CN117035281A - Logistics management system and method based on AMHS (automatic mechanical system) equipment - Google Patents
Logistics management system and method based on AMHS (automatic mechanical system) equipment Download PDFInfo
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Abstract
The invention discloses a logistics management system based on an AMHS (automatic mechanical system) device, which comprises a management platform, a logistics scheduling system, the AMHS device and an RFID (radio frequency identification) module, wherein the management platform is in butt joint with an MES (manufacturing execution system) system through a port and is connected with the logistics scheduling system through the Internet, work task information is issued to the logistics scheduling system, the logistics scheduling system is arranged on two servers, and the logistics scheduling system comprises a transportation task scheduling system for managing factory tasks and can manage and distribute the transportation tasks; the management platform and the logistics scheduling system exchange and transfer messages through an MQ protocol, and the logistics scheduling system is connected with the AMHS equipment through a wireless network and communicates through an SECS/GEM communication protocol to manage the operation of the AMHS equipment; the invention also provides a logistics management method based on the AMHS, which is applied to the logistics management system.
Description
Technical Field
The invention relates to the technical field of logistics management, in particular to a logistics management system and method based on an AMHS (automatic mechanical system) device.
Background
With the rising of automatic factories, the increasing demands of traditional logistics modes cannot be met, various intelligent and efficient conveying equipment also rapidly enters the market, and the importance of an automatic material conveying system (Automated Material Handling Systems, abbreviated as AMHS) as a conveying tie for connecting various modules is also increasingly highlighted. The AMHS apparatus comprises: a variety of logistics scheduling systems are corresponding to the Stocker (intelligent warehouse), OHT (Overhead Hoist Transport, overhead traveling vehicle), AGV (Automated Guided Vehicle, automatic navigation vehicle) and Lifter (intelligent elevator), so how to manage these logistics scheduling systems to cooperatively execute the transportation task is a difficult problem in the daily operation and maintenance Guan Lizhong of the factory.
Disclosure of Invention
The technical purpose is that: aiming at the defects of the existing logistics management system, the invention discloses a logistics management system and method based on an AMHS (automatic mechanical system) device.
The technical scheme is as follows: in order to achieve the technical purpose, the invention adopts the following technical scheme:
the utility model provides a logistics management system based on AMHS equipment, including management platform, commodity circulation dispatch system, AMHS equipment, RFID module, management platform dock with MES (Manufacturing Execution System ) system through the port and connect with commodity circulation dispatch system through the internet, commodity circulation dispatch system installs on two servers, commodity circulation dispatch system includes transport task dispatch system, the Stocker dispatch system, OHT dispatch system, AGV dispatch system, lifter dispatch system, AMHS equipment includes Stocker, OHT, AGV, lifter, divide into N regional with the mill of management, each region contains a plurality of Stocker, and each regional distribution a plurality of OHT and AGV carry out transport task, contain a plurality of goods shelves in the Stocker, RFID module includes a plurality of RFID labels that are located on the Stocker goods shelves, RFID reader and the RFID application software system of installing at management platform on OHT, RFID label has the serial number;
the transport task scheduling system comprises a transport task queue acquisition module, a transport task scheduling module and a transport task scheduling module, wherein the transport task queue acquisition module is used for acquiring a transport task queue; the transport trolley resource management module is used for counting the remaining idle quantity of the OHT and the AGV in each of N areas; the target conveying task determining module is used for determining target conveying tasks in the conveying task queue according to the sequence of the conveying tasks to be completed in the conveying task queue, wherein the target conveying tasks are the conveying tasks to be completed, which meet conveying conditions and have highest priority, in the conveying task queue; the fact that the conveying task to be completed meets the conveying condition means that the remaining free quantity of the OHT and the AGV in each of the N areas is larger than or equal to the vehicle demand quantity of the conveying task to be completed;
the transport task splitting module is used for splitting the target transport task into a series of target transport tasks which need to be executed by the OHT and the AGV;
the task scheduling module is used for scheduling the target conveying task;
the Stocker scheduling system is used for managing material inlet and outlet and material storage positions in the Stockers;
the OHT scheduling system is used for managing the conveying task of the OHT and the conveying state of the OHT;
the AGV scheduling system is used for managing the transport task of the AGV and the transport state of the AGV;
the Lifter scheduling system is used for managing the position information of Lifter and the running state of Lifter;
the management platform and the logistics scheduling system exchange and transfer messages through an MQ (message middleware) protocol, the logistics scheduling system is connected with the AMHS equipment through a wireless network and communicates through SECS/(SEMI EQUIPMENT COMMUNICATIONS STANDARD, semiconductor equipment communication standard)/GEM (GENERIC MODEL FOR COMMUNICATIONS, communication universal model communication protocol) to manage the operation of the AMHS equipment.
Preferably, the task scheduling system further includes a priority determining module, configured to determine a priority of the to-be-completed transport task according to a vehicle demand of each to-be-completed transport task and a waiting time of each to-be-completed transport task in the transport task queue.
Preferably, the target conveying task determining module includes a conveying task judging module, where the conveying task judging module is configured to judge whether a first conveying task in the conveying task queue meets a conveying condition, schedule the first conveying task if the conveying condition is met, and schedule the first conveying task after pushing if the conveying condition is not met, and judge whether a next conveying task meets the conveying condition.
Preferably, the transport task scheduling system further includes a transport trolley information receiving module, configured to receive the OHT and the remaining idle number sent by the AGV in each of the N areas; and the conveying trolley information updating module is used for updating the recorded OHT and the remaining idle number of the AGVs in each area.
Preferably, the management platform function comprises basic parameter information setting, factory map drawing, conveying path planning and material information inquiry; the system comprises a basic parameter information setting function, a factory map drawing function, a conveying path planning function and a material information inquiry function, wherein the basic parameter information setting function is used for setting basic parameter information required by system operation, standardizing the application range and authority of the system, the factory map drawing function is used for drawing a warehouse and a shelf distribution map of the whole factory, the conveying path planning function is used for planning the shortest path of an OHT or AGV for executing a target conveying task, and the material information inquiry function is used for inquiring all material information stored in a factory Stocker.
The invention also provides a logistics management method based on the AMHS, which is applied to the logistics management system based on the AMHS, and comprises the following steps:
(1) The management platform acquires the information of the transport task queue from the MES system, and transmits the information of the transport task queue to the logistics scheduling system positioned in the two servers through the MQ protocol;
(2) A transport task scheduling system in a logistics scheduling system acquires transport task queue information, and determines a target transport task in the transport task queue according to the sequence of the transport tasks to be completed in the transport task queue; the target conveying task refers to a conveying task to be completed, which meets conveying conditions in the conveying task queue and has the highest priority, and the conveying task to be completed meets the conveying conditions, namely the remaining free number of OHT and AGVs in each of the N areas is greater than or equal to the vehicle demand of the conveying task to be completed;
(3) Splitting the determined target conveying task;
(4) The management platform performs conveying path planning on the split target conveying task;
(5) And dispatching the target conveying task, sending the split target conveying task and the planned conveying path to a dispatching system of the AMHS in the logistics dispatching system, and controlling the AMHS to carry out the conveying task.
Preferably, the method further comprises determining the priority of the to-be-completed conveying task according to the vehicle demand of each to-be-completed conveying task in the conveying task queue and the waiting time of each to-be-completed conveying task.
Preferably, determining the target transport task in the transport task queue includes determining whether a first transport task in the transport task queue satisfies a transport condition, if the transport condition is satisfied, scheduling the first transport task, and if the transport condition is not satisfied, pushing and scheduling the first transport task and determining whether a next transport task satisfies the transport condition.
Preferably, the target transportation task splitting includes:
step 1, judging whether a target transport task to be scheduled meets a splitting condition, if yes, executing step 2, and if not, continuing to judge whether the target transport task to be scheduled meets the splitting condition;
and 2, distributing the OHT or AGV execution task matched with the target transport task to be scheduled according to the type and the start and end positions of the target transport task to be scheduled.
Preferably, after the target transport task is scheduled, the method further comprises the step of receiving the remaining idle quantity sent by the OHT and the AGV of each area in the N areas; the remaining free number of OHTs and AGVs for each zone of records is updated.
The beneficial effects are that: the invention has the following beneficial effects:
in the process of scheduling the transport tasks, determining a target transport task in the transport task queue according to the order of the transport tasks to be completed in the transport task queue and scheduling the target transport task according to the priority; meanwhile, the target conveying task can be split, and the to-be-completed conveying task is scheduled only when the remaining number of OHT and AGVs in each of N areas can meet the to-be-completed conveying task, so that the problem that the conveying task cannot be continuously carried out due to long-term occupation of the OHT and the AGVs in each area is avoided, the utilization rate of the OHT and the AGVs can be improved, and the efficiency of the conveying task can be improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.
FIG. 1 is a block diagram of a system architecture of the present invention;
FIG. 2 is a block diagram of a system module according to the present invention;
FIG. 3 is a flow chart of steps of the method of logistics management of the present invention;
fig. 4 is a block diagram showing a configuration of the transport task scheduling system.
Detailed Description
The present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which preferred embodiments of the invention are shown, but in which the invention is not so limited.
1-2, a logistics management system based on AMHS equipment comprises a management platform, a logistics scheduling system, AMHS equipment and an RFID module, wherein the management platform is in butt joint with an MES system through a port and is connected with the logistics scheduling system through the Internet, work task information is issued to the logistics scheduling system, and the logistics scheduling system is arranged on two servers, so that when a problem occurs in one server, the other server can still work, and the normal operation of the logistics management system is ensured; the logistics scheduling system comprises a conveying task scheduling system, a Stocker scheduling system, an OHT scheduling system, an AGV scheduling system and a Lifter scheduling system, wherein the AMHS equipment comprises Stocker, OHT, AGV, lifter, a managed factory is divided into N areas, each area comprises a plurality of stockers, each area is distributed with a plurality of OHT and AGVs to execute conveying tasks, the stockers are internally provided with a plurality of shelves, the RFID module comprises a plurality of RFID labels positioned on the shelves of the stockers, RFID readers positioned on the OHT and the AGVs and an RFID application software system installed on a management platform, the RFID labels are provided with numbers, when the OHT and the AGVs execute the conveying tasks, the RFID labels are read through the RFID readers, information is transmitted to the RFID application software system, and whether the conveying targets are correct or not is confirmed.
The Stocker scheduling system is used for managing material inlet and outlet and material storage positions in the Stockers; the OHT scheduling system is used for managing the conveying task of the OHT and the conveying state of the OHT; the AGV dispatching system is used for managing the carrying task of the AGV and the carrying state of the AGV; the Lifter scheduling system is used for managing the position information of Lifter and the running state of Lifter, and if the AMHS equipment has problems in the process of executing the conveying task, the problems can be sent to the management platform through the scheduling system corresponding to the AMHS equipment.
The management platform and the logistics scheduling system exchange and transfer messages through an MQ protocol, and the logistics scheduling system is connected with the AMHS equipment through a wireless network and communicates through an SECS/GEM communication protocol to manage the operation of the AMHS equipment.
In a specific embodiment, the functions of the management platform comprise basic parameter information setting, factory map drawing, conveying path planning and material information inquiry; the system comprises a basic parameter information setting function, a factory map drawing function, a conveying path planning function and a material information inquiry function, wherein the basic parameter information setting function is used for setting basic parameter information required by system operation, standardizing the application range and authority of the system, the factory map drawing function is used for drawing a warehouse and a shelf distribution map of the whole factory, the conveying path planning function is used for planning the shortest path of an OHT or AGV for executing a target conveying task, and the material information inquiry function is used for inquiring all material information stored in a factory Stocker.
In a specific embodiment, the conveyance path plan uses a dijkstra shortest path algorithm to calculate the shortest path between two conveyance sites.
As shown in fig. 4, the transport task scheduling system includes a transport task queue acquisition module for acquiring a transport task queue;
the transport trolley resource management module is used for counting the remaining idle quantity of the OHT and the AGV in each of N areas;
the target conveying task determining module is used for determining target conveying tasks in the conveying task queue according to the sequence of the conveying tasks to be completed in the conveying task queue, wherein the target conveying tasks are the conveying tasks to be completed, which meet conveying conditions and have highest priority, in the conveying task queue; the fact that the conveying task to be completed meets the conveying condition means that the remaining free quantity of the OHT and the AGV in each of the N areas is larger than or equal to the vehicle demand quantity of the conveying task to be completed;
the transport task splitting module is used for splitting a target transport task into a series of target transport tasks which need to be executed by the OHT and the AGV, and the transport task splitting module comprises the following specific steps:
step 1, judging whether a target transport task to be scheduled meets a splitting condition, if yes, executing step 2, and if not, continuing to judge whether the target transport task to be scheduled meets the splitting condition;
step 2, distributing an OHT or AGV execution task matched with the target transport task to be scheduled according to the type and the start and end positions of the target transport task to be scheduled;
and the task scheduling module is used for scheduling the target conveying task.
In a specific embodiment, the task scheduling system further includes a priority determining module, configured to determine a priority of the to-be-completed transport task according to a vehicle demand of each to-be-completed transport task and a waiting time of each to-be-completed transport task in the transport task queue.
In a specific embodiment, the target conveying task determining module includes a conveying task judging module, where the conveying task judging module is configured to judge whether a first conveying task in the conveying task queue meets a conveying condition, schedule the first conveying task if the conveying condition is met, and schedule the first conveying task after pushing if the conveying condition is not met, and judge whether a next conveying task meets the conveying condition.
In a specific embodiment, the transport task scheduling system further includes a transport cart information receiving module, configured to receive the OHT of each of the N areas and the remaining idle number sent by the AGV; and the conveying trolley information updating module is used for updating the recorded OHT and the remaining idle number of the AGVs in each area.
As shown in fig. 3, the present invention further provides a logistics management method based on AMHS equipment, which is applied to the logistics management system based on AMHS equipment, and includes the following steps:
(1) The management platform acquires the information of the transport task queue from the MES system, and transmits the information of the transport task queue to the logistics scheduling system positioned in the two servers through the MQ protocol;
(2) A transport task scheduling system in a logistics scheduling system acquires transport task queue information, and determines a target transport task in the transport task queue according to the sequence of the transport tasks to be completed in the transport task queue; the target conveying task refers to a conveying task to be completed, which meets conveying conditions in the conveying task queue and has the highest priority, and the conveying task to be completed meets the conveying conditions, namely the remaining free number of OHT and AGVs in each of the N areas is greater than or equal to the vehicle demand of the conveying task to be completed;
(3) Splitting the determined target conveying task;
(4) The management platform performs conveying path planning on the split target conveying task;
(5) And dispatching the target conveying task, sending the split target conveying task and the planned conveying path to a dispatching system of the AMHS in the logistics dispatching system, and controlling the AMHS to carry out the conveying task.
In a specific embodiment, the method further includes determining a priority of the to-be-completed transfer task according to a vehicle demand of each to-be-completed transfer task in the transfer task queue and a waiting time of each to-be-completed transfer task.
In a specific embodiment, determining the target transport task in the transport task queue includes determining whether a first transport task in the transport task queue satisfies a transport condition, if so, scheduling the first transport task, and if not, pushing and scheduling the first transport task and determining whether a next transport task satisfies the transport condition.
In a specific embodiment, the target transport task splitting includes the steps of:
step 1, judging whether a target transport task to be scheduled meets a splitting condition, if yes, executing step 2, and if not, continuing to judge whether the target transport task to be scheduled meets the splitting condition;
and 2, distributing the OHT or AGV execution task matched with the target transport task to be scheduled according to the type and the start and end positions of the target transport task to be scheduled.
In a specific embodiment, after the target transport task is scheduled, the method further includes receiving remaining idle numbers sent by the OHT and the AGV of each of the N areas; the remaining free number of OHTs and AGVs for each zone of records is updated.
The principle of logistics management by using the system of the invention is as follows: the method comprises the steps that firstly, a management platform obtains a transport task queue from an MES system, then the transport task queue is sent to a logistics scheduling system positioned on two servers through an MQ protocol, the transport task scheduling system in the logistics scheduling system firstly receives the transport task queue, then determines a target transport task according to a target transport task determining module, splits the target transport task, then sends each split target transport task to each scheduling system of corresponding AMHS equipment, a Stocker scheduling system determines the specific position of materials required by the target transport task according to RFID labels on a shelf, then a Lifter scheduling system determines the layer number of the materials required by the target transport task, an OHT scheduling system and an AGV scheduling system schedule the target transport task, RFID readers on the OHT and the AGV identify the RFID labels to determine the materials required by transport, and execute the transport task according to the shortest path of the management platform.
In one particular embodiment, the plant is assumed to be divided into 5 zones, each zone numbered N1, N2, N3, N4, and N5. Wherein N1 and N3 have 5 OHT and AGV respectively, and N2, N4 and N5 have 4 OHT and AGV respectively.
