CN115981343B - Intelligent marking method and system for floors of semiconductors and intelligent marking trolley - Google Patents
Intelligent marking method and system for floors of semiconductors and intelligent marking trolley Download PDFInfo
- Publication number
- CN115981343B CN115981343B CN202310115585.0A CN202310115585A CN115981343B CN 115981343 B CN115981343 B CN 115981343B CN 202310115585 A CN202310115585 A CN 202310115585A CN 115981343 B CN115981343 B CN 115981343B
- Authority
- CN
- China
- Prior art keywords
- marking
- intelligent
- route
- trolley
- contour
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 55
- 239000004065 semiconductor Substances 0.000 title claims abstract description 47
- 230000033001 locomotion Effects 0.000 claims description 11
- 239000003550 marker Substances 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000004806 packaging method and process Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 7
- 238000012937 correction Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000011900 installation process Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000003086 colorant Substances 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an intelligent marking method and system for a floor of a semiconductor and an intelligent marking trolley, wherein the method comprises the following steps: and moving the input contour route to the initial position, judging whether the marking points in the path are reached or not along the path in the contour route, drawing a marking pattern corresponding to the current marking point if the marking points in the path are reached, and moving to the initial position again to finish marking operation if all the marking points in the contour route are correspondingly drawn with the marking pattern. The invention belongs to the technical field of semiconductors, and by the method, a contour route can be input into the intelligent marking trolley, the intelligent marking trolley automatically advances and draws corresponding marking patterns at marking points, marking information can be efficiently and intelligently drawn on a floor, the operation is simple and convenient, the marking pattern drawing error can be avoided, and the drawing efficiency of the marking patterns on the floor is greatly improved, so that the production efficiency of a semiconductor packaging machine is improved.
Description
Technical Field
The invention relates to the technical field of semiconductors, in particular to an intelligent marking method and system for a floor of a semiconductor and an intelligent marking trolley.
Background
In the semiconductor installation process, floor marking is an essential important ring in the semiconductor installation process, and currently, a common practice in the prior art is that a machine manufacturer gives a machine drawing of 1:1 to a production workshop, lays the drawing on a floor at a position where the installation machine is to be arranged, then an operator cuts a corresponding position on the drawing by a knife according to marking symbols on the drawing, then draws a contour by using a drawing, then removes the drawing, and marks the contour by using a tape. Because the installation equipment is generally larger, printing 1:1 drawings is time-consuming and difficult, the drawings are spliced on an installation machine table after being printed separately, and manual operation errors exist in the process of splicing the drawings, and the follow-up installation is caused to deviate due to the splicing errors, so that the production efficiency is affected; in addition, in the process of marking the floor, as the physical drawing covers the floor, the mark made on the floor is difficult to check whether omission exists, the manual marking process is tedious and complex, the efficiency is low, errors are easy to occur, and the efficiency of marking on the floor is seriously affected; the drawing is scrapped after being cut and cannot be used, and if the next time is needed to be used or the drawing is changed, the drawing is required to be reprinted. Therefore, the prior art method has the problem of lower marking efficiency when floor marking is performed in the semiconductor mounting process.
Disclosure of Invention
The embodiment of the invention provides an intelligent marking method and system for a semiconductor floor and an intelligent marking trolley, and aims to solve the problem that the marking efficiency is low when the floor is marked in the process of installing the semiconductor in the prior art.
In a first aspect, an embodiment of the present invention provides a method for intelligently marking a floor of a semiconductor, where the method is applied to an intelligent marking trolley, and the method includes:
inputting a contour route, and moving to a starting position according to the contour route;
advancing according to the path in the contour route, and judging whether to advance to a mark point in the path;
if the path is advanced to the marking point in the path, drawing a marking pattern corresponding to the current marking point;
and if the drawing of the mark pattern is completed, moving to the starting position.
In a second aspect, embodiments of the present invention provide a floor intelligent marking system for a semiconductor, the system configured in an intelligent marking cart, the system comprising:
the first motion control unit is used for inputting a contour route and moving to a starting position according to the contour route;
a travel position judging unit for proceeding according to the path in the contour route and judging whether to proceed to the mark point in the path;
a marking pattern drawing unit for drawing a marking pattern corresponding to a current marking point if the marking pattern is advanced to the marking point in the path;
and the second motion control unit is used for moving to the starting position if the drawing of the mark pattern is completed.
In a third aspect, an embodiment of the present invention further provides an intelligent marking trolley, where the intelligent marking trolley applies the floor intelligent marking method for a semiconductor according to the first aspect, and the intelligent marking trolley includes a vehicle body, and a battery, a controller, a locator, an ink tank, and a motor mounted on the vehicle body;
the battery is respectively electrically connected with the controller, the positioning instrument, the ink tank and the motor;
the controller is respectively in communication connection with the locator, the ink tank and the motor;
the bottom of the vehicle body is provided with wheels, and the motor is in transmission connection with the wheels.
