CN117518935A - Air transport vehicle and travelling control system thereof - Google Patents
Air transport vehicle and travelling control system thereof Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
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Abstract
The application provides an air transport vehicle and a traveling control system thereof, which are applied to the technical field of semiconductor handling equipment, wherein the traveling control system comprises a first controller and a second controller, and the first controller and the second controller are both arranged in the air transport vehicle; the first controller is in communication connection with the upper system, receives a transport instruction issued by the upper system, generates a moving instruction according to the transport instruction, and issues the moving instruction to the second controller; the second controller comprises a logic processing module and a motion processing module, wherein the logic processing module is used for processing travelling logic data, and the motion processing module is used for processing travelling motion control. By reconstructing the system architecture, not only can the traveling system be simplified, but also the new architecture can facilitate the functional adjustment of the actual deployment.
Description
Technical Field
The application relates to the technical field of semiconductor handling equipment, in particular to an air transport vehicle and a traveling control system thereof.
Background
The existing air transport vehicle (Overhead Hoist Transport, air travel type unmanned transport vehicle, which can be abbreviated as crown block and OHT), the architecture of the travel control system is generally: a PLC (Programmable Logic Controller ) +a motion control module, wherein the PLC is disposed on an air transporter, and the motion control module is disposed on a back-end processor (e.g., a server) that centrally controls and manages the air transporter. Therefore, the constitution of the OHT traveling system is very complicated.
In addition, in actual semiconductor factory deployment, the requirements for motion control are diversified and often variable, so that the OHT traveling system cannot meet the deployment requirements of the semiconductor factory for personalized adjustment according to actual production.
Disclosure of Invention
In view of this, the embodiments of the present disclosure provide an air vehicle and a travel control system thereof, which simplify the configuration of the travel control system by redesigning the system architecture, and which can be flexibly adjusted according to the deployment needs of a semiconductor factory.
The embodiment of the specification provides the following technical scheme:
the embodiment of the specification provides an air transport vehicle travel control system, which comprises: the first controller and the second controller are arranged in the air transport vehicle;
the first controller is in communication connection with the upper system, receives a transport instruction issued by the upper system, generates a moving instruction according to the transport instruction, and issues the moving instruction to the second controller;
the second controller comprises a logic processing module and a motion processing module; the logic processing module is in communication connection with the first controller, generates an action instruction from the movement instruction, transmits the action instruction to the motion processing module, acquires and processes traveling logic corresponding to the action instruction executed by the air transport vehicle, and feeds back execution information corresponding to the movement instruction to the first controller; the motion processing module is connected with an executing mechanism of the air transport vehicle, generates control parameters required by the executing mechanism according to a preset motion control algorithm and the action instruction, transmits the control parameters to the executing mechanism, and feeds back state data fed back by the executing mechanism to the logic processing module.
Compared with the prior art, the beneficial effects that above-mentioned at least one technical scheme that this description embodiment adopted can reach include at least:
through the reconfiguration of the structure of the advancing control system, the advancing control system can be deployed on the air transport vehicle, the system constitution is simplified, the data response and processing efficiency are improved, and the air transport vehicle can be flexibly configured to meet the individual deployment requirements.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an air vehicle travel control system of the present application;
FIG. 2 is a schematic diagram of the embedded single board machine and control motherboard of an air transporter travel control system of the present application;
FIG. 3 is a schematic view of a control motherboard in the present application;
fig. 4 is a schematic structural diagram of an expansion board interface in the present application.
Detailed Description
Embodiments of the present application are described in detail below with reference to the accompanying drawings.
Other advantages and effects of the present application will become apparent to those skilled in the art from the present disclosure, when the following description of the embodiments is taken in conjunction with the accompanying drawings. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. The present application may be embodied or carried out in other specific embodiments, and the details of the present application may be modified or changed from various points of view and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
It is noted that various aspects of the embodiments are described below within the scope of the following claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the present application, one skilled in the art will appreciate that one aspect described herein may be implemented independently of any other aspect, and that two or more of these aspects may be combined in various ways. For example, apparatus may be implemented and/or methods practiced using any number and aspects set forth herein. In addition, such apparatus may be implemented and/or such methods practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
It should also be noted that the illustrations provided in the following embodiments merely illustrate the basic concepts of the application by way of illustration, and only the components related to the application are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.
In addition, in the following description, specific details are provided in order to provide a thorough understanding of the examples. However, it will be understood by those skilled in the art that the present invention may be practiced without these specific details.
In the existing OHT traveling control system, a PLC unit for control logic is arranged on an air transport vehicle, and a motion control module for generating motion data of the air transport vehicle is arranged in a back-end system, so that the flexible deployment requirement of a semiconductor factory on the functions of the air transport vehicle cannot be met, and the problem that a large amount of data transmission exists, so that a data processing period is long is solved.
