CN117131884A - High-precision automatic positioning system, control method and related equipment for OHT crown block - Google Patents
High-precision automatic positioning system, control method and related equipment for OHT crown block Download PDFInfo
- Publication number
- CN117131884A CN117131884A CN202311401007.XA CN202311401007A CN117131884A CN 117131884 A CN117131884 A CN 117131884A CN 202311401007 A CN202311401007 A CN 202311401007A CN 117131884 A CN117131884 A CN 117131884A
- Authority
- CN
- China
- Prior art keywords
- oht
- rfid tag
- rfid
- automatic positioning
- crown block
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 238000011144 upstream manufacturing Methods 0.000 claims abstract description 7
- 230000033001 locomotion Effects 0.000 claims description 16
- 230000007246 mechanism Effects 0.000 claims description 15
- 238000004590 computer program Methods 0.000 claims description 10
- 230000001960 triggered effect Effects 0.000 claims description 9
- 239000000463 material Substances 0.000 abstract description 7
- 239000004065 semiconductor Substances 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 238000004891 communication Methods 0.000 description 13
- 230000001133 acceleration Effects 0.000 description 10
- 230000008569 process Effects 0.000 description 8
- 101100545272 Caenorhabditis elegans zif-1 gene Proteins 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/0008—General problems related to the reading of electronic memory record carriers, independent of its reading method, e.g. power transfer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
- B66C13/30—Circuits for braking, traversing, or slewing motors
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
- G01S5/0263—Hybrid positioning by combining or switching between positions derived from two or more separate positioning systems
Abstract
The application belongs to the field of semiconductor material transmission, and discloses a high-precision automatic positioning system, a control method and related equipment of an OHT crown block, wherein first RFID tags are arranged at equal intervals along the extending direction of a track and used for positioning the OHT crown block in real time; the second RFID tag used for indicating the OHT crown block to decelerate is arranged at the upstream of the parking position, the detection sheet is arranged between the second RFID tag and the parking position to trigger the photoelectric sensor to prompt the OHT crown block to advance a preset distance and then stop, the second RFID tag and the photoelectric sensor are cooperated to carry out parking control, ultra-high precision positioning of the OHT crown block can be realized, and repeated stopping positioning precision is improved.
Description
Technical Field
The application relates to the field of semiconductor material transmission, in particular to a high-precision automatic positioning system of an OHT crown block, a control method and related equipment.
Background
The automatic semiconductor material conveying system (Automatic Material Handling System, AMHS) can improve material circulation efficiency, reduce wafer conveying and storage time, and effectively improve chip production efficiency, and has become an essential equipment for 300mm integrated circuit manufacturing factories. Overhead hoist transport vehicles (Overhead Hoist Transport, OHT) are one of the most important stand-alone devices in AMHS systems, and their primary functions are: instructions from the material handling system (Material Control System, MCS) are received and moved to a designated position to complete the task of loading or unloading the pod (Front Opening Unified Pod, FOUP).
Currently, OHT is mainly located by bar codes laid on rails, and the main problems of this location method include: firstly, the repeated stopping precision of the OHT can only reach millimeter level by adopting the method, and higher precision improvement is difficult; secondly, in order to realize the real-time positioning of the OHT, the bar codes are densely paved on the track, so that the construction cost is high; finally, the method of scanning the bar code may have problems of misreading, missed reading, etc., so that the fault tolerance of the positioning system is reduced, that is, once the bar code OHT is scanned, the bar code OHT cannot stop to a designated position according to preset parameters.
Disclosure of Invention
The application aims to provide a high-precision automatic positioning system, a control method and related equipment for an OHT crown block, which can improve repeated stop positioning precision, reduce label laying cost and improve operation stability.
In a first aspect, the application provides a high-precision automatic positioning system of an OHT crown block, which comprises a track and the OHT crown block arranged on the track, wherein a plurality of first RFID tags for positioning the OHT crown block in real time are arranged on the track at equal intervals along the extending direction of the track, a second RFID tag for indicating the OHT crown block to decelerate is arranged on the track at the upstream of each parking position, a detection sheet is arranged between each parking position and the corresponding second RFID tag on the track, an RFID data reader-writer and a photoelectric sensor are arranged on the OHT crown block, the RFID data reader-writer is used for reading information of the RFID tags, and the detection sheet is used for triggering the photoelectric sensor to prompt the OHT crown block to stop after advancing forward a preset distance.