Assuming that the transport task scheduling system sequentially receives 4 transport tasks, marked as a, b, c and d, the transport task queues acquired by the transport task scheduling system sequentially comprise the following transport tasks to be completed: a. b, c and d. Wherein, the vehicle demand of the conveying tasks a and d is 4; the vehicle demand for each of the conveyance tasks b and c was 2. It is assumed that at the beginning of scheduling the 4 transport tasks, there is one OHT on the area N2 that is occupied by the immediately preceding transport task. At this time, the transport task scheduling system counts the remaining OHT and AGV numbers of each of the 5 areas, the remaining OHT and AGV numbers of N1 are 5, the remaining OHT and AGV numbers of N2 are 3, the remaining OHT and AGV numbers of N3 are 5, the remaining OHT and AGV numbers of N4 are 4, and the remaining OHT and AGV numbers of N5 are 4.
The conveying task scheduling system determines a target conveying task in the conveying task queue according to the sequence of the conveying tasks to be completed in the conveying task queue; the target conveying task refers to a conveying task to be completed, which meets conveying conditions and has highest priority in the conveying task queue; the conveying task to be completed meets the conveying condition, namely the number of the remaining OHT and the AGV in each of the 5 areas is larger than or equal to the vehicle demand of the conveying task to be completed.
First, it is determined whether the task a satisfies the conveyance condition. Since the remaining OHT and AGV number of N2 is 2, which is smaller than the vehicle demand of the mission a, the mission a does not satisfy the conveyance condition. And judging that the task b meets the conveying condition. Assuming that the order of the task queues is based on the principle of the order of the task queues, the task b is the first task to be completed in the task queues meeting the conveying condition, so that the priority of the task b is highest, the task b can be determined as the target task, and the task b can be scheduled. Similarly, the target transport task may be determined as task c, and task c may be scheduled. After the task b and the task c are scheduled and executed, if the OHT occupied by the previous transport task on the N2 is released, the task a meets the scheduling condition at this time, and the task a can be scheduled, and the task d also meets the transport condition, and the task d can be scheduled. Thus, the tasks a, b, c and d can obtain the required number of vehicles and complete execution, and the condition of resource deadlock does not occur.
The foregoing is only a preferred embodiment of the invention, it being noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.
Claims (10)
1. The logistics management system based on the AMHS equipment comprises a management platform, a logistics scheduling system, the AMHS equipment and an RFID module, and is characterized in that the management platform is in butt joint with an MES system through a port and is connected with the logistics scheduling system through the Internet, the logistics scheduling system is installed on two servers and comprises a conveying task scheduling system, a Stocker scheduling system, an OHT scheduling system, an AGV scheduling system and a Lifter scheduling system, the AMHS equipment comprises Stocker, OHT, AGV, lifter, a factory to be managed is divided into N areas, each area comprises a plurality of stockers, each area is provided with a plurality of OHT and AGVs to execute conveying tasks, the stockers comprise a plurality of shelves, the RFID module comprises a plurality of RFID labels located on the shelves of the stockers, RFID readers located on the OHT and the AGVs and RFID application software systems installed on the management platform, and the RFID labels are provided with numbers;
the transport task scheduling system comprises a transport task queue acquisition module, a transport task scheduling module and a transport task scheduling module, wherein the transport task queue acquisition module is used for acquiring a transport task queue; the transport trolley resource management module is used for counting the remaining idle quantity of the OHT and the AGV in each of N areas; the target conveying task determining module is used for determining target conveying tasks in the conveying task queue according to the sequence of the conveying tasks to be completed in the conveying task queue, wherein the target conveying tasks are the conveying tasks to be completed, which meet conveying conditions and have highest priority, in the conveying task queue; the fact that the conveying task to be completed meets the conveying condition means that the remaining free quantity of the OHT and the AGV in each of the N areas is larger than or equal to the vehicle demand quantity of the conveying task to be completed;
the transport task splitting module is used for splitting the target transport task into a series of target transport tasks which need to be executed by the OHT and the AGV;
the task scheduling module is used for scheduling the target conveying task;
the Stocker scheduling system is used for managing material inlet and outlet and material storage positions in the Stockers;
the OHT scheduling system is used for managing the conveying task of the OHT and the conveying state of the OHT;
the AGV scheduling system is used for managing the transport task of the AGV and the transport state of the AGV;
the Lifter scheduling system is used for managing the position information of Lifter and the running state of Lifter;
the management platform and the logistics scheduling system exchange and transfer messages through an MQ protocol, and the logistics scheduling system is connected with the AMHS equipment through a wireless network and communicates through an SECS/GEM communication protocol to manage the operation of the AMHS equipment.
