Method and device for handling abnormal operation of overhead crane in collaborative tasks

Abstract

The present invention provides a method and device for handling abnormal operation of an overhead crane in a collaborative task, and belongs to the technical field of wafer transport overhead cranes. The method for handling abnormal operation of an overhead crane in a collaborative task in an embodiment of the present invention determines whether a target overhead crane in an abnormal state is performing a collaborative transport task, identifies other associated overhead cranes working in coordination with the target overhead crane, and coordinates the tasks of each associated overhead crane by analyzing the positions of each associated overhead crane and the working status of semiconductor devices at their endpoints, and effectively finds the most suitable replacement overhead crane, which can reduce the complex route that the replacement overhead crane needs to take when responding to and performing tasks, thereby improving the overall efficiency, maximizing the utilization rate of the overhead crane, and making the overhead crane system have stronger dynamic adaptability, and can make timely adjustments according to fault conditions in actual operations to ensure production continuity.

Description

Technical Field

[0001] The present invention relates to the technical field of wafer transport overhead cranes, and in particular to a method and device for handling abnormal operation of overhead cranes in collaborative tasks. Background Art

[0002] In the field of semiconductor manufacturing, the overhead crane in AMHS (Automatic Material Handling System) plays an indispensable and vital role as a key driver of material flow and equipment configuration. By implementing an efficient overhead crane scheduling strategy, the overall performance and efficiency of semiconductor production can be significantly improved. The overhead crane is usually composed of a lightweight frame, drive and transmission system, fixture and automation control unit. It runs on a suspended track to ensure efficient and accurate handling of wafers between different processing steps, and is equipped with sensors to ensure safety.

[0003] The overhead crane dispatching mechanism constitutes a crucial link in the semiconductor production dispatching system. The basic responsibility of the overhead crane is to respond to the operation instructions and accurately transport all kinds of materials from the starting position to the target end point through the track. This process not only ensures the smooth flow of materials, but also is the core link to achieve efficient connection of the production process. Because the overhead crane or the track section where the overhead crane in the AMHS is running may suddenly fail for various reasons after a long time of operation, it will not only affect the overhead crane running on the track of the faulty overhead crane, but also affect the operation path planning of other overhead cranes.

[0004] In the prior art, the track segment where the faulty overhead crane is located is generally analyzed in the track map, and a new overhead crane is rearranged to join the collaborative task to replace the faulty overhead crane to perform the task. The new overhead crane will involve a complex route from response to task execution, resulting in low overall efficiency. The process in the prior art usually only regards each overhead crane as an independent individual. When there is a collaborative operation relationship between some overhead cranes, how to solve the handling task of the faulty overhead crane and improve the efficiency of the entire collaborative task is a problem that the prior art urgently needs to solve. Summary of the invention

[0005] The present invention provides a method and device for handling abnormal operation of an overhead crane in a collaborative task, so as to solve the defect of low efficiency in replacing a faulty overhead crane in the prior art and achieve the effect of improving the efficiency of the collaborative task.

[0006] The present invention provides a method for handling abnormal operation of an overhead travelling crane in a collaborative task, comprising:

[0007] Determine the target overhead travelling crane that is in an abnormal state;

[0008] Determine whether the target overhead crane is performing a coordinated transport task; the coordinated transport task includes a relay transport task and a synchronous transport task;

[0009] In the case where the target overhead crane is performing a coordinated transport task, identifying associated overhead cranes associated with the coordinated transport task performed by the target overhead crane, wherein the associated overhead cranes include a relay overhead crane for performing the relay transport task and a synchronous overhead crane for performing the synchronous transport task;

[0010] Based on the working status of the semiconductor devices at the end point of the transport task corresponding to each associated overhead crane and the position of each associated overhead crane, searching for a replacement overhead crane for taking over the work of the target overhead crane from the associated overhead cranes;

[0011] Based on the positions of the target overhead travelling crane and the replacement overhead travelling crane, the replacement overhead travelling crane is controlled to take over the target overhead travelling crane to perform the transport task.