The embodiment of the invention provides an intelligent marking method and system for a floor of a semiconductor and an intelligent marking trolley. And moving the input contour route to the initial position, judging whether the marking points in the path are reached or not along the path in the contour route, drawing a marking pattern corresponding to the current marking point if the marking points in the path are reached, and moving to the initial position again to finish marking operation if all the marking points in the contour route are correspondingly drawn with the marking pattern. By the method, the outline route can be input to the intelligent marking trolley, the intelligent marking trolley automatically advances and draws the corresponding marking pattern at the marking point, marking information can be efficiently and intelligently drawn on the floor, the operation is simple and convenient, the marking pattern drawing error can be avoided, the drawing efficiency of the marking pattern on the floor is greatly improved, and the production efficiency of the semiconductor loader is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a floor intelligent marking method for a semiconductor according to an embodiment of the present invention;
fig. 2 is a schematic view of an application effect of a floor intelligent marking method for a semiconductor according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of another method for intelligent marking of a floor for a semiconductor according to an embodiment of the present invention;
FIG. 4 is a schematic sub-flowchart of a floor intelligent marking method for a semiconductor according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of another sub-process of the floor intelligent marking method for semiconductors according to an embodiment of the present invention;
FIG. 6 is a schematic flow chart of another method for intelligent marking of a semiconductor floor according to an embodiment of the present invention;
FIG. 7 is a schematic view of another sub-process of the method for intelligent marking of a semiconductor floor according to an embodiment of the present invention;
FIG. 8 is a schematic block diagram of a floor intelligent marking system for semiconductors provided in an embodiment of the present invention;
FIG. 9 is a device structure diagram of an intelligent marking trolley provided by an embodiment of the invention;
fig. 10 is a block diagram of another apparatus of the intelligent marking trolley according to the embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be understood that the terms "comprises" and "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
Referring to fig. 1 and 2, as shown; the intelligent marking method for the semiconductor floor is applied to an intelligent marking trolley, and is executed through application software installed in a controller of the intelligent marking trolley, wherein the intelligent marking trolley is equipment capable of receiving an input outline route and drawing marking patterns on the floor, and the drawn marking patterns are shown as "+" and light boxes in fig. 2.
As shown in FIG. 1, the method includes steps S110 to S140.
S110, inputting a contour route, and moving to a starting position according to the contour route.
Inputting a contour route, and moving to a starting position according to the contour route. The user can input a contour route to the intelligent marking trolley, the contour route comprises path information of the intelligent marking trolley for movement, the intelligent marking trolley can move according to the path in the contour route, and at least one marking point is also arranged in the contour route; and if the path of the contour route comprises the initial position, the intelligent marking trolley moves to the initial position according to the set contour route.
Specifically, a controller in the intelligent marking trolley analyzes the outline route, and sends a corresponding control instruction to the motor according to the initial position coordinate in the analysis result so as to control the motor to operate and drive the intelligent marking trolley to move to the initial position corresponding to the initial position coordinate.
In one embodiment, as shown in fig. 3, step S1110 is further included before step S110.
S1110, carrying out route planning according to a pre-stored mark graph to generate a corresponding contour route.
Before moving according to the contour route, the contour route can be generated by planning the route according to a mark graph pre-stored in the terminal, wherein the mark graph comprises a starting position coordinate and information of a plurality of mark points, the contour route can be correspondingly generated according to the starting position coordinate and the mark point information, and the contour route comprises the starting position coordinate and the mark point coordinate corresponding to each mark point, and the starting position coordinate is corresponding to the starting position.
In one embodiment, as shown in fig. 4, step S1110 includes steps S1111 and S1112.
S1111, determining a starting position coordinate in the marker graph;
s1112, sequentially concatenating the marking points in the marking graph according to the initial position coordinates, so as to generate a corresponding contour route.
Specifically, the starting position may be determined according to the starting position mark in the mark map, and the coordinates of the starting position may be obtained as the starting position coordinates, where the starting position coordinates may be represented by a two-dimensional coordinate array, such as (0, 0). Each marking point in the marking graph corresponds to one marking point coordinate, the starting position coordinate can be used as a starting point, the marking points corresponding to the marking point coordinates are sequentially connected in series, and the connecting line generated by the series connection is the contour route. For example, the marker points may be sequentially concatenated from right to left, and the marker point closest to the current marker point may be acquired as the next connection point for concatenation.
