KR102189908B1 - System for transferring product - Google Patents

Abstract

The present invention relates to a transport cart test system, wherein the transport cart test system of the present invention comprises: a transport cart including a traveling wheel and a plurality of sensors; Selectively select a first sensor from among a plurality of sensors of the transport cart and a driving response wheel provided at a position corresponding to the driving wheel of the transport cart and for driving the transport cart in place. A transport cart jig having an object to be sensed to be detected; And generating virtual sensor information for selectively detecting a second sensor other than the first sensor among the plurality of sensors, and controlling the transport vehicle to drive according to a pre-stored virtual driving environment map, and driving the transport vehicle. It includes a simulator for controlling the transport cart jig according to the drive.

Description

Transfer truck test system {SYSTEM FOR TRANSFERRING PRODUCT}

Embodiments of the present invention relate to a transport truck test system, and more particularly, to a transport truck test system for testing the running of a transport truck in a virtual driving environment.

In a semiconductor factory, a container loaded with a plurality of substrates is transferred to a target location by an automatic distribution facility instead of by an operator. In general, the automated logistics system is an AMHS (Automated Material Handling System) including overhead hoist transport (OHT) and overhead shuttle (OHS).

In the automated logistics system, a number of conveyance trucks move along rails and transport containers to target locations. The transport truck may fail due to deterioration due to repetition of the transport process. A failed transport truck can be separated from the rail and mounted on the main unit for inspection and repair.

As a patent related to the main device, there is a registered patent of application number 10-20165-0165996. The main device is a device for inspection and repair of a transport cart, and can individually check the functional operation of each component of the transport cart that has been inspected and repaired. However, it is difficult to confirm the linked operation of the various components of the transport truck as in the actual environment.

In addition, a newly manufactured or newly manufactured transport truck needs a driving test in an actual environment to be applied in a semiconductor factory. However, in order to conduct a drive test in a semiconductor factory, a certain area of the logistics automation facility must be stopped, which causes a lot of damage.

Therefore, it is urgent to develop a system for grasping the driving state of a transport truck in an actual environment.

In order to solve the above-described problem, an object of the present invention is to provide a transport truck test system for grasping the driving state of the transport truck in an actual environment.

A transport cart test system of the present invention for achieving the above object comprises: a transport cart including a traveling wheel and a plurality of sensors; Selectively select a first sensor from among a plurality of sensors of the transport cart and a driving response wheel provided at a position corresponding to the driving wheel of the transport cart and for driving the transport cart in place. A transport cart jig having an object to be sensed to be detected; And generating virtual sensor information for selectively detecting a second sensor other than the first sensor among the plurality of sensors, and controlling the transport vehicle to drive according to a pre-stored virtual driving environment map, and driving the transport vehicle. It includes a simulator for controlling the transport cart jig according to the drive.

In addition, in an embodiment, the simulator includes: a map storage unit in which the virtual driving environment map is stored; A driving control unit configured to control to drive the transport truck based on the virtual driving environment map; Based on the virtual driving environment map, virtual sensor information for a second sensor other than the first sensor is controlled to control the driving of the object to be sensed by the transport truck jig, and selectively detect the first sensor, among the plurality of sensors A sensing control unit for selectively converting a second sensor into a sensed state by providing a sensor to the transport cart; And a communication unit for communication with the transport cart and the transport cart jig.

In addition, in an embodiment, the virtual driving environment map includes a first event occurrence location to which the first sensor is to be detected and a second event occurrence location to which the second sensor is to be detected.

In addition, in an embodiment, the sensing control unit, when the transport cart reaches the first event occurrence position, drives the sensing object of the transport cart jig, and when the transport cart reaches the second event occurrence position And providing the virtual sensor information for converting the second sensor into a sensed state to the transport cart.

It further includes a state determination unit for determining the state of the transport cart by using the state information from the transport cart.

The transport truck test system of the present invention can determine the state of the transport truck by virtually running the transport truck in a virtual driving environment similar to the real environment. Therefore, it is possible to reduce the cost of driving in an actual environment.

The transport cart test system of the present invention detects a sensor using a sensing object provided in a transport cart jig, or by using virtual sensor information for a sensor that is difficult to detect with a transport cart jig, to check all sensor operations of the transport cart. I can.

