Process teaming quadratic programming method and device, computer equipment and readable storage medium

Abstract

The application relates to a process team secondary planning method and device, computer equipment and a readable storage medium, and is applied to a magnetic drive pipeline control system. An effective process list of a process team is maintained; an ordered queue of trolleys pointing to the same process team is maintained; the state of the trolleys pointing to the process team is monitored, and it is judged whether a secondary planning trigger condition is met; when the trigger condition is met, the target process of the trolley is remapped according to the in-group order of the trolley in the ordered queue and the process order in the effective process list of the process team; when the remapped target process is different from the current target process, the current work target of the trolley is rewritten, and the arrival mark and the occupation information of the original target process are cleared; and a motion instruction generated based on the rewritten target process is issued to a motion execution layer. Therefore, the target allocation can be dynamically adjusted according to the real-time physical order of the trolley and the process availability, the in-group deadlock risk is reduced, the production line flexibility is improved, and the safety linkage of the scheduling layer and the execution layer is realized.

Description

Technical Field

[0001] This application relates to the field of motion control technology, and in particular to a method, apparatus, computer equipment, computer-readable storage medium, and computer program product for secondary planning of process grouping. Background Technology

[0002] In magnetic drive conveyor systems, multiple adjacent processes are often configured as process groups. Upper-level scheduling assigns trolleys to different processes within the group. Once all trolleys are in position, they interact and are dispatched. Existing implementation steps typically include: determining if the target process belongs to an active process group; recording the trolley's affiliation within the group and mapping it to a specific process; maintaining the process group status based on arrival, completion, and switching events; the trolley moving according to the mapped target, with the execution layer performing trajectory planning and arrival determination.

[0003] However, the above solutions have the following shortcomings in complex production line scenarios: 1) Mismatch between intra-group objectives and real-time physical queues is easy to occur. 2) Lack of correction after changes in process availability. 3) Path selection problems are faced under circular production lines. 4) There is a risk of race conditions between the scheduling layer and the execution layer. Modifying objectives during operation may lead to inconsistent states or abnormal interruptions of instructions.

[0004] Therefore, there is an urgent need for a quadratic programming method that can dynamically adjust the target of the trolley within the process group online, safely and efficiently. Summary of the Invention

[0005] Therefore, it is necessary to provide a method, apparatus, computer equipment, computer-readable storage medium, and computer program product for secondary planning of process groups that can dynamically adjust the target of the trolley within the process group online, safely, and efficiently, in response to the above-mentioned technical problems.

[0006] In a first aspect, this application provides a process grouping secondary planning method, applied to a magnetic drive assembly line control system, the method comprising:

[0007] Maintain a list of valid processes for a process group, wherein the process group is a logical grouping of multiple processes according to a preset group number and the order within the group;

[0008] Maintain an ordered queue of trolleys pointing to the same work group. The ordered queue of trolleys is dynamically sorted based on the real-time physical position of the trolleys on the production line and the workflow direction.

[0009] Monitor the status of the trolley pointing to the process group and determine whether the status of the trolley meets the secondary planning trigger conditions. The secondary planning trigger conditions include: the trolley enters the preset replanning area, or the current target process of the trolley is no longer available.

[0010] If the conditions for triggering the secondary planning are met, the target process of the vehicle is remapped according to the order of the vehicle within the group in the ordered queue and the order of the processes in the effective process list of the process group.

[0011] If the remapped target process differs from the current target process, rewrite the current work target of the trolley and clear the original target process's position markers and occupancy information.

[0012] The motion execution layer is issued motion instructions based on the rewritten target process, so that the trolley moves according to the new target process.

[0013] In one embodiment, maintaining the ordered queue of vehicles pointing to the same work group includes:

[0014] When the line body is a straight line body, it is arranged in ascending or descending order according to the position of the trolley along the workflow direction;

[0015] When the line body is a loop or a closed line body, the trolleys crossing the zero point are prioritized based on the first work position and the preset safe back-off distance, and are uniformly sorted according to the equivalent road segment coordinates;

[0016] In the event of a line structure switching event, a reordering is triggered after a predetermined control cycle to wait for the motion execution layer to complete the line state switching; and during the reordering, each car is uniformly sorted according to the equivalent road segment coordinates after the structure switching.

[0017] In one embodiment, the secondary planning triggering condition further includes at least one of the following:

[0018] None of the cars in the group were in a starting race state;

[0019] The current trolley has a valid process group affiliation and intra-group order;

[0020] The current target process has not yet reached a stable state of completion;

[0021] The current trolley is located on the same road segment as the current target process or on an equivalent road segment after the structural switch.

[0022] In one embodiment, the preset replanning region is constructed in the following ways:

[0023] Using the positions of the first and last workstations of a process group as boundaries, the coverage area of ​​the process group is expanded outward along the workflow direction on a straight line to form a replanning zone; or...

[0024] When the line body is a ring or closed line body, the ring replanning area is formed by the first station position, the last station position and the preset safety distance, and the perimeter conversion is performed for cases that cross the zero point or are close to the whole circle coverage.

[0025] In one embodiment, rewriting the current working objective of the vehicle includes:

[0026] When the production line is a loop or a closed production line, and the direction of motion of the remapped target process is opposite to that of the current target process, the target direction parameters of the trolley are simultaneously corrected so that the trolley travels to the remapped target process along the nearest reachable direction.

[0027] In one embodiment, rewriting the current working objective of the vehicle includes:

[0028] When the remapped target process is not the final process target of the vehicle and needs to be reached in stages, the final process target is retained, the current work target is rewritten as an intermediate process target, and after the vehicle reaches the intermediate process target and meets the conditions for continuing to move, the current work target is switched to the final process target or the next intermediate process target.

[0029] In one embodiment, issuing motion instructions to the motion execution layer based on the rewritten target process includes:

[0030] When the scenario only allows updating the target position and does not allow immediate restart, the corresponding car is set to a waiting-to-trigger state;

[0031] When the scenario allows for immediate execution, the motion execution layer re-plans the trajectory and performs collision avoidance judgment based on the rewritten target procedure, and records the key motion parameters after the secondary planning. These key motion parameters are used for operation monitoring; wherein, the key motion parameters include at least one of the following:

[0032] Secondary planning trigger time;

[0033] The position and speed of the car when triggered;

[0034] The original target process;

[0035] The rewritten target process;

[0036] Secondary planning execution timestamp;

[0037] The path or direction correction amount after secondary planning;

[0038] The car arrives at the target process after the rewriting process.