In one embodiment, after step S110, the method further includes: acquiring initial positioning coordinates corresponding to the initial position; judging whether the initial positioning coordinate is matched with the target positioning coordinate in the contour route or not; and if the initial positioning coordinates are matched with the target positioning coordinates, executing the step of advancing according to the path in the contour route.
In order to improve the accuracy of marking pattern drawing, when the initial position is reached, the initial positioning coordinate of the current position of the intelligent marking trolley is obtained through the positioning instrument, and the initial positioning coordinate obtained at the moment is the initial positioning coordinate corresponding to the initial position, and the initial positioning coordinate can be positioning image information acquired by the positioning instrument from the floor of the current position of the intelligent marking trolley.
The contour line further includes a target positioning coordinate corresponding to the initial position, and it can be determined whether the initial positioning coordinate matches the target positioning coordinate in the contour line, for example, the target positioning coordinate may be position coordinate information corresponding to the LP1 point in fig. 2, and the position coordinate of the LP1 point is (0, 0). For example, judging whether the initial positioning coordinate is matched with the target positioning coordinate, namely judging whether the bit coordinate information of the LP1 point in the initial positioning coordinate is the same as the target positioning coordinate, if so, judging that the initial positioning coordinate is matched with the target positioning coordinate; otherwise, judging that the initial positioning coordinate is not matched with the target positioning coordinate.
If the initial positioning coordinate is matched with the target positioning coordinate, the fact that the current position of the intelligent marking trolley coincides with the initial position in the outline route at the moment is indicated, and then the follow-up steps can be continuously executed; if the initial positioning coordinates are not matched with the target positioning coordinates, the fact that the current position of the intelligent marking trolley is not coincident with the initial position in the outline route at the moment is indicated, namely, the position of the intelligent marking trolley needs to be adjusted to be coincident with the initial position, the follow-up steps can be continuously executed, and the controller can send a position adjustment instruction to the motor, so that the intelligent marking trolley is driven by the motor to adjust the position until the position of the intelligent marking trolley is adjusted to be coincident with the initial position.
S120, proceeding according to the path in the outline route, and judging whether to proceed to the mark point in the path.
And proceeding according to the path in the contour route, and judging whether to proceed to the mark point in the path. The intelligent marking trolley advances according to the path in the contour route, and judges whether the intelligent marking trolley moves to the coordinate position corresponding to the marking point while advancing.
In one embodiment, step S120 includes the sub-steps of: when the vehicle moves to a second positioning position of the path in the contour route, acquiring a corresponding second positioning coordinate; judging whether the second positioning coordinate is matched with a second positioning feature in the contour route or not; and if the second positioning coordinates are matched with the second positioning features, continuing to travel and judging whether to travel to the marked point in the path.
Specifically, before the intelligent marking trolley advances to the first marking point according to the path in the contour route, the corresponding second positioning coordinate can be obtained when the intelligent marking trolley advances to the second positioning position of the path; and then judging whether the second positioning coordinates are matched with the second positioning features in the contour route.
For example, as shown in fig. 2, the second positioning position may be only one positioning point LP3 in the floor; the second positioning location may also comprise two positioning points LP2 and LP3 in the floor.
The process of determining whether the second positioning coordinates match the second positioning features is similar to the process of determining whether the starting positioning coordinates match the target positioning coordinates. If the characteristics of each positioning point in the second positioning coordinates are judged to be matched with the corresponding characteristic information in the second positioning characteristics, judging that the second positioning coordinates are matched with the second positioning characteristics, and continuing to execute the subsequent steps; if the feature of any positioning point in the second positioning coordinates is not matched with the corresponding feature information in the second positioning features, judging that the second positioning coordinates are not matched with the second positioning features.
In one embodiment, step S120 includes the sub-steps of: when the vehicle moves to a second positioning position of the path in the contour route, acquiring a corresponding second positioning coordinate; judging whether errors exist between the initial positioning coordinate and the second positioning coordinate, and the target positioning coordinate and the second positioning feature; if no error exists between the initial positioning coordinate and the second positioning coordinate and between the target positioning coordinate and the second positioning feature, continuing to travel and judging whether to travel to the mark point in the path.