The first RFID tag is used for real-time positioning, and because the RFID tag has a larger read-write distance, on one hand, the laying density of the first RFID tag is smaller, so that the laying cost can be reduced, and on the other hand, the problems of misreading, missed reading and the like are not easy to occur, and the operation stability is high; and the parking control is performed by cooperating with the second RFID tag and the photoelectric sensor, so that the ultra-high precision positioning of the OHT crown block can be realized, and the repeated stop positioning precision is improved.
Preferably, the interval between adjacent first RFID tags is smaller than the maximum read-write distance of the first RFID tags.
Therefore, the OHT crown block can always detect the first RFID tag in the movement process, the interruption of positioning information is avoided, and the operation stability is further improved.
Preferably, the track comprises at least one turning section, a third RFID label for indicating the OHT crown block to decelerate is arranged at the upstream of the turning section, a fourth RFID label for indicating the OHT crown block to start turning is arranged at the starting point of the turning section, and a fifth RFID label for indicating the OHT crown block to end turning is arranged at the ending point of the turning section.
Before entering a curve, the third RFID tag is used for indicating the OHT crown block to decelerate so as to avoid derailment or damage to a track caused by overlarge turning speed, and the fourth RFID tag and the fifth RFID tag are used for indicating the OHT crown block to timely control the steering mechanism to steer and reset so that the OHT crown block smoothly passes through a turning section.
Preferably, the track comprises two guide rails, and the OHT overhead travelling crane is straddled on the two guide rails; the first RFID tag, the second RFID tag, the third RFID tag, the fourth RFID tag, the fifth RFID tag and the detection piece are arranged on the two guide rails, and the RFID data reader-writers and the photoelectric sensors are arranged on two sides of the OHT crown block, which correspond to the two guide rails; the first RFID tag, the second RFID tag, the third RFID tag, the fourth RFID tag, the fifth RFID tag and the detection piece on one guide rail, and the RFID data reader-writer and the photoelectric sensor on the corresponding side are all standby devices.
By setting a set of standby equipment, when the main equipment fails, the standby equipment can be started, and the reliability of the system is improved.
In a second aspect, the present application provides a method for controlling high-precision automatic positioning of an OHT overhead travelling crane, which is applied to the OHT overhead travelling crane in the high-precision automatic positioning system of the OHT overhead travelling crane, and includes the steps of:
A1. after starting, accelerating to a first preset speed and entering a speed mode to perform uniform motion;
A2. positioning in real time through the first RFID tag;
A3. when the second RFID tag is detected, decelerating by taking a second preset speed as a target speed;
A4. after decelerating to a second preset speed and when the photosensor is triggered, switching to a position mode and stopping after traveling forward a preset distance.
Preferably, the second preset speed is not more than 0.5m/s and the preset distance is not more than 50mm.
Preferably, the high-precision automatic positioning control method for the OHT overhead travelling crane further comprises the following steps:
A5. when the third RFID tag is detected, decelerating by taking a third preset speed as a target speed;
A6. after decelerating to a third preset speed and detecting the fourth RFID tag, controlling a steering mechanism to steer so as to realize turning;
A7. and when the fifth RFID tag is detected, controlling the steering mechanism to reset.
Preferably, after step A5, the method further comprises the steps of:
A8. and when the fourth RFID tag is detected and is not decelerated to a third preset speed, entering an emergency stop program and alarming.
In a third aspect, the application provides an electronic device comprising a processor and a memory, the memory storing a computer program executable by the processor, when executing the computer program, running the steps in the high precision automatic positioning control method of an OHT overhead travelling crane as described above.
In a fourth aspect, the application provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of an OHT overhead travelling crane high accuracy automatic positioning control method as hereinbefore described.
The beneficial effects are that: according to the high-precision automatic positioning system, the control method and the related equipment for the OHT crown block, the first RFID tag is used for real-time positioning, and because the RFID tag has a larger read-write distance, the laying density of the first RFID tag is smaller on one hand, so that the laying cost can be reduced, and the problems of misreading, missed reading and the like are not easy to occur on the other hand, and the operation stability is high; and the parking control is performed by cooperating with the second RFID tag and the photoelectric sensor, so that the ultra-high precision positioning of the OHT crown block can be realized, and the repeated stop positioning precision is improved.
