CN117181633A

CN117181633A - Sorting method and sorting system for detected objects

Info

Publication number: CN117181633A
Application number: CN202311051174.6A
Authority: CN
Inventors: 池峰; 苗伟; 方永明
Original assignee: Guoli Zhizao Shanghai Technology Co ltd
Current assignee: Guoli Zhizao Shanghai Technology Co ltd
Priority date: 2023-08-18
Filing date: 2023-08-18
Publication date: 2023-12-08

Abstract

The embodiment of the application discloses a method and a system for sorting detection objects, wherein the method comprises the following steps: when a material moving device clamps a detection object, first identification information corresponding to the detection object is obtained, second identification information corresponding to the rotor is obtained based on the stator, a target rotor matched with the detection object is determined based on the second identification information and the first identification information, the stator is controlled to move the target rotor to a preset station, and the material moving device is controlled to place the detection object in a target bearing box of the target rotor. The embodiment of the application can finish sorting of various detection objects on one conveying line body, saves the occupied area of the conveying line body for sorting the various detection objects, and simultaneously saves the deployment cost for sorting the various detection objects due to the use of a smaller number of conveying line bodies.

Description

Sorting method and sorting system for detected objects

Technical Field

The application relates to the technical field of material sorting, in particular to a sorting method and a sorting system for detection objects.

Background

In the field of conveying semiconductor materials, linear motor wire bodies can be adopted to realize conveying of the materials. When sorting different kinds of materials, a linear motor wire body can be used for corresponding to one sorting machine to finish sorting single material. When the materials of multiple types need to be sorted together, multiple linear motor lines and multiple sorters can be arranged to sort simultaneously, and when multiple linear motor lines are arranged to bear different types of materials, the corresponding occupied area is increased. Therefore, how to reduce the floor space of the conveyor line body is a technical problem to be solved when conveying a plurality of kinds of materials for sorting.

Disclosure of Invention

The embodiment of the application provides a sorting method and a sorting system for detecting objects, which can finish sorting of various detecting objects on one conveying line body, so that the occupied area of the conveying line body for sorting various detecting objects is saved. The technical scheme is as follows:

in a first aspect, an embodiment of the present application provides a sorting method for a detected object, which is applied to a sorting system, where the sorting system includes a conveying line body and a material transferring device, the conveying line body is configured with a plurality of stators and at least one mover, the plurality of stators are arranged along a conveying direction to form at least one conveying track, the stators are used for driving the mover to convey the detected object along the conveying track, and a carrying box for carrying the detected object is configured on the mover, and the method includes:

when a material moving device clamps a detection object, acquiring first identification information corresponding to the detection object, and acquiring second identification information corresponding to the rotor based on the stator;

determining a target mover matched with the detection object based on the second identification information and the first identification information;

and controlling the stator to move the target rotor to a preset station, and controlling the material moving device to place the detection object in a target bearing box of the target rotor.

In a second aspect, an embodiment of the present application provides a sorting system, where the sorting system includes a controller, a conveying line body and a material transferring device, the conveying line body is configured with a plurality of stators and at least one mover, the plurality of stators are arranged along a conveying direction to form at least one conveying track, the stators are used for driving the mover to convey a detected object along the conveying track, and a carrying box for carrying the detected object is configured on the mover;

the material moving device is used for clamping the detection object on the bearing box or placing the detection object in a target bearing box of the target rotor;

the stator is used for acquiring second identification information corresponding to the rotor;

the controller is used for acquiring first identification information corresponding to a detected object when the material moving device clamps the detected object, acquiring second identification information corresponding to the rotor based on the stator, determining a target rotor matched with the detected object based on the second identification information and the first identification information, and controlling the stator to move the target rotor to a preset station.

In a third aspect, an embodiment of the present application provides a sorting apparatus for a sorting system, the sorting system including a conveying line body and a material moving device, the conveying line body being configured with a plurality of stators and at least one mover, the plurality of stators being arranged along a conveying direction to form at least one conveying track, the stators being configured to drive the mover to convey a detected object along the conveying track, the mover being configured with a carrying case for carrying the detected object, the apparatus comprising:

The information acquisition module is used for acquiring first identification information corresponding to the detection object when the detection object is clamped by the material moving device, and acquiring second identification information corresponding to the rotor based on the stator;

the information matching module is used for determining a target mover matched with the detection object based on the second identification information and the first identification information;

the movement control module is used for controlling the stator to move the target rotor to a preset station and controlling the material moving device to place the detection object in a target bearing box of the target rotor

In a fourth aspect, embodiments of the present application provide a computer storage medium having a plurality of instructions adapted to be loaded by a processor and to perform the above-described method steps.