[0039] Secondly, this application also provides a process grouping secondary planning device, applied to a magnetic drive assembly line control system, the device comprising:

[0040] The process group effective process maintenance unit is used to maintain the list of effective processes in the process group, wherein the process group is a logical grouping of multiple processes according to a preset group number and the order within the group;

[0041] The trolley entry and exit management unit is used to maintain an ordered queue of trolleys pointing to the same work group. The ordered queue of trolleys is dynamically sorted based on the real-time physical position of the trolleys on the production line and the workflow direction.

[0042] The secondary planning determination unit is used to monitor the status of the trolley pointing to the process group and determine whether the status of the trolley meets the secondary planning triggering conditions. The secondary planning triggering conditions include: the trolley enters the preset replanning area, or the current target process of the trolley is no longer available.

[0043] The target mapping and rewriting unit, connected to the secondary planning determination unit, is used to remap the target process of the vehicle according to the order of the vehicle in the group in the ordered queue and the order of the process in the effective process list of the process group when the secondary planning determination unit determines that the secondary planning triggering condition is met; and when the remapped target process is different from the current target process, the current working target of the vehicle is rewritten and the original target process's position mark and occupation information are cleared.

[0044] The motion linkage execution unit, connected to the target mapping and rewriting unit, is used to issue motion instructions generated based on the rewritten target process to the motion execution layer, so that the trolley moves according to the new target process.

[0045] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0046] Maintain a list of valid processes for a process group, wherein the process group is a logical grouping of multiple processes according to a preset group number and the order within the group;

[0047] Maintain an ordered queue of trolleys pointing to the same work group. The ordered queue of trolleys is dynamically sorted based on the real-time physical position of the trolleys on the production line and the workflow direction.

[0048] Monitor the status of the trolley pointing to the process group and determine whether the status of the trolley meets the secondary planning trigger conditions. The secondary planning trigger conditions include: the trolley enters the preset replanning area, or the current target process of the trolley is no longer available.

[0049] If the conditions for triggering the secondary planning are met, the target process of the vehicle is remapped according to the order of the vehicle within the group in the ordered queue and the order of the processes in the effective process list of the process group.

[0050] If the remapped target process differs from the current target process, rewrite the current work target of the trolley and clear the original target process's position markers and occupancy information.

[0051] The motion execution layer is issued motion instructions based on the rewritten target process, so that the trolley moves according to the new target process.

[0052] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0053] Maintain a list of valid processes for a process group, wherein the process group is a logical grouping of multiple processes according to a preset group number and the order within the group;

[0054] Maintain an ordered queue of trolleys pointing to the same work group. The ordered queue of trolleys is dynamically sorted based on the real-time physical position of the trolleys on the production line and the workflow direction.

[0055] Monitor the status of the trolley pointing to the process group and determine whether the status of the trolley meets the secondary planning trigger conditions. The secondary planning trigger conditions include: the trolley enters the preset replanning area, or the current target process of the trolley is no longer available.

[0056] If the conditions for triggering the secondary planning are met, the target process of the vehicle is remapped according to the order of the vehicle within the group in the ordered queue and the order of the processes in the effective process list of the process group.

[0057] If the remapped target process differs from the current target process, rewrite the current work target of the trolley and clear the original target process's position markers and occupancy information.

[0058] The motion execution layer is issued motion instructions based on the rewritten target process, so that the trolley moves according to the new target process.

[0059] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0060] Maintain a list of valid processes for a process group, wherein the process group is a logical grouping of multiple processes according to a preset group number and the order within the group;

[0061] Maintain an ordered queue of trolleys pointing to the same work group. The ordered queue of trolleys is dynamically sorted based on the real-time physical position of the trolleys on the production line and the workflow direction.

[0062] Monitor the status of the trolley pointing to the process group and determine whether the status of the trolley meets the secondary planning trigger conditions. The secondary planning trigger conditions include: the trolley enters the preset replanning area, or the current target process of the trolley is no longer available.

[0063] If the conditions for triggering the secondary planning are met, the target process of the vehicle is remapped according to the order of the vehicle within the group in the ordered queue and the order of the processes in the effective process list of the process group.

[0064] If the remapped target process differs from the current target process, rewrite the current work target of the trolley and clear the original target process's position markers and occupancy information.

[0065] The motion execution layer is issued motion instructions based on the rewritten target process, so that the trolley moves according to the new target process.

[0066] The aforementioned process group secondary planning method, apparatus, computer equipment, computer-readable storage medium, and computer program product establish a unified foundation for process availability constraints and physical sequence constraints by maintaining a list of effective processes for the process group and an ordered queue of vehicles pointing to the same process group (this queue is dynamically sorted based on the real-time physical position of the vehicles and the workflow direction). Then, by monitoring the vehicle status and determining whether the secondary planning trigger conditions are met (i.e., the vehicle enters a preset replanning area or the current target process is unavailable), accurate identification of the timing for adjustments during operation is achieved. When the trigger conditions are met, the target process is remapped according to the vehicle's order within the ordered queue and the process order in the list of effective processes for the process group, thereby aligning the dynamically changing physical order with the available process set in real time. When the remapped target process differs from the current target process, the vehicle's current work target is rewritten and the original target process's position marker and occupancy information are cleared, avoiding conflicts caused by state residue. Finally, motion instructions generated based on the rewritten target process are issued to the motion execution layer, causing the vehicle to move according to the new target process, completing the safe linkage between the scheduling decision layer and the motion execution layer. Based on the above process, this application can dynamically establish a mapping relationship between the real-time physical sequence of the vehicle and the effective sequence of the process group, significantly reducing the risk of target intersection, mutual waiting and deadlock within the group; it can adapt to dynamic events such as process shielding, workstation shielding, structural fusion or disconnection, and can complete target correction without overall line stoppage, improving production line flexibility; by implementing secondary planning in the preset replanning area and introducing motion direction correction and competition avoidance mechanisms, it improves the operational stability and target allocation accuracy on complex lines (especially circular or closed lines); at the same time, the secondary planning results can be directly transmitted to the trajectory planning and anti-collision logic of the execution layer, completing target rewriting while maintaining continuous operation, reducing manual intervention and debugging costs. Attached Figure Description

[0067] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0068] Figure 1 This is a flowchart illustrating the process grouping secondary planning method in one embodiment;

[0069] Figure 2 This is a structural block diagram of the process grouping secondary planning device in one embodiment;

[0070] Figure 3 This is a structural block diagram of the process grouping secondary planning device in another embodiment;

[0071] Figure 4 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0072] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0073] It should be noted that the terms "first," "second," etc., used in this application can be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from the second element. The terms "comprising" and "having," and any variations thereof, used in this application, are intended to cover non-exclusive inclusion. The term "multiple" used in this application refers to two or more. The term "and / or" used in this application refers to one of the embodiments, or any combination of multiple embodiments.