Drawings
Fig. 1 is a schematic structural diagram of an OHT overhead travelling crane high-precision automatic positioning system according to an embodiment of the present application.
Fig. 2 is a structural diagram of an OHT overhead travelling crane.
Fig. 3 is a flowchart of an OHT overhead travelling crane high-precision automatic positioning control method according to an embodiment of the present application.
Fig. 4 is a main operation timing diagram of the OHT crown block.
Fig. 5 is a timing diagram of the turning process of the OHT crown block.
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Description of the reference numerals: 1. a track; 101. a guide rail; 102. a turning section; 2. OHT crown block; 201. an RFID data reader; 202. a photoelectric sensor; 203. a main control module; 204. an IO control module; 205. a motor control module; 206. a communication control module; 207. a steering mechanism; 208. a walking servo motor; 209. MCS system communication interface; 3. a first RFID tag; 4. a second RFID tag; 5. detecting the sheet; 6. a third RFID tag; 7. a fourth RFID tag; 8. a fifth RFID tag; 301. a processor; 302. a memory; 303. a communication bus.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.
Referring to fig. 1, fig. 1 is a high-precision automatic positioning system for an OHT overhead traveling crane according to some embodiments of the present application, including a track 1 and an OHT overhead traveling crane 2 disposed on the track 1, a plurality of first RFID tags 3 for positioning the OHT overhead traveling crane 2 in real time are disposed on the track 1 at equal intervals along the extending direction of the track 1, a second RFID tag 4 for indicating the OHT overhead traveling crane 2 to decelerate is disposed on the track 1 upstream of each of the rest positions (i.e., the station positions for performing the task of loading or unloading the wafer cassette, at which the OHT overhead traveling crane 2 needs to pause moving to perform the task of loading or unloading the wafer cassette), a detection sheet 5 for indicating the OHT overhead traveling crane 2 to decelerate is disposed between each of the rest positions and the corresponding second RFID tag 4, an RFID data reader 201 and a photoelectric sensor 202 are disposed on the OHT overhead traveling crane 2, and the RFID data reader 201 is used for reading information of the RFID tags, and the detection sheet 5 is used for touching the photoelectric sensor 202 to stop after traveling forward a preset distance.
The first RFID tag 3 is used for real-time positioning, and because the RFID tag has a larger read-write distance, on one hand, the laying density of the first RFID tag 3 is smaller (the density of the first RFID tag is much lower than that of the bar code), so that the laying cost can be reduced, and on the other hand, the problems of misreading, missed reading and the like are not easy to occur, and the running stability is high; the parking control is performed in cooperation with the second RFID tag 4 and the photoelectric sensor 202, ultra-high precision positioning of the OHT crown block 2 can be achieved, and repeated stop positioning precision is improved (positioning is performed by only using the first RFID tag 3, positioning precision is low, usually more than 10mm, parking control is performed in cooperation with the second RFID tag 4 and the photoelectric sensor 202 at a parking position, and repeated stop positioning precision can reach +/-0.5 mm or less).
In some embodiments, referring to fig. 2, the oht overhead travelling crane 2 further includes a main control module 203, an IO control module 204, a motor control module 205, a communication control module 206, a steering mechanism 207, a walking servo motor 208, and an MCS system communication interface 209, where the IO control module 204, the motor control module 205, and the communication control module 206 are all electrically connected to the main control module 203, the photoelectric sensor 202 and the steering mechanism 207 are all electrically connected to the IO control module 204, the walking servo motor 208 is electrically connected to the motor control module 205, and the RFID data reader 201 and the MCS system communication interface 209 are all electrically connected to the communication control module 206.
Wherein the interval between adjacent first RFID tags 3 may be set according to actual needs. In some preferred embodiments, the spacing between adjacent first RFID tags 3 is less than the maximum read-write distance of the first RFID tags 3. Thereby guarantee that OHT overhead traveling crane 2 can detect first RFID tag 3 all the time in the motion process, avoid the location information to break, further improve the operating stability. For example, in some embodiments, the maximum read-write distance of the first RFID tag 3 is 120mm, and the interval is preferably 100mm, but is not limited thereto.