[0012] According to a method for handling abnormal operation of an overhead crane in a collaborative task provided by the present invention, the method is based on the working status of semiconductor devices at the end point of the handling task corresponding to each associated overhead crane and the position of each associated overhead crane, including:

[0013] Finding each relay crane corresponding to the target crane in the collaborative transport task;

[0014] Based on the working status of the semiconductor device at the corresponding transport task end point of the relay crane corresponding to the target crane in the collaborative transport task, the relay crane that cannot interact with the semiconductor device at the transport task end point within the target time period is screened;

[0015] Based on the positions of the selected relay overhead cranes, the replacement overhead crane is selected from the relay overhead cranes.

[0016] According to a method for handling an abnormal operation of an overhead crane in a collaborative task provided by the present invention, the replacement overhead crane is obtained by screening out the position of the relay overhead crane obtained by screening, and includes:

[0017] Based on the positions of the relay cranes obtained by screening, identifying the track types within the working range of each relay crane and the target crane;

[0018] The replacement overhead crane is obtained by screening from various relay overhead cranes based on the track type and track length.

[0019] According to a method for handling abnormal operation of an overhead crane in a collaborative task provided by the present invention, after searching for each relay overhead crane corresponding to the target overhead crane in the collaborative handling task, the method further includes:

[0020] In the case where no relay crane that cannot interact with the semiconductor device at the end point of the transport task within the target period is found, searching for each synchronous crane corresponding to the target crane in the collaborative transport task;

[0021] Based on the working status of the semiconductor device at the corresponding transport task end point of the synchronous overhead crane corresponding to the target overhead crane in the collaborative transport task, screening out the synchronous overhead crane that cannot interact with the semiconductor device at the transport task end point within the target time period;

[0022] Based on the positions of the synchronized overhead cranes obtained by screening, the replacement overhead crane is screened from the synchronized overhead cranes.

[0023] According to a method for handling abnormal operation of an overhead crane in a collaborative task provided by the present invention, the replacement overhead crane is obtained by screening out the position of the synchronous overhead crane from each synchronous overhead crane, comprising:

[0024] Based on the position of the synchronous overhead crane that cannot interact with the semiconductor device at the end point of the transport task, identifying the track type within the working range of each synchronous overhead crane and the target overhead crane;

[0025] The replacement overhead crane is obtained by screening from various synchronous overhead cranes based on the track type and track length.

[0026] According to a method for handling abnormal operation of an overhead crane in a collaborative task provided by the present invention, when the target overhead crane is performing a collaborative transport task, identifying each associated overhead crane associated with the collaborative transport task performed by the target overhead crane, comprising:

[0027] Obtaining each subtask in the collaborative transport task performed by the target overhead crane;

[0028] Traverse the equipment status of the starting position and the end position of each subtask, determine the crane list after the equipment status of the starting position and the end position is the state of completing the work, and obtain the associated cranes associated with the collaborative handling task executed by the target crane.

[0029] According to a method for handling abnormal operation of an overhead crane in a collaborative task provided by the present invention, the abnormal state includes position abnormality or speed abnormality.

[0030] The present invention also provides a device for handling abnormal operation of an overhead travelling crane in a collaborative task, comprising:

[0031] A first determination module is used to determine a target overhead travelling crane that is in an abnormal state;

[0032] The second determination module is used to determine whether the target overhead travelling vehicle is performing a coordinated transport task; the coordinated transport task includes a relay transport task and a synchronous transport task;

[0033] an identification module, for identifying, when the target overhead crane is performing a coordinated transport task, each associated overhead crane associated with the coordinated transport task performed by the target overhead crane, wherein the associated overhead cranes include a relay overhead crane for performing the relay transport task and a synchronous overhead crane for performing the synchronous transport task;

[0034] A first processing module is used to search for a replacement crane from the associated cranes for taking over the work of the target crane based on the working status of the semiconductor devices at the end point of the transport task corresponding to each associated crane and the position of each associated crane;

[0035] The second processing module is used for controlling the replacement crane to take over the target crane to perform the transport task based on the positions of the target crane and the replacement crane.