The outline route comprises a traveling direction and a traveling distance, and when the intelligent marking trolley travels to a corresponding position according to the corresponding traveling direction and the traveling distance, the real position of the intelligent marking trolley on the floor is not necessarily coincident with the corresponding target traveling position on the floor. In order to judge whether the real position of the intelligent marking trolley on the floor coincides with the corresponding target advancing position, when the intelligent marking trolley advances to the second positioning position according to the path in the contour route, the corresponding second positioning coordinates can be obtained, and whether errors exist between the initial positioning coordinates and the second positioning coordinates and between the target positioning coordinates and the second positioning features or not is judged. Taking the second positioning position as an example of only one positioning point LP3 in the floor, the reference feature between the target positioning coordinate and the second positioning feature can be obtained, the reference feature comprises the direction information between the corresponding point of the target positioning coordinate and the corresponding point of the second positioning feature, the positioning direction between the initial positioning coordinate and the second positioning coordinate can be obtained, and whether the included angle between the positioning direction and the direction information is smaller than the preset included angle threshold value is judged. The direction information is the axial direction of the Y-axis on the machine table, if the included angle between the positioning direction and the direction information is smaller than the preset included angle threshold value, the intelligent marking trolley is indicated to run from the initial position to the second positioning position in a positioning direction parallel to the Y-axis direction of the machine table, namely, the initial positioning coordinate and the second positioning coordinate are not in error with the target positioning coordinate and the second positioning feature; if the included angle between the positioning direction and the direction information is not smaller than the preset included angle threshold value, determining that errors exist between the initial positioning coordinate and the second positioning coordinate and between the target positioning coordinate and the second positioning feature.
If no error exists, the following steps can be continuously executed, namely the intelligent marking trolley is controlled to continue to travel to reach the marking point.
And S130, if the path is advanced to the marking point in the path, drawing a marking pattern corresponding to the current marking point.
If the path is to be traveled to the marking point, a marking pattern corresponding to the current marking point is drawn. If it is determined that the traveling position corresponds to the marker point, a marker pattern corresponding to the marker point is drawn at the current traveling position, for example, the drawn marker pattern is shown as "+" or light-colored box in fig. 2.
In one embodiment, as shown in fig. 5, step S130 includes steps S131 and S132.
S131, determining the marking characteristic information corresponding to the marking point at present; the marking characteristic information comprises a marking type and a marking size;
and S132, drawing a corresponding mark pattern according to the mark characteristic information.
Specifically, the intelligent marking trolley can draw various marking patterns, and moves according to the marking patterns required to be drawn when the marking patterns are drawn; the outline route further comprises marking characteristic information corresponding to each marking point, the corresponding marking characteristic information can be determined according to the current marking point, the marking characteristic information comprises marking type and marking size, and more specifically, the marking characteristic information can further comprise marking type, marking color and marking size. After the marking characteristic information is obtained, a controller in the intelligent marking trolley can send out a corresponding control instruction to the ink tank, the ink tank sprays ink, the intelligent marking trolley moves and finishes marking pattern drawing, and after marking pattern drawing is finished, the controller can send out a corresponding control instruction to the ink tank so as to stop spraying ink.
For example, in the embodiment of the present application, the marking pattern is divided into a cut hole type and a supporting leg type, the marking size corresponding to the cut Kong Leixing is a frame shape, and the marking size corresponding to the supporting leg type is a "+" shape. In a more specific embodiment, the color of the mark corresponding to the cut Kong Leixing may be red, and the color of the mark corresponding to the type of the supporting leg may be green.
And S140, if the drawing of the mark pattern is completed, moving to the initial position.
If the drawing of the marking pattern is judged to be finished, the controller sends out a corresponding control instruction to the motor according to the initial position coordinates of the paths in the outline route, so that the intelligent marking trolley is driven by the motor to move to the initial position corresponding to the initial position coordinates, and the whole marking operation process corresponding to the outline route is finished.
In one embodiment, as shown in fig. 7, step S140 includes steps S141, S142, S143, and S144.
S141, acquiring a first positioning coordinate corresponding to the initial position;
s142, judging whether the first positioning coordinates are matched with target positioning coordinates in the contour route;
s143, if the first positioning coordinates are matched with the target positioning coordinates, finishing marking operation;
s144, if the first positioning coordinates are not matched with the target positioning coordinates, correcting the position according to the error between the first positioning coordinates and the target positioning coordinates so as to eliminate the error, and executing the step of travelling according to the path in the contour route again.
When the intelligent marking trolley moves to the initial position, whether the intelligent marking trolley accurately returns to the initial position can be judged. When the intelligent marking trolley returns to the initial position again, a corresponding first positioning coordinate can be obtained, whether the first positioning coordinate is matched with a target positioning coordinate in the contour route or not is judged, and if so, the intelligent marking trolley is indicated to return to the initial position in the contour route correctly; if the two paths are not matched, the intelligent marking trolley is not correctly returned to the starting position in the outline route. The position correction can be performed according to the error between the first positioning coordinate and the target positioning coordinate, and after the error is eliminated, the travel is performed again according to the path in the contour route, that is, the drawing of the marking pattern is performed again after the deviation correction is performed.