In some embodiments, see fig. 1, the track 1 comprises at least one turning section 102, a third RFID tag 6 for indicating that the OHT overhead travelling crane 2 is decelerating is arranged upstream of the turning section 102, a starting point of the turning section 102 is provided with a fourth RFID tag 7 for indicating that the OHT overhead travelling crane 2 starts to turn, and a termination point of the turning section 102 is provided with a fifth RFID tag 8 for indicating that the OHT overhead travelling crane 2 ends to turn. Before entering a curve (namely a turning section 102), the third RFID tag 6 is utilized to instruct the OHT overhead traveling crane 2 to decelerate, so that the problem that the turning speed is too high to derail or damage a track is avoided, and the fourth RFID tag 7 and the fifth RFID tag 8 are utilized to instruct the OHT overhead traveling crane 2 to timely control the steering mechanism 207 to steer and reset, so that the OHT overhead traveling crane 2 smoothly passes through the turning section 102.
Wherein the track 1 may be a single track or a double track. For example, in fig. 1, a track 1 is a double-track, and specifically includes two guide rails 101, and an oht overhead traveling crane 2 spans the two guide rails 101; the two guide rails 101 are provided with a first RFID tag 3, a second RFID tag 4, a third RFID tag 6, a fourth RFID tag 7, a fifth RFID tag 8 and a detection sheet 5, and RFID data readers 201 and photoelectric sensors 202 are arranged on two sides of the OHT crown block 2 corresponding to the two guide rails 101; the first RFID tag 3, the second RFID tag 4, the third RFID tag 6, the fourth RFID tag 7, the fifth RFID tag 8, and the detecting piece 5 on one of the guide rails 101, and the RFID data reader 201 and the photoelectric sensor 202 on the corresponding side are all standby devices (the corresponding device on the other side is a main device, and normally the main device is operated, and the standby device is not operated). By setting a set of standby equipment, when the main equipment fails, the standby equipment can be started, and the reliability of the system is improved.
Referring to fig. 3, the application provides a high-precision automatic positioning control method for an OHT overhead traveling crane, which is applied to an OHT overhead traveling crane 2 in the high-precision automatic positioning system of the OHT overhead traveling crane, and comprises the following steps:
A1. after starting, accelerating to a first preset speed and entering a speed mode to perform uniform motion;
A2. positioning in real time by the first RFID tag 3;
A3. when the second RFID tag 4 is detected, decelerating with a second preset speed as a target speed;
A4. after decelerating to the second preset speed and when the photosensor 202 is triggered, it switches to the position mode and stops after traveling forward a preset distance.
Referring to fig. 4, in the starting process, the OHT crown block 2 is gradually accelerated until the speed reaches a first preset speed, where the acceleration process may be a uniform acceleration motion or a variable acceleration motion, but when the uniform acceleration motion is performed, the acceleration is a first preset acceleration, and the first preset acceleration and the first preset speed may be set according to actual needs.
When the uniform acceleration motion is performed at the first preset acceleration, the OHT overhead travelling crane 2 can calculate a driving moment according to the current load data, the own weight data and the first preset acceleration, and then control the travelling servo motor 208 to output a corresponding moment.
When the speed is increased to the first preset speed, a speed mode (i.e., a speed control mode, which controls the speed of the walking servo motor 208) is entered and the first preset speed is maintained for uniform motion.
In the moving process of the OHT overhead travelling crane 2, the RFID data reader 201 reads information of the first RFID tag 3 along the way to perform real-time positioning, and a specific method for positioning by using the RFID data reader 201 and the RFID tag is a prior art, and details thereof are not described here.
When the second RFID tag 4 is detected (i.e., time a in fig. 4), it indicates that the OHT crown block 2 has approached the corresponding parking position, and therefore it is necessary to perform deceleration in advance, avoiding excessive deviation of the parking position due to excessive initial speed in the subsequent parking control process. The deceleration with the second preset speed as the target speed means that the speed needs to be reduced to the second preset speed. And after the speed is reduced to a second preset speed, keeping the second preset speed to do uniform motion.