[0074] Magnetic drive conveyor systems (also known as magnetic drive assembly lines or linear motor conveyor systems) are conveying devices that achieve independent, high-speed, and high-precision movement of trolleys based on the principle of electromagnetic drive. This system generates a traveling wave magnetic field by controlling the energizing sequence of the stator coils, driving trolleys equipped with permanent magnets to move along a track. Compared to traditional belt conveyors and chain conveyors, magnetic drive conveyor systems offer advantages such as independent controllability of each trolley, high positioning accuracy, fast start / stop response, and flexible grouping, and are widely used in automated production lines for automobile assembly, lithium battery manufacturing, pharmaceutical packaging, and 3C electronics.

[0075] In existing magnetic drive production line control systems, to improve the efficiency of multi-process collaboration, multiple adjacent processes are often configured into a process group. The upper-level scheduling logic assigns the trolleys pointing to this process group to different processes within the group, and performs unified interaction (such as synchronous processing, joint assembly, etc.) and unified dispatch after all trolleys in the group are in place. The specific implementation steps are usually as follows: 1) When a trolley is sent to a target process, the system first determines whether the target process belongs to an activated process group. 2) If it belongs to a process group, the system records the trolley's affiliation within the group and maps the trolley to a specific process within the group according to predetermined rules (such as the order of entry into the group, preset priority, etc.). 3) During operation, the system continuously maintains the overall status of the process group based on workstation arrival events, process completion events, line switching signals, etc. 4) The trolley continues to move according to the currently mapped target process, and the motion execution layer performs target position planning, collision avoidance detection, and arrival determination accordingly.

[0076] Although the above solution can complete the basic process group receiving and dispatching operations, it still has the following shortcomings in complex production line scenarios:

[0077] First, mismatches easily occur between the target mapping within the group and the real-time physical queue. In magnetically driven assembly lines, the high-speed independent movement of the trolleys can cause their relative order to change frequently, especially during segment switching, line structure reorganization, or operation sequence adjustments. The actual physical order of the trolleys will change dynamically. In existing solutions, the target mapping is usually determined once when the trolley first enters the group and is not adjusted during subsequent operation. When the physical order changes, the original target mapping may no longer be correct, leading to unreasonable situations such as later-arriving trolleys being assigned to earlier processes and earlier-arriving trolleys being assigned to later processes. This can cause trolleys within the group to cross-wait, block each other, or even deadlock.

[0078] Second, there is a lack of a target correction mechanism when process availability changes dynamically. When a process is blocked, a workstation becomes unavailable, or the number of effective processes in a process group changes (e.g., a workstation malfunctions, is under maintenance, or is temporarily shut down), the target process originally assigned to the trolley may no longer be available. If the existing system does not recalculate the target in a timely manner, the trolley will continue to drive towards the unavailable workstation with the old target in mind. Upon arrival, it will be unable to operate normally and will have to wait in place for manual intervention or trigger an abnormal alarm, affecting the continuous operation of the production line.

[0079] Third, the path selection problem in circular or closed linear scenarios has not been effectively solved. When the linear structure is circular or closed, the same work group may be distributed in different sections of the circular track. When it is necessary to switch the target work of the trolley, the system faces the problem of path selection in two directions (clockwise or counterclockwise). The existing solution lacks a processing mechanism for switching across zero points, judging the nearest reachability, and synchronously correcting the target direction parameters, which can easily lead to the trolley taking a long detour or the target becoming unreachable.

[0080] Fourth, there is a risk of race conditions between the scheduling layer and the execution layer. If the target is modified simultaneously during the change of the vehicle's motion state, it can easily introduce state conflicts between the scheduling layer (responsible for target allocation) and the execution layer (responsible for motion control). For example, if the execution layer is performing trajectory planning and collision avoidance judgment based on the current target, and the scheduling layer suddenly rewrites the target, it may cause the target used by the execution layer to be inconsistent with the target recorded by the scheduling layer, or cause the motion command being executed to be abnormally interrupted, resulting in target update failure or system state chaos.

[0081] The reasons for the above problems are analyzed as follows:

[0082] 1) The existing target allocation strategy is mainly completed once when the vehicle first enters the group. It is a static mapping and lacks a continuous secondary planning closed-loop mechanism for the operation phase. It cannot adapt to the dynamically changing physical sequence and process availability.

[0083] 2) The existing allocation logic does not take into account multiple dynamic constraints at the same time during the design, including: changes in the effective set of work processes of the work process group, dynamic evolution of the real-time physical sequence of the trolley, equivalent road segment relationships after the line structure is switched, and the area range restrictions for reallocation.

[0084] 3) The existing execution logic lacks a mechanism to rewrite the target within the group online and re-execute it in conjunction with the execution layer while ensuring the safety of the current motion. In particular, it lacks a coordination protocol between the scheduling decision layer and the motion execution layer, making it impossible to achieve smooth target switching under non-stop conditions.

[0085] Therefore, there is an urgent need for a secondary planning scheme that can dynamically adjust the target of the trolley within the process group online, safely and efficiently, in order to improve the operational stability and production line flexibility of the magnetic drive production line in complex dynamic environments.