The transport cart test system of the present invention can detect all sensors of the transport cart, so that the linkage operation of all components according to sensor detection can be confirmed.

1 is a diagram schematically showing a test system for a transport truck according to an embodiment of the present invention.
FIG. 2 is a block diagram showing the configuration of the simulator shown in FIG. 1.
3 is an exemplary view for explaining a virtual driving environment map stored in the map storage unit shown in FIG. 2.

Advantages and features of the present invention, and a method of achieving them will become apparent with reference to the embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in a variety of different forms, only these embodiments are intended to complete the disclosure of the present invention, and those skilled in the art to which the present invention pertains. It is provided to fully inform the person of the scope of the invention, and the invention is only defined by the scope of the claims.

Combinations of each block of the attached block diagram and each step of the flowchart may be performed by algorithms or computer program instructions, which are composed of firmware, software, or hardware. These algorithms or computer program instructions can be mounted on the processor of a general purpose computer, special purpose computer, or other programmable digital signal processing device, so that the instructions executed by the processor of the computer or other programmable data processing equipment. These will create means for performing the functions described in each block of the block diagram or each step of the flowchart. These algorithms or computer program instructions may also be stored in computer-usable or computer-readable memory that can be directed to a computer or other programmable data processing equipment to implement a function in a particular manner, so that the computer-readable or computer-readable It is also possible to produce an article of manufacture containing instruction means for performing the functions described in each block of the block diagram or each step of the flow chart. Computer program instructions can also be mounted on a computer or other programmable data processing equipment, so that a series of operating steps are performed on a computer or other programmable data processing equipment to create a computer-executable process to create a computer or other programmable data processing equipment. It is also possible for the instructions to perform the processing equipment to provide steps for performing the functions described in each block of the block diagram and each step of the flowchart.

In addition, each block or each step may represent a module, segment, or part of code comprising one or more executable instructions for executing the specified logical function(s). It should also be noted that in some alternative embodiments, functions mentioned in blocks or steps may occur out of order. For example, two blocks or steps shown in succession may in fact be performed substantially simultaneously, or the blocks or steps may sometimes be performed in the reverse order depending on the corresponding function.

In addition, configurations referred to as singular throughout the specification may be configured in plural. The same reference numerals refer to the same components throughout the specification.

Each of the features of the various embodiments of the present invention can be partially or entirely combined or combined with each other, and as those skilled in the art can fully understand, technically various interlocking and driving are possible, and each embodiment may be independently implemented with respect to each other It may be possible to do it together in a related relationship.

The carrier truck test system disclosed in the following embodiments will be described in more detail with reference to each drawing.

FIG. 1 is a schematic diagram of a transport truck testing system according to an embodiment of the present invention, and FIG. 2 is a block diagram showing the configuration of the simulator shown in FIG. 1.

With reference to Figures 1 and 2 will be described in detail a carrier truck test system according to an embodiment of the present invention.

Referring to Figure 1, the transport truck test system 10 is a device for checking the state of the transport truck by virtually running the transport truck.

The transfer truck test system 10 includes a transfer cart 100 capable of transferring containers loaded with a plurality of substrates, a transfer cart jig 200 accommodated by the separated transfer cart 100, and a transfer cart 100. And a simulator 300 for controlling the transport cart jig 200.

The transport truck 100 is a configuration for transporting a container in which a plurality of substrates are loaded in an automatic distribution system. For example, the transport truck 100 is an overhead hoist transport (OTT) or an AMHS (Automated Material Handling System). It could be an overhead shuttle (OHS).

The transport cart 100 includes a sensor unit 110, a rotation wheel 120, a transfer unit 130 for transporting the container in the vertical direction, a transport cart jig and a communication unit 140 for communication with a simulator, and a transport cart It includes a control unit 150 for controlling all configurations of.

The sensor unit 110 includes an I/O board 113 to which at least one of the first sensor 111 and the second sensor 112 and the first and second sensors are connected.

Each of the first sensor 111 and the second sensor 112 may be plural. The classification criterion of the first sensor 111 and the second sensor 112 is whether or not it can be detected as the object 220 to be sensed by the transport truck jig 200. The sensor that can be detected using the object 220 to be sensed is the first sensor 111, otherwise it is classified as the second sensor 112.

The first sensor 111 and the second sensor 112 may be connected to each terminal of the I/O board 113 having a plurality of terminals to transmit a detection signal from the sensor to the I/O board 113.