The technical scheme provided by the embodiment of the application has the beneficial effects that at least:

in the embodiment of the application, the sorting system comprises a conveying line body and a material moving device, wherein the conveying line body is provided with a plurality of stators and at least one rotor, the stators are arranged along the conveying direction to form at least one conveying track, the stators are used for driving the rotors to convey the detection objects along the conveying track, the rotor is provided with a bearing box for bearing the detection objects, when the material moving device clamps the detection objects, first identification information corresponding to the detection objects is obtained, second identification information corresponding to the rotors is obtained based on the stators, a target rotor matched with the detection objects is determined based on the second identification information and the first identification information, the stators are controlled to move the target rotor to a preset station, and the material moving device is controlled to place the detection objects in the target bearing box of the target rotor. According to the embodiment of the application, when the material moving device clamps the detection objects, the target mover matched with the detection objects can be determined according to the identification information corresponding to the detection objects and the identification corresponding to the mover, and then the detection objects are placed on the target mover to finish the separation process of the detection objects, so that the separation of multiple types of detection objects can be finished on one conveying line body, the occupied area of the conveying line body for separating the multiple types of detection objects is saved, and meanwhile, the deployment cost for separating the multiple types of detection objects is also saved due to the fact that fewer conveying line bodies are used.

Drawings

In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are necessary for the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application and that other drawings may be obtained from them without inventive effort for a person skilled in the art.

Fig. 1 is a schematic view of a scenario of a sorting method for a detection object according to an embodiment of the present application;

FIG. 2 is a schematic flow chart of a method for sorting a test object according to an embodiment of the present application;

FIG. 3 is a flow chart of another method for sorting a test object according to an embodiment of the present application;

fig. 4 is a flow chart of a method for generating mover identification information according to an embodiment of the present application;

FIG. 5 is a schematic diagram of a sorting system according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of a connection device and a conveying line body according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of an auxiliary conveying line body and a conveying line body according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of a sorting apparatus for detecting objects according to an embodiment of the present application.

Detailed Description

In order to make the objects, features and advantages of the embodiments of the present application more obvious and understandable, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

In the description of the present application, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present application, it should be noted that, unless expressly specified and limited otherwise, "comprise" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art. Furthermore, in the description of the present application, unless otherwise indicated, "a plurality" means two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship.

The present application will be described in detail with reference to specific examples.

Fig. 1 is a schematic view of a scenario of a method for sorting a detection object according to an embodiment of the present application.

As shown in fig. 1, a conveyor line body 120 and a transfer device 130 may be included.

The transfer line body 120 may be composed of a plurality of stators 121 and a plurality of movers 122. The plurality of stators 121 are arranged along the conveying direction to form at least one conveying track.

The stator 121 is used to drive the mover 122 to transport the detection object along the conveying track.

The mover 122 is provided with a cassette 1221 for carrying a detection object. The carrying case 1221 has a plurality of placement layers arranged in the vertical direction, each of which can be used to place a test object.

The material transferring device 130 is used for clamping the detection object. The transfer device 130 may be used to take the test object holder out of the cassette 1221 or to take the test object holder into the cassette 1221.

The principle of the stator 121 driving the mover 122 to transfer the detection object will be described.

The stator 121 may include an armature winding, in which a plurality of coils arranged in phase sequence are disposed, and the armature winding is periodically energized to change a magnetic field around the armature winding, so as to achieve the purpose of driving the mover 122 to move. For example, the mover 122 may be provided with a permanent magnet array that generates a constant magnetic field around the mover 122, and when the direction of the current and/or the magnitude of the current flowing through the coils in the armature winding are changed, a variable magnetic field may be generated around the armature winding, and the variable magnetic field interacts with the constant magnetic field to drive the mover 122 to move relative to the stator 121.

The mover 122 is not limited to the permanent magnet array to be engaged with the stator 121, and the mover 122 may be a coil or the like to be engaged with the stator 121 by a changing magnetic field around the mover 122 and a changing magnetic field around the stator 121, which is not limited to this.

Referring to fig. 2, a flow chart of a sorting method of a detected object according to an embodiment of the application is shown, and the method may be performed by the controller 110 in fig. 5. As shown in fig. 2, the method according to the embodiment of the present application may include the following steps:

s201, when the material moving device clamps the detection object, acquiring first identification information corresponding to the detection object, and acquiring second identification information corresponding to the rotor based on the stator.

It is readily understood that the transfer device may refer to a device for gripping the test object. For example, the transfer device may be a robot.

The detection object may refer to a specifically shaped object made of a semiconductor material. For example, the inspection object according to the embodiments of the present application may refer to a wafer, i.e., a silicon wafer.

The first identification information may refer to identification information for distinguishing the kind of the detection object. Specifically, for the detection objects with different sizes, the types of the detection objects can be classified into the sizes, and for the detection objects with different sizes, the first identification information can refer to identification information including the sizes of the detection objects. Taking a wafer as an example, the wafer may include four types of wafers of 4 inches, 6 inches, 8 inches, and 12 inches, the 4 inches of wafer may be identified with "a", the 6 inches of wafer may be identified with "B", the 8 inches of wafer may be identified with "C", the 10 inches of wafer may be identified with "D", then the first identification information corresponding to the 4 inches of wafer may refer to the identification information including a, the first identification information corresponding to the 6 inches of wafer may refer to the identification information including B, the first identification information corresponding to the 8 inches of wafer may refer to the identification information including C, and the first identification information corresponding to the 10 inches of wafer may refer to the identification information including D. Alternatively, for a test object of the same size specification and different mass types, the first identification information may refer to identification information containing the mass type of the test object and the size specification of the test object. Along with the 4-inch wafers listed above, the quality type of the wafer may include a pass type and a fail type, and if the pass type may be identified using "1" and the fail type may be identified using "2", the first identification information corresponding to the 4-inch wafer of the pass type may refer to the identification information including "A1", and the first identification information corresponding to the 4-inch wafer of the fail type may refer to the identification information including "A2".