In view of this, through intensive research and improved exploration of an air transport vehicle and a travel control system thereof, a new processing architecture of an OHT travel control system is proposed: the whole Core function of the OHT walking control (such as an aloht Core which can be endowed with an intelligent software system of the overhead travelling crane) runs on a first controller, and a motion logic and a processing program of motion data of the OHT specific walking control run on a second controller, wherein the general dispatching management function of the in-situ system on the air transport vehicle is completed by the first controller based on the software capability of the aloht Core, while the motion control processing function of the in-situ system such as a motion algorithm, data processing and the like is completed by advancing to the second controller, so that the first controller and the second controller which execute the related functions of the travelling control system can be deployed on the air transport vehicle.
The first controller can be in a single-board machine implementation form or other implementation forms; similarly, the second controller may be in an implementation form of controlling the motherboard, or may be in other implementation forms; the ihht Core may be a software system running on a computer or standard embedded processor module; a single board computer may be a hardware system with complete computer elements (i.e. hardware elements required to be able to run an iht Core software system, such as embedded processors (e.g. central processing units CPU or microprocessor MPU, etc.), memories, etc.) and integrated on a single circuit board; the control motherboard can be a dual-core system (namely, a hardware platform is formed by a DSP and an FPGA) which utilizes the data processing capability of the DSP and the logic processing of the FPGA, so that the logic processing of the OHT motion logic is finished by the FPGA, and the data processing of a motion control algorithm of the OHT on the motion data is finished by the DSP; the single board computer and the control motherboard are connected with each other by high-speed data interaction based on a high-speed interface, wherein the high-speed interface can be an interface with a response speed of millisecond or even lower than millisecond, so that the interaction time of data in a travelling system is reduced.
Therefore, the upper system is responsible for the management work such as task scheduling and motion control of each air transport vehicle in the existing scheme, the system architecture of the original air transport vehicle centralized control is improved to the system architecture of the air transport vehicle decentralized control by reconstructing the architecture of the control system and reconstructing each function in the OHT advancing control, the complexity, the design difficulty, the deployment flexibility and the like of the system architecture of the obtained new advancing control system are obviously improved, the air transport vehicle can have a certain degree of intelligent level based on a single board computer and a motion processing module and can provide flexible configurable characteristics, the single board computer for advancing control and the motion processing module for motion data processing can be simultaneously arranged on the air transport vehicle, the association degree between the air transport vehicle and a rear end system is weakened, and the system functions can be flexibly adjusted according to the actual deployment requirement of a factory.
The following uses an embedded single board machine as a first controller and a control motherboard as a second controller as an example, and the technical solutions provided by the embodiments of the present application are described with reference to the accompanying drawings.
As shown in fig. 1 to 3, the present application provides an air transporter travel control system, which may include: the embedded single board computer and the control motherboard are arranged in the air transport vehicle, the control motherboard comprises a logic processing module (which can be recorded as a logic processing core) and a motion processing module (which can be recorded as a motion control core), the embedded single board computer is in communication connection with the upper system, the embedded single board computer is connected with the logic processing module of the control motherboard, the motion processing module of the control motherboard is connected with the motor servo system, the motor servo system is a driving mechanism when the motor performs actions, and the motor can comprise a travelling servo motor and a direct current brushless motor for grabbing a wafer box by clamping jaws.
In the implementation, the single board computer receives a transport instruction issued by the upper system, generates a moving instruction according to the transport instruction, and issues the moving instruction to the control motherboard. The embedded single board computer can be an embedded computing system, for example, a CPU (central processing unit), a MPU (micro processor unit) and other processors with computer hardware performance and software system running capability are integrated on a circuit board by combining an external memory and other hard software systems, so that the single board computer can run the functions of the core software of the OHT (on-line interface), and the functions of scheduling, managing and the like of the OHT originally belonging to an upper system can be deployed into the single board computer, so that some functions of the OHT running control are moved forward onto the OHT, the function adjustment is conveniently carried out according to the actual deployment of a factory, the data communication pressure between the OHT and the upper system can be reduced, and the data processing efficiency and reliability are improved.
It should be noted that the transportation instruction may be information for instructing the air transportation vehicle to perform the specified traveling process, and the instruction format, the instruction content, and the like are not particularly limited; the upper system may be a management system for giving a transport instruction to the air transporter in the existing transport system, which is not limited herein. In addition, the data communication connection between the logic processing module and the embedded single board computer can be accomplished by a communication interface based on a protocol, such as an event-based communication interface, which is not limited in particular.
