that satisfies the transportation time window constraint corresponding to the material movement event includes the following steps: determining whether there is an executable guided vehicle based on the material preparation event; if not, determining that there is no executable guided vehicle that satisfies the transportation time window constraint; if yes, selecting the corresponding guided vehicle and generating the estimated arrival time corresponding to the material movement event based on the current working status of the guided vehicle; generating a transportation time window based on the material preparation event and determining whether the estimated arrival time is within the transportation time window range; if yes, determining that there is an executable guided vehicle that satisfies the transportation time window constraint; if not, determining that there is no executable guided vehicle that satisfies the transportation time window constraint.

[0051] Furthermore, the vehicleId field of the specified guide vehicle can be generated when the APS generates a material movement event, or inherited from the material movement event when the MES generates a material preparation event; the vehicleId field can also be generated when the MES generates a material preparation event; if neither the APS nor the MES generates a vehicleId field, then the material movement event and the material preparation event will not contain a vehicleId field.

[0052] After receiving the material preparation event and completing the transportation time window calculation, the AGV system determines the default candidate guided vehicle (denoted as AGV) according to the following rules. ): The material preparation event can include a vehicleId field specifying the guided vehicle. The AGV receives the vehicleId field included in the material preparation event.

[0053] If the vehicleId field is a non-empty valid string (e.g., "AGV-02" represents AGV-02) and AGV-02 is online, then it is available and has the capability to transport materials. This indicates that the specified guided vehicle is available. If the vehicleId field is missing, an empty string, or null, then no vehicleId has been specified. If a vehicleId field exists, but the corresponding guide vehicle is offline, malfunctioning, or lacks transportation capabilities, it is considered as not being specified. .

[0054] The material preparation event has two cases: one that includes the vehicleId field and one that does not.

[0055] The situations in which a material preparation event includes a vehicleId field (i.e., the situation where a designated guided vehicle is specified) include: when APS generates a material movement event based on the production task, a dedicated guided vehicle has been bound to it, and the same guided vehicle must continuously perform upstream and downstream handling; it can also be a guided vehicle determined by a manually scheduled instruction point; it can also be a situation where the material corresponding to the generated material preparation event has been prepared at the picking point and the corresponding guided vehicle is in place and ready to go; and other situations where a designated guided vehicle is specified.

[0056] The following situations do not include the vehicleId field in the material preparation event (i.e., situations where no guided vehicle is specified): routine plan adjustments, emergency order insertions (only constraining the target workstation and transportation time window); initial scheduling without assigning a guided vehicle; and situations where only a material preparation notice is issued but a pickup guided vehicle has not yet been determined.

[0057] If specified Then, the vehicleId will be used directly to correspond to the guided vehicle. ; If not specified If the AGV system automatically selects the correct option, it will then redetermine the option according to the following rules. .

[0058] If there is no online AGV in the AGV system that has the capability to transport the material, then there is no AGV that can be executed and meets the transportation time window constraint.

[0059] If the AGV system has online guided vehicles with the capability to transport the material, calculate the estimated available time for each guided vehicle after completing its current task, from the set of currently online guided vehicles with the capability to transport the material. and from the current location to Shortest travel time Select The earliest and satisfied The guide vehicle as If the above conditions are not met, it means that no designated guide vehicle has been provided. .

[0060] Obtain Afterwards, according to The current working status is used to generate the estimated arrival time corresponding to the material movement event.

[0061] The current operating status includes the current system time. The remaining time required for the AGV to complete the current task. and refer to arrive corresponding Shortest travel time required for the shortest path Expected availability time The estimated arrival time is equal to... This indicates the earliest arrival after completing the previous task. At that moment.

[0062] Generate transportation time windows based on material preparation events .

[0063] If satisfied If , it means there is a guide vehicle that is executable and satisfies the transportation time window constraint; if If the condition is met, it means there is no executable guide vehicle that satisfies the transportation time window constraint.

[0064] This invention compares The estimated arrival time and transportation time window can be used to determine Does it meet the transportation time window constraint?

[0065] In one embodiment, generating a transportation time window based on a material preparation event includes the following steps: obtaining the specified machine time window, part type, and workstation distance corresponding to the material preparation event; calculating the loading allowance time and process start allowance time based on the part type and workstation distance; and generating a transportation time window based on the loading allowance time, process start allowance time, and specified machine time window.

[0066] Obtain the specified machine time window for APS planned events. The AGV system calculates the loading allowance based on the part type and distance to the workstation. (Including guide vehicle positioning, cargo loading, and time spent on path acceleration sections), as well as the time allotted for process start-up. This yields the transport time window for the guided vehicle. The guided vehicle must complete its route travel and loading within this time window.

[0067] This invention can determine the time interval for the guided vehicle to complete its route travel and loading by calculating the transportation time window.