The stator can be used for being matched with the rotor to realize the conveying of the detection object. The active cell can be used for bearing a detection object. In the conveying process of the detection object, the stator can be relatively fixed, and the rotor can move relative to the stator to realize conveying of the detection object. For example, the stator may include an armature winding, in which a plurality of coils arranged in phase sequence may be disposed, and the armature winding is periodically energized to change a magnetic field around the armature winding, so as to achieve the purpose of driving the mover to move. For example, the mover may be provided with a permanent magnet array which generates a constant magnetic field at the periphery of the mover, and a varying magnetic field may be generated around the armature winding when the direction of energization of the coils and/or the magnitude of the energization current within the armature winding is varied, the varying magnetic field interacting with the constant magnetic field to drive the mover in motion relative to the stator. The mover is not limited to the permanent magnet array, and may be a coil or the like, so that the mover can move relative to the stator by the cooperation of the changing magnetic field around the mover and the changing magnetic field around the stator.

The second identification information may refer to identification information for distinguishing different movers, and may include kind information of a detection object transmitted by the movers and status information of a carrying case configured on the movers. Specifically, the kind information of the detection object may refer to the size specification of the detection object, and may refer to the size specification and the quality type of the detection object. The state information of the carrying case may refer to state information corresponding to each of a plurality of placement layers of the carrying case, and the state information corresponding to the placement layers may include two kinds of state information, one may be state information of a placed detection object, and the other may be state information of an undeposited detection object.

In some embodiments, the transfer device holds the test object, and it is understood that the transfer device may take the test object from the preset carrying box and hold the test object. The preset bearing box can be a bearing box placed beside the conveying line body, and the detection objects stored in the preset bearing box can be detection objects to be sorted to corresponding movers for conveying. Or, the preset carrying box can be a carrying box placed on the appointed rotor on the conveying line body, and the detection objects stored in the preset carrying box can be detection objects to be sorted to the corresponding rotor for conveying.

The controller may read the first identification information corresponding to the detected object through a radio frequency identification tag configured on the detected object. The first identification information may be preset for the type of the detected object, and then stored in a radio frequency identification tag configured on the detected object.

Based on the stator obtaining the second identification information corresponding to the rotor, it can be understood that the controller can receive the second identification information corresponding to the rotor sent by the stator. The second identification information sent by the stator can be the second identification information corresponding to the stator, wherein the second identification information is obtained by identifying the rotor by the stator.

S202, determining a target mover matched with the detection object based on the second identification information and the first identification information.

In some embodiments, after acquiring the first identification information corresponding to the detection object and the second identification information corresponding to the mover, the controller may determine a first class of the detection object according to the first identification information, may determine a second class of the detection object transmitted by each mover according to the second identification information, and when the second class is identical to the first class, may determine the mover corresponding to the second class as a target mover matched with the detection object.

S203, controlling the stator to move the target rotor to a preset station, and controlling the material moving device to place the detection object in a target bearing box of the target rotor.

It is easy to understand that the preset stations may refer to designated stations corresponding to different movers on the conveying line body.

In some embodiments, the control stator moves the target mover to a preset station, and it may be understood that the controller may control the stator to drive the target mover to move the target mover to a preset station corresponding to the target mover. The material moving device is controlled to place the detection object in the target bearing box of the target rotor, which can be understood as determining a target placement layer meeting the preset state in the target bearing box of the target rotor according to the second identification information corresponding to the target rotor, and the material moving device is controlled to place the detection object in the target placement layer.

In the embodiment of the application, the sorting system comprises a conveying line body and a material moving device, wherein the conveying line body is provided with a plurality of stators and at least one rotor, the stators are arranged along the conveying direction to form at least one conveying track, the stators are used for driving the rotors to convey the detection objects along the conveying track, the rotor is provided with a bearing box for bearing the detection objects, when the material moving device clamps the detection objects, first identification information corresponding to the detection objects is obtained, second identification information corresponding to the rotors is obtained based on the stators, a target rotor matched with the detection objects is determined based on the second identification information and the first identification information, the stators are controlled to move the target rotor to a preset station, and the material moving device is controlled to place the detection objects in the target bearing box of the target rotor. According to the embodiment of the application, when the material moving device clamps the detection objects, the target mover matched with the detection objects can be determined according to the identification information corresponding to the detection objects and the identification information corresponding to the movers, and then the detection objects are placed on the target mover to finish the separation process of the detection objects, so that the separation of multiple types of detection objects can be finished on one conveying line body, the occupied area of the conveying line body for separating the multiple types of detection objects is saved, and meanwhile, the deployment cost for separating the multiple types of detection objects is also saved due to the fact that fewer conveying line bodies are used.

Referring to fig. 3, a flow chart of a sorting method of a detected object according to an embodiment of the application is shown, and the method may be performed by the controller 110 in fig. 5. As shown in fig. 3, the method according to the embodiment of the present application may include the following steps:

s301, when the material moving device clamps the detection object, initial identification information corresponding to the detection object is obtained, and a detection result corresponding to the detection object is obtained.

It is to be readily understood that the initial identification information may refer to identification information for identifying the uniqueness of the detection object.