Referring to fig. 2 and 3, a logic processing core may be a functional unit that performs logic processing, and a motion processing core may be a functional unit that performs motion algorithm processing. In addition, the FPGA is good at IO expansion, interface control and the like, and the DSP is good at data processing, processing speed and the like, so that the control motherboard can be a core hardware and software platform (such as the framework illustrated in fig. 3) by taking the DSP+FPGA as a core, so that the core circuit board of the control motherboard can be formed by utilizing the DSP+FPGA platform, and the control motherboard can be arranged on an air transport vehicle as an independent circuit, so that the motion data processing can be completed on the air transport vehicle without being transmitted back to an upper system for processing. In the platform architecture of the dsp+fpga, internal data interaction transmission between the DSP and the FPGA can be completed based on a high-speed interface, and the interaction interface, the selection of the DSP and the FPGA, and the like are not limited. In addition, in the architecture illustrated in fig. 2, the logic processing core and the motion control core of the control motherboard may be executed by the DSP, and the hardware modules that control the motherboard to make the inter-board connection may be executed by the FPGA.
In the implementation, a single board machine divides a transport instruction (also called a transport instruction) issued by an upper system into corresponding movement instructions of an air transport vehicle by utilizing an aloft Core deployed by the single board machine, for example, the transport instruction requires the air transport vehicle to transport a wafer box from an A storage position to a B storage position, and then the single board machine firstly processes the transport instruction into movement instructions capable of realizing the transport process and issues the instructions to a control motherboard; after receiving the moving instructions, the logic processing module in the control motherboard generates the moving instructions into moving parameters (which can be marked as action instructions, action parameters and the like and are not distinguished) required by the moving processes of the air transport vehicle advancing movement logic, the clamping jaw picking and placing movement logic and the like by utilizing the logic processing advantages of the logic processing module, so that the generated moving instructions are transmitted to the movement processing module, and the movement processing module generates control data required by an executing mechanism (such as a motor) for completing the actions according to the moving instructions. In practice, the actuating mechanism may be an actuating member such as a travelling mechanism, a transverse telescopic mechanism, a lifting mechanism and the like of the air transport vehicle, and may specifically be an actuating member driven by a corresponding motor.
The motion processing module can generate a speed curve required by an executing mechanism (such as each shaft of a direct current brushless motor and each shaft of a servo motor in a motor servo system) according to a preset motion control algorithm (PID) and by combining specific action instructions transmitted by the logic processing module, and further form control parameters required by the motor according to the speed curve. Therefore, after the motion processing module issues control parameters corresponding to each motor to the motor servo system, the motor servo system completes driving of the executing mechanism through the driver, and after the driver obtains feedback data executed by the motor, the feedback data is returned to the motion processing module, the motion processing module and the logic processing module can complete preset feedback adjustment according to the feedback data, and the logic processing module can also feed back state data fed back by the motor servo system to the single board computer.
In addition, the logic processing module can also complete monitoring, acquisition and processing of the traveling logic data through the corresponding acquisition interface after executing the action instructions on the air transport vehicle, so that the execution information is fed back to the upper system in real time. The traveling logic may be logic that the air vehicle needs to perform related actions during traveling, such as movement, parking, data acquisition processing, data feedback, fault processing, and the like.
Therefore, based on a dual-core processing division architecture of the logic processing module and the motion processing module, the control motherboard can integrate motion control functions of an air transport vehicle of an original upper system, wherein the logic processing core can be responsible for some logic control functions such as data acquisition processing, action logic processing, fault processing and the like, and the motion control core can be responsible for speed curve generation of each shaft of the direct-current brushless motor and each shaft of the servo motor, operation of a motion control algorithm, motor feedback signal processing and the like.
In addition, because the motion data does not need to be transmitted and processed between the air transport vehicle and the upper system, and the high-speed processing of the motion data is performed based on the DSP+FPGA platform in the new architecture, the processing period of the travel control system can be obviously shortened after the control motherboard is combined with the single board machine, for example, the processing period can be shortened to 5ms or even shorter, the data processing performance of the air transport vehicle in high-speed travel is improved, and the motion reliability in high-speed travel is also improved.
In some embodiments, based on the traveling control system with the new architecture, some management functions in the original upper system can be moved forward to the traveling control system, so that data transmission between the air transport vehicle and the upper system is further reduced, data processing effect is improved, and workload (such as map management, path management, collision management, busy hour management and the like) of the upper system is reduced.
In one example, the map management function may be advanced into the travel control system based on the performance level of the single board machine. Specifically, a map management module is further arranged in the embedded single board machine, so that the single board machine can acquire map data, travel related information such as travel node steps and the like from an upper system by utilizing the map management module, and further, each travel node step related to travel is processed into each movement instruction in the process of traveling of the air transport vehicle based on the information of the travel node on the map. The map may refer to a map of the operation of a transport vehicle in the hollow space of the semiconductor factory. The step of the walking node issued by the upper system can comprise the following information: when executing the transportation task corresponding to the transportation instruction, the key node of the path and the key step corresponding to the key node of the path are needed. Therefore, the air transport vehicle can process the step of the travelling node into a corresponding moving instruction, so that key steps of travelling of key nodes can be completed according to the generated moving instruction, and travelling work can be completed by the key nodes according to the requirement of an upper system.
In one example, the function of performing TC management on an air carrier in an original upper system can be advanced to a travel control system by utilizing a single board machine with task flow management (TC management) capability. Specifically, the embedded single board computer further comprises a TC management module, and at the moment, the TC management module can issue a plurality of moving instructions to the control motherboard in batches based on task management, so that the logic processing Core can receive a certain number of moving instructions from the iOHT Core, batch processing of the moving instructions is completed, the data processing capacity is further improved, the data processing period is shortened, and the high-speed advancing performance of the air transporter is improved.
In one example, the single-board machine is utilized to integrate partial functions of dispatching, management and the like of the upper system on the air transport vehicle, and the single-board machine can be utilized to conduct idle dispatching management on the air transport vehicle. Specifically, the embedded single board computer further comprises an idle time management module, so that the idle time management module can combine real-time data such as map data, walking node steps and the like of the current air transport vehicle, and further can generate a moving instruction in an idle time state according to a preset idle time advancing strategy, so that the air transport vehicle is ready for advancing in the carrying process based on the moving instruction in the idle time state in advance, and the advancing efficiency and carrying efficiency of the air transport vehicle in carrying operation are improved.
In some embodiments, the air track is formed by sequentially connecting a plurality of straight tracks and curved tracks, and a plurality of converging tracks and a plurality of diverging tracks are also arranged in the air track. The converging track comprises, but is not limited to, a two-in and one-out structure and a two-in and two-out structure, and the diverging track comprises a one-in and two-out structure. In the aerial track and the map constructed corresponding to the aerial track, the node may be defined as a specific position on at least one track of the converging track, the diverging track, the track bending track, and the like, where the specific position is not limited in the present application, and may be an entry point into the foregoing track, or may be other positions preset as required. For a transfer task, multiple paths may be required from pick-up to drop-off points through multiple nodes.
In some embodiments, some nodes in the air track may be defined as critical nodes, while other nodes are non-critical nodes, where the critical nodes may be determined by an upper system and issued together with a transport task to a current air carrier to be executed, where the critical nodes and the transport task are issued together, which means that the critical nodes corresponding to or associated with one transport task are issued to the air carrier without limiting the sending timing. Specifically, the key node may be sent to the air carrier together with the transport task in one communication step, or may be sent to the air carrier in a different communication step, for example, after the transport task is sent to the air carrier, the key node is sent to the air carrier. The key nodes can be issued by the upper system, and the non-key nodes can be planned by the controller of the air transport vehicle, so that the air transport vehicle has the functions of map, management and the like, and the planning of each node can be directly realized on the air transport vehicle side. And the air transport vehicle performs path planning according to the key nodes and map information stored by the air transport vehicle to obtain a result transport path, and the result transport path starts from a goods taking point, passes through the key nodes and the non-key nodes and reaches a goods placing point.
In some embodiments, the upper system sends a transport task to the air transporter to be performed, and all nodes passing from the pick-up point to the put-in point are determined by path planning of the air transporter.
In one example, a current air transporter (front car for short) is in an idle state, while an air transporter (rear car for short) located behind the current air transporter is performing tasks, when the front car may affect the travel of the rear car, the front car needs to perform avoidance (such as traveling to other branches or traveling forward), so that smooth travel of the rear car is achieved through idle management.
In one example, the path management function of the upper system for the air transport vehicle is integrated by the single board machine, and the travel path planning, routing and the like of the air transport vehicle can be performed by the single board machine. Specifically, the embedded single board computer further comprises a path management module, at this time, the path management module can determine and adjust the optimal path data in the running process in real time according to a preset optimal path strategy according to the map data, the running node step and other real-time data in the running process of the current air transport vehicle, and regenerate corresponding moving instructions according to the optimal path data. Therefore, after the route management, the route data processing period of the air transport vehicle is further shortened, the data processing efficiency is improved, and the like.
Through the air transport vehicle with map and path planning, path finding and other capabilities, when the front vehicle is in front of the vehicle for carrying out the carrying task, the two vehicles can be directly communicated, so that the front vehicle can execute avoidance control without depending on/waiting for instructions of an upper system, and the control efficiency is improved.
In one example, the path management example described above may also be combined with the idle management example described above to better generate an optimal travel path in real-time travel.
In an example, the functions of dispatching, managing and the like of the upper system on the air transport vehicle are integrated by the single board computer, so that the air transport vehicle has a preliminary intelligent level, and data interaction between the air transport vehicles can be realized by intelligent processing of the single board computer. Specifically, the embedded single board computer further comprises an air transport vehicle interaction module, so that the air transport vehicle interaction module can execute a preset interaction strategy according to real-time data such as map data, walking node steps and the like of the current air transport vehicle, not only can interaction data and an interaction travelling movement instruction be generated in real time, but also can utilize a communication interface to transmit the interaction data with other air transport vehicles in real time when the current air transport vehicle travels according to the interaction travelling movement instruction. In implementation, the communication interface for implementing data interaction between air transport vehicles may include an infrared interface based on an infrared Transceiver (Ir Transceiver), wiFi, and the like, which is not particularly limited.
In some embodiments, a communication connection exists between the single board computer and the upper system, and the single board computer can be a unit circuit based on a task processing mechanism such as a message, an event and the like, so that a communication process between the single board computer and the upper system can be a communication process based on a communication mechanism such as a message, an event and the like. In addition, the communication process between the single board computer and the control motherboard (i.e. the logic processing module) can be completed based on the communication mechanism of messages, events and the like.
Specifically, the embedded single board computer further comprises a message management module and/or an event management module, and when the logic processing module feeds back the monitoring execution information corresponding to each movement instruction to the embedded single board computer, the logic processing module can report the message, the event and the like to the embedded single board computer after generating a message (message), an event and the like to the monitoring execution information corresponding to the movement instruction. Therefore, by adopting mature, reliable and high-real-time communication mechanisms such as messages, events and the like, the communication process can be simplified, the communication efficiency is improved, the processing period of the advancing control system on data is shortened, and the data processing efficiency and reliability are improved.
In some embodiments, the air transport vehicle may be provided with some common peripherals, such as a data acquisition card, an E84 sensor, an obstacle detection sensor, an RFID, a barcode, etc., so that a corresponding interface may be provided on the control motherboard, so that the peripherals may be used as an expansion board card of the control motherboard, i.e. the control motherboard is cascade-connected with various expansion cards through a board-level interface, so that the flexible and changeable deployment requirements of the semiconductor factory are satisfied by connecting the peripherals through the expansion interface.
Referring to fig. 2 to 4 for illustration, the present application provides an expansion board card interface. In implementation, the control motherboard further includes a plurality of expansion board interfaces, such as a universal input/output Interface Module (such as 16input+16output, or 32input+16output, etc. IO Module), a serial Transceiver (Serial Transceiver), an infrared Transceiver (IrDa Transceiver), an ethernet (EtherNet Transceiver), a parallel port (DB 15 Interface), a dc brushless motor Interface (Brushless DC Motor Interface), a Switch (8 bits Dip Switch), a servo motor board Interface (Extend Servo Motor Board Interface), a Fuse (Fuse Elements), an E84 Interface (DB 25 pin Interface), an Interface board expansion uplink (Extend IO Board Interface Uplink), an Interface board expansion downlink (Extend IO Board Interface LinkTo), etc., so that functions of the travel control system can be flexibly adjusted through these interfaces, thereby further meeting various and variable deployment requirements of the semiconductor factory.
It should be noted that, as will be understood by those skilled in the art, the expansion interface may be disposed on one side of the logic processing module with the FPGA as a core according to the connection relationship and the data processing requirement, and in actual data processing, the logic processing module with the FPGA as a core may complete data processing, or the motion processing module with the DSP as a core may complete data processing, where, although some exemplary contents are given in fig. 2 to 3, the implementation is not limited to the exemplary manners illustrated in fig. 2 and 3.
In one example, the expansion card interface includes an expansion interface of the data acquisition card, and thus the data acquisition card that acquires monitoring data of the preset IO and the peripheral device may be connected to the expansion interface. Wherein the data acquisition extension interface may be a universal input output interface.
Based on the expansion interface, the logic processing module can control the expansion interface according to a set period, so that the data acquisition card can acquire the monitoring data periodically, and then the control motherboard can utilize the acquired monitoring data to combine with the original moving instruction, and generate the action instructions required by each shaft of each direct-current brushless motor and each shaft of each servo motor according to preset action logic. Therefore, the monitoring data can be utilized to further perfect the action parameters required by the action of each motor shaft, and the accuracy and the execution efficiency of the motor action are improved.
In one example, the expansion board interface also includes an E84 sensor interface, so the logic processing module is capable of E84 signal interfacing (i.e., a communication connection) with the peripheral E84 sensor through the E84 sensor interface. In practice, 1 OHT needs two E84 sensors, so two E84 sensor interfaces can be provided on the expansion board, and specific E84 interface settings can refer to the prior art.
In one example, the expansion board card interface further comprises a laser ranging interface, so that the control motherboard (logic processing module or motion processing module) can be connected with the laser ranging instrument through the corresponding laser ranging interface, thereby performing ranging detection on real-time distances of other air transport vehicles and/or obstacles positioned in front of and behind the current air transport vehicle, and adjusting action instructions required by each shaft of the direct current brushless motor and each shaft of the servo motor according to the ranging detection result after ranging. For example, the ranging result indicates a distance from the target location, at which time the motion command may instruct a faster motion to proceed; for another example, the ranging result indicates a closer distance to the target location, at which time the motion command may indicate that a slow motion is performed to complete the travel, etc.
In one example, the expansion board card interface further includes a radar detection interface, so that the control motherboard (logic processing module or motion processing module) can be connected with the laser radar through the corresponding radar detection interface, so that the laser radar is utilized to detect other air transport vehicles and/or obstacles located in front of and behind the current air transport vehicle in real time, and after the detection result is obtained, the motion instructions required by each axis of the direct current brushless motor and each axis of the servo motor are further adjusted according to the detection result. For example, an obstacle is detected, at which time the action instruction may indicate an action instruction to slow down to travel; for example, when a proximity to an obstacle is detected, a parking operation may be instructed to avoid collision.
The peripherals such as the laser range finder and the laser radar may be connected to a parallel port (DB 15 Interface), or may be interfaces of different designs, and are not particularly limited.
In one example, one OHT typically requires a 5 axis servo motor to drive, or one OHT requires a 6 axis brushless dc motor to drive, etc., where the connection and driving can be accomplished using an expansion interface on the motherboard.
In implementation, the expansion board card interface further comprises a direct current motor expansion interface and a servo control expansion interface, and specific interface designs can be illustrated by referring to the foregoing fig. 2-4. Therefore, the motion processing module is connected with a direct current brushless motor of the motor servo system through a direct current motor expansion interface and is connected with a servo motor of the motor servo system through a servo control expansion interface. In addition, the logic processing module generates control logic required by each shaft of the servo motor according to motor requirements, and then the motion processing module completes control of the servo motor after generating corresponding control signals according to the control logic, and provides PWM control signals required by each shaft for the DC brushless motor to complete control of the DC motor.
The control logic of the servo motor comprises common signals such as an enabling signal, a ready signal, a brake signal, a deviation zero clearing signal, an alarm reset signal and the like, and the signals can reach the servo motor through an expansion interface, so that the control of the servo motor is realized.
In practice, since the brushless dc motor control mode is PWM speed control, no additional electric driver/card is required for driving, and the interface on the motherboard can be directly connected to the brushless dc motor.
For example, when the motherboard can provide driving of a 3-axis brushless dc motor (see fig. 3 for illustration), assuming that the motherboard is mounted on the rear side of the air carrier vehicle, it is responsible for driving the rear 3-axis, whereas the 3-axis brushless dc motor in front of the air carrier vehicle can be responsible for driving by another brushless dc motor expansion card.
In implementation, the 5-axis servo motor needs to be supported by two servo motor expansion cards, so that two corresponding expansion interfaces can be arranged on the motherboard, at this time, the 1 st servo motor expansion card drives the X1 axis and the X2 axis, and the 2 nd servo motor expansion card drives Y, Z, R equiaxed.
In one example, the OHT is typically not provided with an external encoder, and the actual position of the OHT in travel is not available, but the servo expansion card is typically able to provide the motherboard with data for each axis, encoder feedback values (i.e., encoded values), etc., and thus can use these feedback data to determine the current travel position.
Specifically, the servo expansion card is utilized to provide the coding value of the encoder, the motion processing module can read the coding value fed back by the motor servo system according to a preset time period, and further convert the coding value into the current walking speed and the walking distance, so that the running error is found in time according to the calculated real-time data such as the speed, the distance and the like, and the running speed curve is updated according to the real-time error result, so that the running process is calibrated in time and with high precision.
In one example, although the OHT is not provided with an encoder, a barcode of the location information is typically provided so that the OHT can accomplish accurate positioning of the location using the barcode information. Therefore, the control process of the travelling speed curve can be further optimized by utilizing the positioning effect of the bar code on the position and combining the coded values.
In one example, the expansion board card interface further comprises a bar code reader interface, wherein the bar code reader interface is used for being connected with the bar code reader, so that the motion processing module can acquire a bar code value read by the bar code reader through the bar code reader interface, further determine the current relative position (such as which section of travelling track) of the air transport vehicle is located by using the bar code value, and then update a travelling speed curve by using the code value and the relative position, so that the travelling process can reach a target position according to reasonable running speed. For example, the bar code is used for determining that the air transport vehicle has traveled to the vicinity of the target position, and when the current speed is determined to be high according to the coding value of the coder, the speed curve can be updated in a mode of reducing the traveling speed, so that the air transport vehicle reaches the target position at a reasonable traveling speed.
In implementation, for the preset positions needing speed control such as the in-out curve/traffic control area, the bar codes can be arranged before reaching the positions, or the bar codes can be arranged at the positions so as to facilitate speed adjustment and control, and the bar codes can be arranged at other straight line sections with larger spacing, so that the bar code cost can be reduced, the working times of a bar code reader can be reduced, and the like.
In one example, the precise nature of the bar code to position location, travel location, etc. may be utilized to calibrate. Specifically, the motion processing module can calibrate the position of the walking distance obtained by conversion according to the code value at the moment when the bar code value is obtained by the bar code reader, so that the walking distance obtained by calculation of the encoder in the walking process can be reduced, the motor encoder value is different from the actual walking distance due to the static error, and the position preliminary calibration can be carried out after the OHT scans the track bar code each time.
In some embodiments, in operation of the air transport vehicle after deployment, operation Safety can be timely guaranteed through triggering of a Safety signal, so that an Input interface (Safety Input) corresponding to the Safety signal can be arranged on the motherboard, and the air transport vehicle can be timely triggered to perform Safety control (such as finding emergency stop before collision) through inputting the Safety signal through the interface.
In practice, and with reference to the schematic illustrations of fig. 2 to 3, the control motherboard further comprises a safety signal input interface, wherein the safety signal input interface is connected to a safety circuit (shown in the figures) on the air transport vehicle. It should be noted that the safety circuit may be a circuit for providing a safety signal for ensuring safety in controlling operation of the air vehicle, where the safety signal may refer to a trigger signal capable of triggering the air vehicle to perform safety operation, such as an emergency stop signal; accordingly, a safety circuit may refer to a circuit that is capable of providing a trigger signal required for safe operation.
Therefore, the logic processing module can be based on the triggering of the safety signal, so that the action instruction corresponding to the emergency stop can be generated in real time according to the triggering signal.
In addition, the control motherboard can be provided with 1-path independent safety signal input interface. The safety signal can be in a normally-open enabling signal form, and when the safety signal is in an enabling state, the control motherboard considers that the emergency stop is triggered, so that the emergency stop operation can be executed to ensure the operation safety of the air transportation vehicle.
In some embodiments, the security signal in the above example may be provided by an air vehicle interior or an external device. Thus, the trigger signal (i.e., the safety signal) provided by the safety loop is a signal output by any one of the following devices: an emergency stop signal output when the laser range finder and/or the laser radar detects collision distance; a switching signal output by the scram switch; the down-looking sensor and/or the safety touch sensor sense a sensing signal output when the collision distance is detected.
In some embodiments, the emergency stop processing may be managed in a separate management and control level, where the management and control level may include a processing manner such as uninterrupted emergency braking, motor outage, and overall power outage of the air transport vehicle, and accordingly may be indicated by a corresponding action instruction, that is, the action instruction corresponding to emergency stop includes uninterrupted emergency braking, motor outage, and overall power outage.
In some embodiments, as illustrated with reference to fig. 2-4, the control motherboard may also be provided with other interfaces to accommodate the deployment needs of the semiconductor factory for the air transporter functions through these interfaces.
For example, the motherboard provides 1 Reset (Reset) button, supporting motherboard Reset operations;
for example, the motherboard provides 2 8-bit switches (8-bit Dip switches) that support modification of control software parameters by the switches;
for example, providing 1 2-bit digital LED display (two-bit LED), which may be a green/red bi-color LED, enables the current operating status and primary fault code to be displayed by color and number;
for example, the motherboard provides 2 serial communication interfaces (Serial Transceiver) compatible with RS485/RS232 to realize industrial serial communication;
for example, the motherboard provides 1 WiFi Module (WiFi Module) supporting wireless communication, which can be used for remote debugging;
For example, the motherboard provides 1 Ethernet port, and the device can access the Internet after being off line;
for example, the motherboard provides 1 parallel port (DB 15 Interface) supporting parallel port devices such as lidar interfaces;
for example, the motherboard provides 1 infrared communication (IrDa transmitter) that can be used for air transport shop message interaction;
for example, the motherboard provides circuit protection components, such as fuses (Fuse Elements), supporting disposable replaceable fuses.
Based on the same inventive concept, the present application may provide an air transport vehicle running control system integrated with any one of the embodiments, so that after the air transport vehicle is integrated with the running control system with the new architecture, the air transport vehicle can have a preliminary level of intelligence, so that when the air transport vehicle is deployed in a semiconductor factory, the air transport vehicle can be flexibly adjusted according to actual function requirements of the factory.
In this specification, identical and similar parts of the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the description is relatively simple for the embodiments described later, and reference is made to the description of the foregoing embodiments for relevant points.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions easily conceivable by those skilled in the art within the technical scope of the present application should be covered in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (13)
1. An air carrier travel control system, comprising: the first controller and the second controller are arranged in the air transport vehicle;
the first controller is in communication connection with the upper system, receives a transport instruction issued by the upper system, generates a moving instruction according to the transport instruction, and issues the moving instruction to the second controller;
the second controller comprises a logic processing module and a motion processing module; the logic processing module is in communication connection with the first controller, generates an action instruction from the movement instruction, transmits the action instruction to the motion processing module, acquires and processes traveling logic corresponding to the action instruction executed by the air transport vehicle, and feeds back execution information corresponding to the movement instruction to the first controller; the motion processing module is connected with an executing mechanism of the air transport vehicle, generates control parameters required by the executing mechanism according to a preset motion control algorithm and the action instruction, feeds the control parameters to the executing mechanism, and feeds back state data fed back by the executing mechanism to the logic processing module.