2. The AMHS-based logistics management system of claim 1, wherein the task scheduling system further comprises a priority determining module for determining the priority of the to-be-completed transportation task according to the vehicle demand of each to-be-completed transportation task and the waiting time of each to-be-completed transportation task in the transportation task queue.
3. The AMHS-based logistics management system of claim 1, wherein the target transportation task determination module comprises a transportation task determination module for determining whether a first transportation task in the transportation task queue satisfies a transportation condition, if the transportation condition is satisfied, scheduling the first transportation task, and if the transportation condition is not satisfied, pushing the first transportation task and determining whether a next transportation task satisfies the transportation condition.
4. The AMHS-based logistics management system of claim 1, wherein said transportation task scheduling system further comprises a transportation cart information receiving module for receiving OHT and remaining idle amount sent by AGV for each of the N areas; and the conveying trolley information updating module is used for updating the recorded OHT and the remaining idle number of the AGVs in each area.
5. The logistics management system of claim 1, wherein the functions of the management platform comprise basic parameter information setting, factory mapping, transportation path planning, and material information inquiry; the system comprises a basic parameter information setting function, a factory map drawing function, a conveying path planning function and a material information inquiry function, wherein the basic parameter information setting function is used for setting basic parameter information required by system operation, standardizing the application range and authority of the system, the factory map drawing function is used for drawing a warehouse and a shelf distribution map of the whole factory, the conveying path planning function is used for planning the shortest path of an OHT or AGV for executing a target conveying task, and the material information inquiry function is used for inquiring all material information stored in a factory Stocker.
6. A method for managing a physical distribution based on AMHS equipment, which is applied to a physical distribution management system based on AMHS equipment according to claims 1 to 5, comprising the steps of:
(1) The management platform acquires the information of the transport task queue from the MES system, and transmits the information of the transport task queue to the logistics scheduling system positioned in the two servers through the MQ protocol;
(2) A transport task scheduling system in a logistics scheduling system acquires transport task queue information, and determines a target transport task in the transport task queue according to the sequence of the transport tasks to be completed in the transport task queue; the target conveying task refers to a conveying task to be completed, which meets conveying conditions in the conveying task queue and has the highest priority, and the conveying task to be completed meets the conveying conditions, namely the remaining free number of OHT and AGVs in each of the N areas is greater than or equal to the vehicle demand of the conveying task to be completed;
(3) Splitting the determined target conveying task;
(4) The management platform performs conveying path planning on the split target conveying task;
(5) And dispatching the target conveying task, sending the split target conveying task and the planned conveying path to a dispatching system of the AMHS in the logistics dispatching system, and controlling the AMHS to carry out the conveying task.
7. The AMHS-based logistics management method of claim 7, further comprising determining the priority of the transfer job to be completed based on the vehicle demand of each transfer job to be completed and the waiting time of each transfer job to be completed in the transfer job queue.
8. The method of claim 7, wherein determining a target transport task in the transport task queue comprises determining whether a first transport task in the transport task queue satisfies a transport condition, scheduling the first transport task if the transport condition is satisfied, and if the transport condition is not satisfied, then post-scheduling the first transport task and determining whether a next transport task satisfies the transport condition.
9. The AMHS-based logistics management method of claim 7, wherein said target transportation task breaking comprises:
step 1, judging whether a target transport task to be scheduled meets a splitting condition, if yes, executing step 2, and if not, continuing to judge whether the target transport task to be scheduled meets the splitting condition;
and 2, distributing the OHT or AGV execution task matched with the target transport task to be scheduled according to the type and the start and end positions of the target transport task to be scheduled.
10. The AMHS-based logistics management method of claim 7, further comprising receiving remaining free amounts of OHT and AGV transmissions for each of the N zones after the target transport task is scheduled; the remaining free number of OHTs and AGVs for each zone of records is updated.
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Citations (6)
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