CN-122003117-A - Material handling system

CN122003117ACN 122003117 ACN122003117 ACN 122003117ACN-122003117-A

Abstract

The present disclosure provides a material handling system. The system comprises a central scheduling device, a carrying device and a carrying device, wherein the central scheduling device is used for receiving carrying instructions issued by a Manufacturing Execution System (MES), the carrying device is matched based on the carrying instructions, the carrying device is used for sending carrying tasks to the carrying device, the carrying device is used for receiving the carrying tasks, generating a plurality of candidate paths based on the carrying tasks, decomposing each candidate path into a plurality of continuous space-time units, sending the space-time units of the candidate paths to the central scheduling device, the central scheduling device is also used for receiving the space-time units of the candidate paths, conducting conflict previewing on the candidate paths by using a digital twin system based on the space-time units of the candidate paths, selecting an optimal path from the candidate paths, sending the optimal path to the carrying device, and receiving the optimal path and conducting carrying work according to the space-time units of the optimal path.

Inventors

CHEN CHANGXU
TANG MIAO
ZHANG WEI

Assignees

京东方华灿光电(广东)有限公司

Dates

Publication Date: 20260508
Application Date: 20251218

Claims (10)

1. A material handling system, the system comprising: The central dispatching equipment is used for receiving a carrying instruction issued by the manufacturing execution system MES, wherein the carrying instruction comprises a carrying starting point and a carrying end point; The system comprises a central scheduling device, a carrying device, a plurality of candidate paths, a processing device and a processing device, wherein the carrying device is used for receiving the carrying task, generating a plurality of candidate paths based on the carrying task, decomposing each candidate path into a plurality of continuous space-time units, wherein the space-time units comprise a time period and space paths occupied by the carrying device in the time period; Based on the space-time units of the plurality of candidate paths, the digital twin system is used for carrying out conflict previewing on the plurality of candidate paths, and an optimal path is selected from the plurality of candidate paths; The carrying equipment is also used for receiving the optimal path and carrying according to the space-time units of the optimal path.
2. The system of claim 1, wherein the central scheduling apparatus is configured to determine a plurality of conveyance route points based on a start point and an end point indicated by the conveyance instruction; generating a plurality of carrying tasks based on the plurality of carrying passing points, wherein each carrying task corresponds to a path point from one passing point to another passing point; The central dispatching equipment is also used for sending the next carrying task after the carrying equipment completes the previous carrying task.
3. The system of claim 2, wherein the carryway point comprises a dock of a lifting device; The central dispatching equipment is further used for determining a plurality of candidate lifting equipment according to the stop points of the lifting equipment, predicting the task quantity of the plurality of candidate lifting equipment in the carrying equipment executing the carrying task time period based on a Markov decision process MDP, determining optimal lifting equipment and reservation time based on the task quantity, wherein the reservation time is used for indicating the reservation time of the optimal lifting equipment, and reserving the optimal lifting equipment for the carrying equipment according to the reservation time.
4. A system according to any one of claims 1 to 3, characterized in that the handling device is adapted to obtain surrounding real-time obstacle information by means of sensors, to obtain a global path topology map and paths reserved by other handling devices from the digital twin system of the central scheduling device, and to generate the plurality of candidate paths based on the real-time obstacle information, the global path topology map and the paths reserved by other handling devices.
5. A system according to any one of claims 1 to 3, characterized in that the central scheduling device is configured to perform global collision detection by mixed integer programming MIP based on the space-time units resolved by each of the candidate paths in the digital twin system, and to determine a collision-free path as the optimal path based on the collision detection result.
6. The system of claim 5, wherein the carry instruction further comprises a priority; The central scheduling device is further configured to allocate, when global collision detection is performed in the digital twin system, the spatial path to a candidate path corresponding to the transport instruction with a high priority or to a path in operation, if the spatial path is simultaneously in candidate paths corresponding to two transport instructions or if the spatial path is simultaneously in a candidate path corresponding to one transport instruction and a path in operation corresponding to another transport instruction.
7. The system of claim 6, wherein the central scheduling device is further configured to send an avoidance instruction to the other handling device when the space path corresponding to the space-time unit of the optimal path occupies a path that the other handling device is operating.
8. A system according to any one of claims 1 to 3, wherein the handling device is further configured to broadcast a buffer message for notifying other handling devices that the handling device enters a buffer track when an obstacle is sensed on the optimal path or an avoidance command is received, and enter the buffer track after receiving a confirmation message from the other handling devices of the buffer track.
9. A central scheduling apparatus, characterized in that the central scheduling apparatus comprises: the receiving module is used for receiving a carrying instruction issued by the manufacturing execution system MES, wherein the carrying instruction comprises a carrying starting point and a carrying end point; the processing module is used for matching the conveying equipment based on the conveying instruction; A transmission module configured to transmit a transport task to the transport apparatus, the transport task corresponding to at least a portion from the start point to the end point; The receiving module is further configured to receive space-time units of the multiple candidate paths sent by the handling device, where the space-time units include a time period and a space path occupied by the handling device in the time period; The processing module is further used for performing conflict previewing on the plurality of candidate paths by using a digital twin system based on space-time units of the plurality of candidate paths, and selecting an optimal path from the plurality of candidate paths; the sending module is further configured to send the optimal path to the handling device.
10. A handling apparatus, the handling apparatus comprising: The receiving module is used for receiving a transport task sent by the central dispatching equipment, wherein the transport task corresponds to at least one part from a starting point to an end point, and the starting point and the end point are the starting point and the end point for receiving transport in a transport instruction issued by a Manufacturing Execution System (MES); The processing module is used for generating a plurality of candidate paths based on the carrying task, decomposing each candidate path into a plurality of continuous space-time units, wherein each space-time unit comprises a time period and a space path occupied by the carrying equipment in the time period; A transmitting module for transmitting the space-time units of the candidate paths to the central dispatching equipment The receiving module is further configured to receive an optimal path in the plurality of candidate paths; The processing module is also used for carrying out carrying work according to the space-time units of the optimal path.

