TWI695805B - Lot carrying system and lot carrying method - Google Patents
Lot carrying system and lot carrying method Download PDFInfo
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本發明是有關於一種搬運系統及搬運方法且特別是有關於一種貨物搬運系統及貨物搬運方法。 The present invention relates to a conveying system and a conveying method, and particularly relates to a cargo conveying system and a cargo conveying method.
在具有多樓層的晶圓廠中,一般採用自動化系統來在各個樓層之間搬運貨物(例如,晶片)。對於要搬運的貨物而言,上述方式係透過中央控制程式依據貨物到達的順序依序對貨物下達具優先順序的搬運命令,並依據各搬運命令的順序來依序搬運位於不同樓層的貨物。然而,此種方式在執行時較無效率且耗時,因而可能造成無謂的器材損耗與成本浪費。 In fabs with multiple floors, automated systems are generally used to move goods (eg, wafers) between floors. For the goods to be transported, the above-mentioned method is to order the transportation orders with priority order to the goods according to the order of arrival of the goods through the central control program, and to sequentially transport the goods located on different floors according to the order of the transportation orders. However, this method is less efficient and time-consuming in execution, which may cause unnecessary equipment loss and cost waste.
有鑑於此,本發明提供一種貨物搬運系統及貨物搬運方法,其可用以解決上述技術問題。 In view of this, the present invention provides a cargo handling system and cargo handling method, which can be used to solve the above technical problems.
本發明提供一種貨物搬運系統,用於在多個樓層之間搬運多個貨物。上述貨物搬運系統包括搬運裝置、搬運臂及控制裝 置。搬運裝置具有一搬運空間,且搬運空間具有對應於前述樓層的多個貨物入口及多個貨物出口。搬運臂設置於搬運裝置中,用於在搬運空間中搬運前述貨物。控制裝置電性連接於搬運臂並設置有一命令佇列,命令佇列儲存有對應於前述貨物的多個搬運命令。控制裝置經配置以:從前述搬運命令中取得一第一搬運命令,其中第一搬運命令對應於前述貨物中的一第一貨物,且第一搬運命令記錄有第一貨物的一當下樓層資訊及一目的樓層資訊;從前述搬運命令中取得一第二搬運命令,其中第二搬運命令對應於前述貨物中的一第二貨物,且第二搬運命令記錄有第二貨物的一當下樓層資訊及一目的樓層資訊;反應於第一貨物的目的樓層資訊匹配於第二貨物的當下樓層資訊,基於第一搬運命令及第二搬運命令建立一第一鏈結;以及控制搬運臂依據第一鏈結依序搬運第一貨物及第二貨物。 The present invention provides a cargo handling system for handling multiple cargoes between multiple floors. The above cargo handling system includes a handling device, a handling arm and a control device Set. The conveying device has a conveying space, and the conveying space has multiple cargo entrances and multiple cargo exits corresponding to the aforementioned floors. The carrying arm is provided in the carrying device and is used to carry the aforementioned goods in the carrying space. The control device is electrically connected to the transfer arm and is provided with a command queue, and the command queue stores a plurality of transfer commands corresponding to the aforementioned goods. The control device is configured to: obtain a first transport command from the foregoing transport command, wherein the first transport command corresponds to a first cargo in the foregoing cargo, and the first transport command records a current floor information of the first cargo and A destination floor information; a second handling order is obtained from the aforementioned handling order, wherein the second handling order corresponds to a second cargo among the aforementioned goods, and the second handling order records the current floor information and a of the second cargo Destination floor information; the destination floor information reflected in the first cargo matches the current floor information of the second cargo, and a first link is established based on the first transport command and the second transport command; and the transport arm is controlled in order according to the first link Handling the first cargo and the second cargo.
本發明提供一種貨物搬運方法,用於令一貨物搬運系統在多個樓層之間搬運多個貨物。前述方法包括:從貨物搬運系統的一命令佇列中的多個搬運命令中取得一第一搬運命令,其中第一搬運命令對應於前述貨物中的一第一貨物,且第一搬運命令記錄有第一貨物的一當下樓層資訊及一目的樓層資訊;從前述搬運命令中取得一第二搬運命令,其中第二搬運命令對應於前述貨物中的一第二貨物,且第二搬運命令記錄有第二貨物的一當下樓層資訊及一目的樓層資訊;反應於第一貨物的目的樓層資訊匹配於 第二貨物的當下樓層資訊,基於第一搬運命令及第二搬運命令建立一第一鏈結;以及控制貨物搬運系統的一搬運臂依據第一鏈結依序搬運第一貨物及第二貨物。 The present invention provides a cargo handling method for a cargo handling system to transport multiple cargoes between multiple floors. The foregoing method includes: obtaining a first transport order from a plurality of transport orders in a command queue of the cargo handling system, where the first transport order corresponds to a first cargo in the foregoing goods, and the first transport order records The current floor information and the destination floor information of the first cargo; a second transport order is obtained from the aforementioned transport order, wherein the second transport order corresponds to a second cargo among the aforementioned goods, and the second transport order records the first The current floor information and the destination floor information of the second cargo; the destination floor information reflected in the first cargo matches the The current floor information of the second cargo establishes a first link based on the first transport command and the second transport command; and a transport arm that controls the cargo transport system sequentially transports the first cargo and the second cargo according to the first link.