The detection result may include at least one of size information and quality information. When the detection result includes size information, the initial identification information may be a unique code for distinguishing the detection object. When the detection result includes quality information, the initial identification information may include a unique code for distinguishing the detection object from size information of the detection object. When the detection result includes size information and quality information, the initial identification information may be a unique code for distinguishing the detection object.

The size information may refer to the size specification of the test object. Taking a wafer as an example, the wafer size information may include four dimensional specifications of 4 inches, 6 inches, 8 inches, and 12 inches.

Quality information may refer to the quality classification of the test object. Taking a wafer as an example, the quality information of the wafer may include a pass classification and a fail classification.

In some embodiments, when the material moving device clamps the detection object, the controller may read initial identification information corresponding to the detection object through a radio frequency identification tag configured on the detection object, and the controller may obtain a detection result corresponding to the detection object from the data table. The data table may store detection results corresponding to the plurality of detection objects. The controller can inquire the detection result corresponding to the initial identification information in the data table according to the initial identification information of the detected object clamped by the material moving device, wherein the detection result is the detection result of the detected object clamped by the material moving device.

S302, based on the detection result and the initial identification information, generating first identification information corresponding to the detection object.

It is easy to understand that the first identification information may include a detection result and initial identification information.

In some embodiments, the detection result of one detection object and the initial identification information may be combined to generate the first identification information corresponding to the detection object. When the initial identification information is stored in the radio frequency identification tag configured on the detection object, the initial identification information may be updated to the first identification information, that is, the first identification information is stored in the radio frequency identification tag.

S303, acquiring second identification information corresponding to each mover based on the stator.

In some embodiments, the controller may receive the second identification information respectively corresponding to all the movers transmitted by the stator. The stator can acquire second identification information corresponding to the movers respectively, and further, the stator can send the second identification information of the movers to the controller.

Optionally, please refer to a flow chart of a method for generating the mover identification information shown in fig. 4.

As shown in fig. 4, the method for generating the second identification information of the mover may include the steps of:

s401, acquiring third identification information corresponding to the rotor based on the stator.

The third identification information may include a detection result of the detection object transferred by the mover. Specifically, the detection result of the detection object may be referred to the description in S301 in the embodiment shown in fig. 3, and will not be described herein.

In some embodiments, the controller may receive third identification information respectively corresponding to at least one mover transmitted by the stator. And the third identification information sent by the stator can be the third identification information which is obtained by identifying at least one rotor on the conveying line body by the stator and corresponds to the obtained rotor.

S402, acquiring box identification information of a bearing box of the mover.

The box identification information may include storage state information respectively corresponding to the placement layers in the bearing box and position information respectively corresponding to the placement layers. The storage state information corresponding to the placement layer can comprise two types of state information, wherein one type of state information can be storage state information of the placed detection object, and the other type of state information can be state information of the non-placed detection object. The position information corresponding to the placement layer may refer to layer number information of the placement layer in the carrying case.

In a possible embodiment, the carrying case may be mounted with a radio frequency identification tag, and the controller may be when executing the obtaining of the case identification information of the carrying case of the mover:

a1: sub-state information respectively corresponding to the placement layers of the bearing boxes is obtained based on the radio frequency identification tag, and box identification information of the bearing boxes of the rotor is generated based on the sub-state information.

The sub-state information may include layer number information corresponding to the placement layer and storage state information corresponding to the placement layer. The radio frequency identification tag can acquire layer number information and storage state information corresponding to each placement layer in the bearing box, the radio frequency identification tag can send the layer number information and the storage state information corresponding to each placement layer to the controller, the controller can determine the layer number information and the storage state information corresponding to each placement layer as sub-state information corresponding to the placement layer of the bearing box, and the controller can combine the sub-state information to obtain box identification information of the bearing box of the rotor.

In still another possible implementation manner, the carrying case is provided with a preset sensor, and the controller may be when executing obtaining the case identification information of the carrying case of the mover:

b1: acquiring storage state information corresponding to the placement layers of the bearing boxes respectively based on a preset sensor;

the preset sensor may be a sensor for detecting whether the detection object is placed on the placement layer. For example, the preset sensor may be a position sensor, a pressure sensor, or the like. One of the carrying boxes can be provided with a preset sensor with the same number as that of the placement layers, and one preset sensor can be used for measuring sensor identification information of one placement layer.

Specifically, the controller determines a detection result type corresponding to the mover based on the third identification information, determines the detection result type as an array element of the bearing box, obtains sensor identification information corresponding to the placement layers of the bearing box respectively based on a preset sensor, determines the sensor identification information as a first index, and generates storage state information corresponding to the placement layers of the bearing box respectively based on the array element and the first index.

Since the third identification information may include the kind information of the detection object transmitted by the mover, the controller may determine the kind information of the detection object in the third identification information as the detection result type corresponding to the mover, and further the controller may determine the detection result type as an array element of the carrying case. For example, the type information of the detection object transmitted by a certain mover is: a 4 inch wafer of a qualified type; the third identification information corresponding to the mover contains "A1" for indicating 4 inches and "1" for indicating a qualified type. Thus, the controller may determine "A1" as an array element of the carrying case of the mover.