Specifically, an error between the first positioning coordinate and the target positioning coordinate can be calculated, and position correction is performed according to the calculated error to eliminate the error; the first positioning coordinate further includes two-dimensional coordinate information of the current position of the intelligent marking trolley on the bottom plate, for example, an offset direction and an offset size can be calculated according to the two-dimensional coordinate position in the first positioning coordinate and the coordinate position corresponding to the target positioning coordinate, the offset direction is direction information corresponding to the two-dimensional coordinate position in the third positioning feature by pointing at the coordinate position corresponding to the target positioning coordinate, the offset direction can point to any peripheral direction by taking the coordinate position corresponding to the target positioning coordinate as a circle center, and the offset size is a distance value between the two-dimensional coordinate position in the first positioning coordinate and the coordinate position corresponding to the target positioning coordinate. The calculated error comprises an offset direction and an offset size, and the position correction can be performed according to the calculated error, namely, the intelligent marking trolley is driven by a motor to travel to the initial position in the profile route according to the calculated error, driving parameters are correspondingly adjusted, namely, the working time of the motor corresponding to the unit coordinate distance is adjusted, if the profile route is taken as a standard travel 1 unit distance, the working time of the motor is adjusted to 0.5 seconds, if the profile route is taken as a standard travel 1 unit distance, and the actual travel distance of the intelligent marking trolley on the bottom plate is increased by 25% compared with the actual travel distance before the adjustment.
After the position correction is performed and the corresponding error is eliminated, the subsequent steps, that is, the step S120 is performed again and the drawing of the marking pattern is repeated, may be continued.
In one embodiment, as shown in fig. 6, step S1410 and step S1420 are further included before step S140.
S1410, judging whether the marking points in the contour route are all drawn with corresponding marking patterns.
And judging whether the marking points in the contour route draw corresponding marking patterns or not. After the intelligent marking trolley finishes drawing one marking point, the controller adds a mark which is drawn on the corresponding marking point in the outline route; when the intelligent marking trolley advances along the path in the contour route, whether the mark points are added with the drawn labels can be judged, so that whether the mark points in the contour route draw corresponding mark patterns is judged.
S1420, if all the marking points in the contour route draw the corresponding marking patterns, judging that the drawing of the marking patterns is completed.
And if the marking points in the contour route draw the corresponding marking patterns, judging that the drawing of the marking patterns is finished.
If the outline route further comprises marking points which do not draw the corresponding marking patterns, judging that the marking of the marking patterns is not completed, continuously controlling the intelligent marking trolley to move to the marking points which do not draw the corresponding marking patterns, and continuously drawing the marking patterns until all the marking points in the outline route draw the corresponding marking patterns.
In the floor intelligent marking method for the semiconductor provided by the embodiment of the invention, the method comprises the following steps: and moving the input contour route to the initial position, judging whether the marking points in the path are reached or not along the path in the contour route, drawing a marking pattern corresponding to the current marking point if the marking points in the path are reached, and moving to the initial position again to finish marking operation if all the marking points in the contour route are correspondingly drawn with the marking pattern. By the method, the outline route can be input to the intelligent marking trolley, the intelligent marking trolley automatically advances and draws the corresponding marking pattern at the marking point, marking information can be efficiently and intelligently drawn on the floor, the operation is simple and convenient, the marking pattern drawing error can be avoided, the drawing efficiency of the marking pattern on the floor is greatly improved, and the production efficiency of the semiconductor loader is improved.
The embodiment of the invention also provides a floor intelligent marking system for a semiconductor, which can be configured in an intelligent marking trolley and is used for executing any embodiment of the floor intelligent marking method for the semiconductor. In particular, referring to fig. 8, fig. 8 is a schematic block diagram of a floor intelligent marking system for semiconductors according to an embodiment of the present invention.
As shown in fig. 8, the floor intelligent marking system 100 for a semiconductor includes a first motion control unit 110, a travel position judging unit 120, a marking pattern drawing unit 130, and a second motion control unit 140.
The first motion control unit 110 is used for inputting a contour route and moving to a starting position according to the contour route.
In a specific embodiment, the floor intelligent marking system 100 for semiconductors further comprises a subunit: and the route planning unit is used for carrying out route planning according to the pre-stored mark graph so as to generate a corresponding contour route.
And a travel position judging unit 120 for proceeding according to the path in the contour route and judging whether to proceed to the mark point in the path.
The marking pattern drawing unit 130 is configured to draw, if the marking point in the path is traveled, a marking pattern corresponding to the marking point.
And a second motion control unit 140, configured to move to the start position if the drawing of the marker pattern is completed.