[0036] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method for handling abnormal operation of an overhead crane in any of the above-mentioned collaborative tasks is implemented.

[0037] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the method for handling abnormal operation of an overhead crane in any of the above-mentioned collaborative tasks is implemented.

[0038] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the method for handling abnormal operation of an overhead crane in any of the above-mentioned collaborative tasks is implemented.

[0039] The method and device for handling abnormal operation of an overhead crane in a collaborative task provided by the present invention determine whether a target overhead crane in an abnormal state is performing a collaborative handling task, identify other associated overhead cranes working in coordination with the target overhead crane, and coordinate the tasks of each associated overhead crane by analyzing the positions of each associated overhead crane and the working status of semiconductor equipment at its endpoint, so as to effectively find the most suitable replacement overhead crane, thereby reducing the complex route that the replacement overhead crane needs to take when responding to and performing tasks, thereby improving the overall efficiency, maximizing the utilization rate of the overhead crane, and making the overhead crane system have stronger dynamic adaptability, and being able to make timely adjustments according to fault conditions in actual operations to ensure the continuity of production. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 This is one of the flow charts of the method for handling abnormal operation of an overhead crane in a collaborative task provided by the present invention;

[0042] Figure 2 This is the second flow chart of the method for handling abnormal operation of an overhead crane in a collaborative task provided by the present invention;

[0043] Figure 3 It is a structural schematic diagram of the device for handling abnormal operation of an overhead crane in a collaborative task provided by the present invention;

[0044] Figure 4 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. 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.

[0046] Combine the following Figure 1-Figure 4 The present invention describes a method and device for handling abnormal operation of an overhead crane in a collaborative task.

[0047] like Figure 1 As shown, the method for handling abnormal operation of an overhead travelling crane in a collaborative task according to an embodiment of the present invention mainly includes step 110 , step 120 , step 130 , step 140 and step 150 .

[0048] Step 110, determining a target overhead travelling crane that is in an abnormal state.

[0049] Abnormal conditions include abnormal position or abnormal speed. If the position coordinate data of the overhead crane shows that it does not move according to the planned path, or stays in a non-working area for too long, the system will determine that the position is abnormal.

[0050] To determine whether the overhead crane is in an abnormal state, its position and speed can be monitored in real time. If the position coordinates of the overhead crane do not move according to the predetermined path, or if it stays in the non-working area for more than the set time, it will be judged as a position abnormality. At the same time, if its speed exceeds the predetermined range (too fast or too slow), it will be judged as a speed abnormality.

[0051] Specifically, the positioning code uploaded by the overhead crane can be obtained to determine the real-time position of the overhead crane and obtain the speed of the overhead crane. Alternatively, the operation data of the overhead crane can be collected in real time through various sensors installed on the overhead crane, and the collected data can be transmitted to the monitoring system or cloud server in real time by wireless or wired communication to ensure the accuracy and timeliness of the data.

[0052] Step 120, determining whether the target overhead travelling crane is performing a coordinated transport task.

[0053] Collaborative handling tasks include relay handling tasks and synchronous handling tasks. Relay handling tasks refer to the two stages of direct or indirect sequential execution of the overhead crane and the target overhead crane in the workflow of the same target handling task. Synchronous handling refers to the two parallel stages of the overhead crane and the target overhead crane in the workflow of the same target handling task, generally with the same destination and arrival time.

[0054] To determine whether the target overhead crane is performing a collaborative handling task, you can directly go to the overhead crane's management system to query the crane's task information.

[0055] In some embodiments, it is also possible to establish a clear task flow model to monitor the position, status and time information of the overhead crane and the target overhead crane in real time to determine the execution status of the relay handling task and the synchronous handling task. The relay handling task requires checking the execution order of the two overhead cranes, while the synchronous handling task requires comparing whether their destinations and estimated arrival times are consistent.

[0056] Step 130 , in the case where the target overhead crane is performing a coordinated transport task, identifying each associated overhead crane associated with the coordinated transport task performed by the target overhead crane.

[0057] The associated overhead cranes include a relay overhead crane for performing relay handling tasks and a synchronous overhead crane for performing synchronous handling tasks.