基於上述,本發明提出的貨物搬運系統及貨物搬運方法可在判定第一貨物的目的樓層資訊匹配於第二貨物的當下樓層資訊時,相應地建立第一鏈結,並控制搬運臂依據第一鏈結依序搬運第一貨物及第二貨物。藉此,可讓貨物搬運系統以更佳的效率執行搬運貨物的操作,從而達到省時、降低器材損耗與成本等效果。 Based on the above, the cargo handling system and cargo handling method proposed by the present invention can establish a first link accordingly when it is determined that the destination floor information of the first cargo matches the current floor information of the second cargo, and control the transport arm according to the first The chain moves the first goods and the second goods in sequence. In this way, the cargo handling system can perform cargo handling operations with better efficiency, thereby achieving the effects of time saving, reduced equipment loss and cost.
為讓本發明的上述特徵和優點能更明顯易懂,下文特舉實施例,並配合所附圖式作詳細說明如下。 In order to make the above-mentioned features and advantages of the present invention more obvious and understandable, the embodiments are specifically described below in conjunction with the accompanying drawings for detailed description as follows.
100、200、500、600、700:貨物搬運系統 100, 200, 500, 600, 700: cargo handling system
110、210:搬運裝置 110, 210: handling device
111、211:搬運空間 111, 211: handling space
120、220:搬運臂 120, 220: carrying arm
130、230:控制裝置 130, 230: control device
135、235:命令佇列 135, 235: command queue
135a、135b、135c、235a、235b、235c、235d、235e、235f、235g:搬運命令 135a, 135b, 135c, 235a, 235b, 235c, 235d, 235e, 235f, 235g: transport order
212a、212b、212c、212d:貨物儲存位 212a, 212b, 212c, 212d: cargo storage location
A、B、C、D、E、F、G:貨物 A, B, C, D, E, F, G: Goods
L1:鏈結 L1: Link
I2、I3、I4:貨物入口 I2, I3, I4: cargo entrance
O2、O3、O4:貨物出口 O2, O3, O4: export of goods
S310~S340:步驟 S310~S340: Steps
圖1是依據本發明之一實施例繪示的貨物搬運系統示意圖。 FIG. 1 is a schematic diagram of a cargo handling system according to an embodiment of the invention.
圖2是依據本發明之一實施例繪示的貨物搬運系統示意圖。 2 is a schematic diagram of a cargo handling system according to an embodiment of the invention.
圖3是依據本發明之一實施例繪示的貨物搬運方法流程圖。 FIG. 3 is a flowchart of a method for handling goods according to an embodiment of the invention.
圖4是依據圖2繪示的貨物搬運系統示意圖。 4 is a schematic diagram of the cargo handling system shown in FIG. 2.
圖5是依據圖2繪示的貨物搬運系統示意圖。 FIG. 5 is a schematic diagram of the cargo handling system shown in FIG. 2.
圖6是依據圖5繪示的貨物搬運系統示意圖。 6 is a schematic diagram of the cargo handling system shown in FIG. 5.
圖7是依據圖6繪示的貨物搬運系統示意圖。 7 is a schematic diagram of the cargo handling system shown in FIG. 6.
請參照圖1,其是依據本發明之一實施例繪示的貨物搬運系統示意圖。在本實施例中,假設貨物搬運系統100可設置於具有四層樓的工廠中,並用於在此工廠的2樓至4樓之間搬運貨物(例如裝載有晶圓的晶圓傳送盒)。在圖1中,貨物搬運系統100可包括搬運裝置110、搬運臂120及控制裝置130。搬運裝置110具有搬運空間111,且搬運空間111具有對應於上述樓層的多個貨物入口I2、I3、I4及多個貨物出口O2、O3、O4。搬運臂120設置於搬運裝置110中,用於在搬運空間111中搬運貨物。在本發明的實施例中,搬運臂120可假設為一次只能抓取一個貨物,但可不限於此。控制裝置130電性連接於搬運臂120並設置有命令佇列135,且命令佇列135儲存有對應於貨物的多個搬運命令。
Please refer to FIG. 1, which is a schematic diagram of a cargo handling system according to an embodiment of the present invention. In this embodiment, it is assumed that the
在本實施例中,假設位於4樓貨物A、B及位於2樓的貨物C依序被對應的第一輸送裝置(例如輸送帶等)運抵對應的貨物入口I4及I2。相應地,控制裝置130可在貨物A、B、C各自抵達對應的貨物入口時取得對應於貨物A、B、C的搬運命令135a、135b、135c,並將搬運命令135a~135c依序儲存至命令佇列135中。在本發明的實施例中,命令佇列135例如是一先進先出(FIFO)佇列,但本發明可不限於此。
In this embodiment, it is assumed that the cargoes A and B on the fourth floor and the cargo C on the second floor are sequentially delivered to the corresponding cargo entrances I4 and I2 by the corresponding first conveying device (for example, a conveyor belt, etc.). Accordingly, the