The floor intelligent marking system for the semiconductor provided by the embodiment of the invention is applied to the floor intelligent marking method for the semiconductor, moves to the initial position according to the input contour route, advances along the path in the contour route and judges whether the marking points in the path are reached, if the marking points in the path are reached, the marking pattern corresponding to the current marking point is drawn, and if all the marking points in the contour route are already corresponding to the drawn marking pattern, the marking operation is finished by moving to the initial position again. By the method, the outline route can be input to the intelligent marking trolley, the intelligent marking trolley automatically advances and draws the corresponding marking pattern at the marking point, marking information can be efficiently and intelligently drawn on the floor, the operation is simple and convenient, the marking pattern drawing error can be avoided, the drawing efficiency of the marking pattern on the floor is greatly improved, and the production efficiency of the semiconductor loader is improved.
The above-described floor intelligent marking method for semiconductors may be implemented in the form of a computer program, which may be in an intelligent marking trolley as shown in fig. 9 and 10.
Referring to fig. 9 and fig. 10, fig. 9 is a schematic diagram of a device of an intelligent marking trolley according to an embodiment of the present invention; fig. 10 is a block diagram of another apparatus of the intelligent marking trolley according to the embodiment of the present invention. The intelligent marking trolley is used for executing a floor intelligent marking method for a semiconductor.
Referring to fig. 9 and 10, the intelligent marking trolley 1 comprises a trolley body 10, and a battery 11, a controller 12, a positioning instrument 13, an ink tank 14 and a motor 15 which are assembled on the trolley body 10; the battery 11 is respectively electrically connected with the controller 12, the positioning instrument 13, the ink tank 14 and the motor 15; the controller 12 is respectively in communication connection with the locator 13, the ink tank 14 and the motor 15; the bottom of the car body 10 is provided with wheels 16, and the motor 15 is in transmission connection with the wheels 16.
In a more specific embodiment, the ink tank 14 includes a plurality of ink storage units, and a nozzle is disposed at a bottom of each of the ink storage units. Specifically, the intelligent marking trolley further comprises a wireless signal transceiver 17 assembled on the vehicle body 10, and the wireless signal transceiver 17 is in communication connection with the controller 12. Specifically, the outer side surface of the controller 12 is further provided with a screen 18 and an operation panel 19.
The controller 12 may be a control box with a CPU, and the controller 12 is configured to import a contour route and send a control instruction to the motor 15 to control the traveling and steering of the intelligent marking trolley 1; at the same time, the controller also issues control instructions to control the opening and closing of the nozzles in the ink tank 14. The locator 13 is used for acquiring the locating coordinates of the current position of the intelligent marking trolley 1. The ink tank 14 is used for providing ink required for drawing, and meanwhile, a plurality of ink storage units can be arranged in the ink tank, and different colors of ink can be stored in different ink storage units; the ink storage units are internally provided with liquid level sensors which are electrically connected with a controller, and the controller can obtain the residual quantity of the ink in the ink storage units through the liquid level sensors. The motor is used for providing power for the advancing and steering of the intelligent marking trolley 1, specifically, four wheels 16 can be arranged at the bottom of the trolley body 10, the wheels 16 are all universal advancing wheels, the motor 15 comprises four servo motors, the four servo motors respectively control the steering and advancing of the four wheels 16, and accordingly the advancing and steering of the intelligent marking trolley 1 is controlled through the motor 15.
The wireless signal transceiver 17 may be used to perform wireless communication connection with other external devices, for example, the external device sends the profile route in a wireless manner, the wireless signal transceiver 17 may acquire the profile route sent in a wireless manner and transmit the profile route to the controller 12 for subsequent processing, and similarly, the controller 12 may also transmit the information to be sent to the wireless signal transceiver 17, and the wireless signal transceiver 17 sends the information to be sent to the other external devices in a wireless manner.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, specific working procedures of the apparatus, device and unit described above may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein. Those of ordinary skill in the art will appreciate that the elements and algorithm steps described in connection with the embodiments disclosed herein may be embodied in electronic hardware, in computer software, or in a combination of the two, and that the elements and steps of the examples have been generally described in terms of function in the foregoing description to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus, device and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, and for example, the division of the units is merely a logical function division, there may be another division manner in actual implementation, or units having the same function may be integrated into one unit, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. In addition, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices, or elements, or may be an electrical, mechanical, or other form of connection.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment of the present invention.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention is essentially or part of what contributes to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a computer-readable storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned computer-readable storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a magnetic disk, an optical disk, or other various media capable of storing program codes.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (9)
1. A floor intelligent marking method for a semiconductor, the method being applied to an intelligent marking trolley to implement a semiconductor loader, the method comprising:
inputting a contour route into the intelligent marking trolley so that the intelligent marking trolley moves to a starting position according to the contour route; the outline route comprises path information of the intelligent marking trolley for movement and at least one marking point;
the intelligent marking trolley advances according to the path in the contour route and judges whether to advance to a marking point in the path or not;
if the path is advanced to the marking point in the path, drawing a marking pattern corresponding to the current marking point;
judging whether the marking points in the outline route draw corresponding marking patterns or not;
if all the mark points in the outline route draw the corresponding mark patterns, judging that the drawing of the mark patterns is finished, and moving to the initial position;
wherein, the drawing the marking pattern corresponding to the marking point at present comprises:
determining the marking characteristic information corresponding to the marking point at present;
and drawing a corresponding mark pattern according to the mark characteristic information.