[0086] This application aims to provide a method, apparatus, computer equipment, computer-readable storage medium, and computer program product for secondary planning of process groups. It can dynamically establish a mapping relationship between the real-time physical sequence of the vehicle and the effective process sequence of the process group, significantly reducing the risks of target overlap, mutual waiting, and deadlock within the group. It can adapt to dynamic events such as process shielding, workstation shielding, structural fusion, or disconnection, and can complete target correction without overall line shutdown, improving production line flexibility. By implementing secondary planning within a preset replanning area and introducing motion direction correction and race condition avoidance mechanisms, it improves the operational stability and target allocation accuracy on complex lines (especially circular or closed lines). Simultaneously, the secondary planning results can be directly transmitted to the trajectory planning and anti-collision logic of the execution layer, completing target rewriting while maintaining continuous operation, reducing manual intervention and debugging costs.

[0087] To facilitate understanding of the technical solutions in the various embodiments of this application, a brief explanation of the technical terms that may appear in the various embodiments of this application is provided first:

[0088] 1) Process group: refers to a logical grouping of multiple processes according to a preset group number and the order within the group. The effective processes in the process group can change dynamically depending on whether the process is shielded or all workstations are shielded.

[0089] 2) Intra-group order: refers to the relative order assigned to each car by the system based on the real-time physical sequence of the cars pointing to the same work group.

[0090] 3) Replanning area: This refers to the spatial range of the target process that the system is allowed to recalculate for the trolley that has been pointing to the process group. The range is determined by the positions of the first and last workstations of the process group, the preset distance, and the safe back-off distance.

[0091] 4) Race state: In a magnetic drive assembly line control system, at least two control logics in the scheduling layer, state maintenance layer, and motion execution layer read, judge, modify, or execute the relevant states of the same trolley, the same process, or the same motion command when state synchronization is not completed, resulting in the risk of inconsistency between the target process, occupancy information, position marker, motion path, or start-up state.

[0092] In one exemplary embodiment, such as Figure 1 As shown, a secondary planning method for process grouping is provided. This method can be applied to a magnetic drive production line control system (hereinafter referred to as the system), and is particularly suitable for complex production line scenarios such as multi-process collaboration, dynamic changes in process groups, line structure switching, changes in process availability, and target reallocation. The method in this embodiment may include the following steps S101 to S106. Wherein:

[0093] Step S101: Maintain the list of valid processes for the process group.

[0094] In this context, a process group is a logical grouping of multiple processes according to a preset group number and order within the group. In a magnetic drive assembly line control system, to improve the efficiency of multi-process collaboration, multiple adjacent or functionally related processes are typically configured into a process group. For example, multiple adjacent or functionally related processes can be configured into a process group, with the processes within the group sequentially labeled as process one, process two, and process three. The upper-level scheduling logic assigns the trolleys pointing to this process group to different processes within the group. Once all trolleys in the group are in place, a unified interaction (such as synchronous processing, joint assembly, etc.) and unified dispatch are executed.

[0095] In this embodiment, maintaining the list of valid processes in a process group includes: establishing a list of process group members based on the group number and order within the group, and dynamically refreshing the set of valid processes when a process is masked or all workstations are masked. Specifically, during system operation, if a workstation malfunctions and requires maintenance, or if a process is temporarily suspended due to process adjustments, the system will automatically remove that process from the set of valid processes. When the number of valid processes in a process group drops to zero and there are still trolleys pointing to that process group, the system outputs an error message to notify maintenance personnel for handling.

[0096] For example, suppose a process group originally contains 3 valid processes (process 1, process 2, and process 3). If the workstation corresponding to process 2 malfunctions and is blocked, the system removes process 2 from the list of valid processes, and the set of valid processes becomes {process 1, process 3}. If process 1 is subsequently blocked, the set of valid processes becomes {process 3}. If process 3 is also blocked, the set of valid processes becomes empty. If a cart is still pointing to this process group at this time, the system triggers an alarm.

[0097] Optionally, in step S101, the maintenance of the list of valid processes for a process group also includes an exception handling mechanism. Specifically, the system monitors the number of valid processes in a process group in real time. When the number of valid processes drops to zero, the system further checks whether there are still vehicles pointing to that process group (i.e., whether any vehicle's current target process belongs to that process group). If there are vehicles pointing to that process group, since there are no available processes to assign, the vehicles will not be able to obtain a valid target process, and the system immediately outputs an exception prompt, notifying the upper-level scheduling or maintenance personnel to intervene. The exception prompt may include, but is not limited to: process group number, failure time, number of affected vehicles, and vehicle identification. This mechanism prevents vehicles from continuing to operate blindly when there are no available processes, improving the system's fault diagnosability and safety.

[0098] Step S102: Maintain an ordered queue of trolleys pointing to the same work group.

[0099] The ordered queue of vehicles is dynamically sorted based on their real-time physical positions and workflow directions on the assembly line. In the magnetic drive assembly line, each vehicle can move independently, and its speed and position are controlled in real time by the control system. The physical order of the vehicles changes dynamically with events such as overtaking, route switching, and structural reorganization, thus requiring real-time maintenance of the ordered queue.

[0100] It should be noted that the specific implementation of dynamic sorting varies depending on the line structure:

[0101] 1) When the line body is a straight line, the carts are arranged in ascending or descending order according to their positions along the workflow direction. For example, if the workflow direction is from left to right, the carts with smaller position coordinates (left side) are placed at the front of the queue, and the carts with larger position coordinates (right side) are placed at the back of the queue.

[0102] 2) When the track is circular or closed, the system prioritizes trolleys crossing the zero point based on the initial work position and a preset safe backoff distance, and then uniformly sorts them according to the equivalent road segment coordinates. Circular tracks have a "zero-point crossing" problem: when a trolley travels from the end area of ​​the circular track back to the starting area, its linearized coordinates will jump. To solve this problem, the system introduces the initial work position and a preset safe backoff distance to compensate for the coordinates of trolleys crossing the zero point, allowing all trolleys to be compared and sorted in a unified equivalent coordinate system.

[0103] 3) In the event of a line structure switching event (such as the merging or disconnection of straight and curved segments, or vertical transitions), a reordering is triggered after a predetermined control cycle to wait for the motion execution layer to complete the line state switch. This is because the line topology changes during the structure switch, and the relative positions of the vehicles may need to be reassessed. The system sets a short control cycle delay to ensure that the motion execution layer has completed the line state switch before reordering is executed, thus avoiding data inconsistency.