在一實施例中,各搬運命令可儲存有所對應的貨物的當下樓層資訊(例如,貨物當下所在的樓層)及目的樓層資訊(例
如,貨物欲前往的目的樓層)。舉例而言,假設當下位於4樓的貨物A欲前往2樓,則搬運命令135a中即可儲存有貨物A的當下樓層資訊(即,4樓)及目的樓層資訊(即,2樓)。另外,假設當下位於4樓的貨物B欲前往3樓,則搬運命令135b中即可儲存有貨物B的當下樓層資訊(即,4樓)及目的樓層資訊(即,3樓)。舉另一例而言,假設當下位於2樓的貨物C欲前往3樓,則搬運命令135c中即可儲存有貨物C的當下樓層資訊(即,2樓)及目的樓層資訊(即,3樓)。
In an embodiment, each handling command may store the current floor information of the corresponding cargo (for example, the floor where the cargo is currently located) and the destination floor information (for example
For example, the destination floor where the goods want to go). For example, assuming that the cargo A currently on the fourth floor wants to go to the second floor, the
之後,控制裝置130可依據命令佇列135中的搬運命令135a~135c依序搬運貨物A、B、C。具體而言,控制裝置130可依據搬運命令135a記錄的貨物A的當下樓層資訊控制搬運臂120移動至4樓的貨物入口I4,以抓取貨物A。之後,控制裝置130可依據搬運命令135a記錄的貨物A的目的樓層資訊控制已抓取貨物A的搬運臂120移動至2樓,以將貨物A置放於貨物出口O2。接著,置放於貨物出口O2的貨物A可由相應的第二輸送裝置(例如輸送帶)運送至2樓的某個指定地點/機台等位置。
After that, the
接著,控制裝置130可依據搬運命令135b記錄的貨物B的當下樓層資訊控制搬運臂120從2樓返回至4樓的貨物入口I4,以抓取貨物B。之後,控制裝置130可依據搬運命令135b記錄的貨物B的目的樓層資訊控制已抓取貨物B的搬運臂120移動至3樓,以將貨物B置放於貨物出口O3。接著,置放於貨物出口O3
的貨物B可由相應的第二輸送裝置(例如輸送帶)運送至3樓的某個指定地點/機台等位置。
Then, the
之後,控制裝置130可依據搬運命令135c記錄的貨物C的當下樓層資訊控制搬運臂120從3樓移動至2樓的貨物入口I2,以抓取貨物C。之後,控制裝置130可依據搬運命令135c記錄的貨物C的目的樓層資訊控制已抓取貨物C的搬運臂120移動至3樓,以將貨物C置放於貨物出口O3。接著,置放於貨物出口O3的貨物C可由相應的第二輸送裝置(例如輸送帶)運送至3樓的某個指定地點/機台等位置。
After that, the
然而,由圖1所示的搬運臂120的移動路徑可看出,若在將貨物A搬運至2樓之後接續搬運位於2樓的貨物C,應是較有效率的搬運方式。然而,由於一般的控制裝置130係經設計以序列地基於命令佇列130中的搬運命令來搬運貨物,因此可能造成圖1所示的低效率搬運方式。並且,由於貨物是以較為動態的方式陸續抵達對應的貨物入口,因此若控制裝置130仍以上述較為靜態的方式搬運貨物的話,將使得搬運的效率更佳惡化。
However, it can be seen from the moving path of the
有鑑於此,本發明另提出一種貨物搬運系統及貨物搬運方法,其可較為動態地安排命令佇列中各搬運命令的順序,從而改善貨物的搬運效率。 In view of this, the present invention also proposes a cargo handling system and cargo handling method, which can arrange the order of various handling commands in the command queue more dynamically, thereby improving the handling efficiency of the goods.
請參照圖2,其是依據本發明之一實施例繪示的貨物搬運系統示意圖。在本實施例中,假設貨物搬運系統200可設置於具
有四層樓的工廠中,並用於在此工廠的2樓至4樓之間搬運貨物。在圖2中,貨物搬運系統200可包括搬運裝置210、搬運臂220及控制裝置230。搬運裝置210具有搬運空間211,且搬運空間211具有對應於上述樓層的多個貨物入口I2、I3、I4及多個貨物出口O2、O3、O4。搬運臂220設置於搬運裝置210中,用於在搬運空間211中搬運貨物。在本發明的實施例中,搬運臂220可假設為一次只能抓取一個貨物,但可不限於此。控制裝置230電性連接於搬運臂220並設置有命令佇列235,且命令佇列235儲存有對應於貨物的多個搬運命令。
Please refer to FIG. 2, which is a schematic diagram of a cargo handling system according to an embodiment of the present invention. In this embodiment, it is assumed that the
在本實施例中,假設位於4樓貨物A、B及位於2樓的貨物C依序到達對應的貨物入口I4及I2。相應地,控制裝置230可在貨物A、B、C各自抵達對應的貨物入口時取得對應於貨物A、B、C的搬運命令235a、235b、235c,並將搬運命令235a~235c依序儲存至命令佇列235中。在本發明的實施例中,命令佇列235例如是一先進先出佇列,但本發明可不限於此。
In this embodiment, it is assumed that the cargoes A and B on the fourth floor and the cargo C on the second floor sequentially arrive at the corresponding cargo entrances I4 and I2. Correspondingly, the
在本實施例中,搬運命令235a~235c所儲存的資訊可相同於圖1的搬運命令135a~135c,故其細節於此不另贅述。
In this embodiment, the information stored in the
在一實施例中,控制裝置230可經程式化而執行本發明提出的貨物搬運方法,以更有效率地搬運貨物,相關細節詳述如下。
In an embodiment, the
請參照圖3,其是依據本發明之一實施例繪示的貨物搬運 方法流程圖。本實施例的方法可由圖2的貨物搬運系統實現,以下即搭配圖2所示的內容來說明圖3各步驟的細節。 Please refer to FIG. 3, which illustrates cargo handling according to an embodiment of the present invention. Method flow chart. The method of this embodiment may be implemented by the cargo handling system of FIG. 2, and the details of each step of FIG. 3 will be described below in conjunction with the content shown in FIG. 2.