2. The floor intelligent marking method for a semiconductor according to claim 1, further comprising, before inputting the profile route:
and carrying out route planning according to the pre-stored mark graph to generate a corresponding contour route.
3. The floor intelligent marking method for a semiconductor according to claim 2, wherein the routing according to the pre-stored marking map to generate the corresponding contour route comprises:
determining initial position coordinates in the marker map;
and sequentially concatenating the marking points in the marking graph according to the initial position coordinates, so as to generate a corresponding contour route.
4. The floor intelligent marking method for a semiconductor according to claim 1, wherein the moving to the starting position comprises:
acquiring a first positioning coordinate corresponding to the initial position;
judging whether the first positioning coordinate is matched with a target positioning coordinate in the contour route or not;
if the first positioning coordinates are matched with the target positioning coordinates, finishing marking operation;
and if the first positioning coordinates are not matched with the target positioning coordinates, correcting the position according to the error between the first positioning coordinates and the target positioning coordinates so as to eliminate the error, and executing the step of travelling according to the path in the contour route again.
5. The floor intelligent marking method for a semiconductor according to claim 1, wherein,
the tag characteristic information includes a tag type and a tag size.
6. A floor intelligent marking system for a semiconductor, the system configured in an intelligent marking cart to implement a semiconductor loader, the system comprising:
the first motion control unit is used for inputting a contour route into the intelligent marking trolley so as to enable the intelligent marking trolley to move to a starting position according to the contour route; the outline route comprises path information of the intelligent marking trolley for movement and at least one marking point;
the travelling position judging unit is used for the intelligent marking trolley to travel according to the path in the contour route and judging whether to travel to the marking point in the path or not;
a marking pattern drawing unit for drawing a marking pattern corresponding to a current marking point if the marking pattern is advanced to the marking point in the path;
the second motion control unit is used for judging whether the marking points in the contour route draw corresponding marking patterns or not; and if the marking points in the contour route are all drawn with the corresponding marking patterns, judging that the drawing of the marking patterns is finished, and moving to the starting position.
7. An intelligent marking trolley, characterized in that the intelligent marking trolley applies the floor intelligent marking method for semiconductors according to any one of claims 1-5, the intelligent marking trolley comprises a trolley body, and a battery, a controller, a positioning instrument, an ink tank and a motor which are assembled on the trolley body;
the battery is respectively electrically connected with the controller, the positioning instrument, the ink tank and the motor;
the controller is respectively in communication connection with the locator, the ink tank and the motor;
the bottom of the vehicle body is provided with wheels, and the motor is in transmission connection with the wheels.
8. The intelligent marking cart of claim 7, wherein the ink tank comprises a plurality of ink storage units, and a nozzle is correspondingly arranged at the bottom of each ink storage unit.
9. The intelligent marking cart of claim 7 further comprising a wireless signal transceiver mounted to the cart body, the wireless signal transceiver establishing a communication connection with the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310115585.0A CN115981343B (en) | 2023-02-08 | 2023-02-08 | Intelligent marking method and system for floors of semiconductors and intelligent marking trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310115585.0A CN115981343B (en) | 2023-02-08 | 2023-02-08 | Intelligent marking method and system for floors of semiconductors and intelligent marking trolley |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115981343A CN115981343A (en) | 2023-04-18 |
| CN115981343B true CN115981343B (en) | 2024-02-27 |
Family
ID=85963223
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310115585.0A Active CN115981343B (en) | 2023-02-08 | 2023-02-08 | Intelligent marking method and system for floors of semiconductors and intelligent marking trolley |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115981343B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2007201709A1 (en) * | 2001-03-26 | 2007-05-10 | Edgeroi Pty Ltd | Automatic ground marking method and surface surveying method and apparatus |