[0068] In one embodiment, obtaining the designated machine time window corresponding to the material preparation event includes the following steps: converting the target workstation coordinates, floor, and planned arrival time in the material movement event into the arrival time window of the three-dimensional path node of the automated guided vehicle system, and using the arrival time window as the designated machine time window.

[0069] To address the granularity difference between the minute-level planning accuracy of APS and the second-level execution accuracy of AGV, the material preparation events generated by MES include information such as part ID, new target workstation, planned arrival time, and priority inherited from material movement events. This invention designs a time window dimensionality reduction mapping algorithm to map the APS four-dimensional spatiotemporal plan (coordinates of the target workstation, floor, and planned arrival time) contained in the material preparation events. This is transformed into arrival time window constraints for AGV 3D path nodes. The specific mapping rules are as follows: For the planned arrival time, The latest start tolerance time for the process; As an arrival time window.

[0070] In one embodiment, if so, selecting the corresponding guided vehicle includes the following steps: calculating the arrival time of all guided vehicles with the material transportation capability; and determining the guided vehicle with the earliest arrival time as the selected guided vehicle.

[0071] When no specification is given If there are online guided vehicles (AGVs) in the AGV system with the capability to transport the material, calculate the estimated available time for each AGV after it completes its current task, starting from the set of currently online AGVs with the capability to transport the material. and from the current location to Shortest travel time Identify all online guided vehicles capable of transporting this material. The earliest arrival time is the earliest arrival time, and the corresponding guide vehicle is the selected guide vehicle.

[0072] This invention allows for the selection of the earliest arriving guided vehicle from among online guided vehicles capable of transporting the material. The guide vehicle.

[0073] In one embodiment, calculating the arrival time of all guided vehicles with the material transport capability includes the following steps: obtaining the estimated available time and shortest arrival travel time of all guided vehicles with the material transport capability; and calculating the arrival time of all guided vehicles with the material transport capability based on the estimated available time and shortest arrival travel time.

[0074] The estimated availability time is after all guided vehicles with this material transport capability have completed their existing transport tasks. The shortest travel time is the time it takes for the guide vehicle to travel from its current location. arrive Shortest travel time .according to This allows you to calculate the arrival time of all guided vehicles capable of transporting the material.

[0075] This invention can identify the earliest tractor that arrives at the loading start point by calculating the arrival time of all tractor vehicles with the material transport capability.

[0076] This invention also discloses a cross-domain collaborative production scheduling system, including: a planning and scheduling system, a manufacturing execution system, an automated guided vehicle (AGV) system, and a unified event bus. The planning and scheduling system, the manufacturing execution system, and the AGV system are interconnected through the unified event bus to execute the cross-domain collaborative production scheduling method.

[0077] Planning and scheduling systems, manufacturing execution systems, and automated guided vehicle systems can receive and send information through a unified event bus.

[0078] A unified event bus is constructed, and the APS, MES, and AGV domain systems publish status changes in the form of domain events: APS publishes updated material movement events (including part ID, new target workstation, planned arrival time, and priority); MES publishes process completion events (including work order ID, process number, completed quantity, and quality result); and AGV publishes arrival node events (including vehicle ID, current location, task status, and estimated arrival time). Each domain system does not directly expose its internal interfaces, but only exchanges information through the event bus. This reduces timing mismatches between the APS, MES, and AGV domain systems.

[0079] The functions of each module in the aforementioned cross-domain collaborative production scheduling system correspond to the steps in the aforementioned cross-domain collaborative production scheduling method embodiment, and their functions and implementation processes will not be described in detail here.

[0080] It should be noted that the sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0081] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this invention are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.

[0082] In the description of the embodiments of the present invention, terms such as "exemplary," "for example," or "for instance" are used to indicate that they are examples, illustrations, or descriptions. Any embodiment or design that is described as "exemplary," "for example," or "for instance" in the embodiments of the present invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a specific manner.

[0083] In the description of the embodiments of the present invention, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present invention, "multiple" means two or more.

[0084] In some processes described in the embodiments of the present invention, multiple operations or steps are included in a specific order. However, it should be understood that these operations or steps may not be executed in the order they appear in the embodiments of the present invention, or may be executed in parallel. The sequence number of the operation is only used to distinguish different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed sequentially or in parallel, and these operations or steps may be combined.

[0085] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium as described above and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of the present invention.

