Virtual driving system and control method thereof

Abstract

A virtual travel system for effectively testing interlock operation is provided. The virtual travel system includes an optical cable provided to a track, a transfer cart driven in place on the track and communicating with the optical cable, a first anticollision controller set to correspond to a first virtual path of the transfer cart, a second anticollision controller set to correspond to a second virtual path of the transfer cart different from the first virtual path, a signal line distributor selectively connecting either one of the first anticollision controller and the second anticollision controller with the optical cable, and a simulator controlling the first anticollision controller, the second anticollision controller, and the signal line distributor according to an operation scenario of the transfer cart.

Description

Technical Field

[0001] This invention relates to a virtual driving system and its control method. Background Technology

[0002] Within semiconductor factories, transported items (e.g., FOUP (Front Opening Universal Pod) and FOSB (Front Opening Shipping Box)) are moved using automated transport systems. These systems may utilize transport trolleys such as OHT (Overhead Hoist Transport) and OHS (Overhead Shuttle). Summary of the Invention

[0003] On the other hand, in automated transport systems, multiple transport trolleys move simultaneously along tracks. Some transport trolleys may collide with each other, for example, at track junctions. Therefore, when abnormal operation occurs (i.e., two transport trolleys enter the junction simultaneously) instead of normal operation (i.e., transport trolleys enter the junction one after another), the transport trolleys interlock.

[0004] To test the operation of the transport trolley, a virtual driving system can be used. The aforementioned interlocking operations need to be effectively tested within the virtual driving system.

[0005] The technical problem to be solved by the present invention is to provide a virtual driving system for effectively testing interlock operations.

[0006] Another technical problem to be solved by the present invention is to provide a control method for effectively testing a virtual driving system for interlocking operations.

[0007] The technical problems of this invention are not limited to those mentioned above. Those skilled in the art can clearly understand other technical problems not mentioned from the following description.

[0008] An aspect of the virtual driving system of the present invention for solving the above-mentioned technical problems includes: an optical cable disposed on a track; a transport trolley that drives in place on the track and communicates with the optical cable; a first anti-collision controller configured to correspond to a first virtual path of the transport trolley; a second anti-collision controller configured to correspond to a second virtual path of the transport trolley, different from the first virtual path; a signal line distributor that selectively connects either the first anti-collision controller or the second anti-collision controller to the optical cable; and a simulator that controls the first anti-collision controller, the second anti-collision controller, and the signal line distributor according to the operating scenario of the transport trolley.

[0009] Another aspect of the virtual driving system of the present invention for solving the above-mentioned technical problems includes: a track; a first optical cable and a second optical cable, the first optical cable being arranged on one side of the track and the second optical cable being arranged on the other side of the track; a transport trolley that drives in place on the track and communicates with at least one of the first optical cable and the second optical cable; and a signal line distributor including a first node connected to the first optical cable, a plurality of first distribution ports, a first switch selectively connecting any one of the plurality of first distribution ports to the first node, a second node connected to the second optical cable, a plurality of second distribution ports, and selectively connecting any one of the plurality of second distribution ports to the second node. The system includes a second switch; a first anti-collision controller, including a first control port and a second control port; a second anti-collision controller, including a third control port and a fourth control port; and a simulator that controls the first anti-collision controller, the second anti-collision controller, and the signal line distributor, wherein the first control port is connected to any one of the plurality of first distribution ports, the second control port is connected to any one of the plurality of second distribution ports, the third control port is connected to any one of the plurality of second distribution ports, the fourth control port is connected to another of the plurality of second distribution ports, and the simulator changes the connection relationship between the first switch and the second switch according to the operation scenario of the transport trolley.

[0010] A control method for the virtual driving system of the present invention for solving another technical problem mentioned above includes the following steps: providing a virtual driving system, the virtual driving system comprising: an optical cable disposed on a track; a transport trolley that drives in place on the track and communicates with the optical cable; and a signal line distributor that selectively connects either a first anti-collision controller or a second anti-collision controller to the optical cable; and a simulator that controls the first anti-collision controller, the second anti-collision controller, and the signal line distributor according to the operating scenario of the transport trolley; setting the first anti-collision controller to correspond to a first virtual path of the transport trolley; setting the second anti-collision controller to correspond to a second virtual path of the transport trolley, different from the first virtual path; connecting the signal line distributor to the first anti-collision controller and the optical cable to simulate the transport trolley moving along the first virtual path; and connecting the signal line distributor to the second anti-collision controller and the optical cable to simulate the transport trolley moving along the second virtual path.

[0011] Specific details of other embodiments are included in the detailed description and accompanying drawings. Attached Figure Description

[0012] Figure 1 This is a block diagram illustrating a virtual driving system according to some embodiments of the present invention.

[0013] Figure 2 This is a block diagram illustrating a virtual driving system according to an embodiment of the present invention.

[0014] Figure 3 This is an example view used to illustrate a virtual path.

[0015] Figure 4 It is used to illustrate the test along Figure 3 This is a view showing the operation of the virtual path moving transport trolley and the control method of the virtual driving system.

[0016] Figure 5 This is another example view used to illustrate a virtual path.

[0017] Figure 6 It is used to illustrate the test along Figure 5 This is a view showing the operation of the virtual path moving transport trolley and the control method of the virtual driving system.

[0018] Figure 7 This is another example view used to illustrate virtual paths.

[0019] Figure 8 It is used to illustrate the test along Figure 7This is a view showing the operation of the virtual path moving transport trolley and the control method of the virtual driving system.

[0020] Figure 9 This is a flowchart illustrating a control method for a collision avoidance system according to some embodiments of the present invention. Detailed Implementation

[0021] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings. The advantages and features of the present invention, as well as methods for achieving these advantages and features, will be explained by referring to the following description in conjunction with the accompanying drawings. Figure 1 The invention becomes clear from the detailed description of the embodiments. However, the invention is not limited to the embodiments disclosed below, but can be implemented in many different forms. These embodiments are provided only to make the disclosure of the invention complete and to fully inform those skilled in the art of the scope of the invention, which is defined only by the scope of the claims. Throughout the specification, the same reference numerals refer to the same constituent elements.

[0022] To readily describe the relationship between one element or component and another, as shown in the figure, spatial relative terms such as "below," "below," "lower," "above," and "upper" can be used. It should be understood that, in addition to the orientation shown in the figure, spatial relative terms also include terms indicating the different orientations of the elements during use or operation. For example, when the element shown in the figure is flipped, an element described as "below" or "below" of another element may be located "above" of that element. Therefore, the exemplary term "below" can include both "below" and "above" orientations. An element may also be oriented in another direction, thus allowing the spatial relative terms to be interpreted according to orientation.

[0023] Although the terms "first," "second," etc., are used to describe various elements, constituent elements, and / or parts, these elements, constituent elements, and / or parts are obviously not limited by these terms. These terms are only used to distinguish one element, constituent element, and / or part from another element, constituent element, and / or part. Therefore, the first element, first constituent element, or first part mentioned below can obviously also be a second element, second constituent element, or second part within the technical concept of the present invention.

[0024] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. When describing the invention with reference to the drawings, identical or corresponding constituent elements are given the same reference numerals, regardless of the reference numerals, and repeated descriptions thereof are omitted.

[0025] Figure 1 This is a block diagram illustrating a virtual driving system according to some embodiments of the present invention.

[0026] refer to Figure 1 According to some embodiments of the present invention, the virtual driving system includes a transport trolley 100, an optical cable 200, a signal line splitter (MUX) 300, a first collision avoidance controller 400, a second collision avoidance controller 500, and a simulator 700.

[0027] The transport trolley 100 can be, for example, an OHT (Overhead Hoist Transport) or an OHS (Overhead Shuttle). The transport trolley 100 operates in place on the track 290. For example, the traveling wheels of the transport trolley 100 can rotate on the corresponding traveling wheels on the track 290, allowing the transport trolley 100 to operate in place.

[0028] The track 290 can be configured to have the length required for the transfer trolley 100 to drive in place.

[0029] Optical cable 200 can be installed along track 290. Optical cable 200 includes at least one light generating unit and generates light by receiving power. For example, the wires connecting optical cable 200 to signal line distributor 300, and the wires connecting signal line distributor 300 to first / second anti-collision controllers 400, 500, can be wires that can provide both signals and power. Figure 1 The illustration shows an optical cable 200 mounted on track 290, but the invention is not limited thereto. Two or more optical cables 200 may also be mounted on track 290.

[0030] The transport trolley 100 may include a receiving and dispatching unit 110a, a control unit 110, etc.

[0031] The transceiver unit 110a can communicate with the optical fiber 200. The transceiver unit 110a can receive signals (e.g., abnormal situation signals) provided from the first anti-collision controller 400 or the second anti-collision controller 500 via the optical fiber 200. Furthermore, signals generated by the transport trolley 100 (e.g., signals indicating the status of the transport trolley 100) can be transmitted to the first anti-collision controller 400 or the second anti-collision controller 500 via the optical fiber 200.

[0032] The control unit 110 can parse the signals received through the transceiver unit 110a and perform corresponding operations. For example, when the first anti-collision controller 400 or the second anti-collision controller 500 provides an abnormal situation signal, the control unit 110 can interlock the transport trolley 100 accordingly. In addition, the control unit 110 can generate an interlock status signal (i.e., a signal indicating whether the interlock was successful or failed) and provide the interlock status signal to the transceiver unit 110a.

[0033] A transceiver 210 is provided on one side of the optical cable 200. The transceiver 210 can receive signals (e.g., abnormal situation signals) from the signal line distributor 300 or transmit signals (e.g., interlock status signals) to the signal line distributor 300.

[0034] A signal line splitter 300 is disposed between the optical fiber 200 (i.e., transceiver 210) and the first / second anti-collision controllers 400, 500. The signal line splitter 300 selectively connects either the first anti-collision controller 400 or the second anti-collision controller 500 to the optical fiber 200.

[0035] Specifically, the signal line splitter 300 includes a node 350 connected to the optical cable 200, a plurality of distribution ports 310 and 320, and a switch 370 connecting any one of the plurality of distribution ports 310 and 320 to the node 350. Here, the first distribution port 310 of the plurality of distribution ports 310 and 320 is connected to the control port 410 of the first anti-collision controller 400, and the second distribution port 320 is connected to the control port 510 of the second anti-collision controller 500.

[0036] The first anti-collision controller 400 or the second anti-collision controller 500 can be connected to the optical fiber 200 via the signal line distributor 300, and can provide signals (or commands) to or receive signals from the transport trolley 100 via the optical fiber 200. As described above, the first anti-collision controller 400 or the second anti-collision controller 500 can provide abnormal situation signals (i.e., interlock signals) to the transport trolley 100, and can receive interlock status signals from the transport trolley 100.

[0037] Furthermore, the first anti-collision controller 400 can be set to correspond to the first virtual path of the transport trolley 100 according to the control of the simulator 700. In other words, the first anti-collision controller 400 is set to a first mode.

[0038] The second collision avoidance controller 500 can be configured, according to the control of the simulator 700, to correspond to a second virtual path of the transport trolley 100 that is different from the first virtual path described above. In other words, the second collision avoidance controller 500 is configured to a second mode that is different from the first mode.

[0039] For example, the first virtual path may include the merging section of the tracks, and the second virtual path may include a ramp, but is not limited thereto. This will utilize... Figures 3 to 6 An example describing the confluence of orbits, and will utilize... Figure 7 and Figure 8 Example describing a ramp.

[0040] As described above, the signal line splitter 300 can selectively connect the optical cable 200 to either the first anti-collision controller 400 or the second anti-collision controller 500. The reason for doing so is as follows.

[0041] If a collision avoidance controller (e.g., 400) is set to and used in a first mode, it can also be changed to a second mode while performing virtual driving tests. However, since the collision avoidance controller (e.g., 400) requires a predetermined mode change time to change mode, a delay will occur.

[0042] Conversely, in the virtual driving system according to some embodiments of the present invention, the simulator 700 pre-sets the modes of multiple collision avoidance controllers 400 and 500 to adapt to the driving environment. Furthermore, depending on the operating scenario of the transport trolley 100, the simulator 700 uses a signal line distributor 300 to connect the collision avoidance controller 400 or 500 to be used to the optical fiber cable 200. Therefore, no mode change time or delay occurs. Virtual driving tests of the transport trolley 100 can be performed quickly and accurately.

[0043] Furthermore, the simulator 700 can adjust the amount of power supplied to the optical fiber 200. When the power is reduced, the brightness of the light from the optical fiber 200 can be dimmed, and when the power is increased, the brightness of the light from the optical fiber 200 can be increased. The simulator 700 adjusts the brightness of the light in this way and checks the operation of the transport trolley 100 according to the brightness. On a mass production line, the distance between the transport trolley 100 and the track 290 may vary, therefore, the brightness of the light from the optical fiber 200 detected by the transport trolley 100 may also vary. By adjusting the amount of power, the brightness of the light from the optical fiber 200 can be changed, and at the same time, it can be tested whether the transport trolley 100 can detect this.

[0044] Figure 2 This is a block diagram illustrating a virtual driving system according to an embodiment of the present invention. Figure 2 yes Figure 1 The image shows a specific example of a virtual driving system. For use with... Figure 1 Content that is substantially the same as what is described will have its description omitted.

[0045] refer to Figure 2In a virtual driving system according to an embodiment of the present invention, a first optical cable 201 is provided on one side of the track (e.g., the left side) and a second optical cable 202 is provided on the other side of the track (e.g., the right side).

[0046] The transport trolley 100 includes a first transceiver unit 111, a second transceiver unit 112, an I / O signal generator 119, and a transport device controller 115. The I / O signal generator 119 and the transport device controller 115 are equivalent to... Figure 1 The control unit 110, and the first transceiver unit 111 and the second transceiver unit 112 are equivalent to Figure 1 The transceiver unit 110a.

[0047] The first transceiver unit 111 can correspond to and communicate with the first optical cable 201. The second transceiver unit 112 can correspond to and communicate with the second optical cable 202. The I / O signal generator 119 generates I / O signals based on the signals received by the first transceiver unit 111 and the second transceiver unit 112. The conveying device controller 115 parses the I / O signals and executes corresponding operations. For example, the conveying device controller 115 can interlock the conveying trolley 100.

[0048] A first transceiver 211 is provided at one end of the first optical cable 201, and a second transceiver 212 is provided at one end of the second optical cable 202.

[0049] The signal line splitter 300 includes a first node 351, multiple first distribution ports DP11, DP12, DP13, DP14, a first switch 371, a second node 352, multiple second distribution ports DP21, DP22, DP23, DP24, and a second switch 372.

[0050] The first node 351 is connected to the first optical cable 201 (or the first transceiver 211). A portion of the multiple first distribution ports DP11, DP12, DP13, and DP14 are connected to some first control ports CP11 and CP13 of the first collision avoidance controller 400, and another portion of the first distribution ports DP13 and DP14 are connected to some second control ports CP21 and CP23 of the second collision avoidance controller 500. A first switch 371 selectively connects any one of the multiple first distribution ports DP11, DP12, DP13, and DP14 to the first node 351. As a result, the first node 351 is connected to any one of the first control ports CP11 and CP13 and the second control ports CP21 and CP23 via the first switch 371.

[0051] The second node 352 is connected to the second optical cable 202 (or the second transceiver 212). A portion of the multiple second distribution ports DP21, DP22, DP23, and DP24 are connected to some of the first control ports CP12 and CP14 of the first collision avoidance controller 400, and another portion of the second distribution ports DP23 and DP24 are connected to some of the second control ports CP22 and CP24 of the second collision avoidance controller 500. The second switch 372 selectively connects any one of the multiple second distribution ports DP21, DP22, DP23, and DP24 to the second node 352. As a result, the second node 352 is connected to any one of the first control ports CP12 and CP14 and the second control ports CP22 and CP24 via the second switch 372.

[0052] The operation of the first switch 371 and the second switch 372 is determined by the simulator 700 based on the operation scenario of the transport trolley 100.

[0053] The following will utilize Figures 3 to 8 The control methods of the virtual driving system will be explained in detail.

[0054] Figure 3 This is an example view used to illustrate a virtual path. Figure 4 It is used to illustrate the test along Figure 3 This is a view showing the operation of the virtual path moving transport trolley and the control method of the virtual driving system.

[0055] Figure 3 The virtual path A1 shown includes the path in the confluence of tracks. Specifically, the confluence of tracks has the form where the first track 1001 and the second track 1002 converge. Specifically, the first track 1001 and the second track 1002 are parallel to each other, and the connecting track 1009 extends from the end of the first track 1001 toward the second track 1002. As shown, the first virtual optical cable 1100 is disposed on one side (e.g., the left side) of the first track 1001 and the connecting track 1009, and extends to one side (e.g., the left side) of the second track 1002.

[0056] The virtual path A1 of the transport trolley 100 is that the transport trolley 100 moves along the first track 1001 and then moves to the second track 1002 via the connecting track 1009.

[0057] refer to Figure 3 and Figure 4 When virtual driving begins and the transport trolley 100 is positioned at position ① of the first track 1001, a communication channel is set for communication between the transport trolley 100 and the first anti-collision controller 400. Furthermore, the simulator 700 controls the signal line distributor 300 and the first anti-collision controller 400 to perform communication with... Figure 3 The settings corresponding to the virtual path A1 shown.

[0058] Specifically, emulator 700 (reference) Figure 1 The signal line splitter 300 connects the first collision avoidance controller 400 and the first optical cable 201 to each other. Specifically, the first node 351 is connected to the first distribution port DP11 via the first switch 371. Therefore, the first optical cable 201 is connected to the first control port CP11 of the first collision avoidance controller 400 via the first node 351 and the first distribution port DP11.

[0059] Simulator 700 is given control via the first control port CP11 of the first anti-collision controller 400. Figure 3 The first virtual optical cable 1100 has a corresponding ID. Therefore, the transport trolley 100 identifies the ID of the first virtual optical cable 1100.

[0060] When the transport trolley 100 is at position ② of the first track 1001, communication between the transport trolley 100 and the first control port CP11 of the first anti-collision controller 400 is activated. That is, the transport trolley 100 communicates with the first anti-collision controller 400 through the first optical cable 201, the first node 351, the first distribution port DP11 and the first control port CP11.

[0061] After communication begins, the simulator 700 can control the first anti-collision controller 400 to generate an abnormal situation signal. When the first anti-collision controller 400 generates an abnormal situation signal, the transport trolley 100 can recognize the abnormal situation signal and perform an interlock operation accordingly. The transport trolley 100 generates a signal indicating successful interlocking (interlock status signal) and transmits this signal to the first anti-collision controller 400. When the first anti-collision controller 400 receives the interlock status signal, the simulator 700 can confirm that the interlock operation of the transport trolley 100 is proceeding smoothly.

[0062] The transport trolley 100 moves to the second track 1002 via the first track 1001 and the connecting track 1009. When the transport trolley 100 is at position ③ of the second track 1002, communication between the transport trolley 100 and the first control port CP11 of the first anti-collision controller 400 is disabled.

[0063] Figure 5 This is another example view used to illustrate a virtual path. Figure 6 It is used to illustrate the test along Figure 5 This is a view showing the operation of the virtual path moving transport trolley and the control method of the virtual driving system.

[0064] Figure 5The virtual path A2 shown includes the path in the confluence of tracks (i.e., the N-shaped confluence). Specifically, the N-shaped confluence includes a third track 1003, a fourth track 1004 arranged parallel to the third track 1003, and a connecting track 1008 connecting the third track 1003 and the fourth track 1004.

[0065] The connecting track 1008 extends from the middle of the third track 1003 toward the fourth track 1004. As shown, the second virtual optical cable 1201 is disposed on the other side (e.g., the right side) of the third track 1003 and the connecting track 1008, and the third virtual optical cable 1202 is disposed on one side (e.g., the left side) of the connecting track 1008 and the fourth track 1004.

[0066] The virtual path A2 of the transport trolley 100 is that the transport trolley 100 moves along the third track 1003 and then moves to the fourth track 1004 via the connecting track 1008.

[0067] refer to Figure 5 and Figure 6 When virtual driving begins and the transport trolley 100 is positioned at position ① of the third track 1003, a communication channel is established between the transport trolley 100 and the first anti-collision controller 400. Furthermore, the simulator 700 controls the signal line distributor 300 and the first anti-collision controller 400 to perform communication with... Figure 5 The settings corresponding to the virtual path A2.

[0068] Specifically, emulator 700 (reference) Figure 1 The signal line splitter 300 connects the first collision avoidance controller 400 and the first optical cable 201 to each other. Specifically, the first node 351 is connected to the first distribution port DP11 via the first switch 371. Therefore, the first optical cable 201 is connected to the first control port CP11 of the first collision avoidance controller 400 via the first node 351 and the first distribution port DP11. Furthermore, the second node 352 is connected to the second distribution port DP21 via the second switch 372. Therefore, the second optical cable 202 is connected to the first control port CP12 of the first collision avoidance controller 400 via the second node 352 and the second distribution port DP21.

[0069] Furthermore, the simulator 700 provides power through the first control port CP12 of the first anti-collision controller 400. Figure 5 The ID of the second virtual optical cable 1201. Therefore, the transport trolley 100 can identify the ID corresponding to the second virtual optical cable 1201.

[0070] When the transport trolley 100 is at position ② of the third track 1003, communication between the transport trolley 100 and the first control port CP12 of the first anti-collision controller 400 is activated. That is, the transport trolley 100 communicates with the first anti-collision controller 400 through the second optical cable 202, the second node 352, the second distribution port DP21 and the first control port CP12.

[0071] After communication begins, the simulator 700 can control the first anti-collision controller 400 to generate an abnormal situation signal.

[0072] When the transport trolley 100 is at position ③ on the connecting track 290, the simulator 700 assigns power through the first control port CP11 of the first anti-collision controller 400. Figure 5 The ID of the third virtual optical cable 1202. The simulator 700 assigns the ID in advance when the transport trolley 100 is not in position ③ but in a previous position (e.g., position ①). Therefore, when the transport trolley 100 is in position ③ of the connecting track 1008, the transport trolley 100 can recognize the ID corresponding to the third virtual optical cable 1202.

[0073] In addition, communication between the transport trolley 100 and the first control port CP11 of the first anti-collision controller 400 is enabled. That is, the transport trolley 100 communicates with the first anti-collision controller 400 through the first optical cable 201, the first node 351, the first distribution port DP11, and the first control port CP11. After communication begins, the simulator 700 can control the first anti-collision controller 400 to generate an abnormal situation signal.

[0074] When the transport trolley 100 is in position ④ of the connecting track 1008, communication between the transport trolley 100 and the first control port CP12 of the first anti-collision controller 400 is disabled.

[0075] The transport trolley 100 moves to the fourth track 1004 via the connecting track 1008. When the transport trolley 100 is at position ⑤ of the fourth track 1004, communication between the transport trolley 100 and the first control port CP11 of the first anti-collision controller 400 is disabled.

[0076] In summary, when the transport trolley 100 is simulated to move on the third track 1003 and the connecting track 1008 while communicating with the second virtual optical cable 1201, the transport trolley 100 communicates with the first anti-collision controller 400 through the first control port CP12.

[0077] When the transport trolley 100 is simulated to move on the connecting track 1008 and the fourth track 1004 while communicating with the third virtual optical cable 1202, the transport trolley 100 communicates with the first anti-collision controller 400 through the first control port CP11.

[0078] Figure 7 This is another example view used to illustrate virtual paths. Figure 8 It is used to illustrate the test along Figure 7 This is a view showing the operation of the virtual path moving transport trolley and the control method of the virtual driving system.

[0079] Figure 7 The virtual path A3 shown includes a path in a ramp. Specifically, the ramp includes a fifth track 1005 with a first inclination angle and a sixth track 1006 connected to the fifth track 1005 and having a second inclination angle larger than the first inclination angle. Figure 7 The example illustrates a case where the first tilt angle is 0 degrees and the second tilt angle is an acute angle, but is not limited thereto. The fourth virtual optical cable 1301 is disposed on the other side (e.g., the right side) of the fifth track 1005, and the fifth virtual optical cable 1302 is disposed on the other side (e.g., the right side) of the sixth track 1006.

[0080] The virtual path A3 of the transport trolley 100 is that the transport trolley 100 moves along the fifth track 1005 and then rises along the sixth track 1006.

[0081] refer to Figure 7 and Figure 8 When virtual driving begins and the transport trolley 100 is at position ① of the fifth track 1005, a communication channel for communication between the transport trolley 100 and the second anti-collision controller 500 is set. Additionally, simulator 700 (reference) Figure 1 Control signal line distributor 300 and second anti-collision controller 500 to perform with Figure 7 The settings corresponding to the virtual path A3.

[0082] Specifically, simulator 700 enables signal line splitter 300 to connect the second anti-collision controller 500 and the second optical cable 202 to each other. More specifically, second node 352 is connected to second distribution port DP24 via second switch 372. Therefore, second optical cable 202 is connected to the second control port CP24 of second anti-collision controller 500 via second node 352 and second distribution port DP24.

[0083] Simulator 700 is given control via the second control port CP24 of the second anti-collision controller 500. Figure 7 The ID of the fourth virtual optical cable 1301. Therefore, the transport trolley 100 identifies the ID corresponding to the fourth virtual optical cable 1301.

[0084] When the transport trolley 100 is at position ② of the fifth track 1005, communication between the transport trolley 100 and the second control port CP24 of the second anti-collision controller 500 is activated. That is, the transport trolley 100 communicates with the second anti-collision controller 500 through the second optical cable 202, the second node 352, the second distribution port DP24, and the second control port CP24.

[0085] After communication begins, the simulator 700 can control the second anti-collision controller 500 to generate an abnormal situation signal.

[0086] When the transport trolley 100 is at position ③ of the fifth track 1005, communication between the transport trolley 100 and the second control port CP24 of the second anti-collision controller 500 is disabled.

[0087] The transport trolley 100 moves from the fifth track 1005 to the sixth track 1006. Before the transport trolley 100 reaches position ④ of the sixth track 1006, the second node 352 is connected to the second distribution port DP23 via the second switch 372. Therefore, the second optical cable 202 is connected to the second control port CP22 of the second anti-collision controller 500 via the second node 352 and the second distribution port DP23.

[0088] When the transport trolley 100 is at position ④ of the sixth track 1006, the simulator 700 assigns power through the second control port CP22 of the second anti-collision controller 500. Figure 7 The ID of the fifth virtual optical cable 1302. The simulator 700 assigns the ID in advance when the transport trolley 100 is not in position ④ but in a previous position (e.g., position ①). Therefore, when the transport trolley 100 is in position ④, the transport trolley 100 identifies the ID corresponding to the fifth virtual optical cable 1302.

[0089] In addition, communication between the transport trolley 100 and the second control port CP22 of the second anti-collision controller 500 is enabled. That is, the transport trolley 100 communicates with the second anti-collision controller 500 through the second optical cable 202, the second node 352, the second distribution port DP23, and the second control port CP22.

[0090] When the transport trolley 100 is at position ⑤ of the sixth track 1006, communication between the transport trolley 100 and the second control port CP22 of the second anti-collision controller 500 is disabled.

[0091] In summary, when the transport trolley 100 is simulated to move on the fifth track 1005 while communicating with the fourth virtual optical cable 1301, the transport trolley 100 communicates with the second anti-collision controller 500 through the second control port CP24.

[0092] When the transport trolley 100 is simulated to move on the sixth track 1006 while communicating with the fifth virtual optical cable 1302, the transport trolley 100 communicates with the second anti-collision controller 500 through the second control port CP22.

[0093] Figure 9 This is a flowchart illustrating a control method for a collision avoidance system according to some embodiments of the present invention.

[0094] refer to Figure 9 First, a virtual driving system (S810) is provided.

[0095] For example, a virtual driving system can utilize Figures 1 to 8 The system described. This virtual driving system includes an optical cable 200 installed on a track, a transport trolley 100 that drives in place on the track and communicates with the optical cable 200, and a signal line distributor 300 that selectively connects either a first anti-collision controller 400 or a second anti-collision controller 500 to the optical cable 200.

[0096] Next, the first anti-collision controller 400 is set to correspond to the first virtual path of the transport trolley 100 (S820). In addition, the second anti-collision controller 500 is set to correspond to a second virtual path of the transport trolley 100 that is different from the first virtual path described above (S830).

[0097] Specifically, the first virtual path set in the first collision avoidance controller 400 can, for example, utilize... Figure 5 and Figure 6 The path in the N-shaped confluence section is described. The N-shaped confluence section includes a third track 1003, a fourth track 1004 arranged parallel to the third track 1003, and a connecting track 1008 connecting the third track 1003 and the fourth track 1004.

[0098] The second virtual path set in the second collision avoidance controller 500 can, for example, utilize... Figure 7 and Figure 8 The path in the ramp is described. The ramp includes a fifth track 1005 with a first inclination angle and a sixth track 1006 connected to the fifth track 1005 and having a second inclination angle larger than the first inclination angle.

[0099] Next, the signal line distributor 300 is connected to the first anti-collision controller 400 and the optical cable 200 to simulate the movement of the transport trolley 100 along the aforementioned first virtual path (S840). The simulation method can be combined with... Figure 5 and Figure 6 The simulation method described is the same.

[0100] Next, the signal line distributor 300 is connected to the second anti-collision controller 500 and the optical cable 200 to simulate the movement of the transport trolley 100 along the aforementioned second virtual path (S850). The simulation method can be combined with... Figure 7 and Figure 8 The simulation method described is the same.

[0101] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, those skilled in the art will understand that the present invention can be implemented in other specific ways without changing its technical concept or essential features. Therefore, it should be understood that the embodiments described above are exemplary in all respects and not restrictive.

Claims

1. A virtual driving system, comprising: Optical fiber cables are installed on the track; The transport trolley drives in place on the track and communicates with the optical cable; The first anti-collision controller is configured to correspond to the first virtual path of the transport trolley; The second anti-collision controller is configured to correspond to a second virtual path of the transport trolley that is different from the first virtual path. A signal line splitter selectively connects either the first anti-collision controller or the second anti-collision controller to the optical cable; as well as The simulator controls the first anti-collision controller, the second anti-collision controller, and the signal line distributor according to the operation scenario of the transport trolley.

2. The virtual driving system according to claim 1, wherein, The first virtual path includes the path in the confluence of the tracks, and the second virtual path includes the path in the ramp.

3. The virtual driving system according to claim 1, wherein, The optical cable includes a first optical cable arranged on one side of the track and a second optical cable arranged on the other side of the track.

4. The virtual driving system according to claim 3, wherein, The signal line distributor is configured to: Includes a first node connected to the first optical cable, a plurality of first distribution ports, and a first switch that selectively connects any one of the plurality of first distribution ports to the first node, and It includes a second node connected to the second optical cable, a plurality of second distribution ports, and a second switch that selectively connects any one of the plurality of second distribution ports to the second node.

5. The virtual driving system according to claim 4, wherein, The first collision avoidance controller includes: A first control port is connected to any one of the plurality of first allocation ports; and The second control port is connected to any one of the plurality of second allocation ports.

6. The virtual driving system according to claim 5, wherein, The first virtual path includes a first track, a second track arranged parallel to the first track, and a connecting track connecting the first track and the second track. A first virtual optical cable extends from one side of the first track to the other side of the connecting track, and a second virtual optical cable extends from one side of the connecting track to one side of the second track. When the transport trolley is simulated to move on the first track and the connecting track while communicating with the first virtual optical cable, the transport trolley communicates with the first anti-collision controller through the first control port, and When the transport trolley is simulated to move on the connecting track and the second track while communicating with the second virtual optical cable, the transport trolley communicates with the first anti-collision controller through the second control port.

7. The virtual driving system according to claim 4, wherein, The second collision avoidance controller includes: A third control port is connected to any one of the plurality of second allocation ports; and The fourth control port is connected to another of the plurality of second allocation ports.

8. The virtual driving system according to claim 7, wherein, The second virtual path includes a third track with a first tilt angle and a fourth track connected to the third track and having a second tilt angle larger than the first tilt angle. A third virtual optical cable is disposed on the other side of the third track, and a fourth virtual optical cable is disposed on the other side of the fourth track. When the transport trolley is simulated to move on the third track while communicating with the third virtual optical cable, the transport trolley communicates with the second anti-collision controller through the third control port, and When the transport trolley is simulated to move on the fourth track while communicating with the fourth virtual optical cable, the transport trolley communicates with the second anti-collision controller through the fourth control port.

9. The virtual driving system according to claim 1, wherein, The simulator causes the first or second anti-collision controller to generate an abnormal situation signal and checks whether the conveying trolley interlocks due to the generated abnormal situation signal.

10. The virtual driving system according to claim 1, wherein, The simulator adjusts the brightness of the optical cable and checks the operation of the transport trolley according to the brightness.

11. A virtual driving system, comprising: track; A first optical cable and a second optical cable, wherein the first optical cable is arranged on one side of the track and the second optical cable is arranged on the other side of the track; The transport trolley is driven in place on the track and communicates with at least one of the first optical cable and the second optical cable; A signal line splitter includes a first node connected to the first optical cable, a plurality of first distribution ports, a first switch selectively connecting any one of the plurality of first distribution ports to the first node, a second node connected to the second optical cable, a plurality of second distribution ports, and a second switch selectively connecting any one of the plurality of second distribution ports to the second node. The first collision avoidance controller includes a first control port and a second control port; The second collision avoidance controller includes a third control port and a fourth control port; as well as The simulator controls the first collision avoidance controller, the second collision avoidance controller, and the signal line distributor. Wherein, the first control port is connected to any one of the plurality of first allocation ports, the second control port is connected to any one of the plurality of second allocation ports, the third control port is connected to the other of the plurality of first allocation ports, and the fourth control port is connected to the other of the plurality of second allocation ports. The simulator changes the connection relationship between the first switch and the second switch according to the operation scenario of the transport trolley.

12. The virtual driving system according to claim 11, wherein, The operation scenario of the transport trolley includes the transport trolley moving along a first virtual path. The first virtual path includes a first track, a second track arranged parallel to the first track, and a connecting track connecting the first track and the second track. A first virtual optical cable extends from one side of the first track to the other side of the connecting track, and a second virtual optical cable extends from one side of the connecting track to one side of the second track. When the transport trolley is simulated to move on the first track and the connecting track while communicating with the first virtual optical cable, the transport trolley communicates with the first anti-collision controller through the first control port, and When the transport trolley is simulated to move on the connecting track and the second track while communicating with the second virtual optical cable, the transport trolley communicates with the first anti-collision controller through the second control port.

13. The virtual driving system according to claim 11, wherein, The operation scenario of the transport trolley includes the transport trolley moving along a second virtual path. The second virtual path includes a third track with a first tilt angle and a fourth track connected to the third track and having a second tilt angle larger than the first tilt angle. A third virtual optical cable is disposed on the other side of the third track, and a fourth virtual optical cable is disposed on the other side of the fourth track. When the transport trolley is simulated to move on the third track while communicating with the third virtual optical cable, the transport trolley communicates with the second anti-collision controller through the third control port, and When the transport trolley is simulated to move on the fourth track while communicating with the fourth virtual optical cable, the transport trolley communicates with the second anti-collision controller through the fourth control port.

14. The virtual driving system according to claim 11, wherein, The simulator causes the first or second anti-collision controller to generate an abnormal situation signal and checks whether the conveying trolley interlocks due to the generated abnormal situation signal.

15. The virtual driving system according to claim 11, wherein, The simulator adjusts the brightness of the first and second optical cables and checks the operation of the transport trolley according to the brightness.

16. A control method for a virtual driving system, comprising the following steps: A virtual driving system is provided, comprising: an optical cable installed on a track; a transport trolley that drives in place on the track and communicates with the optical cable; a signal line distributor that selectively connects either a first anti-collision controller or a second anti-collision controller to the optical cable; and a simulator that controls the first anti-collision controller, the second anti-collision controller, and the signal line distributor according to the operating scenario of the transport trolley. The first anti-collision controller is set to correspond to the first virtual path of the transport trolley; The second anti-collision controller is set to correspond to a second virtual path of the transport trolley that is different from the first virtual path; The signal line distributor is connected to the first anti-collision controller and the optical cable to simulate the movement of the transport trolley along the first virtual path; and The signal line distributor is connected to the second anti-collision controller and the optical cable to simulate the movement of the transport trolley along the second virtual path.

17. The control method for the virtual driving system according to claim 16, wherein, The first virtual path includes the path in the confluence of the tracks, and the second virtual path includes the path in the ramp.

18. The control method for the virtual driving system according to claim 16, wherein, The simulator causes the first or second anti-collision controller to generate an abnormal situation signal and checks whether the conveying trolley interlocks due to the generated abnormal situation signal.

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