The sensor identification information may include both null and non-null identification information. When the sensor identification information is empty, the sensor identification information can be represented by "1", the first index can be [1], the storage state information corresponding to the placement layers respectively can be A1[1], and the storage state information of the placed detection object can be represented. When the sensor identification information is not empty, the sensor identification information can be represented by 0, the first index can be 0, the storage state information corresponding to the placement layers respectively can be A1 0, and the storage state information without the detection object can be represented.

B2: acquiring position information corresponding to the placement layers respectively;

specifically, the controller acquires a plurality of first movers with the same detection result type, sorts the plurality of first movers according to the conveying direction, determines the arrangement sequence of the first movers as a second index, acquires position information of preset stations corresponding to the first movers respectively, determines the position information of the preset stations as a third index, acquires layer number information corresponding to the placement layers respectively, determines the layer number information as a fourth index, and generates position information corresponding to the placement layers respectively based on the second index, the third index and the fourth index.

Since the conveying line body can comprise a plurality of movers, the plurality of movers can comprise a plurality of first movers for conveying the same detection result type. The controller may sort the plurality of first movers according to a conveying direction of the conveying line body, and determine an arrangement order of the first movers as the second index. For example, the second index may be represented using "n".

Because the mover moves to the preset station and the carrying box also moves the follower to the preset station, the position information of the preset station can be determined as a third index, and the third index can represent the position information of the carrying box. The position information of the preset station can be represented by using the coordinate position of the preset station in a plane coordinate system. For example, the third index may be represented using "x, y".

Because the bearing box comprises a plurality of placement layers, the layer number of each placement layer, namely the layer number information corresponding to each placement layer, can be determined to be a fourth index, and the fourth index can be used for indicating the layer number of the placement layers in the bearing box. For example, the fourth index may be represented using "z".

The second index, the third index and the fourth index can be combined to obtain the position information corresponding to the placement layers respectively.

B3: based on the storage state information and the position information, box identification information of the bearing box of the mover is determined.

Specifically, the controller may combine the storage state information and the position information of the placement layer to obtain the box identification information of the carrying box of the mover.

In the example of the following step B1, the type information of the detection object transmitted by a certain mover is: the wafer of 4 inches of qualified type, the box that bears of this active cell includes 4 places the layer, from the layer number of placing the layer down to be 1 ~ 4 in proper order, and the wafer has been placed to the layer of placing that has only been 1 to the layer number, and other layers of placing have not been placed the detection thing, and then the box identification information of the box that bears of this active cell can be: a1[1, n1, x, y, z1] +A1[0, n2, x, y, z2] +A1[0, n3, x, y, z3] +A1[0, n4, x, y, z4]. Wherein, n1 has a value of 1, n2 has a value of 2, n3 has a value of 3, n4 has a value of 4, z1 has a value of 1, z2 has a value of 2, z3 has a value of 3, and z4 has a value of 4.

S403, generating second identification information of the rotor based on the box identification information and the third identification information.

In one possible embodiment, A1 is performed at the controller: the method specifically may be that when the controller executes the operation of generating the second identification information of the mover based on the box identification information and the third identification information when the controller obtains the sub-state information respectively corresponding to the placement layers of the bearing box based on the radio frequency identification tag and generates the box identification information of the bearing box of the mover based on the sub-state information:

writing the box identification information into the third identification information based on the radio frequency identification tag to obtain second identification information corresponding to the rotor.

Specifically, for each mover, the controller may write the box identification information of the carrying box of the mover into the third identification information corresponding to the mover through the radio frequency identification tag, so as to obtain the second identification information corresponding to the mover.

In still another possible implementation manner, when the controller executes the above B1, B2, and B3, the controller executes the operation of generating the second identification information of the mover based on the box identification information and the third identification information, which may specifically be:

and writing the box identification information into the third identification information to obtain second identification information corresponding to the mover.

Specifically, for each mover, the controller may write the box identification information of the carrying box of the mover to the third identification information corresponding to the mover, to obtain the second identification information corresponding to the mover. The controller may further store second identification information corresponding to the mover.

It should be noted that, the process of generating the second identification information of the mover described in S401-S403 may be generated at a time before the step S303 is performed in the embodiment of the present application, that is, S401-S403 may be performed after the step S301 or may be performed after the step S302.

S304, determining the target type of the detection result corresponding to the detected object based on the first identification information.

Because the first identification information comprises the detection result of the detection object, the controller can identify the first identification information corresponding to the detection object to obtain the target type of the detection result corresponding to the detection object.

S305, determining detection result types respectively corresponding to the movers based on the second identification information.

Because the second identification information comprises the third identification information and the third identification information comprises the detection result of the detection object transmitted by the active cell, the controller can identify the second identification information corresponding to all active cells respectively to obtain the type of the detection result corresponding to each active cell respectively, namely the type of the detection result.

S306, determining a first type belonging to the target type in the detection result types, and determining a mover corresponding to the first type as a target mover matched with the detected object.

In some embodiments, the controller may determine a first type belonging to a target type among the detection result types, and determine a mover corresponding to the first type as a target mover matched with the detection object.

S307, the stator is controlled to move the target rotor to a preset station.

In some embodiments, after determining the target mover, the controller may control the stator to move the target mover to a preset station corresponding to the target mover.