In particular, virtual sensing information from the sensing control unit 330 may be transmitted to a terminal of the I/O board 113 to which the second sensor 112 is connected. When the virtual sensing information is transmitted from the sensing control unit 330 to the terminal to which the second sensor 122 is connected, the sensing signal from the second sensor 112 is overwritten. The I/O board 113 can be recognized as being detected by the second sensor 112 that is not actually detected by the virtual sensing information.

The traveling wheel 120 drives the conveyance cart 100 forward/reverse according to the rotational drive. A driving wheel driving unit 121 for rotationally driving the driving wheel 120 may be provided. The driving wheel drive unit 121 includes a motor. The motor may sense the number of revolutions and load during rotational drive, and information on the number of revolutions and load of the motor may be transmitted to the simulator 300 and used to determine the state of the transport truck 100.

The transfer unit 130 is a configuration for placing the container on or off the equipment port, and includes a container receiving unit 131, a belt 132, and a belt driving unit 133. The container receiving unit 131 performs an operation of holding and placing a container. The belt 132 drives the container receiving unit 131 in the vertical direction, and the belt 132 is driven by the belt driving unit 133.

The communication unit 140 receives control signals from the simulator 300 and transmits information on the state of the carrier truck 100. For example, load information and rotation information of a motor driving the driving wheel 120 of the transport cart 100 are transmitted to the simulator 300 through the communication unit 140. In addition, the communication unit 140 may transmit and receive information to and from the transport cart jig 200.

The controller 150 controls a plurality of sensors 110, a driving wheel 120, a transfer unit 130, and a communication unit 140 under the control of the simulator 300.

The transfer cart jig 200 selectively detects a receiving space 201 that can accommodate the transfer cart 100, a traveling response wheel 210 corresponding to the traveling wheel 120, and a first sensor. It includes a sensing object 220 that can be, a load port unit 230 on which a container can be placed, a communication unit 240 for communication, and a power supply unit 250 for supplying power to the transport truck.

The traveling response wheel 210 is provided at a position corresponding to the traveling wheel 110 of the conveyance cart 100. One of the running heels 110 of the transport cart 100 may be supported by two or more driving corresponding wheels 210. For example, when four driving wheels 110 are provided in the transport cart 100, eight or more driving corresponding wheels 210 may be provided in the transport cart jig 200.

The traveling response wheel 210 rotates according to the rotation of the traveling wheel 110 of the transport cart 100, thereby enabling the transport cart 100 to run in place.

Each of the travel response wheels 210 may be provided with a rotation detection device capable of detecting the number of rotations of the travel response wheel 210. In addition, each of the driving response wheels 210 may be provided with a load device capable of applying a load to the rotation of the driving wheel 110 or an inertial device capable of giving inertia to the rotation of the driving wheel 110.

The sensing object 220 may selectively detect the first sensor 111 under the control of the sensing controller 330 in the simulator 300.

For example, the target object 220 may be a QR code that can be detected by a QR code reader sensor. Such a QR code may be implemented by a display device capable of selectively displaying any one of a plurality of QR codes.

Alternatively, the object to be sensed 220 may be a reflector or a sensor sensing member that can be detected by a main/sub sensor for detecting an obstacle in front. Alternatively, the sensing object 220 may be a reflector or sensor sensing member that can be detected by a far/near distance sensor for preventing collision/collision while driving. Alternatively, the object to be sensed 220 may be a reflective plate or a sensor sensing member that can be detected by a lock-down sensor for detecting an obstacle downward. Such a reflector or sensor sensing member may be implemented in a manner that is hidden or displayed by rotational drive or protrusion drive of the object to be sensed. Alternatively, the object to be sensed 220 may be a sensor and a stopper that can be detected by a sensor and a stopper for detecting left/right turning of the conveyance truck 100.

The sensing object 220 is driven when the transport truck 100 reaches the first driving position set in the virtual driving map in the map storage unit 310 in the simulator 300. Or it can be driven by an operator. This will be described later.

The load port unit 230 is a configuration for implementing an operation in a load port in an actual environment, and may be provided under the transport cart jig 200. A contact portion to which the bottom of the container contacts, a fixing portion to which the bottom of the container is fixed, and a position sensor for detecting the position of the container may be provided.