When the speed has been reduced to the second preset speed and the photoelectric sensor 202 is triggered (i.e., at time b in fig. 4), it is indicated that the OHT crane 2 moves to the position where the detecting sheet 5 is located, and at this time, the position mode is switched to (i.e., the position control mode, the walking servo motor 208 is position-controlled), so that the OHT crane 2 continues to travel forward for a preset distance and then stops. The preset distance and the second preset speed can be determined in advance through debugging teaching, generally, when the second preset speed is not more than 0.5m/s and the preset distance is not more than 50mm, the deviation between the actual distance of forward travel of the OHT overhead travelling crane 2 after the OHT overhead travelling crane is switched to a position mode and the preset distance is within +/-0.5 mm, after the debugging teaching determines that the preset distance and the second preset speed are well, the detecting sheet 5 is arranged at a position which is positioned at the upstream of the corresponding stopping position and has the distance of the preset distance from the stopping position, so that in the actual working process, the position error of the final stopping position and the stopping position can be within +/-0.5 mm only by controlling the OHT overhead travelling crane 2 to be decelerated to the second preset speed before the detecting sheet 5 is detected and switching to the position mode and advancing the preset distance after the detecting sheet 5 is detected.
Sometimes, due to a fault or other reasons, when the photoelectric sensor 202 is triggered, the speed is not reduced to a second preset speed, and an emergency stop program is entered and an alarm is given; thus, step A3 further comprises, after:
when the photosensor 202 is triggered and does not slow down to a second preset speed, an emergency stop procedure is entered and an alarm is given.
After entering the emergency stop program, braking is performed with the maximum braking force to decelerate the OHT overhead traveling crane 2 until stopping.
When there is a turning section 102 of the track 1, turning control is further required, and referring to fig. 5, in some embodiments, the method for high-precision automatic positioning control of the OHT overhead travelling crane further includes the steps of:
A5. when the third RFID tag 6 is detected, decelerating with a third preset speed as a target speed;
A6. after decelerating to the third preset speed and when the fourth RFID tag 7 is detected, controlling the steering mechanism 207 to steer to achieve turning;
A7. upon detection of the fifth RFID tag 8, the steering mechanism 207 is controlled to reset.
When a third RFID tag 6 is detected (i.e. at time c in fig. 5), it is indicated that the OHT overhead travelling crane 2 is about to enter the turn section 102, so that it is necessary to slow down in advance, avoiding too fast a turn speed; wherein, the speed reduction with the third preset speed as the target speed means that the speed needs to be reduced to the third preset speed. And after the speed is reduced to the third preset speed, keeping the third preset speed to do uniform motion. The third preset speed can be set according to actual needs.
When the fourth RFID tag 7 is detected (time d in fig. 5), indicating traveling to the start point of the turning section 102, if it has been decelerated to the third preset speed at this time, the steering mechanism 207 is controlled to steer to make a turn. The turning maintaining speed is a third preset speed.
When the fifth RFID tag 8 is detected (at time e in fig. 5), it indicates the end point of traveling to the turn section 102, and at this time, the steering mechanism 207 is controlled to be reset, so that the OHT overhead travelling crane 2 moves straight forward.
Further, in step A7, after the steering mechanism 207 is reset, the first preset speed is used as the target speed to accelerate, and after the first preset speed is accelerated, the first preset speed is kept to perform uniform motion.
Sometimes, due to a fault or other reasons, the fourth RFID tag 7 is detected, but has not yet slowed down to a third preset speed, at which time an emergency stop procedure is entered and an alarm is given; thus, after step A5, the steps further include:
A8. when the fourth RFID tag 7 is detected and does not decelerate to the third preset speed, an emergency stop procedure is entered and an alarm is given.
From the above, the high-precision automatic positioning control method for the OHT overhead crane comprises the following steps: after starting, accelerating to a first preset speed and entering a speed mode to perform uniform motion; positioning in real time by the first RFID tag 3; when the second RFID tag 4 is detected, decelerating with a second preset speed as a target speed; after decelerating to the second preset speed and when the photosensor 202 is triggered, switching to the position mode and stopping after traveling forward a preset distance; therefore, the repeated stop positioning precision can be improved, the label laying cost can be reduced, and the running stability can be improved.
Referring to fig. 6, fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application, where the electronic device includes: a processor 301 and a memory 302, the processor 301 and the memory 302 being interconnected and in communication with each other by a communication bus 303 and/or other form of connection mechanism (not shown), the memory 302 storing a computer program executable by the processor 301, the processor 301 executing the computer program when the electronic device is running to perform the method of high precision automatic positioning control of an OHT crown block in any of the alternative implementations of the above embodiments to perform the following functions: after starting, accelerating to a first preset speed and entering a speed mode to perform uniform motion; positioning in real time by the first RFID tag 3; when the second RFID tag 4 is detected, decelerating with a second preset speed as a target speed; after decelerating to the second preset speed and when the photosensor 202 is triggered, it switches to the position mode and stops after traveling forward a preset distance.
The embodiment of the application provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, performs the high-precision automatic positioning control method of the OHT overhead travelling crane in any optional implementation manner of the above embodiment, so as to realize the following functions: after starting, accelerating to a first preset speed and entering a speed mode to perform uniform motion; positioning in real time by the first RFID tag 3; when the second RFID tag 4 is detected, decelerating with a second preset speed as a target speed; after decelerating to the second preset speed and when the photosensor 202 is triggered, it switches to the position mode and stops after traveling forward a preset distance. The computer readable storage medium may be implemented by any type or combination of volatile or non-volatile Memory devices, such as static random access Memory (Static Random Access Memory, SRAM), electrically erasable Programmable Read-Only Memory (EEPROM), erasable Programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), programmable Read-Only Memory (PROM), read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk, or optical disk.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
Further, the units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
Furthermore, functional modules in various embodiments of the present application may be integrated together to form a single portion, or each module may exist alone, or two or more modules may be integrated to form a single portion.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and variations will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. The utility model provides an OHT overhead traveling crane high accuracy automatic positioning system, includes track (1) and sets up OHT overhead traveling crane (2) on track (1), its characterized in that, follow on track (1) the extending direction of track (1) equidistant is provided with a plurality of first RFID label (3) that are used for carrying out real-time location to OHT overhead traveling crane (2), be located the second RFID label (4) that every rest position was located on track (1) department all is provided with one and is used for instructing OHT overhead traveling crane (2) to slow down, be located on track (1) every rest position and corresponding between second RFID label (4) all be provided with check out piece (5), be provided with RFID data read write ware (201) and photoelectric sensor (202) on OHT overhead traveling crane (2), RFID data read write ware (201) are used for reading the information of RFID label, check out piece (5) are used for triggering photoelectric sensor (202) are in order to point out OHT overhead traveling crane (2) and advance and stop the distance after predetermineeing.
2. The OHT overhead travelling crane high precision automatic positioning system according to claim 1, characterized in that the spacing between adjacent first RFID tags (3) is smaller than the maximum read-write distance of the first RFID tags (3).
3. The OHT crown block high precision automatic positioning system according to claim 1, characterized in that the track (1) comprises at least one turning section (102), a third RFID tag (6) for indicating the OHT crown block (2) to decelerate is provided upstream of the turning section (102), a starting point of the turning section (102) is provided with a fourth RFID tag (7) for indicating the OHT crown block (2) to start turning, and a termination point of the turning section (102) is provided with a fifth RFID tag (8) for indicating the OHT crown block (2) to end turning.
4. An OHT overhead travelling crane high precision automatic positioning system according to claim 3, characterized in that the track (1) comprises two guide rails (101), the OHT overhead travelling crane (2) straddling two of the guide rails (101); the two guide rails (101) are provided with the first RFID tag (3), the second RFID tag (4), the third RFID tag (6), the fourth RFID tag (7), the fifth RFID tag (8) and the detection sheet (5), and the two sides of the OHT crown block (2) corresponding to the two guide rails (101) are provided with the RFID data reader-writer (201) and the photoelectric sensor (202); the first RFID tag (3), the second RFID tag (4), the third RFID tag (6), the fourth RFID tag (7), the fifth RFID tag (8) and the detection piece (5) on one guide rail (101), and the RFID data reader (201) and the photoelectric sensor (202) on the corresponding side are all standby devices.
5. An OHT overhead travelling crane high precision automatic positioning control method, characterized in that the OHT overhead travelling crane (2) applied to the OHT overhead travelling crane high precision automatic positioning system according to claim 3 or 4, comprises the steps of:
A1. after starting, accelerating to a first preset speed and entering a speed mode to perform uniform motion;
A2. positioning in real time by means of the first RFID tag (3);
A3. when the second RFID tag (4) is detected, decelerating by taking a second preset speed as a target speed;
A4. after decelerating to a second preset speed and when the photosensor (202) is triggered, switching to a position mode and stopping after traveling forward a preset distance.
6. The OHT overhead travelling crane high-precision automatic positioning control method according to claim 5, wherein the second preset speed is not more than 0.5m/s, and the preset distance is not more than 50mm.