首先,在步驟S310中,控制裝置230可從命令佇列235的搬運命令中取得第一搬運命令。在不同的實施例中,前述第一搬運命令例如是命令佇列235中的任一搬運命令,或是命令佇列235中具最高優先權的搬運命令。在本實施例中,第一搬運命令可對應於貨物中的第一貨物,且第一搬運命令可記錄有第一貨物的當下樓層資訊及目的樓層資訊,但可不限於此。
First, in step S310, the
之後,在步驟S320中,控制裝置230可從命令佇列235的搬運命令中取得第二搬運命令。在不同的實施例中,前述第二搬運命令例如是命令佇列235中排序在第一搬運命令之後的任一搬運命令。在本實施例中,第二搬運命令可對應於貨物中的第二貨物,且第二搬運命令可記錄有第二貨物的當下樓層資訊及目的樓層資訊,但本發明可不限於此。
Thereafter, in step S320, the
在步驟S330中,反應於第一貨物的目的樓層資訊匹配於第二貨物的當下樓層資訊,控制裝置230可基於第一搬運命令及第二搬運命令建立第一鏈結。並且,在步驟S340中,控制裝置230可控制搬運臂220依據第一鏈結依序搬運第一貨物及第二貨物。
In step S330, in response to the target floor information of the first cargo matching the current floor information of the second cargo, the
為使以上各步驟更為清楚,以下將輔以圖2所示的情境作進一步說明。在圖2中,控制裝置230例如可取得對應於貨物A的搬運命令235a作為第一搬運命令,以及取得對應於貨物B的搬
運命令235b作為第二搬運命令。然而,由於貨物A的目的樓層資訊(即,2樓)未匹配於貨物B的當下樓層資訊(即,4樓),故控制裝置230不會基於搬運命令235a及235b建立任何鏈結。
In order to make the above steps clearer, the scenario shown in Fig. 2 will be further explained below. In FIG. 2, the
之後,控制裝置230例如可將對應於貨物A的搬運命令235a維持為第一搬運命令,並另取得對應於貨物C的搬運命令235c作為第二搬運命令。在此情況下,由於貨物A的目的樓層資訊(即,2樓)匹配於貨物C的當下樓層資訊(即,2樓),故控制裝置230可基於搬運命令235a及235c建立鏈結L1。亦即,此時取得的第二搬運命令為在第一搬運命令完成後,在後續應執行之命令中經系統預測及判斷最有執行效率者。
After that, the
在本實施例中,控制裝置230建立第一鏈結L1的方式例如是將搬運命令235c的優先權調整為次於搬運命令235a,但本發明可不限於此。在其他實施例中,之後,控制裝置230即可依據鏈結L1依序搬運貨物A及C。
In this embodiment, the way in which the
具體而言,控制裝置230可依序執行以下步驟:(1)依據鏈結L1取得對應於貨物A的當下樓層資訊的第一特定樓層(即,4樓),並控制搬運臂220前往第一特定樓層以抓取位於第一特定樓層的貨物入口I4的貨物A;(2)控制裝置230可依據鏈結L1取得對應於貨物A的目的樓層資訊的第二特定樓層(即,2樓),並控制已抓取貨物A的搬運臂220前往第二特定樓層以將貨物A置放於第二特定樓層的貨物出口O2;(3)控制位於第二特定
樓層的搬運臂220抓取位於第二特定樓層的貨物入口I2的貨物C;以及(4)依據鏈結L1取得對應於貨物C的目的樓層資訊的第三特定樓層(即,3樓),並控制已抓取貨物C的搬運臂220前往第三特定樓層以將貨物C置放於第三特定樓層的貨物出口O3。
Specifically, the
在其他實施例中,在產生一個鏈結之後,控制裝置230可再基於此鏈結來判斷是否能再據以產生其他的鏈結。概略而言,假設控制裝置230已基於第一搬運命令及第二搬運命令產生第一鏈結,則控制裝置230可再從命令佇列235的搬運命令中取得第三搬運命令。在不同的實施例中,第三搬運命令可對應於貨物中的第三貨物,且第三搬運命令可記錄有第三貨物的當下樓層資訊及目的樓層資訊。並且,第三搬運命令例如是命令佇列235中優先權低於第一鏈結的任一搬運命令,但本發明可不限於此。
In other embodiments, after a link is generated, the
之後,控制裝置230可判斷第二貨物的目的樓層資訊是否匹配於第三貨物的當下樓層資訊。在一實施例中,若第二貨物的目的樓層資訊匹配於第三貨物的當下樓層資訊,則控制裝置230可基於第二搬運命令及第三搬運命令建立第二鏈結,並依據第二鏈結依序搬運第二貨物及第三貨物。相反地,若第二貨物的目的樓層資訊未匹配於第三貨物的當下樓層資訊,則控制裝置230可不產生任何鏈結,並僅基於如圖1所示的序列搬運方式來搬運第三貨物,但可不限於此。簡言之,在完成第一鏈結的建立及/或相應的搬運操作之後,控制裝置230可再嘗試建立下一個鏈結,以
形成具有較佳效率的連續搬運過程。
After that, the
再以圖2為例,在產生鏈結L1之後,控制裝置230例如可取得對應於貨物B的搬運命令235b作為第三搬運命令。然而,由於貨物C的目的樓層資訊(即,3樓)未匹配於貨物B的當下樓層資訊(即,4樓),故控制裝置230不會基於搬運命令235c及235b建立任何鏈結。因此,當控制裝置230控制搬運臂220將貨物C搬運至3樓之後,可序列地取得次於搬運命令235c的搬運命令235b,並基於其記錄的貨物B的當下樓層資訊而前往4樓抓取位於貨物入口I4的貨物B。之後,控制裝置230可再基於搬運命令235b記錄的貨物B的目的樓層資訊而控制已抓取貨物B的搬運臂220前往3樓,以將貨物B置放於貨物出口O3。
Taking FIG. 2 as an example again, after the link L1 is generated, the
由圖2所示的搬運臂220的移動路徑可看出,相較於圖1所示的搬運臂120的移動路徑,搬運臂220的移動路徑較短且有效率。
As can be seen from the moving path of the
由上可知,在透過本發明提出的方法動態地安排各貨物的搬運命令在命令佇列中的優先順序之後,可讓貨物搬運系統以更佳的效率執行搬運貨物的操作,從而達到省時、降低器材損耗與成本等效果。 It can be seen from the above that after dynamically arranging the priority order of the transport orders of each cargo in the command queue through the method proposed by the present invention, the cargo handling system can perform the cargo handling operation with better efficiency, thereby saving time, Reduce the effects of equipment loss and cost.
在其他實施例中,假設貨物B被調整為位於3樓的貨物入口I3(即,貨物B的當下樓層資訊為3樓),則控制裝置230即可判斷貨物C的目的樓層資訊(即,3樓)匹配於貨物B的當
下樓層資訊,進而可基於搬運命令235c及235b建立另一鏈結。在此情況下,在控制裝置230控制搬運臂220將貨物C搬運至3樓之後,即可依據上述另一鏈結而繼續抓取位於3樓的貨物入口I3的貨物B,並依據搬運命令235b記錄的目的樓層資訊而將貨物B搬運至欲前往的樓層,但本發明可不限於此。
In other embodiments, assuming that the cargo B is adjusted to the cargo entrance I3 on the third floor (ie, the current floor information of the cargo B is the third floor), the
在以上實施例中,係假設控制裝置230在貨物A、B、C被對應的第一輸送裝置運抵對應的貨物入口時,才將對應的搬運命令235a~235c儲存至命令佇列235中。換言之,對於正由第一輸送裝置搬運但尚未抵達貨物入口的某些特定貨物而言,以上實施例中的作法並未將其納入考量。因此,若能將上述特定貨物一併納入考量,應可將貨物搬運的效率進一步提升。為此,本發明另提出了以下技術手段,以將尚未抵達貨物入口的某些特定貨物納入考量,相關說明如下所示。
In the above embodiment, it is assumed that the
在一實施例中,控制裝置230可更經配置以取得位於第一輸送裝置上但尚未抵達貨物入口的特定貨物的特定搬運命令,並將特定搬運命令儲存至命令佇列235中。為使上述概念更為清楚,以下另搭配圖4作進一步說明。
In one embodiment, the
請參照圖4,其是依據圖2繪示的貨物搬運系統示意圖。與圖2實施例不同之處在於,圖4中的貨物C雖正由第一輸送裝置(例如,輸送帶)運送,但尚未抵達對應的貨物入口I2。為將貨物C一併納入考量,本實施例的控制裝置230可將貨物C視為
特定貨物,並取得搬運命令235c作為特定搬運命令,並將搬運命令235c儲存至命令佇列235中。在其他實施例中,控制裝置230中可設置有特定的邏輯判斷元件,用以定時或不定時地取得尚未抵達對應的貨物入口的特定貨物的特定搬運命令,並將其儲存至命令佇列235中,但本發明可不限於此。
Please refer to FIG. 4, which is a schematic diagram of the cargo handling system shown in FIG. 2. The difference from the embodiment of FIG. 2 is that although the cargo C in FIG. 4 is being transported by the first conveying device (for example, a conveyor belt), it has not yet reached the corresponding cargo entrance I2. In order to take cargo C into consideration together, the
在將搬運命令235c儲存至命令佇列235中之後,控制裝置230即可依據先前實施例中的教示而產生搬運命令235a及235c的鏈結L1,並將搬運命令235c的優先權調整為次於搬運命令235a。相關細節可參照先前實施例中的說明,於此不另贅述。
After storing the
然而,在本實施例中,在控制裝置230控制搬運臂220將貨物A搬運至2樓的貨物出口O2之後,由於貨物C可能尚未抵達貨物入口I2,因此控制裝置230可控制搬運臂220在2樓等待一預設時間(例如2秒或其他由設計者自定的任意時間)。
However, in this embodiment, after the
在此情況下,控制裝置230可判斷貨物C是否在預設時間內到達2樓的貨物入口I2以供搬運臂220抓取。在本實施例中,假設貨物C在預設時間內到達2樓的貨物入口I2以供搬運臂220抓取,則控制裝置230可控制搬運臂220抓取貨物C,並續行貨物C的搬運操作。
In this case, the
在另一實施例中,若貨物C未在預設時間內到達2樓的貨物入口I2以供搬運臂220抓取,則控制裝置230可從命令佇列235中取得次於鏈結L1的另一鏈結或另一搬運命令,並解除鏈結
L1。在圖3中,控制裝置230可取得次於鏈結L1的搬運命令235b,並透過將搬運命令235c的優先權降為低於搬運命令235b的方式來解除鏈結L1。
In another embodiment, if the cargo C does not reach the cargo entrance I2 on the second floor for the
簡言之,當搬運臂220可如期在預設時間內抓取到貨物C,則控制裝置220可控制搬運臂220依據圖2相關說明中教示的方式繼續搬運貨物C及B。然而,當搬運臂220未如期在預設時間內抓取到貨物C時,控制裝置230可直接控制搬運臂220抓取後續的貨物。
In short, when the
在另一實施例中,假設貨物A亦為正由第一輸送裝置(例如,輸送帶)運送,但尚未抵達對應的貨物入口I4的特定貨物。在此情況下,控制裝置230(的邏輯判斷元件)可取得貨物A的搬運命令235a作為特定搬運命令,並將搬運命令235a儲存至命令佇列235中。在此情況下,控制裝置230仍可基於先前實施例中的教示而產生搬運命令235a及235c的鏈結L1,並將搬運命令235c的優先權調整為次於搬運命令235a。相關細節可參照先前實施例中的說明,於此不另贅述。
In another embodiment, it is assumed that the cargo A is also a specific cargo that is being transported by the first conveying device (for example, a conveyor belt), but has not yet reached the corresponding cargo entrance I4. In this case, the (logical judgment element) of the
之後,控制裝置230可依據鏈結L1取得對應貨物A的當下樓層資訊的第一特定樓層(即,4樓),並控制搬運臂220前往第一特定樓層。然而,由於貨物A可能尚未抵達貨物入口I4,因此控制裝置230可控制搬運臂220在4樓等待一預設時間(例如2秒或其他由設計者自定的任意時間)。
After that, the
在此情況下,控制裝置230可判斷貨物A是否在預設時間內到達4樓的貨物入口I4以供搬運臂220抓取。在本實施例中,假設貨物A在預設時間內到達4樓的貨物入口I4以供搬運臂220抓取,則控制裝置230可控制搬運臂220抓取貨物A,並續行貨物A的搬運操作。並且,在搬運臂220將貨物A搬運至2樓之後,控制裝置230可再依據鏈結L1接續進行貨物C的搬運操作,其細節於此不另贅述。
In this case, the
另一方面,若貨物A未在預設時間內到達4樓的貨物入口I4以供搬運臂220抓取,則控制裝置230可從命令佇列235中取得次於鏈結L1的另一鏈結或另一搬運命令,並解除鏈結L1。在圖3中,控制裝置230可取得次於鏈結L1的搬運命令235b,並透過將搬運命令235a及235c的優先權降為低於搬運命令235b的方式來解除鏈結L1。
On the other hand, if the cargo A does not arrive at the cargo entrance I4 on the 4th floor within the preset time for the
之後,控制裝置230可控制搬運臂220離開4樓(即,第一特定樓層)的貨物入口I4,並依據上述另一鏈結或上述另一搬運命令(例如搬運命令235b)進行貨物搬運操作。
After that, the
由上可知,本發明還可基於現有需求及所預測的未來需求,重新排列需求優先順序,進而採用對於搬運最有效率的命令鏈方式發送命令。 As can be seen from the above, the present invention can also rearrange the priority of demand based on the existing demand and the predicted future demand, and then use the most efficient command chain method for handling to send commands.
在一些實施例中,若待搬運的貨物中包括具有相同的當下樓層資訊及目的樓層資訊的多個特定貨物,且這些特定貨物出 於某些原因需緊急地進行搬運,本發明亦提出了相應的技術手段來實現上述目的。 In some embodiments, if the goods to be transported include multiple specific goods with the same current floor information and destination floor information, and these specific goods are exported For some reasons, the transportation needs to be carried out urgently, and the present invention also proposes corresponding technical means to achieve the above object.
請參照圖5,其是依據圖2繪示的貨物搬運系統示意圖。本實施例中的貨物搬運系統500的架構大致相同於圖2的貨物搬運系統200,惟在本實施例中存在貨物A、B、C、D、E、F、G等待搬運的貨物,而其相應的搬運命令235a、235b、235c、235d、235e、235f、235g已由貨物搬運系統500的控制裝置230依序儲存至命令佇列235中。
Please refer to FIG. 5, which is a schematic diagram of the cargo handling system shown in FIG. 2. The architecture of the
在本實施例中,假設貨物D~G具有相同的當下樓層訊及目的樓層資訊(即,貨物D~G當下所在的樓層(例如2樓)及欲前往的樓層(例如3樓)皆相同)。並且,在控制裝置230完成將貨物A搬運至3樓的操作之後,假設貨物D~G出於某種原因而臨時需緊急地進行搬運。
In this embodiment, it is assumed that the goods D~G have the same current floor information and destination floor information (ie, the floor where the goods D~G are currently located (for example, 2nd floor) and the floor to be visited (for example, 3rd floor) are the same) . In addition, after the
在此情況下,反應於判定貨物D~G需優先搬運,控制裝置230可將對應於貨物D~G的搬運命令235d~235g在命令佇列235中的優先權提升為最高。為便於識讀搬運命令235d~235g的優先權調整情形,圖5中係將搬運命令235d~235g以一虛線框框起,但其並非用以限定本發明的實施方式。換言之,原本優先權高於搬運命令235d~235g的搬運命令235b及235c的優先權將被調整為低於搬運命令235d~235g,如圖5所示。
In this case, in response to determining that the cargoes D to G need to be transported with priority, the
基於調整後的命令佇列235,控制裝置230即可控制搬運
臂220依據搬運命令235d~235g在2樓及3樓之間往復地移動,以將貨物D~G連續地從2樓搬運至3樓。藉此,可在特定的2個樓層之間增加相關的搬運動能,從而增加搬運操作在安排上的彈性。
Based on the adjusted
承先前實施例中的說明,各個待搬運的貨物可由相應的第一輸送裝置搬運至所屬樓層的貨物入口,而當貨物被搬運至目的樓層的貨物出口之後,可由相應的第二輸送裝置承接並進行後續的搬運。然而,在一些實施例中,當欲前往某個目的樓層的貨物數量較多時,可能出現該目的樓層的第二輸送裝置不足以完全承接被運抵目的樓層的貨物的情形。因此,本發明另提出了可用於解決上述問題的技術手段,詳述如下。 According to the description in the previous embodiment, each cargo to be transported can be transported to the cargo entrance of the corresponding floor by the corresponding first conveying device, and after the cargo is transported to the cargo exit of the destination floor, it can be taken over by the corresponding second conveying device and Perform subsequent handling. However, in some embodiments, when there is a large amount of goods to be traveled to a destination floor, it may happen that the second conveying device of the destination floor is not sufficient to fully accept the goods that have been delivered to the destination floor. Therefore, the present invention also proposes technical means that can be used to solve the above-mentioned problems, as described in detail below.
請參照圖6,其是依據圖5繪示的貨物搬運系統示意圖。相似於圖5中的情境,本實施例的貨物搬運系統600係用於搬運貨物A、B、C、D、E、F、G,而其相應的搬運命令已由貨物搬運系統600的控制裝置(未另繪示)依序儲存至命令佇列中。
Please refer to FIG. 6, which is a schematic diagram of the cargo handling system shown in FIG. 5. Similar to the scenario in FIG. 5, the
不同於圖5的貨物搬運系統500,圖6的貨物搬運系統600更包括設置於搬運空間211中的貨物儲存位212a、212b、212c、212d,其可用於在某樓層的第二輸送裝置數量不足時暫時儲存某些貨物。
Unlike the
以圖6為例,假設同位於2樓的貨物C~G需緊急搬運至3樓,而貨物搬運系統600的控制裝置已基於圖5所示的機制調整
貨物C~G的優先權為最高。
Taking FIG. 6 as an example, assume that the goods C~G on the second floor need to be urgently moved to the third floor, and the control device of the
在本實施例中,為避免出現上述技術問題所提及的情形,貨物搬運系統600的控制裝置可取得承載有貨物C~G且位於2樓(即,貨物C~G當下所在的樓層)的第一輸送裝置的第一數量。在圖6中,所取得的第一數量例如是5。
In this embodiment, in order to avoid the situation mentioned in the above technical problem, the control device of the
之後,貨物搬運系統600的控制裝置可取得未承載有任何貨物且位於3樓(即,貨物C~G欲前往的樓層)的第二輸送裝置的第二數量。在圖6中,假設第二數量為4。由此可知,位於3樓的第二輸送裝置的數量不足以完全承接位於2樓的貨物入口I2的貨物C~G。
After that, the control device of the
因此,貨物搬運系統600的控制裝置可取得第一數量及第二數量之間的差值。在圖6情境中,上述差值為1。之後,若控制裝置判定上述差值大於一預設數量(例如,0),則控制裝置可從位於2樓的貨物入口I2的貨物C~G中取出排序在前的特定數量個貨物,其中上述特定數量對應於前述差值。在圖6中,由於所取得的差值(即,1)大於0,故控制裝置可從位於2樓的貨物入口I2的貨物C~G中取出排序在前的1個貨物(即,貨物C),並控制搬運臂220將貨物C搬運至貨物儲存位212a,如圖6所示。
Therefore, the control device of the
在將貨物C暫時搬運至貨物儲存位212a之後,由於位於貨物出口O3的第二輸送裝置的數量已足以運送剩餘的貨物D~G,故控制裝置即可依據先前實施例中的教示而將貨物D~G依
序搬運至貨物出口O3,並由相應的第二輸送裝置運離貨物出口O3。
After temporarily transporting the cargo C to the
在一實施例中,控制裝置可定時或不定時地重新計算第一數量及第二數量之間的差值。並且,當控制裝置判斷上述差值改變為不大於預設數量時,控制裝置可控制搬運臂將貨物C從貨物儲存位212a搬運至貨物出口O3。亦即,當控制裝置判斷位於貨物出口O3的第二輸送裝置的數量已足夠時,可控制搬運臂220將暫存於貨物儲存位212a的貨物C取出,並搬運至貨物出口O3。
In an embodiment, the control device may recalculate the difference between the first quantity and the second quantity with or without timing. Moreover, when the control device determines that the above-mentioned difference is changed to not more than a preset amount, the control device can control the transfer arm to transfer the cargo C from the
在其他實施例中,若所計算出的差值為2,則控制裝置例如可將排序在前的2個貨物C、D分別搬運至貨物儲存位212a及212b。之後,由於位於貨物出口O3的第二輸送裝置的數量已足以運送剩餘的貨物E~G,故控制裝置即可依據先前實施例中的教示而將貨物E~G依序搬運至貨物出口O3,並由相應的第二輸送裝置運離貨物出口O3。
In other embodiments, if the calculated difference is 2, the control device may, for example, transport the top two goods C and D to the
並且,當控制裝置判斷位於貨物出口O3的第二輸送裝置的數量已足夠時,可控制搬運臂220將暫存於貨物儲存位212a及212b的貨物C及D取出,並搬運至貨物出口O3。藉此,可進一步提升貨物搬運操作在安排上的彈性。
Moreover, when the control device determines that the number of the second conveying devices at the cargo outlet O3 is sufficient, it can control the
在一實施例中,對於當下位於同一樓層但欲前往不同樓層的緊急貨物而言,本發明更提出了相應的技術手段,用以改善相關的搬運效率,詳述如下。 In an embodiment, for emergency cargoes currently on the same floor but wanting to go to different floors, the present invention further proposes corresponding technical means to improve the related handling efficiency, as described in detail below.
請參照圖7,其是依據圖6繪示的貨物搬運系統示意圖。相似於圖6中的情境,本實施例的貨物搬運系統700係用於搬運貨物A、B、C、D、E、F、G,而其相應的搬運命令已由貨物搬運系統700的控制裝置(未另繪示)依序儲存至命令佇列中。
Please refer to FIG. 7, which is a schematic diagram of the cargo handling system shown in FIG. 6. Similar to the scenario in FIG. 6, the
在本實施例中,假設同位於2樓的貨物E~G需緊急搬運至3樓,但由於在貨物E~G之前還存在貨物C、D等非緊急的貨物,故貨物搬運系統700的控制裝置除了基於圖5所示的機制將調整貨物E~G的優先權調整為最高之外,還可透過一定的機制將阻礙貨物E~G的搬運操作的貨物C、D暫時搬運至貨物儲存位212a~212d中,以利後續搬運貨物E~G的操作。
In this embodiment, it is assumed that the goods E~G on the second floor need to be urgently moved to the third floor, but because there are non-emergency goods such as goods C and D before the goods E~G, the control of the
具體而言,當控制裝置判定位於同一樓層的貨物E~G需優先搬運時,控制裝置可在命令佇列中找出對應於貨物E~G的第一特定搬運命令。之後,控制裝置在命令佇列中找出優先權高於第一特定搬運命令的第二特定搬運命令,其中第二特定搬運命令對應於與貨物E~G位於同一樓層且排序在貨物E~G前的其他貨物,亦即貨物C、D。 Specifically, when the control device determines that the goods E~G located on the same floor need to be transported with priority, the control device may find the first specific transport command corresponding to the goods E~G in the command queue. After that, the control device finds a second specific transport command with a priority higher than the first specific transport command in the command queue, wherein the second specific transport command corresponds to the same floor as the cargo E~G and is sorted in the cargo E~G Before the other goods, that is goods C, D.
接著,控制裝置可控制搬運臂220將貨物C、D搬運至貨物儲存位212a~212d,並控制搬運臂220依據貨物E~G的目的樓層資訊優先搬運各貨物E~G。應了解的是,雖圖7中的貨物E~G欲前往的目的樓層皆為3樓,但即便貨物E~G欲前往的目的樓層不同,上述機制同樣適用。由上可知,本發明可透過上述機制避免需緊急搬
運的貨物被位於同一樓層的其他貨物所阻擋,進而相應地提升相關的搬運效率。
Then, the control device can control the
然而,在其他實施例中,當位於某個樓層的貨物出於某種原因而需推遲相關的搬運操作時,本發明亦提出了相應的技術手段來實現此技術目的。以圖5為例,假設控制裝置出於某種原因而被調整為不需搬運位於2樓的所有貨物。在此情況下,控制裝置230可從命令佇列235中各搬運命令235a~235g的當下樓層資訊找出當下位於2樓的貨物D~G,並將貨物D~G的搬運命令235d~235g在命令佇列235中的優先權調整為最低。基於調整後的命令佇列235,控制裝置230即可先行搬運位於其他樓層(例如3樓及4樓)貨物入口的貨物,以暫時不搬運位於2樓的貨物D~G。
However, in other embodiments, when the goods located on a certain floor need to postpone the related handling operation for some reason, the present invention also proposes corresponding technical means to achieve this technical purpose. Taking FIG. 5 as an example, assume that the control device is adjusted for some reason so as not to carry all goods located on the second floor. In this case, the
綜上所述,本發明提出的貨物搬運系統及貨物搬運方法可在判定第一貨物的目的樓層資訊匹配於第二貨物的當下樓層資訊時,相應地建立第一鏈結,並控制搬運臂依據第一鏈結依序搬運第一貨物及第二貨物。藉此,可讓貨物搬運系統以更佳的效率執行搬運貨物的操作,從而達到省時、降低器材損耗與成本等效果。 In summary, the cargo handling system and cargo handling method proposed by the present invention can establish the first link accordingly and determine the basis of the transport arm when determining that the destination floor information of the first cargo matches the current floor information of the second cargo The first link carries the first goods and the second goods in sequence. In this way, the cargo handling system can perform cargo handling operations with better efficiency, thereby achieving the effects of time saving, reduced equipment loss and cost.
並且,針對某些需緊急搬運的貨物及/或暫時不需搬運的貨物而言,本發明亦提出了相應的技術手段來動態地安排相關的搬運指令在命令佇列中的優先權。藉此,可增加搬運操作在安排上的彈性及效率。 Moreover, for some goods that need to be transported urgently and/or goods that do not need to be transported temporarily, the present invention also proposes corresponding technical means to dynamically arrange the priority of the related transport instructions in the order queue. In this way, the flexibility and efficiency of the arrangement of handling operations can be increased.
雖然本發明已以實施例揭露如上,然其並非用以限定本發明,任何所屬技術領域中具有通常知識者,在不脫離本發明的精神和範圍內,當可作些許的更動與潤飾,故本發明的保護範圍當視後附的申請專利範圍所界定者為準。 Although the present invention has been disclosed as above with examples, it is not intended to limit the present invention. Any person with ordinary knowledge in the technical field can make some changes and modifications without departing from the spirit and scope of the present invention. The scope of protection of the present invention shall be subject to the scope defined in the appended patent application.
S310~S340:步驟 S310~S340: Steps
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