The communication unit 240 connects the transport cart jig 200 to the transport cart 100 and the simulator 300 by wire or wirelessly.

The power supply unit 250 supplies power to the transport truck 100. As a method of supplying power to the transport cart 100, a method of supplying power to the transport cart 100 in an actual environment may be used. The power supply unit 250 may include a function of making the power supplied to the transport truck 100 unstable. Accordingly, it is possible to determine the influence of the transport truck 100 when unstable power is supplied.

Referring to FIG. 2, the simulator 300 includes a map storage unit 310, a driving control unit 320, a sensing control unit 330, a state determination unit 340, and a communication unit 350.

The simulator 300 may be a computer separate from the transport cart jig 200, and the simulator 300 may be provided as a computer device in a form mounted on the transport cart jig 200.

The map storage unit 310 includes a virtual driving environment map 311 for virtual driving of the conveyance truck 100. A plurality of virtual driving environment maps 311 may be provided, and may be generated based on the operation record of the transport truck in an actual environment or generated by a developer based on the operation record of the transport truck.

3 is an exemplary view for explaining a virtual driving environment map stored in the map storage unit shown in FIG. 2 according to an embodiment of the present invention.

3, the virtual driving environment map 311 includes a rail on which the transfer truck 100 can move, a plurality of transfer trucks 314 other than the transfer truck 100 under test, and a stocker capable of loading a plurality of containers. 313, a process treatment facility 315 for processing the substrate in the container, and the like may be included.

In addition, in the virtual driving environment map 311, a virtual driving path of the transport truck 100 may be set in advance or may be set by the driving control unit 320.

When the virtual driving path of the transport truck 100 is previously set in the virtual driving environment map 311, a plurality of event occurrence locations may be set on the virtual driving path. When the transport truck 100 reaches a plurality of event occurrence locations, an event corresponding thereto occurs.

For example, when the transfer cart 100 reaches the receiving operation event occurrence location 318 requiring the receiving operation of the container, the transfer cart 100 must perform the receiving operation at the receiving operation event occurrence location 318.

For example, the first event occurrence location 316 represents the location of the transport truck 100 at which the first sensor 111 should be detected, and the second event occurrence location 317 should be the second sensor 112 detected. It indicates the position of the transport cart 100 to be performed.

When the transport cart 100 reaches the first event occurrence position 316, the sensing object 220 of the transport cart jig 200 is driven to detect the first sensor 111. When the transport truck 100 reaches the second event occurrence location 317, the sensing information of the second sensor 112 is changed to “detected” by the virtual sensing information transmitted from the sensing control unit 330.

Alternatively, the first event occurrence location 316 may represent the location of the transport truck 100 to which the first sensor 111 and the second sensor 112 should be detected, and the second event occurrence location is the first sensor. Any one of 111 and the second sensor 112 may indicate a position to be detected.

Alternatively, the virtual driving route and event may be randomly generated by the driving control unit 320 or may be generated according to an instruction from an operator.

The driving control unit 320 transmits a control signal to the control unit 150 of the conveyance truck 100 to virtually run the conveyance truck 100 based on the virtual driving environment map 311, and virtually drives the carrier vehicle 100. It controls to travel based on the environment map 311.

The sensing control unit 330 is based on the control of the transport truck 100 reaches the event occurrence location set in the virtual driving environment map 311, or the virtual driving environment map 311 or the driving control unit 320, the second In order to selectively convert the sensor 112 into a sensed state, virtual sensor information on the second sensor 122 is provided to the conveyance cart 100.

Specifically, the provided virtual sensor information is provided on the I/O board 113 to which the second sensor of the transport cart 100 is connected, and the I/O board 113 causes the detection result transmitted from the second sensor to be “ It can be recognized as “detected”.

Alternatively, unlike the above, the provided virtual sensor information is transmitted to the control unit 150 of the transport cart 100, and the second sensor 112 is detected from the I/O board 113 of the transport cart 100. By replacing the information with virtual sensor information, the control unit 150 may recognize the second sensor as “detected”.

The state determination unit 340 determines the state of the conveyance truck 100 based on state information according to the driving operation of the conveyance truck 100.

For example, when any one of the first sensor and the second sensor of the transport cart is detected, the operation of the transport cart 100 in response thereto is continued. State information related to the operation of the reacted transport truck 100 is received by the state determination unit 340, and the state determination unit 340 grasps the state of the transport truck 100 based on this.

For example, it is assumed that the driving control unit 320 controls the transport truck 100 to travel an X meter distance to the set target position. The control unit 150 of the transport cart 100 drives the driving wheel 110 to move by an X (m) distance. The information on the number of revolutions of the travel response wheel 210 that rotates in engagement with the travel wheel 110 of the transport cart 100 is transmitted from the transport cart 100 to the state determination unit 140. The state determination unit 140 may calculate a Y meter, which is a moving distance of the transport truck 100, from information on the number of revolutions of the travel response wheel 210. The state determination unit 140 may determine whether or not there is an abnormality in the driving wheel 110 and the control unit 150 of the transport cart 100 by comparing the X meter and the Y meter.

The communication unit 350 is a component for connecting the transport cart 100 and the transport cart jig 200 and each wired or wireless, short-range or long distance. The communication unit 350 transmits a signal including information from all configurations in the simulator, and transmits a signal containing status information from the communication unit 140 of the carrier truck 100 and the communication unit 240 of the carrier truck jig 200. Receive.

The driving control unit 320 and the sensing control unit 330 may be integrally configured, or the driving control unit 320 and the sensing control unit 330 and the state determination unit 340 may be integrally formed.

The simulator 300 may be integrally configured with the transport cart jig 200.

The transport truck test system of the present invention can determine the state of the transport truck by virtually running the transport truck in a virtual driving environment similar to the real environment. Therefore, it is possible to reduce the cost of driving in an actual environment.

The transport cart test system of the present invention detects a sensor using a sensing object provided in a transport cart jig, or by using virtual sensor information for a sensor that is difficult to detect with a transport cart jig, to check all sensor operations of the transport cart. I can.

The transport cart test system of the present invention can detect all sensors of the transport cart, so that the linkage operation of all components according to sensor detection can be confirmed.

As described above, although it has been described with reference to the preferred embodiments of the present application, those skilled in the art will variously modify the present application within the scope not departing from the spirit and scope of the present invention described in the following claims. And it will be appreciated that it can be changed.

10: transport truck test system
100: transport cart 110: sensor unit
111: first sensor 112 second sensor
113: I/O board 120: driving wheel,
130: transfer financial unit 131: container receiving unit
132: belt 133: belt driving unit
140: communication unit 150: control unit
200: transfer truck jig, 201: accommodation space
210: driving response wheel 220: object to be sensed
230: load port unit 240: communication unit
250: power supply 300: simulator
310: map storage unit 311: virtual driving environment map
320: driving control unit 330: sensing control unit
340: status determination unit 350: communication unit

Claims (5)

A transport cart having a driving wheel and a plurality of sensors;
Selectively select a first sensor from among a plurality of sensors of the transport cart and a driving response wheel provided at a position corresponding to the driving wheel of the transport cart and for driving the transport cart in place. A transport cart jig having a target object to be sensed; And
Controls to drive the transport cart according to a pre-stored virtual driving environment map, generates virtual sensor information for selectively detecting a second sensor other than the first sensor among the plurality of sensors, and drives the transport cart It includes a simulator for controlling the transport truck jig according to,
The simulator,
A map storage unit storing the virtual driving environment map;
A driving control unit configured to control to drive the transport truck based on the virtual driving environment map;
Based on the virtual driving environment map, the first sensor is selectively detected by controlling the driving of the object to be sensed by the conveyance cart jig, and virtual sensor information for a second sensor other than the first sensor among the plurality of sensors is provided. A sensing control unit that selectively converts the second sensor into a sensed state by providing it to the transport cart;
A state determination unit for determining a state of the conveyance truck by using state information related to an operation of the conveyance truck in response to sensor detection when any one of the first sensor and the second sensor of the conveyance truck is detected; And
And a communication unit for communication with the transport cart and the transport cart jig.
delete The method of claim 1,
Wherein the virtual driving environment map includes a first event occurrence location to be detected by the first sensor and a second event occurrence location to be detected by the second sensor.
The method of claim 3,
The sensing control unit,
When the transport cart reaches the first event occurrence position, drives the sensing object of the transport cart jig,
When the transport cart reaches the second event occurrence position, the virtual sensor information for converting the second sensor into a sensed state is provided to the transport cart. delete

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