S308, determining target box identification information of the target carrying box of the target mover based on the second identification information of the target mover.

In some embodiments, the controller may identify the second identification information of the target mover to obtain target cassette identification information of the target cassette.

S309, searching a target placement layer meeting a preset state in the placement layers of the target bearing box based on the target box identification information.

It is easy to understand that the preset state refers to storage state information in which the detection object is not placed.

In some embodiments, the controller may identify the target box identifier information to obtain storage state information corresponding to each placement layer in the target carrier box, and if the storage state information is that the number of placement layers of the storage state information on which the detection object is not placed is one, may determine the placement layer as a target placement layer; if the storage state information is that the number of the storage layers on which the detection object is not placed is a plurality of, any one of the storage layers can be determined as the target storage layer.

S310, controlling the material moving device to place the detection object in the target placement layer.

In some embodiments, the controller may control the material moving device to place the clamped detection object in the target placement layer after determining the target placement layer, so as to realize sorting of the detection object.

Alternatively, after S310 is performed, the generation process of the second identification information of the mover described in S401 to S403 may also be performed. In the process of executing S401 to S403, the box identification information of the carrying box of the mover acquired in S402 may be the box identification information of the carrying box of the mover in the latest state, because a new detection object is placed in the target placement layer of the carrying box, and the box identification information of the carrying box is updated. And then executing S403, namely writing the updated box identification information of the bearing box into the third identification information of the rotor to obtain the latest second identification information of the rotor. Therefore, the effect of dynamically updating the identification information of the rotor according to the dynamically changed detection object placement information in the bearing box is achieved, the second identification information respectively corresponding to the rotor is obtained based on the stator each time and is the latest identification information of the rotor, and further the target rotor corresponding to the detection object can be accurately matched according to the latest identification information of the rotor, so that the effect of efficiently transmitting the detection object is achieved.

In the embodiment of the application, when the material moving device clamps the detection object, the first identification information corresponding to the detection object is generated according to the initial identification information and detection corresponding to the detection object, then the third identification information corresponding to the rotor is acquired based on the stator, the box identification information of the bearing box of the rotor is acquired, the second identification information of the rotor is generated based on the box identification information and the third identification information, and the placement state of the detection object in the bearing box of the rotor can be known according to the identification information of the rotor by writing the box identification information of the bearing box of the rotor into the identification information of the rotor, so that the material moving device can accurately place the clamped detection object in the bearing box of the rotor to which the detection object belongs. Therefore, the embodiment of the application not only can finish sorting of various detection objects on one conveying line body, thereby saving the occupied area of the conveying line body for sorting the various detection objects, but also saves the deployment cost for sorting the various detection objects due to the use of a smaller number of conveying line bodies, and can also ensure the sorting accuracy of the various detection objects.

A sorting system according to an embodiment of the present application will be described in detail with reference to fig. 5.

Referring to fig. 5, fig. 5 is a schematic structural diagram of a sorting system according to an embodiment of the application. As shown in fig. 5, the sorting system includes: controller 110, transfer chain body 120 and transfer device 130. The controller 110 may be electrically connected to the conveyor line body 120.

In fig. 5, the transfer line body 120 may be composed of a plurality of stators 121 and a plurality of movers 122. The plurality of stators 121 are arranged along the conveying direction to form at least one conveying track. The stator 121 is used to drive the mover 122 to transport the detection object along the conveying track. The mover 122 is provided with a cassette 1221 for carrying a detection object. The carrying case 1221 has a plurality of placement layers arranged in the vertical direction, each of which can be used to place a test object. The material transferring device 130 is used for clamping the detection object. The transfer device 130 may be used to take the test object holder out of the cassette 1221 or to take the test object holder into the cassette 1221.

When the sorting system shown in fig. 5 is applied to a sorting method of a test object, each component in the sorting system may perform the following functions:

In the embodiment of the application, when a material moving device clamps a detection object, a controller acquires first identification information corresponding to the detection object, acquires second identification information corresponding to the rotor based on the stator, determines a target rotor matched with the detection object based on the second identification information and the first identification information, controls the stator to move the target rotor to a preset station, and controls the material moving device to place the detection object in a target bearing box of the target rotor. According to the embodiment of the application, when the material moving device clamps the detection objects, the target mover matched with the detection objects can be determined according to the identification information corresponding to the detection objects and the identification information corresponding to the movers, and then the detection objects are placed on the target mover to finish the separation process of the detection objects, so that the separation of multiple types of detection objects can be finished on one conveying line body, the occupied area of the conveying line body for separating the multiple types of detection objects is saved, and meanwhile, the deployment cost for separating the multiple types of detection objects is also saved due to the fact that fewer conveying line bodies are used.

Optionally, a rotor in the sorting system is provided with a permanent magnet array, the stator is provided with a coil and is provided with an encoder array, the rotor is provided with a sensing element, and a signal sent by the sensing element is read by the encoder array. Therefore, the stator can acquire the position information of the rotor according to the sensing element arranged on the rotor, and the stator can drive the rotor to move along the conveying direction according to the acquired position information of the rotor under the control of the controller. Each mover of the embodiment of the application can be independently driven, so that the distance between two adjacent movers can be changed, and the flexibility of conveying can be realized.