2. The air transporter travel control system of claim 1, wherein the first controller comprises a map management module that obtains map data and a walking node step from the host system and processes the walking node step as the movement instruction, wherein the walking node step comprises a critical node requiring a route and a critical step corresponding to a route critical node when executing a transportation task corresponding to the transportation instruction.
3. The air vehicle travel control system of claim 2, wherein the first controller further comprises a TC management module that issues a plurality of the movement instructions to the second controller in batches;
and/or the first controller further comprises an idle time management module, and the idle time management module generates a moving instruction in an idle time state according to a preset idle time traveling strategy according to the map data and the walking node step;
and/or the first controller further comprises a path management module, wherein the path management module determines the optimal path data to travel according to a preset optimal path strategy according to the map data and the walking node steps, and generates a moving instruction according to the optimal path data;
And/or the first controller further comprises an interaction module, wherein the interaction module generates interaction data and a movement instruction according to a preset interaction strategy according to the map data and the walking node step, so that the current air transport vehicle can transmit the interaction data with other air transport vehicles when travelling according to the movement instruction.
4. The air transporter travel control system of any one of claims 1-3, wherein the logic processing module feeding back monitored execution information of the movement instructions to the first controller comprises: and the logic processing module reports the event information to the first controller after generating the event information from the monitoring execution information of the moving instruction.
5. The air transporter travel control system of claim 1, wherein said second controller further comprises an expansion board interface, said expansion board interface comprising an expansion interface of a data acquisition card, said data acquisition card for acquiring monitoring data of preset IOs and peripherals;
the logic processing module is also used for controlling the expansion interface according to a set period, so that the data acquisition card acquires the monitoring data, and generates an action instruction required by the executing mechanism according to a preset action logic by combining the acquired monitoring data with the movement instruction.
6. The air vehicle travel control system of claim 5, wherein the expansion board interface further comprises an E84 sensor interface, the logic processing module further configured to communicatively couple with an E84 sensor via the E84 sensor interface.
7. The air transporter travel control system of claim 5, wherein said expansion card interface further comprises a laser ranging interface and/or a radar detection interface; the logic processing module or the motion processing module is also used for being connected with the laser range finder through the laser range finding interface and/or being connected with the laser radar through the radar detection interface so as to detect other air transport vehicles and/or obstacles positioned in front of and behind the current air transport vehicle and adjust action instructions required by the executing mechanism according to detection results.
8. The air transporter travel control system of claim 5, wherein said expansion card interface further comprises a direct current motor expansion interface and a servo control expansion interface; the motion processing module is connected with a direct current brushless motor of the executing mechanism through the direct current motor expansion interface and connected with a servo motor of the executing mechanism through the servo control expansion interface; the logic processing module is also used for generating control logic required by each shaft of the servo motor, wherein the control logic comprises an enabling signal, a ready signal, a brake signal, a deviation zero clearing signal and an alarm reset signal; the motion processing module generates a corresponding control signal according to the control logic and then controls the servo motor, and the motion processing module also provides PWM control signals of each shaft for the DC brushless motor.
9. The air transporter travel control system of claim 8, wherein said motion processing module is further configured to read a coded value fed back by said actuator at each preset time period, and convert said coded value to a current travel speed and travel distance, and update said control parameters based on a travel error.
10. The air transporter travel control system of claim 9, wherein said expansion card interface further comprises a barcode reader interface for connecting with a barcode reader; the motion processing module is also used for acquiring a bar code value read by a bar code reader through the bar code reader interface, determining the current relative position of the air transport vehicle by utilizing the bar code value, and updating the speed curve by utilizing the code value and the relative position.
11. The air transporter travel control system of claim 10, wherein the motion processing module is further configured to perform a position calibration on the travel distance converted from the code value at a time when the barcode value is acquired by the barcode reader.
12. The air vehicle travel control system of claim 1, wherein the second controller further comprises a safety signal input interface connected to a safety circuit on the air vehicle for providing a trigger signal required for an air vehicle emergency stop; the logic processing module is also used for generating an action instruction corresponding to the emergency stop according to the trigger signal;
the trigger signal provided by the safety loop is a signal output by any one of the following devices: an emergency stop signal output when the laser range finder and/or the laser radar detects collision distance; a switching signal output by the scram switch; the down-looking sensor and/or the safety touch sensor sense a sensing signal output when the collision distance is detected.
13. An air vehicle having an air vehicle travel control system as claimed in any one of claims 1 to 12 deployed thereon.
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