Description

Material handling system Technical Field The present disclosure relates to the field of logistics, and more particularly to a materials handling system. Background An Automated material handling system (Automated MATERIAL HANDING SYSTEM, AMHS) adopts multi-equipment cooperative control and dynamic path optimization to realize efficient and collision-free handling of precise materials such as wafer cassettes, glass substrates and the like. In the related art, all handling apparatuses rely on the control of a central scheduling apparatus. When the number of the carrying devices is more than 200, the scheduling delay is obviously increased, so that the logistics channels are blocked, and the carrying capacity is seriously reduced. Disclosure of Invention The embodiment of the disclosure provides a material handling system capable of improving handling capacity. The technical scheme is as follows: in a first aspect, embodiments of the present disclosure provide a materials handling system, the system comprising: The central dispatching equipment is used for receiving a carrying instruction issued by the manufacturing execution system MES, wherein the carrying instruction comprises a carrying starting point and a carrying end point; The system comprises a central scheduling device, a carrying device, a plurality of candidate paths, a processing device and a processing device, wherein the carrying device is used for receiving the carrying task, generating a plurality of candidate paths based on the carrying task, decomposing each candidate path into a plurality of continuous space-time units, wherein the space-time units comprise a time period and space paths occupied by the carrying device in the time period; Based on the space-time units of the plurality of candidate paths, the digital twin system is used for carrying out conflict previewing on the plurality of candidate paths, and an optimal path is selected from the plurality of candidate paths; The carrying equipment is also used for receiving the optimal path and carrying according to the space-time units of the optimal path. The central dispatching equipment is used for determining a plurality of conveying passing points based on the starting point and the end point indicated by the conveying instruction, generating a plurality of conveying tasks based on the conveying passing points, wherein each conveying task corresponds to one passing point to another passing point; The central dispatching equipment is also used for sending the next carrying task after the carrying equipment completes the previous carrying task. Optionally, the transportation passing point comprises a stop point of the lifting device; The central dispatching equipment is further used for determining a plurality of candidate lifting equipment according to the stop points of the lifting equipment, predicting the task quantity of the plurality of candidate lifting equipment in the carrying equipment executing the carrying task time period based on a Markov decision process MDP, determining optimal lifting equipment and reservation time based on the task quantity, wherein the reservation time is used for indicating the reservation time of the optimal lifting equipment, and reserving the optimal lifting equipment for the carrying equipment according to the reservation time. The handling equipment is used for acquiring surrounding real-time obstacle information through a sensor, acquiring a global path topological graph and paths reserved by other handling equipment from the digital twin system of the central dispatching equipment, and generating the candidate paths based on the real-time obstacle information, the global path topological graph and the paths reserved by the other handling equipment. Optionally, the central scheduling device is configured to perform global collision detection by mixed integer programming MIP based on space-time units resolved by each candidate path in the digital twin system, and determine a collision-free path as the optimal path based on a collision detection result. Optionally, the carry instruction further includes a priority; The central scheduling device is further configured to allocate, when global collision detection is performed in the digital twin system, the spatial path to a candidate path corresponding to the transport instruction with a high priority or to a path in operation, if the spatial path is simultaneously in candidate paths corresponding to two transport instructions or if the spatial path is simultaneously in a candidate path corresponding to one transport instruction and a path in operation corresponding to another transport instruction. Optionally, the central scheduling device is further configured to send an avoidance instruction to the other handling device when the space path corresponding to the space-time unit of the optimal path occupies a path that the other handling device is running. Optionally, the handling device is furth