[0058] To identify the associated cranes when the target crane is performing a collaborative handling task, it is first necessary to clarify the workflow of each collaborative handling task, including the stages of relay handling and synchronous handling tasks and their associated relationships. Then, through real-time monitoring and data collection, the status and position of all cranes are recorded and compared with the currently executed target crane. For relay handling tasks, the cranes in the previous and next order (relay cranes) are identified to ensure that they are executed in sequence in the task flow; and for synchronous handling tasks, the cranes (synchronous cranes) that are executed in parallel at the same stage are identified by comparing the position and time information. Finally, by integrating this information, a list of associated cranes is output to support subsequent coordination, scheduling and management.

[0059] In some embodiments, when the target overhead crane is performing a coordinated transport task, identifying each associated overhead crane associated with the coordinated transport task performed by the target overhead crane includes the following process.

[0060] You can first obtain each subtask in the collaborative handling task performed by the target overhead crane, and then traverse the equipment status of the starting and ending positions of each subtask to determine the list of overhead cranes after the equipment status of the starting and ending positions is the state of completing the work, and obtain each associated overhead crane associated with the collaborative handling task performed by the target overhead crane.

[0061] First, it is necessary to identify the coordinated handling task performed by the target overhead crane, extract the various subtasks in the task, and then traverse the starting and ending positions of the subtasks. For each subtask, you can check its set starting and ending positions. At this point, you need to pay attention to the equipment status related to these positions to ensure the smooth progress of the handling process.

[0062] During the traversal process, it is necessary to determine the status of the equipment at each starting and ending position to check whether it is in the "work completed" state, which means that the relevant overhead crane has successfully completed its handling or operation in the subtask.

[0063] By checking and confirming the equipment status at the start and end locations, the system generates a crane list containing all cranes associated with the coordinated handling task performed by the target crane. These cranes can be relay cranes (executed sequentially in relay handling tasks) or synchronous cranes (executed in parallel in synchronous handling tasks).

[0064] In this embodiment, through clear task decomposition, equipment status monitoring and correlation judgment, it is identified which overhead cranes are associated with the target overhead crane in a specific collaborative handling task, thereby providing a basis for subsequent task coordination and scheduling.

[0065] Step 140 , based on the working status of the semiconductor devices at the end point of the transport task corresponding to each associated overhead crane and the position of each associated overhead crane, searching for a replacement overhead crane for taking over the work of the target overhead crane from the associated overhead cranes.

[0066] The working status of each associated overhead crane at the end of the handling task can be obtained in real time through sensors or equipment monitoring systems, and the positions of all overhead cranes can be tracked in real time to ensure that their current positions and movement trajectories can be mastered. The equipment status may be "running", "finished work" or "faulty".

[0067] The state of the overhead crane interacting with the current semiconductor device within a period of time, such as "busy" or "idle", can be determined according to the working state of the semiconductor device at the end point of the overhead crane's transport task.

[0068] According to the positions of the associated overhead cranes, the position range of the target overhead crane is set, and the associated overhead cranes that are closer to the target overhead crane are given priority to reduce the replacement time and the complexity of path planning.

[0069] In some embodiments, a weighted scoring model may be used to score each overhead crane based on factors such as the working status, location, and adaptability of the overhead crane, and the crane with a high score is ultimately selected as a candidate replacement crane.

[0070] By real-time monitoring of the equipment status at the terminal position of each associated overhead crane and the position of the associated overhead crane, the interaction between the associated overhead crane and the semiconductor equipment can be identified, and then the working status of the associated overhead crane and the semiconductor equipment can be identified. Then, based on conditions such as the working status and distance, the most suitable replacement overhead crane can be effectively selected from the associated overhead cranes to ensure that the work of the target overhead crane can be smoothly taken over, thereby improving the flexibility and efficiency of collaborative handling tasks.

[0071] Step 150, based on the positions of the target overhead crane and the replacement overhead crane, controlling the replacement overhead crane to take over the target overhead crane to perform the transport task.