[0104] For example, in a structural switching scenario, the topology of the track may change, such as the merging of straight and curved segments, the bypassing of a segment, or the switching of upper and lower tracks. In this case, the original coordinates of the vehicles in physical space may no longer be suitable for direct sorting because the coordinate systems of different segments may have offset or rotational relationships. To address this issue, the system introduces the concept of "equivalent track coordinates." Specifically, the system predefines a unified reference coordinate system for each switchable track segment and maps the position coordinates of all tracks to this reference coordinate system. When a structural switching occurs, after a predetermined control cycle, the system obtains the equivalent track coordinates of all vehicles under the new topology and then performs unified sorting based on these equivalent coordinates. This equivalent track coordinate sorting mechanism ensures the consistency and continuity of the relative order judgment of vehicles before and after the structural switching.

[0105] Step S103: Monitor the status of the trolley pointing to the process group and determine whether the status of the trolley meets the secondary planning trigger condition.

[0106] The conditions for triggering secondary planning include: the vehicle entering a preset replanning area, or the vehicle's current target process becoming unavailable.

[0107] In this embodiment, step S103 is the decision entry point for the secondary planning process. The system continuously monitors each trolley pointing to the work group and evaluates in real time whether the current target of the trolley needs to be replanned. This monitoring is periodic and can be performed once in each control cycle to ensure a rapid response to changes in the production line status.

[0108] For example, the replanning area is a spatial range preset by the system, and its construction method is as follows:

[0109] 1) Using the first and last workstations of a process group as boundaries, extend the coverage area of ​​the process group outward along the workflow direction on a straight line to form a replanning allowable zone. For example, set the start position, end position, and preset outward extension distance of the process group as P_s, P_e, and D, respectively. Based on the workflow direction, P_s, P_e, and D determine the replanning allowable area. The reason for this design is that the best time to adjust the target is when the trolley reaches the first workstation of the process group or is passing through the process group area; once the trolley has passed the last workstation, adjusting the target may be meaningless.

[0110] 2) When the track is circular or closed, the circular replanning zone is formed by the first workstation position, the last workstation position, and a preset safety distance. For cases crossing the zero point or nearing the entire circumference, a perimeter conversion is performed. The construction of the replanning zone for a circular track is more complex. The system needs to use the circumference of the circular track as a reference, mapping the first and last workstation positions onto the circular coordinate system, and then extending to both sides by a preset safety distance. When the replanning area covers nearly the entire circumference or crosses the zero-degree reference point, a perimeter conversion is required to ensure the accuracy of the area calculation.

[0111] It should be noted that in circular or closed-loop scenarios, the construction of the replanning region requires special handling of the zero-point crossing issue. Assume the circumference of the circular track is L, the first workstation position is P_start, the last workstation position is P_end, and the preset safety distance is D. The system first maps P_start and P_end to the circular coordinate system. When P_start ≤ P_end (i.e., the first and last workstations do not cross the zero point), the replanning region covers the interval [P_start - D, P_end + D], and modulo L is performed on the portion exceeding [0, L]. When P_start > P_end (i.e., the first and last workstations cross the zero point), it indicates that the process group is distributed in the "tail" and "head" regions of the circular track. In this case, the replanning region consists of two intervals: [P_start - D, L] and [0, P_end + D]. When the value of D makes the replanning area cover nearly the entire circumference (e.g., 2D + (P_end - P_start) mod L ≥ L), the system treats the entire circular track as a replanning area, allowing secondary planning at any location. This circumference conversion process ensures the accuracy and completeness of the replanning area calculation on the circular track.

[0112] It should be understood that, in addition to the spatial condition of "entering the replanning area," another triggering condition is that "the current target process of the vehicle is unavailable." This corresponds to scenarios where process availability changes dynamically. For example, the vehicle's current target process is process 2, but the workstation corresponding to process 2 suddenly malfunctions and is blocked, or process 2 is temporarily suspended due to production process adjustments. In this case, even if the vehicle has not yet entered the replanning area, the system will immediately trigger secondary planning to prevent the vehicle from continuing to drive towards an unavailable target.

[0113] If any of the above triggering conditions are met, this method proceeds to the next step. It should be noted that before triggering quadratic programming, the system also needs to confirm that the following preconditions have been met:

[0114] 1) None of the vehicles in the group are in a startup race state. This is an important safety mechanism to prevent state conflicts between the scheduling layer and the execution layer. A "startup race state" refers to a moment when the execution layer is performing trajectory planning or collision avoidance determination and has not yet completed state synchronization. The system needs to wait for these operations to complete before performing secondary planning to avoid state inconsistencies.

[0115] 2) The current trolley has a valid process group affiliation relationship and group order.

[0116] 3) The current target process has not yet reached a stable position. If the trolley has already reached the current target process and completed the position determination, there is no need to perform secondary planning.

[0117] 4) The current trolley and the current target process are located on the same road segment or on an equivalent road segment after the structural switch. This is to ensure that the trolley can reach the new target process reasonably.

[0118] Step S104: If the secondary planning triggering condition is met, the target process of the car is remapped according to the order of the car within the group in the ordered queue and the order of the processes in the effective process list of the process group.

[0119] In this embodiment, when the system determines that the triggering condition is met, a remapping operation is performed. The basic logic of remapping is to map the relative order (physical order) of the cars within the group to the order (logical order) of the processes within the process group. For example, suppose the list of valid processes in the process group is [process A, process B, process C], where process A is the first process in the group, process B is the second process, and process C is the third process. Currently, there are 3 cars (car 1, car 2, and car 3) pointing to this process group. After dynamic sorting, the ordered queue of cars is [car 1 (first), car 2 (middle), car 3 (last)]. Then the result of the remapping is: car 1, process A; car 2, process B; car 3, process C.

[0120] It should be understood that this mapping method based on physical order can ensure that: the carts that arrive at the process group first in physical order are assigned to the earlier processes in the group, and the carts that arrive later in physical order are assigned to the later processes in the group, thereby avoiding the unreasonable situation of "last-in, first-out" service and reducing the risk of cross-waiting and deadlock.