[0086] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A cross-domain collaborative production scheduling method, characterized in that, Includes the following steps: Step S1: The Planning and Scheduling System (APS) generates material movement events based on production tasks and sends them to the Manufacturing Execution System (MES). Step S2: MES generates a material preparation event based on the material movement event and sends it to the Automated Guided Vehicle (AGV) system. Step S3: The AGV generates a time window reachable event or a time window conflict event based on the material preparation event and sends it to the APS. Step S4: APS generates a second scheduling instruction, a third scheduling instruction, or an updated material movement event based on the time window conflict event, or APS generates a first scheduling instruction based on the time window reachable event. The APS generates a second scheduling instruction, a third scheduling instruction, or an updated material movement event based on a time window conflict event, comprising the following steps: determining whether the time window conflict event meets the preset update conditions of the material movement event, wherein the preset update conditions include that the update number of the transportation time window corresponding to the material movement event has not reached a preset threshold and the expected available time of the AGV is within the allowable offset range of the transportation time window; if yes, an updated material movement event is generated; if no, it is further determined whether there are other available guided vehicles in the AGV that meet the constraints of the transportation time window; if yes, a second scheduling instruction is generated, and the other available guided vehicles replace the original guided vehicles for execution; if no, the APS performs a partial rearrangement of the affected process and its downstream processes to adjust the transportation time window, and determines whether there are any guided vehicles in the AGV that meet the constraints of the transportation time window after the partial rearrangement; if yes, an updated material movement event is generated; if no, the production tasks are manually rearranged and then the APS generates a third scheduling instruction. In step S5, if the MES and AGV receive the first, second, or third scheduling instruction, they will perform production scheduling according to the corresponding scheduling instruction. If the MES receives an updated material movement event, it will return to step S2 until the number of updates reaches a preset threshold, at which point the APS will generate the third scheduling instruction.

2. The cross-domain collaborative production scheduling method according to claim 1, characterized in that, If not, then determine whether there are other available guided vehicles in the AGV that satisfy the constraints of the transportation time window, including the following steps: The transportation tasks are sorted according to the priority of the parts transportation in the material movement event; The arrival times of all available guide vehicles are calculated in descending order of priority for the transportation tasks, and the guide vehicle with the earliest arrival time is assigned to the corresponding transportation task. Determine whether the guide vehicle assigned to each transportation task meets the constraints of the transportation time window; If yes, then there are other available guided vehicles that satisfy the constraints of the transportation time window; if no, then there are no other available guided vehicles that satisfy the constraints of the transportation time window.

3. The cross-domain collaborative production scheduling method according to claim 1, characterized in that, The AGV generates time window reachable events or time window conflict events based on material preparation events, including the following steps: Determine if there is a guide vehicle that is executable and satisfies the transportation time window constraint corresponding to the material movement event; If yes, then generate a time window reachable event; otherwise, generate a time window conflict event.

4. The cross-domain collaborative production scheduling method according to claim 3, characterized in that, The determination of whether there is a guide vehicle that is executable and satisfies the transportation time window constraint corresponding to the material movement event includes the following steps: Determine whether there is an executable guided vehicle based on the material preparation event; If not, it is determined that there is no executable guided vehicle that meets the transportation time window constraint; if so, the corresponding guided vehicle is selected, and the estimated arrival time corresponding to the completion of the material movement event is generated according to the current working status of the guided vehicle. A transportation time window is generated based on the material preparation event, and it is determined whether the expected arrival time is within the transportation time window. If yes, then it is determined that there is an executable guide vehicle that satisfies the transportation time window constraint; otherwise, it is determined that there is no executable guide vehicle that satisfies the transportation time window constraint.

5. The cross-domain collaborative production scheduling method according to claim 4, characterized in that, The process of generating a transportation time window based on material preparation events includes the following steps: Obtain the specified machine time window, part type, and workstation distance corresponding to the material preparation event; Calculate the loading allowance and process start-up allowance based on the part type and station distance; The transportation time window is generated based on the loading allowance, the process start allowance, and the designated machine time window.

6. The cross-domain collaborative production scheduling method according to claim 5, characterized in that, The process of obtaining the specified machine time window corresponding to the material preparation event includes the following steps: The target workstation coordinates, floor, and planned arrival time in the material movement event are converted into arrival time windows of the three-dimensional path nodes of the automated guided vehicle system, and the arrival time windows are used as the designated machine time windows.

7. The cross-domain collaborative production scheduling method according to claim 4, characterized in that, If so, select the corresponding guided vehicle, including the following steps: Calculate the arrival time of all guided vehicles capable of transporting this material; The guide car corresponding to the earliest arrival time is selected as the corresponding guide car.

8. The cross-domain collaborative production scheduling method according to claim 7, characterized in that, The calculation of the arrival time of all guided vehicles with the capacity to transport the material includes the following steps: Obtain the estimated availability time and shortest arrival time for all guided vehicles with the capability to transport this material; Calculate the arrival times of all guided vehicles with the material transport capability based on the estimated available time and the shortest arrival travel time.

9. A cross-domain collaborative production scheduling system, characterized in that, include: The system comprises a planning and scheduling system, a manufacturing execution system, an automated guided vehicle (AGV) system, and a unified event bus, wherein the planning and scheduling system, the manufacturing execution system, and the AGV system are interconnected via the unified event bus to execute the cross-domain collaborative production scheduling method as described in any one of claims 1-8.

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