[0072] According to the positions of the target crane and the associated crane, the distance to the associated crane can be evaluated, and the path planning algorithm can be used to calculate the optimal path for the replacement crane from the current position to the position of the target crane. Control instructions are then issued to the replacement crane to guide it to smoothly take over the handling task of the target crane, ensuring the continuity and efficiency of the task.

[0073] For an overhead crane in an abnormal state, if a new overhead crane is directly added to the overhead crane track network to replace the overhead crane, the operation data of the newly added overhead crane will be interrupted and abnormal, thereby affecting the stability of the entire overhead crane system. Therefore, in this embodiment, the route of the selected replacement overhead crane can be reasonably planned to go to the location where the material is exchanged with the target overhead crane for replacement, and the target overhead crane in an abnormal state is offline from the overhead crane track network.

[0074] According to the method for handling abnormal operation of an overhead crane in a collaborative task provided by an embodiment of the present invention, by determining whether a target overhead crane in an abnormal state is performing a collaborative handling task, identifying other associated overhead cranes working in collaboration with the target overhead crane, and by analyzing the positions of each associated overhead crane and the working status of semiconductor equipment at its endpoint, coordinating the tasks of each associated overhead crane, and effectively finding the most suitable replacement overhead crane, the complex route that the replacement overhead crane needs to take when responding to and performing tasks can be reduced, thereby improving the overall efficiency, maximizing the utilization rate of the overhead crane, and making the overhead crane system have stronger dynamic adaptability, and being able to make timely adjustments according to fault conditions in actual operations to ensure production continuity.

[0075] In some embodiments, Figure 2 As shown, based on the working status of the semiconductor devices at the end points of the transport tasks corresponding to the associated overhead cranes and the positions of the associated overhead cranes, the process includes step 210, step 220 and step 230.

[0076] Step 210, searching for the corresponding relay cranes of the target crane in the collaborative transport task.

[0077] Step 220 , based on the working status of the semiconductor device at the corresponding transport task end point of the relay crane corresponding to the target crane in the collaborative transport task, select the relay crane that cannot interact with the semiconductor device at the transport task end point within the target time period.

[0078] Step 230 , based on the positions of the relay overhead cranes obtained by screening, a replacement overhead crane is screened from the relay overhead cranes.

[0079] Searching for the relay crane of the target crane can identify all the relay cranes participating in the current collaborative handling task. These relay cranes are the cranes that will take over the target crane for subsequent handling at different stages when the target crane is handling. All the associated cranes in the same handling task as the target crane can be searched according to the task allocation information or the preset collaborative work logic to form a list of relay cranes.

[0080] Among the relay cranes that have been found, determine which cranes cannot interact with the semiconductor equipment during the target period, for example, due to equipment failure, maintenance, or being in interactive work with other cranes.

[0081] By obtaining the working status information of the semiconductor equipment related to the relay crane, it is evaluated whether it can meet the handling task requirements. If some relay cranes cannot interact with the semiconductor equipment at the end point within the target period, they are excluded from the relay crane list.

[0082] The selection of replacement cranes means finding a suitable replacement crane from the remaining relay cranes to replace the target crane. Based on the position information of the available relay cranes selected in the previous step, the distance and relative position between each relay crane and the target crane are determined, and the crane closest to the target crane and capable of completing the handling task within a reasonable time limit can be selected as the replacement crane.

[0083] In this embodiment, the overall process emphasizes the combined use of position and working status to optimize the scheduling and task allocation of the overhead crane.

[0084] In some embodiments, based on the positions of the relay overhead cranes obtained by screening, a replacement overhead crane is screened from the relay overhead cranes, including the following process.

[0085] Based on the positions of the selected relay cranes, the track types within the working range of each relay crane and the target crane can be identified; and then, based on the track type and track length, a replacement crane can be selected from each relay crane.

[0086] Using the position information of the relay cranes, their coordinates and their relative positions to the target crane are obtained. On this basis, the working range of the target crane can be defined, such as the area of ​​all track segments from the starting position to the end position, and the boundary conditions of the area can be determined.