| CN206133305U (en) * | 2016-04-22 | 2017-04-26 | 王锦海 | Intelligence optics guidance system |
| CN208737202U (en) * | 2018-10-11 | 2019-04-12 | 德淮半导体有限公司 | A kind of device for label |
| CN110276567A (en) * | 2018-03-14 | 2019-09-24 | 北京京东尚科信息技术有限公司 | The method and apparatus for checking ground region identification code based on automated guided vehicle |
| CN110361011A (en) * | 2019-08-27 | 2019-10-22 | 国以贤智能科技（上海）有限公司 | Method, apparatus, equipment and the storage medium of vision guided navigation |
| CN209805505U (en) * | 2019-03-21 | 2019-12-17 | 广东电网有限责任公司电力科学研究院 | Mobile inspection device for power distribution room |
| CN214398389U (en) * | 2020-12-30 | 2021-10-15 | 深圳市海柔创新科技有限公司 | Robot |
| CN114613705A (en) * | 2022-05-10 | 2022-06-10 | 深圳市众望丽华微电子材料有限公司 | Control method, system and medium for processing semiconductor component |
| CN115165925A (en) * | 2022-08-05 | 2022-10-11 | 深圳市华研天创检测设备有限公司 | PCB detection device with marking function, marking method, equipment and medium |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AUPR396501A0 (en) * | 2001-03-26 | 2001-04-26 | Edgeroi Pty Ltd | Ground marking apparatus |
-
2023
- 2023-02-08 CN CN202310115585.0A patent/CN115981343B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2007201709A1 (en) * | 2001-03-26 | 2007-05-10 | Edgeroi Pty Ltd | Automatic ground marking method and surface surveying method and apparatus |
| CN206133305U (en) * | 2016-04-22 | 2017-04-26 | 王锦海 | Intelligence optics guidance system |
| CN110276567A (en) * | 2018-03-14 | 2019-09-24 | 北京京东尚科信息技术有限公司 | The method and apparatus for checking ground region identification code based on automated guided vehicle |
| CN208737202U (en) * | 2018-10-11 | 2019-04-12 | 德淮半导体有限公司 | A kind of device for label |
| CN209805505U (en) * | 2019-03-21 | 2019-12-17 | 广东电网有限责任公司电力科学研究院 | Mobile inspection device for power distribution room |
| CN110361011A (en) * | 2019-08-27 | 2019-10-22 | 国以贤智能科技（上海）有限公司 | Method, apparatus, equipment and the storage medium of vision guided navigation |
| CN214398389U (en) * | 2020-12-30 | 2021-10-15 | 深圳市海柔创新科技有限公司 | Robot |
| CN114613705A (en) * | 2022-05-10 | 2022-06-10 | 深圳市众望丽华微电子材料有限公司 | Control method, system and medium for processing semiconductor component |
| CN115165925A (en) * | 2022-08-05 | 2022-10-11 | 深圳市华研天创检测设备有限公司 | PCB detection device with marking function, marking method, equipment and medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115981343A (en) | 2023-04-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7899618B2 (en) | Optical laser guidance system and method | |
| JP2019096314A (en) | Vehicle position estimation device, parking lot, and vehicle control device | |
| KR101879247B1 (en) | The Working Path Setting Method for Automatic Driving Agricultural Machine | |
| CN108873902A (en) | A kind of long-range control method and device of unmanned mine vehicle | |
| EP2437132A1 (en) | Control apparatus for autonomous operating vehicle | |
| CN105620470A (en) | Operation vehicle travel deflection detection and adjustment method and system | |
| US20160002868A1 (en) | Method of marking a line | |
| CN107544534A (en) | A kind of plant protection unmanned plane automatic fine operation and barrier-avoiding method based on BDS, INS | |
| CN112742626B (en) | Spraying robot control system, method and device and computer equipment | |
| US20200407929A1 (en) | Automatic road marking system | |
| CN115981343B (en) | Intelligent marking method and system for floors of semiconductors and intelligent marking trolley | |
| CN212329961U (en) | Unmanned wall welding robot that climbs based on vision measurement | |
| KR20200134971A (en) | Speed sprayer of automatic driving | |
| EP3626463B1 (en) | Robotic printing system for an aircraft exterior | |
| CN111487979A (en) | Intelligent line marking vehicle for guiding automatic driving through Beidou satellite and control method | |
| CN109115204B (en) | Precise positioning system and method for navigation vehicle | |
| CN115465261A (en) | Method for moving a vehicle to a part of an object spaced apart from the vehicle (coordinate transformation) | |
| CN109976352B (en) | Walking control method, walking control apparatus, and computer-readable storage medium | |
| JP2005071142A (en) | Travel control device of working vehicle | |
| CN114137988A (en) | Robot path navigation deviation rectifying method, system and storage medium | |
| CN115870652A (en) | Cutting method, device and system for chassis girder | |
| CN114397888A (en) | Blade following control method and device and working machine | |
| CN110948244A (en) | Cutting equipment and control method thereof | |
| CN215340834U (en) | AGV control system of two-dimensional code typewriter ribbon hybrid navigation | |
| CN215416381U (en) | Multi-sensor combined control system for moving trolley |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |