A transport position correction system and method

Abstract

The present invention proposes a handling position correction system and method. The handling position correction system includes an overhead crane and an information collection device. The information collection device is deployed in the product gripper of the lifting platform of the overhead crane. The target product to be handled is replaced by the information collection device, and the longitudinal offset is collected. The target pixel value is corrected based on the longitudinal offset to determine the pixel teaching value corresponding to the handling position of the i-th target machine. There is no need to manually adjust the mobile identification plate for each machine, which avoids the previous scenario of users working at heights, maintains the personal safety of users, advocates the concept of factory safety production, can quickly and efficiently perform handling position correction, complete the teaching of the overhead crane, and put the overhead crane into production use as soon as possible.

Description

Technical Field

[0001] The present invention relates to the field of wafer processing equipment, and in particular to a transport position correction system and method. Background Art

[0002] With the continuous development of the semiconductor industry, manufacturers are faced with the challenge of improving production efficiency and reducing costs. Overhead Hoist Transport (OHT or overhead crane, also known as aerial transport device) is a device widely used in semiconductor production lines to automatically transport wafer boxes (FOUP). Automatic transportation through this device can improve material transportation efficiency, reduce labor costs and reduce pollution risks, thereby greatly improving the overall production process. In a semiconductor factory, the overhead crane needs to move to the corresponding handling position of the process machine when operating on the process machine, and then control the lifting platform to transport the wafer box to the process machine.

[0003] Usually, each process machine will be equipped with an identification plate, and a scanning device (such as a barcode scanner) will be deployed on the overhead crane. During the driving process of the overhead crane, the scanning device will scan the identification plate of the process machine, and the scanning result will include the identification and pixel value of the process machine. As the relative position of the overhead crane and the process machine changes, the pixel value in the scanning result will also change. It can be understood that when the overhead crane is operating on the side track buffer (STB), it can be positioned according to the pixel value of the identification code on the identification plate. For example, when the overhead crane runs to the center position of the pixel value, it is determined that it has reached the corresponding handling position of the process machine. At this time, when the wafer box is placed on the process machine, it is found that the wafer box is not in the center of the process machine. At this time, it is necessary to manually move the identification plate multiple times to ensure that the wafer box can be placed in the center of the process machine after the overhead crane is positioned. This method will increase additional labor costs and is less efficient. Summary of the invention

[0004] An object of the present invention is to provide a transport position correction system and method to at least partially improve the above-mentioned problem.

[0005] In order to achieve the above purpose, the technical solution adopted by the embodiment of the present invention is as follows:

[0006] In a first aspect, an embodiment of the present invention provides a handling position correction system, the handling position correction system comprising an overhead crane and an information collection device, the information collection device being deployed in a product gripper of a lifting platform of the overhead crane, the overhead crane being deployed with a scanning device, the scanning device being used to scan an identification code of a target machine, the scanning result comprising an identification code and a pixel value of the target machine;

[0007] The overhead crane is used to travel along a target route corresponding to a teaching instruction, wherein the teaching instruction includes n target machines, n≥1, and each of the target machines is provided with a corresponding identification code;

[0008] When the scanning result includes an identification of the i-th target machine, and the pixel value therein is equal to the target pixel value corresponding to the i-th target machine, the overhead crane is used to control the lifting platform to transport the information collection device to the i-th target machine;

[0009] The information collection device is used to collect a target image corresponding to the top of the i-th target machine when the height interval with the i-th target machine is equal to the first preset distance;

[0010] The information acquisition device is used to identify the target image to obtain a longitudinal offset, and send the longitudinal offset to the overhead traveling crane;

[0011] The overhead travelling crane is used to correct the target pixel value according to the longitudinal offset to determine the pixel teaching value corresponding to the transport position of the i-th target machine.

[0012] In a second aspect, an embodiment of the present invention provides a handling position correction method, which is applied to a handling position correction system, wherein the handling position correction system includes an overhead crane and an information collection device, wherein the information collection device is deployed in a product gripper of a lifting platform of the overhead crane, and the overhead crane is deployed with a scanning device, wherein the scanning device is used to scan an identification code of a target machine, and the scanning result includes an identification code and a pixel value of the target machine, and the method includes:

[0013] The overhead travelling crane travels along a target route corresponding to a teaching instruction, wherein the teaching instruction includes n target machines, n≥1, and each of the target machines is provided with a corresponding identification code;

[0014] When the scanning result includes the identification of the i-th target machine, and the pixel value therein is equal to the target pixel value corresponding to the i-th target machine, the overhead crane controls the lifting platform to carry the information collection device to the i-th target machine;

[0015] When the height interval between the information acquisition device and the i-th target machine is equal to the first preset distance, the information acquisition device acquires the target image corresponding to the top of the i-th target machine;

[0016] The information acquisition device identifies the target image to obtain a longitudinal offset, and sends the longitudinal offset to the overhead traveling vehicle;

[0017] The overhead traveling crane corrects the target pixel value according to the longitudinal offset to determine a pixel teaching value corresponding to the transport position of the i-th target machine.

[0018] In a third aspect, an embodiment of the present invention provides a method for correcting a handling position, which is applied to an overhead crane in a handling position correction system, wherein the handling position correction system further includes an information collection device, wherein the information collection device is deployed in a product gripper of a lifting platform of the overhead crane, and the overhead crane is deployed with a scanning device, wherein the scanning device is used to scan an identification code of a target machine, and the scanning result includes an identification code and a pixel value of the target machine, and the method includes:

[0019] The overhead travelling crane travels along a target route corresponding to a teaching instruction, wherein the teaching instruction includes n target machines, n≥1, and each of the target machines is provided with a corresponding identification code;

[0020] When the scanning result includes the identification of the i-th target machine, and the pixel value therein is equal to the target pixel value corresponding to the i-th target machine, the overhead crane controls the lifting platform to carry the information collection device to the i-th target machine;

[0021] The overhead crane corrects the target pixel value according to the longitudinal offset to determine the pixel teaching value corresponding to the transport position of the i-th target machine, wherein the longitudinal offset is the offset acquired by the information acquisition device when identifying the target image, and the target image is an image corresponding to the top of the i-th target machine captured by the information acquisition device when the height interval between the information acquisition device and the i-th target machine is equal to the first preset distance.

[0022] Compared with the prior art, the embodiment of the present invention provides a handling position correction system and method, the handling position correction system includes an overhead crane and an information collection device, the information collection device is deployed in the product gripper of the lifting platform of the overhead crane, the overhead crane is deployed with a scanning device, the scanning device is used to scan the identification code of the target machine, and the scanning result includes the identification and pixel value of the target machine; the overhead crane is used to travel along the target route corresponding to the teaching instruction, wherein the teaching instruction includes n target machines, n≥1, and each target machine is provided with a corresponding identification code; when the scanning result includes the identification code of the i-th target machine When the target product is replaced by the information acquisition device, and the pixel value therein is equal to the target pixel value corresponding to the i-th target machine, the overhead crane is used to control the lifting platform to transport the information acquisition device to the i-th target machine; the information acquisition device is used to collect the target image corresponding to the top of the i-th target machine when the height interval with the i-th target machine is equal to the first preset distance; the information acquisition device is used to identify the target image to obtain the longitudinal offset and send the longitudinal offset to the overhead crane; the overhead crane is used to correct the target pixel value according to the longitudinal offset to determine the pixel teaching value corresponding to the transport position of the i-th target machine. The target product is replaced by the information acquisition device, the longitudinal offset is collected, and the target pixel value is corrected based on the longitudinal offset to determine the pixel teaching value corresponding to the transport position of the i-th target machine. There is no need to manually adjust the mobile identification plate for each machine separately, which avoids the previous scenario of users climbing up to work, maintains the personal safety of users, advocates the concept of factory safety production, can quickly and efficiently perform the transport position correction, complete the teaching of the overhead crane, and put the overhead crane into production as soon as possible.

[0023] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 A schematic diagram of unit connections of a transport position correction system provided in an embodiment of the present invention.

[0026] Figure 2 A schematic diagram of a target route provided by an embodiment of the present invention.

[0027] Figure 3 A schematic diagram of pixel value changes provided by an embodiment of the present invention.

[0028] Figure 4 A schematic diagram of longitudinal position deviation provided in an embodiment of the present invention.

[0029] Figure 5 This is a flow chart of a method for correcting a transport position provided in an embodiment of the present invention.

[0030] Figure 6 The second flowchart of the method for correcting the transport position provided in the embodiment of the present invention.

[0031] In the figure: 10- overhead crane; 20- information acquisition device; 100- main control unit; 101- scanning device; 200- processor; 201- contact sensor; 202- distance sensor; 203- image sensor. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0033] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. At the same time, in the description of the present invention, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0035] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0036] In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are directions or positional relationships in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0037] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "disposed" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0039] Usually, when transporting the target product (including wafer boxes, storage devices and other industrial equipment) to a machine (including but not limited to a process machine), it is necessary to observe whether the target product is in the center of the machine. If it is found that the target product is not in the center of the machine, it is necessary to manually move the identification plate multiple times to ensure that the target product can be placed in the center of the machine after the overhead crane is positioned. This method will increase additional labor costs and is less efficient. In order to solve this problem, an embodiment of the present invention provides a transport position correction system, which does not require manual adjustment of the mobile identification plate for each machine, avoids the previous scenario of users working at heights, protects the personal safety of users, advocates the concept of factory safety production, can quickly and efficiently perform transport position correction, complete the teaching of the overhead crane, and put the overhead crane into production as soon as possible.

[0040] Please refer to Figure 1 , Figure 1 The unit connection diagram of the handling position correction system provided by the embodiment of the present invention is as follows. The handling position correction system comprises an overhead crane 10 and an information collection device 20, the overhead crane 10 and the information collection device 20 are in communication connection, and the information collection device 20 is deployed in the product gripper of the lifting platform of the overhead crane 10.

[0041] The overhead crane 10 includes a main control unit 100, which is connected to the overhead crane dispatching control system (OCS) and / or a user terminal. The user terminal can be, but is not limited to, a mobile phone, a computer, and a server. The user terminal can be deployed with software for remotely controlling the overhead crane 10 (such as PDT), and the user can control the operation of the overhead crane 10 in manual mode through the user terminal.

[0042] It should be noted that the overhead crane 10 is also equipped with a scanning device 101, which is used to scan the identification code of the target machine, and the scanning result includes the identification and pixel value of the target machine. The scanning device 101 can be, but is not limited to, a barcode scanning gun, and the identification code can be arranged on the identification plate or the side of the target machine. The identification plate can be, but is not limited to, a QR installation plate (two-dimensional code installation plate), and the identification code can be, but is not limited to, a two-dimensional code. The identification plate is set corresponding to the target machine, for example, placed on the side of the target machine. The scanning device 101 can transmit the scanning result to the main control unit 100.

[0043] The overhead crane 10 can move on the overhead crane travel track. The overhead crane 10 can also be provided with a transverse axis, a lifting axis, and a rotating axis that are transmission-connected to the lifting platform. The main control unit 100 of the overhead crane 10 can control the transverse axis, the lifting axis, and the rotating axis to drive the lifting platform to move horizontally, to drive the lifting platform to rise or fall, and to drive the lifting platform to rotate and adjust its posture. When the overhead crane 10 operates normally, the product gripper of the lifting platform is used to place the target product, and the overhead crane 10 can move the target product to the corresponding machine platform for processing by controlling the lifting platform.

[0044] The appearance of the information acquisition device 20 may be consistent with the target product, and may also be called JIG. The information acquisition device 20 is deployed with a variety of sensors including but not limited to a contact sensor 201 (or a pressure sensor), a distance sensor 202, and an image sensor 203 (image acquisition unit). The information acquisition device 20 may also include a processor 200, which is respectively connected to the contact sensor 201, the distance sensor 202, and the image sensor 203. The processor 200 is also connected to the main control unit 100 of the overhead crane 10. The processor 200 and the main control unit 100 may communicate based on a wireless network (including but not limited to a Bluetooth network or a WiFi network).

[0045] The processor 200 can process the data collected by the contact sensor 201, the distance sensor 202 and the image sensor 203, and interact with the main control unit 100 based on the processing results, including but not limited to the reception and transmission of information involved below.

[0046] In an optional implementation, the main control unit 100 may be directly connected to the contact sensor 201 , the distance sensor 202 , and the image sensor 203 for communication.

[0047] The main control unit 100 may be, but is not limited to, a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), a field-programmable gate array (FPGA), and a microcontroller unit (MCU). The processor 200 may be, but is not limited to, a programmable logic controller (PLC).

[0048] In the handling position correction system provided by the embodiment of the present invention, the target product is replaced by the information collection device 20 to collect the longitudinal offset, which refers to the offset between the center of the information collection device 20 and the target machine in the direction of the overhead crane travel track. The target pixel value is corrected based on the longitudinal offset to determine the pixel teaching value corresponding to the handling position of the i-th target machine. There is no need to manually adjust the mobile identification plate for each machine, which avoids the previous scenario of users working at heights, protects the personal safety of users, advocates the concept of factory safety production, and can quickly and efficiently perform handling position correction, complete the teaching of the overhead crane, and put the overhead crane into production as soon as possible.

[0049] Regarding how to complete the transport position correction, the embodiment of the present invention also provides an optional implementation method, please refer to the following.

[0050] The overhead crane 10 is used to travel along a target route corresponding to a teaching instruction, wherein the teaching instruction includes n target machines, n≥1, and each target machine is provided with a corresponding identification code;

[0051] In an optional embodiment, when the overhead crane 10 obtains a teaching instruction (transmitted by a user terminal or an overhead crane dispatching and control system), the target route is determined based on the target machine in the teaching instruction, or the target route is directly sent to the overhead crane 10 by a host computer, which may be a user terminal or an overhead crane dispatching and control system.

[0052] Please refer to Figure 2 , Figure 2 A schematic diagram of a target route provided by an embodiment of the present invention. The target route may include multiple paths, for example, there are a total of M paths in the target route, and Nodej represents the jth path in the target route. Among them, some paths are not bound to a target machine, such as the first path (Node1), some paths are bound to one target machine, such as the second path (Node2), and some paths are bound to multiple target machines, such as the jth path (Nodej).

[0053] When the overhead crane 10 travels to a path that is not bound to a target machine, it can move directly to the next path. When the overhead crane 10 travels to a path that is bound to a target machine, it is necessary to determine the teaching parameters corresponding to the target machines one by one, so it is necessary to go to the transport position corresponding to each target machine in the path in turn. After the teaching of each target machine is completed, the overhead crane 10 will continue to travel along the target route until the overhead crane 10 reaches the end of the target route.

[0054] When the scanning result includes the identification of the i-th target machine, and the pixel value therein is equal to the target pixel value corresponding to the i-th target machine, the overhead crane 10 is used to control the lifting platform to transport the information collection device 20 to the i-th target machine.

[0055] The target pixel value may be, but is not limited to, the pixel value at the center position of the pixel value corresponding to the i-th target machine (eg, 300).

[0056] Please refer to Figure 3 , Figure 3 A schematic diagram of pixel value changes provided by an embodiment of the present invention. When the overhead crane 10 travels along the target route, when it reaches point 1, the pixel value it scans is 100. As the overhead crane 10 continues to move, the scanned pixel value gradually increases. When it reaches point 2, the pixel value it scans is 300 (at the center of the pixel value). As the overhead crane 10 continues to move, the scanned pixel value gradually increases. When it reaches point 3, the maximum pixel value it scans is 500. As the overhead crane 10 continues to move, the logo of the i-th target machine cannot be scanned. It should be noted that Figure 3 The values ​​listed in are not intended to be used as specific limitations, but are only for reference. The target pixel value can be the pixel value corresponding to any point between point 1 and point 3. Usually, the target pixel value is fixed. When the target product is transported based on the target pixel value, if it is found that the target product is not located at the center of the target machine, it is necessary to manually move the identification plate multiple times to ensure that the target product can be placed in the center of the target machine after the overhead crane is positioned.

[0057] The information collection device 20 is used to collect a target image corresponding to the top of the i-th target machine when the height interval with the i-th target machine is equal to a first preset distance.

[0058] It should be noted that the shooting angle of the image sensor 203 is fixed. When the height interval is consistent (the first preset distance), if the target image collected by the information acquisition device 20 and the center of the target platform coincide with each other, there will be a difference between the target image collected when they do not coincide, and this difference can reflect the deviation of the longitudinal movement distance of the lifting platform (i.e., the longitudinal offset).

[0059] The information acquisition device 20 is used to identify the target image to obtain the longitudinal offset, and send the longitudinal offset to the overhead traveling vehicle 10 .

[0060] The longitudinal offset refers to the offset between the center of the information collection device 20 and the target platform in the direction of the overhead traveling track.

[0061] In an optional implementation, after acquiring the target image, the information acquisition device 20 may directly transmit the target image to the main control unit 100, and the main control unit 100 may acquire the longitudinal offset.

[0062] The overhead travelling crane 10 is used to correct the target pixel value according to the longitudinal offset to determine the pixel teaching value corresponding to the transport position of the i-th target machine.

[0063] It should be noted that when the subsequent overhead crane 10 needs to transport the target product to the i-th target machine, the pixel teaching value corresponding to the transport position of the i-th target machine can be used as the new target pixel value of the i-th target machine, thereby ensuring that the target product coincides with the center of the machine after transport.

[0064] In the handling position correction system provided by the embodiment of the present invention, the target product is replaced by an information collection device, the longitudinal offset is collected, and the target pixel value is corrected based on the longitudinal offset to determine the pixel teaching value corresponding to the handling position of the i-th target machine. There is no need to manually adjust the mobile identification plate for each machine, which avoids the previous scenario of users working at heights, protects the personal safety of users, advocates the concept of factory safety production, and can quickly and efficiently perform handling position correction, complete the teaching of the overhead crane, and put the overhead crane into production use as soon as possible.

[0065] In an optional implementation, a platform center mark is set on the top of the target platform, and the side of the platform used to place the target product is the top. The platform center mark can be in the shape of an arrow or a square with a corner mark. On this basis, regarding how to determine the longitudinal offset, the embodiment of the present invention also provides an optional implementation, please refer to the following.

[0066] The information acquisition device 20 is used to identify the target image and obtain the current position of the center mark of the machine in the target image.

[0067] The information collection device 20 is used to determine the longitudinal position deviation according to the current position and the preset position.

[0068] Because the shooting angle is fixed, when the height interval is consistent, if the information collection device 20 coincides with the center of the target machine, the position of the machine center mark in the target image should be the same as the preset position. If it is not consistent, it means that there is a deviation. Please refer to Figure 4 , Figure 4 A schematic diagram of longitudinal position deviation provided in an embodiment of the present invention.

[0069] like Figure 4 As shown, when the information acquisition device 20 and the center of the target machine coincide, the machine center mark should be located at the center of the target image, that is, the preset position is the center position of the target image. However, when the information acquisition device 20 acquires the target image, it may not coincide with the center of the target machine, so the machine center mark is not located at the center of the target image in the target image, that is, there is a deviation between the current position of the machine center mark in the target image and the preset position, which is the longitudinal position deviation.

[0070] The information collection device 20 is used to determine the longitudinal offset according to the longitudinal position deviation.

[0071] Based on the foregoing, regarding how to accurately obtain pixel teaching values, the embodiment of the present invention also provides an optional implementation method, please refer to the following.

[0072] The overhead crane 10 is used to determine the pixel value deviation amount according to the longitudinal offset amount.

[0073] Optionally, the conversion relationship between the longitudinal offset and the pixel value deviation can be obtained based on the measurement data of the image sensor 203. The unit change of the pixel value is obtained when the longitudinal offset changes by one millimeter. For example, when the longitudinal offset changes by one millimeter, the change of the pixel value is 7, then the pixel value deviation corresponding to the longitudinal offset of 1 millimeter is 7 pixels, that is, the longitudinal deviation × 7 = pixel value deviation.

[0074] The overhead traveling device 10 is used to correct the target pixel value according to the pixel value deviation, so as to determine the pixel teaching value corresponding to the transport position of the i-th target machine.

[0075] In an optional implementation, a contact sensor 201 is provided at the bottom of the information collection device 20. When the contact sensor 201 of the information collection device 20 contacts the i-th target machine, the contact sensor 201 generates a contact signal and sends the contact signal to the main control unit 100. On this basis, regarding how to accurately move the information collection device 20 to a position where the height interval from the i-th target machine is the first preset distance, the embodiment of the present invention also provides an optional implementation, please refer to the following.

[0076] The overhead travelling crane 10 is used to control the transverse axis to drive the lifting platform to move transversely until the target overlap degree between the information collection device 20 and the i-th target platform is greater than a preset overlap degree.

[0077] The target overlap refers to the overlap between the information collection device 20 and the i-th target machine. When the target overlap is greater than the preset overlap, the lateral height overlap can reduce the influence of the lateral deviation on the longitudinal offset and ensure the accuracy of the corrected teaching value.

[0078] The overhead crane 10 is used to control the lifting shaft to drive the lifting platform to descend until the overhead crane 10 receives a reaching signal.

[0079] The overhead crane 10 is used to control the lifting platform to rise a first preset distance.

[0080] It should be noted that when the height interval changes, it may affect the detection result of the longitudinal offset, thereby affecting the accuracy of the teaching result.

[0081] In an optional implementation, a distance sensor 202 is further disposed at the bottom of the information collection device 20 .

[0082] When starting to descend, the overhead crane 10 is used to control the lifting shaft to drive the lifting platform to descend at a first speed.

[0083] At the same time, the main control unit 100 may send a descending signal to the processor 200. When the processor 200 receives the descending signal, it controls the distance sensor 202 to collect the interval distance between the information collection device 20 and the i-th target machine.

[0084] During the descent of the lifting platform, the information collection device 20 is also used to collect the distance between it and the i-th target platform.

[0085] The information collection device 20 is further configured to send a deceleration signal to the overhead travelling vehicle 10 when the interval distance is less than a second preset distance.

[0086] The overhead travelling crane 10 is used to control the lifting shaft to drive the lifting platform to descend at a second speed after receiving the deceleration signal, wherein the second speed is lower than the first speed.

[0087] It should be understood that the lifting platform can be quickly lowered before the second preset distance, thereby saving time and ensuring the efficiency of teaching. After the second preset distance, the descending speed is reduced to avoid excessive speed and damage to the equipment, thereby playing a protective role.

[0088] On the basis of the foregoing, regarding how to control the lateral movement of the lifting platform, the embodiment of the present invention further provides an optional implementation method, please refer to the following.

[0089] During the lateral movement of the lifting platform, the information acquisition device 20 is used to acquire the current image and obtain the target coincidence degree based on the current image;

[0090] The information collection device 20 is used to send a lateral movement stop signal to the overhead travelling crane 10 when the target overlap is greater than a preset overlap.

[0091] In an optional implementation, after the longitudinal offset is acquired, the overhead travelling vehicle 10 is further used to recover the lifting platform and continue to travel along the target route corresponding to the teaching instruction.

[0092] In an optional implementation, after acquiring the pixel teaching value, the overhead crane 10 is further configured to upload the acquired pixel teaching value to the overhead crane dispatching control system.

[0093] The overhead crane dispatching and control system can broadcast the pixel teaching value to other overhead cranes in the same system. When other overhead cranes need to place the target product on the target machine, the control can be completed directly based on the pixel teaching value.

[0094] The embodiment of the present invention also provides a method for correcting the handling position, which is applied to the above-mentioned handling position correction system. The handling position correction system includes an overhead crane and an information collection device. The information collection device is deployed in the product gripper of the lifting platform of the overhead crane. The overhead crane is equipped with a scanning device. The scanning device is used to scan the identification code of the target machine. The scanning result includes the identification and pixel value of the target machine. For details, please refer to Figure 5 The transport position correction method includes: S110, S120, S210, S220 and S130, which are described in detail as follows.

[0095] S110, the overhead crane travels along the target route corresponding to the teaching instruction.

[0096] The teaching instruction includes n target machines, n≥1, and each target machine is provided with a corresponding identification code.

[0097] S120, when the scanning result includes the identification of the i-th target machine and the pixel value therein is equal to the target pixel value corresponding to the i-th target machine, the overhead travelling crane controls the lifting platform to move the information collection device to the i-th target machine.

[0098] S210 , when the height interval between the information acquisition device and the i th target machine is equal to a first preset distance, the information acquisition device acquires a target image corresponding to the top of the i th target machine.

[0099] S220, the information acquisition device recognizes the target image to obtain a longitudinal offset, and sends the longitudinal offset to the overhead traveling crane;

[0100] S130, the overhead traveling crane corrects the target pixel value according to the longitudinal offset to determine the pixel teaching value corresponding to the transport position of the i-th target machine.

[0101] Optionally, S130, the step of the overhead travelling crane correcting the target pixel value according to the longitudinal offset to determine the pixel teaching value corresponding to the transport position of the i-th target machine station includes: S131 and S132, which are specifically described as follows.

[0102] S131, the overhead travelling crane determines a pixel value deviation according to the longitudinal offset.

[0103] S132, the overhead traveling crane corrects the target pixel value according to the pixel value deviation to determine the pixel teaching value corresponding to the transport position of the i-th target machine.

[0104] The embodiment of the present invention further provides a method for correcting a transport position, which is applied to the overhead travelling crane in the above-mentioned transport position correction system. Figure 6 The transport position correction method includes: S110, S120 and S130, which are described in detail as follows.

[0105] S110, the overhead crane travels along the target route corresponding to the teaching instruction.

[0106] The teaching instruction includes n target machines, n≥1, and each target machine is provided with a corresponding identification code.

[0107] S120, when the scanning result includes the identification of the i-th target machine and the pixel value therein is equal to the target pixel value corresponding to the i-th target machine, the overhead travelling crane controls the lifting platform to move the information collection device to the i-th target machine.

[0108] S130, the overhead traveling crane corrects the target pixel value according to the longitudinal offset to determine the pixel teaching value corresponding to the transport position of the i-th target machine.

[0109] Among them, the longitudinal offset is the offset obtained by the information acquisition device when identifying the target image, and the target image is the image corresponding to the top of the i-th target machine collected by the information acquisition device when the height interval between the information acquisition device and the i-th target machine is equal to the first preset distance.

[0110] It should be noted that the transfer position correction method provided in this embodiment can perform the functional purposes shown in the above transfer position correction system embodiment to achieve the corresponding technical effects. For the sake of brief description, for parts not mentioned in this embodiment, reference can be made to the corresponding contents in the above embodiments.

[0111] In summary, the embodiment of the present invention provides a handling position correction system and method. The handling position correction system includes an overhead crane and an information collection device. The information collection device is deployed in the product gripper of the lifting platform of the overhead crane. The overhead crane is deployed with a scanning device. The scanning device is used to scan the identification code of the target machine. The scanning result includes the identification and pixel value of the target machine. The overhead crane is used to travel along the target route corresponding to the teaching instruction, wherein the teaching instruction includes n target machines, n≥1, and each target machine is provided with a corresponding identification code; when the scanning result includes the identification code of the i-th target machine , and when the pixel value is equal to the target pixel value corresponding to the i-th target machine, the overhead crane is used to control the lifting platform to transport the information collection device to the i-th target machine; the information collection device is used to collect the target image corresponding to the top of the i-th target machine when the height interval with the i-th target machine is equal to the first preset distance; the information collection device is used to identify the target image to obtain the longitudinal offset and send the longitudinal offset to the overhead crane; the overhead crane is used to correct the target pixel value according to the longitudinal offset to determine the pixel teaching value corresponding to the transport position of the i-th target machine. The target product is replaced by the information collection device, the longitudinal offset is collected, and the target pixel value is corrected based on the longitudinal offset to determine the pixel teaching value corresponding to the transport position of the i-th target machine. There is no need to manually adjust the mobile identification plate for each machine separately, which avoids the previous scenario of users climbing up to work, maintains the personal safety of users, advocates the concept of factory safety production, can quickly and efficiently perform the transport position correction, complete the teaching of the overhead crane, and put the overhead crane into production as soon as possible.

[0112] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0113] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A transport position correction system, characterized in that: The handling position correction system includes an overhead crane and an information collection device, wherein the information collection device is deployed in a product gripper of a lifting platform of the overhead crane, and the overhead crane is deployed with a scanning device, wherein the scanning device is used to scan an identification code of a target machine, and a scanning result includes an identification code and a pixel value of the target machine; The overhead crane is used to travel along a target route corresponding to a teaching instruction, wherein the teaching instruction includes n target machines, n≥1, and each of the target machines is provided with a corresponding identification code; When the scanning result includes an identification of the i-th target machine, and the pixel value therein is equal to the target pixel value corresponding to the i-th target machine, the overhead crane is used to control the lifting platform to transport the information collection device to the i-th target machine; The information collection device is used to collect a target image corresponding to the top of the i-th target machine when the height interval with the i-th target machine is equal to the first preset distance; The information acquisition device is used to identify the target image to obtain a longitudinal offset, and send the longitudinal offset to the overhead traveling crane; The overhead traveling crane is used to correct the target pixel value according to the longitudinal offset to determine a pixel teaching value corresponding to the transport position of the i-th target machine, and the pixel teaching value is used as a new target pixel value of the i-th target machine; A machine center mark is set on the top of the target machine; The information acquisition device is used to identify the target image and obtain the current position of the machine center mark in the target image; The information collection device is used to determine the longitudinal position deviation according to the current position and the preset position; The information acquisition device is used to determine the longitudinal offset according to the longitudinal position deviation; The overhead crane is used to determine the pixel value deviation according to the longitudinal offset; The overhead traveling crane is used to correct the target pixel value according to the pixel value deviation to determine the pixel teaching value corresponding to the transport position of the i-th target machine; A contact sensor is provided at the bottom of the information collection device, and when the contact sensor of the information collection device contacts the i-th target machine, the contact sensor generates a contact signal; The overhead crane is used to control the transverse axis to drive the lifting platform to move horizontally until the target overlap between the information collection device and the i-th target machine platform is greater than a preset overlap; The overhead crane is used to control the lifting shaft to drive the lifting platform to descend until the overhead crane receives the reaching signal; The overhead crane is used to control the lifting platform to rise a first preset distance.

2. The transfer position correction system according to claim 1, characterized in that: When starting to descend, the overhead crane is used to control the lifting shaft to drive the lifting platform to descend at a first speed; During the descent of the lifting platform, the information collection device is further used to collect the interval distance between it and the i-th target machine platform; The information collection device is further used to send a deceleration signal to the overhead travelling vehicle when the interval distance is less than a second preset distance; The overhead travelling crane is used for controlling the lifting shaft to drive the lifting platform to descend at a second speed after receiving the deceleration signal, wherein the second speed is lower than the first speed.

3. The transfer position correction system according to claim 1, wherein: During the lateral movement of the lifting platform, the information acquisition device is used to acquire a current image and obtain the target coincidence degree based on the current image; The information collection device is used to send a lateral movement stop signal to the overhead travelling crane when the target overlap is greater than a preset overlap.

4. The transfer position correction system according to claim 1, wherein: After acquiring the longitudinal offset, the overhead crane is further used to recover the lifting platform and continue to travel along the target route corresponding to the teaching instruction.

5. A method for correcting a transport position, characterized in that: A handling position correction system applied to any one of claims 1 to 4, the handling position correction system comprising an overhead crane and an information collection device, the information collection device being deployed in a product gripper of a lifting platform of the overhead crane, the overhead crane being deployed with a scanning device, the scanning device being used to scan an identification code of a target machine, the scanning result comprising an identification code and a pixel value of the target machine, the method comprising: The overhead travelling crane travels along a target route corresponding to a teaching instruction, wherein the teaching instruction includes n target machines, n≥1, and each of the target machines is provided with a corresponding identification code; When the scanning result includes the identification of the i-th target machine, and the pixel value therein is equal to the target pixel value corresponding to the i-th target machine, the overhead crane controls the lifting platform to carry the information collection device to the i-th target machine; When the height interval between the information acquisition device and the i-th target machine is equal to the first preset distance, the information acquisition device acquires the target image corresponding to the top of the i-th target machine; The information acquisition device identifies the target image to obtain a longitudinal offset, and sends the longitudinal offset to the overhead traveling vehicle; The overhead travelling crane corrects the target pixel value according to the longitudinal offset to determine a pixel teaching value corresponding to the transport position of the i-th target machine, and the pixel teaching value serves as a new target pixel value of the i-th target machine.

6. A method for correcting a transport position, characterized in that: The overhead crane used in the handling position correction system according to any one of claims 1 to 4, wherein the handling position correction system further comprises an information acquisition device, wherein the information acquisition device is deployed in a product gripper of the lifting platform of the overhead crane, wherein the overhead crane is deployed with a scanning device, wherein the scanning device is used to scan an identification code of a target machine, wherein the scanning result comprises an identification code and a pixel value of the target machine, wherein the method comprises: The overhead travelling crane travels along a target route corresponding to a teaching instruction, wherein the teaching instruction includes n target machines, n≥1, and each of the target machines is provided with a corresponding identification code; When the scanning result includes the identification of the i-th target machine, and the pixel value therein is equal to the target pixel value corresponding to the i-th target machine, the overhead crane controls the lifting platform to carry the information collection device to the i-th target machine; The overhead crane corrects the target pixel value according to the longitudinal offset to determine the pixel teaching value corresponding to the transport position of the i-th target machine, wherein the longitudinal offset is the offset acquired by the information acquisition device when identifying the target image, and the target image is an image corresponding to the top of the i-th target machine collected by the information acquisition device when the height interval between the information acquisition device and the i-th target machine is equal to the first preset distance, and the pixel teaching value is used as the new target pixel value of the i-th target machine.

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