7. The high-precision automatic positioning control method of an OHT overhead traveling crane according to claim 5, further comprising the steps of:
A5. when the third RFID tag (6) is detected, decelerating by taking a third preset speed as a target speed;
A6. after decelerating to a third preset speed and detecting the fourth RFID tag (7), controlling a steering mechanism to steer so as to realize turning;
A7. and when the fifth RFID tag (8) is detected, controlling the steering mechanism to reset.
8. The high-precision automatic positioning control method of an OHT overhead traveling crane according to claim 7, further comprising, after step A5, the steps of:
A8. and when the fourth RFID tag (7) is detected and is not decelerated to a third preset speed, entering an emergency stop program and alarming.
9. An electronic device comprising a processor and a memory, the memory storing a computer program executable by the processor, when executing the computer program, running the steps in the high precision automatic positioning control method of an OHT overhead travelling crane according to any one of claims 5-8.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, runs the steps in the high-precision automatic positioning control method of an OHT overhead travelling crane according to any one of claims 5-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311401007.XA CN117131884A (en) | 2023-10-26 | 2023-10-26 | High-precision automatic positioning system, control method and related equipment for OHT crown block |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311401007.XA CN117131884A (en) | 2023-10-26 | 2023-10-26 | High-precision automatic positioning system, control method and related equipment for OHT crown block |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117131884A true CN117131884A (en) | 2023-11-28 |
Family
ID=88863194
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311401007.XA Pending CN117131884A (en) | 2023-10-26 | 2023-10-26 | High-precision automatic positioning system, control method and related equipment for OHT crown block |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117131884A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117284939A (en) * | 2023-11-24 | 2023-12-26 | 泓浒(苏州)半导体科技有限公司 | Speed control system and method for intelligent automatic wafer conveying device |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202058039U (en) * | 2011-04-23 | 2011-11-30 | 山东电力研究院 | Combined positioning system for substation intelligent inspection robot with integrated multi-sensors |
| CN104089623A (en) * | 2014-07-14 | 2014-10-08 | 上海海事大学 | System and method for generating driving state and path of transportation vehicle |
| CN206258733U (en) * | 2015-11-13 | 2017-06-16 | 深圳市步科电气有限公司 | AGV dollies |
| CN107203209A (en) * | 2017-04-26 | 2017-09-26 | 西安理工大学 | The guider and control method of a kind of less radio-frequency automatic guide vehicle |
| CN107450549A (en) * | 2017-08-25 | 2017-12-08 | 英华达（上海）科技有限公司 | A kind of AGV control systems and control method, AGV system |
| CN108227719A (en) * | 2018-01-31 | 2018-06-29 | 浙江国自机器人技术有限公司 | A kind of mobile robot in-placing precision control method, system, medium and equipment |
| CN109598165A (en) * | 2018-12-05 | 2019-04-09 | 华南农业大学 | A kind of railcar positioning system and method based on the bis- readers of high-frequency RF ID |
| CN110126887A (en) * | 2019-05-29 | 2019-08-16 | 江苏飞梭智行设备有限公司 | A method of improving vehicle turning merger efficiency |
| CN112034838A (en) * | 2019-10-04 | 2020-12-04 | 罗匡臣 | Intelligent food delivery train system |
| CN113562034A (en) * | 2020-04-28 | 2021-10-29 | 盟立自动化股份有限公司 | Anti-collision control method and rail car control system |
| US20220348415A1 (en) * | 2021-04-30 | 2022-11-03 | Taiwan Semiconductor Manufacturing Company, Ltd. | Automated material handling system (amhs) rail methodology |
| KR20230101646A (en) * | 2021-12-29 | 2023-07-06 | 세메스 주식회사 | Article Transferring apparatus Method for tag marking using the same |
| CN116620755A (en) * | 2023-05-11 | 2023-08-22 | 广东舜储智能装备有限公司 | Shuttle vehicle, control method and device thereof, and scheduling method and device |
| CN116820091A (en) * | 2023-05-29 | 2023-09-29 | 江苏道达智能科技有限公司 | Control method for reducing performance requirements of OHT positioning hardware |
-
2023
- 2023-10-26 CN CN202311401007.XA patent/CN117131884A/en active Pending