[0121] For example, when a structural change causes a change in the direction of a local workflow, remapping requires directional compensation for the mapping order. For instance, if the workflow direction reverses after a structural change, a cart that was previously at the front of the queue may need to be mapped to a later process within the group. The system will automatically adjust the mapping correspondence based on the directional change to ensure that the order within the group remains consistent with the physical order of the processes before and after the change.

[0122] Step S105: If the remapped target process is different from the current target process, rewrite the current work target of the trolley and clear the original target process's position mark and occupancy information.

[0123] In this embodiment, the remapping result is applied to the control state of the vehicle. After remapping, the system first compares whether the newly mapped target process is the same as the vehicle's current target process. If they are the same, no operation is required to avoid unnecessary state updates; if they are different, target rewriting is performed.

[0124] Optionally, target rewriting involves two levels of operations:

[0125] 1) Update the current work target of the vehicle. Change the current target process of the vehicle from the old value to the newly mapped value. For example, if the original target of the vehicle was process B, and after remapping it becomes process C, the system will update the current work target of the vehicle from process B to process C.

[0126] 2) Clear the original target process's position markers and occupancy information. In a magnetic drive assembly line system, each workstation typically has a position marker and occupancy status record. When a trolley is assigned to a process, the system records a "cart occupied" or "assigned" status for that process. When the trolley's target process is rewritten, the system needs to clear these markers and information from the original target process to avoid residual states such as "process B is still considered to be occupied by trolley 1," thus allowing other trolleys to be assigned to process B.

[0127] Furthermore, in circular or closed-loop scenarios, orientation issues need to be addressed when rewriting the target. When the remapped target process has the opposite motion direction to the current target process (e.g., changing from clockwise to counterclockwise), the system synchronously corrects the vehicle's target orientation parameters to ensure the vehicle travels to the new target process along the shortest reachable direction. This avoids the vehicle taking a longer route and improves operational efficiency.

[0128] In one possible implementation, for scenarios requiring phased arrival (such as long-distance movement or multi-segment path splicing), the system retains the final process goal unchanged, rewrites the current work goal as an intermediate process goal, and switches the current work goal back to the final process goal or the next intermediate process goal after the vehicle reaches the intermediate process goal and meets the conditions for continuing to move. This phased arrival mechanism can achieve smoother motion control.

[0129] For example, in a phased arrival scenario, determining the "continuation conditions" is crucial. After rewriting the vehicle's current work objective as an intermediate process objective, the system continuously monitors the arrival status of this intermediate objective. When the vehicle reaches the intermediate objective process and completes the arrival determination, the system does not immediately consider the vehicle as finally completed, but instead checks whether the continuation conditions are met. Continuation conditions may include one or more of the following: the processing or interaction of the intermediate process has been completed, the downstream process is ready, the system has not received a pause or wait instruction, and the current time has not exceeded the preset maximum waiting time, etc. When all continuation conditions are met, the system switches the vehicle's current work objective from the current intermediate objective to the final process objective or the next intermediate process objective, and reissues the movement instruction. If the continuation conditions are not met (e.g., the intermediate process has not yet been completed), the vehicle remains at the intermediate objective position and waits until the conditions are met. This phased arrival mechanism enables fine-grained control in long-distance movement or multi-segment path splicing scenarios, avoiding the problem of the vehicle arriving at the final objective prematurely before the downstream process is ready.

[0130] Step S106: Send motion instructions generated based on the rewritten target process to the motion execution layer so that the trolley moves according to the new target process.

[0131] In this embodiment, after the target is rewritten, the system needs to issue the new motion commands to the motion execution layer, which is responsible for the actual trajectory planning, speed control, collision avoidance detection, and arrival determination. The specific issuance method is divided into two modes depending on the scenario requirements:

[0132] 1) When the scenario only allows updating the target position and not immediate restarting, the corresponding vehicle is set to a waiting-to-trigger state. For example, if the vehicle is performing a critical action that cannot be interrupted (such as precisely positioning itself to the workstation for processing), the system only updates the vehicle's target parameters but does not issue an immediate execution command. The vehicle will continue moving according to the new target after the current operation is completed.

[0133] 2) When the scenario allows for immediate execution, the motion execution layer re-plans the trajectory and performs collision avoidance judgment based on the rewritten target procedure. At this time, the execution layer calculates the optimal path, velocity curve, and acceleration / deceleration strategy from the current position to the new target position. Simultaneously, it incorporates the new target procedure into the area collision avoidance judgment to ensure that no collisions occur with other vehicles during the motion. The execution layer also records key motion parameters after secondary planning for operational monitoring and debugging. Key motion parameters include, but are not limited to: the trigger time of secondary planning, the vehicle's position and speed at the trigger, the target procedure before rewriting, the target procedure after rewriting, the secondary planning execution timestamp, the path or direction correction amount after secondary planning, and the vehicle's arrival at the rewritten target procedure.

[0134] It should be noted that after the target is rewritten, the motion linkage execution unit is also responsible for clearing the position markers, occupancy information and target binding relationship between the trolley and the original target process, and re-issuing motion instructions based on the rewritten target process, so that the trolley can continue to move according to the new target with high priority.

[0135] In the above-mentioned secondary planning method for process grouping, a unified foundation for process availability constraints and physical sequence constraints is established by maintaining a list of effective processes for process groups and an ordered queue of vehicles pointing to the same process group (this queue is dynamically sorted based on the real-time physical position of the vehicles and the workflow direction). Then, by monitoring the status of the vehicles and determining whether the secondary planning trigger conditions are met (i.e., the vehicle enters the preset replanning area or the current target process is no longer available), the precise identification of the timing of adjustments required during operation is achieved. When the trigger conditions are met, the target process is remapped according to the order of the vehicle in the ordered queue and the order of the processes in the list of effective processes for the process group, thereby aligning the dynamically changing physical order with the set of available processes in real time. When the remapped target process is different from the current target process, the current work target of the vehicle is rewritten and the position mark and occupancy information of the original target process are cleared, avoiding conflicts caused by state residue. Finally, motion instructions generated based on the rewritten target process are issued to the motion execution layer, so that the vehicle moves according to the new target process, completing the safe linkage between the scheduling decision layer and the motion execution layer. Based on the above process, the embodiments of this application can dynamically establish a mapping relationship between the real-time physical sequence of the vehicle and the effective sequence of the process group, significantly reducing the risk of target intersection, mutual waiting and deadlock within the group; it can adapt to dynamic events such as process shielding, workstation shielding, structural fusion or disconnection, and can complete target correction without overall line stoppage, improving production line flexibility; by implementing secondary planning in the preset replanning area and introducing motion direction correction and competition avoidance mechanisms, it improves the operational stability and target allocation accuracy on complex lines (especially circular or closed lines); at the same time, the secondary planning results can be directly transmitted to the trajectory planning and anti-collision logic of the execution layer, completing target rewriting while maintaining continuous operation, reducing manual intervention and debugging costs.