Optionally, the above sorting system further comprises a connection device, wherein the connection device is connected with at least one conveying line body, and the connection device is used for driving the mover to be in butt joint with the at least one conveying line body. Specifically, reference may be made to a schematic structural diagram of a docking device and a conveyor line body shown in fig. 6. As shown in fig. 6, the conveying line body 10 conveys the detection object along the conveying direction S, the docking device 50 may be connected to at least one conveying line body 10, and the docking device 50 may be used to drive the mover to dock with the conveying line body 10. Therefore, operations such as rotor sequencing, rotor rail changing and the like can be realized through the connection device. The sequencing of the movers may be such that the loaders output into the AGV or OHT may be arranged in a preset order. The movable element rail change can define the subsequent process scene of each rail according to the actual demand, so that the detected objects can be further sorted on the basis of sorting, and therefore the effects of simplifying the process steps and improving the conveying efficiency and the processing efficiency can be achieved.

Optionally, the above sorting system further includes an auxiliary conveying line body, the auxiliary conveying line body and the conveying line body are arranged in parallel along a horizontal direction, and the connection device is used for connecting the auxiliary conveying line body and the conveying line body. Specifically, reference may be made to a schematic structural diagram of an auxiliary conveyor line body and a conveyor line body as shown in fig. 7. As shown in fig. 7, the docking device 50 may be used to connect the conveyor line body 20 with the auxiliary conveyor line body 10. The auxiliary conveyor line body 10 may be located at one side of the conveyor line body 20 and parallel to the conveyor line body 20. The conveying line body 20 may be a magnetomotive conveying line body.

As shown in fig. 7, the connection device 50 includes two groups, one group of connection devices 50 is used for connecting the head of the auxiliary conveying line body 10 and the tail of the conveying line body 20, and the other group of connection assemblies 50 is used for connecting the tail of the auxiliary conveying line body 10 and the head of the conveying line body 20, so that the conveying line body 20 can be deployed in a conveying link with high positioning precision of the semi-finished product and required conveying speed of the semi-finished product, and the auxiliary conveying line body 10 can be used as a reflow conveying line body to convey the mover 30 from the tail of the conveying line body 20 to the head of the conveying line body 20, so that the mover 30 conveys the semi-finished product to a corresponding station; and can realize the cyclic utilization to the rotor 30, when utilizing transfer chain body 20 to improve production efficiency, supplementary transfer chain body 10 makes rotor 30 backward flow to the setting of transfer chain body, can save the quantity of semi-manufactured goods rotor 30, and then can further save the deployment cost of production line.

Fig. 8 is a schematic structural diagram of a sorting apparatus for detecting objects according to an embodiment of the present application. The sorting device 800 for the detected objects may be implemented as all or a part of the terminal by software, hardware or a combination of both. The sorting device 800 for detecting objects is applied to a sorting system, the sorting system includes a conveying line body and a material transferring device, the conveying line body is configured with a plurality of stators and at least one mover, the plurality of stators are arranged along a conveying direction to form at least one conveying track, the stators are used for driving the mover to convey detecting objects along the conveying track, a bearing box for bearing the detecting objects is configured on the mover, and the sorting device 800 for detecting objects includes:

the information obtaining module 810 is configured to obtain, when the material moving device clamps the detection object, first identification information corresponding to the detection object, and obtain second identification information corresponding to the mover based on the stator;

an information matching module 820 for determining a target mover matched with the detection object based on the second identification information and the first identification information;

and the movement control module 830 is configured to control the stator to move the target mover to a preset station, and control the material moving device to place the detection object in a target bearing box of the target mover.

Optionally, the information acquisition module is specifically configured to:

acquiring initial identification information corresponding to a detected object, and acquiring a detection result corresponding to the detected object;

generating first identification information corresponding to the detected object based on the detection result and the initial identification information;

the detection result comprises at least one of size information and quality information.

Optionally, the information acquisition module further includes:

the first acquisition unit is used for acquiring third identification information corresponding to the rotor based on the stator;

the second acquisition unit is used for acquiring box identification information corresponding to the bearing box of the rotor;

and a third obtaining unit, configured to generate second identification information corresponding to the mover based on the box identification information and the third identification information.

Optionally, when the bearing box is provided with a radio frequency identification tag, the second obtaining unit is used for:

acquiring sub-state information corresponding to the placement layers of the bearing boxes respectively based on the radio frequency identification tag, and generating box identification information corresponding to the bearing boxes of the rotor based on the sub-state information;

the generating, based on the box identification information and the third identification information, second identification information corresponding to the mover includes:

Optionally, when the carrying case is provided with a preset sensor, the second obtaining unit includes:

the first acquisition subunit is used for acquiring storage state information corresponding to the placement layers of the bearing boxes respectively based on the preset sensors;

the second acquisition subunit is used for acquiring the position information corresponding to the placement layers respectively;

and the third acquisition subunit is used for determining box identification information corresponding to the bearing box of the rotor based on the storage state information and the position information.

Optionally, when the carrying case is provided with a preset sensor, the first acquiring subunit is configured to:

determining a detection result type corresponding to the mover based on the third identification information, and determining the detection result type as an array element of the bearing box;

acquiring sensor identification information corresponding to the placement layers of the bearing boxes respectively based on the preset sensors, and determining the sensor identification information as a first index;

and generating storage state information corresponding to the placement layers of the bearing boxes respectively based on the array elements and the first index.