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202058039U (en) * | 2011-04-23 | 2011-11-30 | 山东电力研究院 | Combined positioning system for substation intelligent inspection robot with integrated multi-sensors |
| CN104089623A (en) * | 2014-07-14 | 2014-10-08 | 上海海事大学 | System and method for generating driving state and path of transportation vehicle |
| CN206258733U (en) * | 2015-11-13 | 2017-06-16 | 深圳市步科电气有限公司 | AGV dollies |
| CN107203209A (en) * | 2017-04-26 | 2017-09-26 | 西安理工大学 | The guider and control method of a kind of less radio-frequency automatic guide vehicle |
| CN107450549A (en) * | 2017-08-25 | 2017-12-08 | 英华达（上海）科技有限公司 | A kind of AGV control systems and control method, AGV system |
| CN108227719A (en) * | 2018-01-31 | 2018-06-29 | 浙江国自机器人技术有限公司 | A kind of mobile robot in-placing precision control method, system, medium and equipment |
| CN109598165A (en) * | 2018-12-05 | 2019-04-09 | 华南农业大学 | A kind of railcar positioning system and method based on the bis- readers of high-frequency RF ID |
| CN110126887A (en) * | 2019-05-29 | 2019-08-16 | 江苏飞梭智行设备有限公司 | A method of improving vehicle turning merger efficiency |
| CN112034838A (en) * | 2019-10-04 | 2020-12-04 | 罗匡臣 | Intelligent food delivery train system |
| CN113562034A (en) * | 2020-04-28 | 2021-10-29 | 盟立自动化股份有限公司 | Anti-collision control method and rail car control system |
| US20220348415A1 (en) * | 2021-04-30 | 2022-11-03 | Taiwan Semiconductor Manufacturing Company, Ltd. | Automated material handling system (amhs) rail methodology |
| KR20230101646A (en) * | 2021-12-29 | 2023-07-06 | 세메스 주식회사 | Article Transferring apparatus Method for tag marking using the same |
| CN116620755A (en) * | 2023-05-11 | 2023-08-22 | 广东舜储智能装备有限公司 | Shuttle vehicle, control method and device thereof, and scheduling method and device |
| CN116820091A (en) * | 2023-05-29 | 2023-09-29 | 江苏道达智能科技有限公司 | Control method for reducing performance requirements of OHT positioning hardware |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117284939A (en) * | 2023-11-24 | 2023-12-26 | 泓浒(苏州)半导体科技有限公司 | Speed control system and method for intelligent automatic wafer conveying device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN117131884A (en) | High-precision automatic positioning system, control method and related equipment for OHT crown block | |
| JP4775650B2 (en) | Mobile equipment | |
| CN107168316B (en) | Multi-AGV dispatching system based on single-direction and two-direction mixed paths | |
| CN108408346B (en) | Article carrying apparatus | |
| JP4281067B2 (en) | Transport vehicle system | |
| JP2007323112A (en) | Collision prevention controller and method for transport device | |
| JP2018036723A (en) | Article delivery facilities | |
| CN116960040B (en) | Air transport vehicle control method, system, electronic equipment and storage medium | |
| JP2009107753A (en) | Method for preventing collision of conveying vehicle | |
| CN116820091A (en) | Control method for reducing performance requirements of OHT positioning hardware | |
| JPH11305837A (en) | Device for preventing collision of automatically guided vehicle | |
| WO2022142838A1 (en) | Method, device and system for controlling traveling of logistics shuttle robot | |
| CN113879366B (en) | Block departure mode switching method and device | |
| CN116620755A (en) | Shuttle vehicle, control method and device thereof, and scheduling method and device | |
| ES2893156T3 (en) | Conveyor system, method of operating a conveyor system, and flow devices for use on such a conveyor system | |
| KR102606070B1 (en) | Transport apparatus and control method thereof | |
| CN113651045A (en) | Synchronous operation control system for self-propelled trolleys | |
| CN112849895A (en) | Shuttle rail changing-based scheduling method and device | |
| CN205090940U (en) | Intelligent positional detection sensor can encode | |
| CN114212432A (en) | Photoelectric positioning system applied to warehouse four-way shuttle | |
| CN117284939B (en) | Speed control system and method for intelligent automatic wafer conveying device | |
| CN113306941A (en) | Self-learning positioning structure and method of storage and carrying robot | |
| CN217674774U (en) | Photoelectric positioning system applied to warehouse four-way shuttle | |
| DE102017221213A1 (en) | Transport goods carrier, transport system and method for transporting a cargo using a driving control | |
| JPH03143805A (en) | Stop position deciding device for stacker crane |
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 |