[0136] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations are within the scope of protection of this application.

[0137] Based on the same inventive concept, this application also provides a process grouping secondary planning apparatus for implementing the above-mentioned process grouping secondary planning method. The solution provided by this apparatus is similar to the solution described in the above-described method. Therefore, the specific limitations of one or more process grouping secondary planning apparatus embodiments provided below can be found in the limitations of the process grouping secondary planning method described above, and will not be repeated here.

[0138] In one exemplary embodiment, such as Figure 2 As shown, a secondary planning device for process grouping is provided, including: a process group effective process maintenance unit 201, a trolley entry and exit management unit 202, a secondary planning judgment unit 203, a target mapping and rewriting unit 204, and a motion linkage execution unit 205, wherein:

[0139] The process group effective process maintenance unit 201 is used to maintain the list of effective processes in the process group. The process group is a logical grouping of multiple processes according to a preset group number and the order within the group.

[0140] The trolley entry and exit management unit 202 is used to maintain an ordered queue of trolleys pointing to the same work group. The ordered queue of trolleys is dynamically sorted based on the real-time physical position of the trolleys on the assembly line and the workflow direction.

[0141] The secondary planning determination unit 203 is used to monitor the status of the trolley pointing to the process group and determine whether the status of the trolley meets the secondary planning triggering conditions. The secondary planning triggering conditions include: the trolley enters the preset replanning area, or the current target process of the trolley is no longer available.

[0142] The target mapping and rewriting unit 204 is connected to the secondary planning judgment unit. It is used to remap the target process of the car according to the order of the car in the group in the ordered queue and the order of the process in the effective process list of the process group when the secondary planning judgment unit determines that the secondary planning triggering condition is met. If the remapped target process is different from the current target process, the current working target of the car is rewritten and the original target process's position mark and occupation information are cleared.

[0143] The motion linkage execution unit 205 is connected to the target mapping and rewriting unit and is used to issue motion instructions generated based on the rewritten target process to the motion execution layer so that the trolley moves according to the new target process.

[0144] In some embodiments, when the line is a straight line, the trolleys are arranged in ascending or descending order according to their positions along the workflow direction; when the line is a loop or a closed line, the trolleys crossing the zero point are prioritized based on the first work position and a preset safe backoff distance, and then uniformly sorted according to the equivalent road segment coordinates; in the event of a line structure switching event, a reordering is triggered after a predetermined control cycle to wait for the motion execution layer to complete the line state switching; and during the reordering, each trolley is uniformly sorted according to the equivalent road segment coordinates after the structure switching.

[0145] In some embodiments, the effective process maintenance unit 201 of the process group is specifically used for: establishing a process group member list according to the preset group number and the order within the group for each process; obtaining the enabled status, disabled status, and available status of the corresponding workstations for each process; removing the corresponding process from the process group member list when the target process is disabled, all workstations corresponding to the target process are disabled, or the target process is marked as unschedulable, to obtain a list of effective processes for the process group; and adding the corresponding process back to the list of effective processes for the process group according to the preset group number and the order within the group when the disabled process becomes available or the corresponding workstation becomes available.

[0146] In some embodiments, the secondary planning triggering condition further includes at least one of the following:

[0147] None of the cars in the group were in a starting race state;

[0148] The current trolley has a valid process group affiliation and intra-group order;

[0149] The current target process has not yet reached a stable state of completion;

[0150] The current trolley is located on the same road segment as the current target process or on an equivalent road segment after the structural switch.

[0151] In some embodiments, the preset replanning region is constructed in the following ways:

[0152] Using the positions of the first and last workstations of a process group as boundaries, the coverage area of ​​the process group is expanded outward along the workflow direction on a straight line to form a replanning zone; or...

[0153] When the line body is a ring or closed line body, the ring replanning area is formed by the first station position, the last station position and the preset safety distance, and the perimeter conversion is performed for cases that cross the zero point or are close to the whole circle coverage.

[0154] In some embodiments, rewriting the vehicle's current working goal includes:

[0155] When the production line is a loop or a closed production line, and the direction of motion of the remapped target process is opposite to that of the current target process, the target direction parameters of the trolley are simultaneously corrected so that the trolley travels to the remapped target process along the nearest reachable direction.

[0156] In some embodiments, rewriting the vehicle's current working goal includes:

[0157] When the remapped target process is not the final process target of the trolley and needs to be reached in stages, the final process target is kept unchanged, the current work target is rewritten as an intermediate process target, and after the trolley reaches the intermediate process target and meets the conditions for continuing to move, the current work target is switched to the final process target or the next intermediate process target.

[0158] In some embodiments, the motion linkage execution unit 205 is specifically used to: set the corresponding car to a waiting trigger state when the scene only allows updating the target position and does not allow immediate restart;

[0159] When the scenario allows for immediate execution, the motion execution layer re-plans the trajectory and performs collision avoidance judgment based on the rewritten target procedure, and records the key motion parameters after the secondary planning. These key motion parameters are used for operation monitoring; the key motion parameters include at least one of the following:

[0160] Secondary planning trigger time;

[0161] The position and speed of the car when triggered;

[0162] The original target process;

[0163] The rewritten target process;

[0164] Secondary planning execution timestamp;

[0165] The path or direction correction amount after secondary planning;

[0166] The car arrives at the target process after the rewriting process.

[0167] In another exemplary embodiment, such as Figure 3 As shown, a process teaming secondary planning device is provided, in Figure 2 Based on the device shown, it may also include: an intra-group physical sorting unit 206 and a sorting refresh triggering unit 207.