Optionally, when the carrying case is provided with a preset sensor, the second obtaining subunit is configured to:

a plurality of first movers with the same detection result type are obtained, the plurality of first movers are ordered according to the conveying direction, and the arrangement sequence of the first movers is determined to be a second index;

acquiring position information of preset stations corresponding to the first movers respectively, and determining the position information of the preset stations as a third index;

acquiring layer number information corresponding to the placement layers respectively, and determining the layer number information as a fourth index;

and generating position information corresponding to the placement layers respectively based on the second index, the third index and the fourth index.

Optionally, the information matching module is configured to:

determining a target type of a detection result corresponding to the detected object based on the first identification information;

determining detection result types corresponding to the movers respectively based on the second identification information;

and determining a first type belonging to the target type from the detection result types, and determining a mover corresponding to the first type as a target mover matched with the detection object.

Optionally, the movement control module is configured to:

Determining target box identification information of a target bearing box of the target mover based on the second identification information of the target mover;

searching a target placement layer meeting a preset state in the placement layers of the target bearing boxes based on the target box identification information;

and controlling the material moving device to place the detection object in the target placing layer.

Embodiments of the present application also provide a computer-readable storage medium storing at least one instruction for execution by a processor to implement the method of sorting a test object according to the above embodiments.

Embodiments of the present application also provide a computer program product storing at least one instruction that is loaded and executed by the processor to implement the method of sorting a test object according to the above embodiments.

Those skilled in the art will appreciate that in one or more of the examples described above, the functions described in the embodiments of the present application may be implemented in hardware, software, firmware, or any combination thereof. When implemented in software, these functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.

The foregoing description of the preferred embodiments of the present application is not intended to limit the application, but rather, the application is to be construed as limited to the appended claims.

Claims

1. A sorting method of a detection object, characterized in that the sorting system includes a conveying line body and a material transferring device, the conveying line body is configured with a plurality of stators and at least one mover, the plurality of stators are arranged along a conveying direction to form at least one conveying track, the stators are used for driving the mover to convey the detection object along the conveying track, and a bearing box for bearing the detection object is configured on the mover, the method includes:

2. The method according to claim 1, wherein the obtaining the first identification information corresponding to the detection object includes:

3. The method according to claim 1, further comprising, before the obtaining, based on the stator, the second identification information corresponding to the mover:

acquiring third identification information corresponding to the rotor based on the stator;

obtaining box identification information corresponding to a bearing box of the rotor;

and generating second identification information corresponding to the mover based on the box identification information and the third identification information.

4. A method according to claim 3, wherein the carrying case is provided with a radio frequency identification tag, and the obtaining the case identification information corresponding to the carrying case of the mover includes:

5. A method according to claim 3, wherein the carrying case is provided with a preset sensor, and the obtaining the case identification information corresponding to the carrying case of the mover includes:

acquiring storage state information corresponding to the placement layers of the bearing boxes respectively based on the preset sensors;

acquiring position information corresponding to the placement layers respectively;

and determining box identification information corresponding to the bearing box of the rotor based on the storage state information and the position information.

6. The method of claim 5, wherein the obtaining, based on the preset sensor, storage state information corresponding to each of the placement layers of the carrier box includes:

7. The method of claim 5, wherein the obtaining location information corresponding to the placement layers respectively includes:

8. The method of claim 1, wherein the determining a target mover matching the detection object based on the second identification information and the first identification information comprises:

9. The method of claim 1, wherein the controlling the pipetting device to place the test object in a target carrier cassette of the target mover comprises:

10. The sorting system is characterized by comprising a controller, a conveying line body and a material moving device, wherein the conveying line body is provided with a plurality of stators and at least one rotor, the stators are arranged along the conveying direction to form at least one conveying track, the stators are used for driving the rotor to convey detection objects along the conveying track, and the rotor is provided with a bearing box for bearing the detection objects;

11. The sorting system of claim 10, wherein the mover is provided with an array of permanent magnets, the stator is provided with coils and an array of encoders is mounted, the mover is mounted with sensing elements, and signals from the sensing elements are read by the array of encoders.

12. The sorting system of claim 10, further comprising a docking device coupled to the at least one conveyor line body, the docking device configured to bring the mover into docking with the at least one conveyor line body.

13. The sorting system of claim 12, further comprising an auxiliary conveyor line body disposed in parallel with the conveyor line body in a horizontal direction, the docking device being configured to connect the auxiliary conveyor line body with the conveyor line body.

14. The utility model provides a sorting unit of detection thing, its characterized in that is applied to sorting system, sorting system includes transfer chain body and material shifting device, the transfer chain body is furnished with a plurality of stators and at least one active cell, a plurality of stators are arranged along the direction of delivery and are formed at least one transfer chain body, the stator is used for driving the active cell is followed the transfer chain body transmits the detection thing, dispose the box that bears that is used for bearing the detection thing on the active cell, the device includes:

and the movement control module is used for controlling the stator to move the target rotor to a preset station and controlling the material moving device to place the detection object in a target bearing box of the target rotor.

15. A computer storage medium storing a plurality of instructions adapted to be loaded by a processor and to perform the method steps of any one of claims 1 to 9.