[0168] The group physical sorting unit 206 is used to sort the trolleys in the same work group according to the current position of the trolley, the road segment it is located in, and the workflow direction; when the line body is a straight line, it is sorted in ascending and descending order of position and direction; when the line body is a ring or closed line body, it combines the first work position position and back distance to handle the priority of crossing zero points; and when the structure is switched, it is uniformly sorted according to the equivalent road segment coordinates.

[0169] The sorting refresh trigger unit 207 is used to trigger the reordering of the process group when events such as structural fusion, disconnection, and vertical conversion occur, and to perform the reordering after a predetermined control cycle, while waiting for the execution layer to complete the line state switch.

[0170] Each module in the above-mentioned process group secondary planning device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0171] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 4As shown, the computer device includes a processor, memory, input / output interfaces, a communication interface, a display unit, and an input device. The processor, memory, and input / output interfaces are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interfaces are used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When executed by the processor, the computer program implements a process grouping quadratic programming method. The display unit is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0172] Those skilled in the art will understand that Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0173] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method steps of the various embodiments described above.

[0174] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the method steps of the various embodiments described above.

[0175] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the method steps of the various embodiments described above.

[0176] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0177] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0178] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A quadratic programming method for process teaming, characterized in that, The method, applied to a magnetic drive assembly line control system, includes: Maintain a list of valid processes for a process group, wherein the process group is a logical grouping of multiple processes according to a preset group number and the order within the group; Maintain an ordered queue of trolleys pointing to the same work group. The ordered queue of trolleys is dynamically sorted based on the real-time physical position of the trolleys on the production line and the workflow direction. Monitor the status of the trolley pointing to the process group and determine whether the status of the trolley meets the secondary planning trigger conditions. The secondary planning trigger conditions include: the trolley enters the preset replanning area, or the current target process of the trolley is no longer available. If the conditions for triggering the secondary planning are met, the target process of the vehicle is remapped according to the order of the vehicle within the group in the ordered queue and the order of the processes in the effective process list of the process group. If the remapped target process differs from the current target process, rewrite the current work target of the trolley and clear the original target process's position markers and occupancy information. The motion execution layer is issued motion instructions based on the rewritten target process, so that the trolley moves according to the new target process.

2. The method according to claim 1, characterized in that, The maintenance of the orderly queue of trolleys belonging to the same work group includes: When the line body is a straight line body, it is arranged in ascending or descending order according to the position of the trolley along the workflow direction; When the line body is a loop or a closed line body, the trolleys crossing the zero point are prioritized based on the first work position and the preset safe back-off distance, and are uniformly sorted according to the equivalent road segment coordinates; In the event of a line structure switching event, a reordering is triggered after a predetermined control cycle to wait for the motion execution layer to complete the line state switching; and during the reordering, each car is uniformly sorted according to the equivalent road segment coordinates after the structure switching.

3. The method according to claim 1, characterized in that, The quadratic programming trigger condition also includes at least one of the following: None of the cars in the group were in a starting race state; The current trolley has a valid process group affiliation and intra-group order; The current target process has not yet reached a stable state of completion; The current trolley is located on the same road segment as the current target process or on an equivalent road segment after the structural switch.

4. The method according to claim 1, characterized in that, The pre-defined replanning region is constructed in the following ways: Using the positions of the first and last workstations of a process group as boundaries, the coverage area of ​​the process group is expanded outward along the workflow direction on a straight line to form a replanning zone; or... When the line body is a ring or closed line body, the ring replanning area is formed by the first station position, the last station position and the preset safety distance, and the perimeter conversion is performed for cases that cross the zero point or are close to the whole circle coverage.

5. The method according to claim 1, characterized in that, The rewriting of the car's current working objectives includes: When the production line is a loop or a closed production line, and the direction of motion of the remapped target process is opposite to that of the current target process, the target direction parameters of the trolley are simultaneously corrected so that the trolley travels to the remapped target process along the nearest reachable direction.

6. The method according to claim 1, characterized in that, The rewriting of the car's current working objectives includes: When the remapped target process is not the final process target of the vehicle and needs to be reached in stages, the final process target is retained, the current work target is rewritten as an intermediate process target, and after the vehicle reaches the intermediate process target and meets the conditions for continuing to move, the current work target is switched to the final process target or the next intermediate process target.

7. The method according to any one of claims 1 to 6, characterized in that, The step of issuing motion instructions to the motion execution layer based on the rewritten target process includes: When the scenario only allows updating the target position and does not allow immediate restart, the corresponding car is set to a waiting-to-trigger state; When the scenario allows for immediate execution, the motion execution layer re-plans the trajectory and performs collision avoidance judgment based on the rewritten target procedure, and records the key motion parameters after the secondary planning. These key motion parameters are used for operation monitoring; wherein, the key motion parameters include at least one of the following: Secondary planning trigger time; The position and speed of the car when triggered; The original target process; The rewritten target process; Secondary planning execution timestamp; The path or direction correction amount after secondary planning; The car arrives at the target process after the rewriting process.

8. A process team secondary planning device, characterized in that, The device, applied to a magnetic drive production line control system, includes: The process group effective process maintenance unit is used to maintain the list of effective processes in the process group, wherein the process group is a logical grouping of multiple processes according to a preset group number and the order within the group; The trolley entry and exit management unit is used to maintain an ordered queue of trolleys pointing to the same work group. The ordered queue of trolleys is dynamically sorted based on the real-time physical position of the trolleys on the production line and the workflow direction. The secondary planning determination unit is used to monitor the status of the trolley pointing to the process group and determine whether the status of the trolley meets the secondary planning triggering conditions. The secondary planning triggering conditions include: the trolley enters the preset replanning area, or the current target process of the trolley is no longer available. The target mapping and rewriting unit, connected to the secondary planning determination unit, is used to remap the target process of the vehicle according to the order of the vehicle in the group in the ordered queue and the order of the process in the effective process list of the process group when the secondary planning determination unit determines that the secondary planning triggering condition is met; and when the remapped target process is different from the current target process, the current working target of the vehicle is rewritten and the original target process's position mark and occupation information are cleared. The motion linkage execution unit, connected to the target mapping and rewriting unit, is used to issue motion instructions generated based on the rewritten target process to the motion execution layer, so that the trolley moves according to the new target process.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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