[0087] According to the coordinates of the relay crane, query the type of track it is on. The track type can be a straight track, a curved track, a circular track, etc., which can be determined by querying the track map.

[0088] According to the identified track type, the track length from each relay crane to the target crane is obtained.

[0089] The screening conditions are set according to the track type and length. The screening conditions include running time and running feasibility. For example, the running time is determined according to the track length. According to the track length, it is judged whether the relay crane can reach the target crane position within the specified time. If the relay crane is too far away from the target crane or the time required is too long, it will not be selected. On this basis, the track type is combined to determine whether there are situations such as avoidance and queuing to pass the intersection, and the final running time is further combined with the track length.

[0090] Operational feasibility is to select the most suitable replacement overhead crane from all eligible relay overhead cranes, that is, to select by considering its load capacity, that is, the maximum weight that each overhead crane can safely transport.

[0091] Finally, a list of replacement overhead cranes that meet the conditions is screened and can be scheduled according to actual needs.

[0092] In some embodiments, after searching for each relay crane corresponding to the target crane in the collaborative handling task, the method further includes:

[0093] In the case that no relay crane that cannot interact with the semiconductor device at the end point of the transport task within the target period is found, searching for each synchronous crane corresponding to the target crane in the coordinated transport task;

[0094] Based on the working status of the semiconductor equipment at the corresponding transport task end point of the synchronous crane corresponding to the target crane in the collaborative transport task, the synchronous crane that cannot interact with the semiconductor equipment at the transport task end point within the target time period is screened;

[0095] Based on the positions of the screened synchronous overhead cranes, a replacement overhead crane is screened from the synchronous overhead cranes.

[0096] In this part, the system first searches for the relay cranes corresponding to the target crane (which may be the crane performing a specific handling task). If no relay crane is found to be able to interact with the semiconductor equipment at the end of the handling task within the target period, it will turn to searching for the synchronous cranes corresponding to the target crane.

[0097] Next, the synchronous cranes can be screened based on the working status of the semiconductor equipment at the end of the handling task. The goal of this step is to determine which synchronous cranes are also unable to effectively interact with the semiconductor equipment within the target period.

[0098] The working status of semiconductor equipment may include whether the equipment is idle, working, or faulty, etc. If the synchronous overhead cranes will interact with these semiconductor equipment within the target period, it means that these synchronous overhead cranes also need to be transported within a certain period of time, and they will be marked as inappropriate choices.

[0099] Finally, based on the positions of the synchronous overhead cranes previously screened, suitable replacement overhead cranes are further screened from the synchronous overhead cranes. Similarly, based on the positions of the screened synchronous overhead cranes, replacement overhead cranes are screened from the synchronous overhead cranes, including: based on the positions of the synchronous overhead cranes that cannot interact with the semiconductor equipment at the end of the handling task, identifying the track types within the working range of each synchronous overhead crane and the target overhead crane; based on the track type and track length, the replacement overhead crane is screened from the synchronous overhead cranes.

[0100] By analyzing the location and track type of synchronous overhead cranes, suitable replacement overhead cranes are selected. Specifically, synchronous overhead cranes that cannot interact with the semiconductor equipment at the end of the handling task are first identified, and then suitable replacement overhead cranes are further selected based on the track type and track length within the working range of these overhead cranes and the target overhead crane. This process is similar to the selection process of relay overhead cranes, and the selection conditions are set according to the track type and length, including the operating time and operating feasibility.

[0101] It is understandable that overhead cranes can be dynamically scheduled and selected through a systematic approach to ensure that an idle associated overhead crane can always be found in a collaborative handling task, thereby improving efficiency and reducing delays.

[0102] In this embodiment, the relay crane is preferred. The route of the relay crane is closer to the route of the target crane, which means that the relay crane can complete the handling task more quickly and efficiently. This can reduce the delay on the path, ensure that the materials are delivered to the destination as soon as possible, and improve the overall handling efficiency. Since the direction of the relay crane's route is similar to that of the target crane, choosing the relay crane can reduce the transfer time and make the handling process smoother.

[0103] If multiple overhead cranes are dispatched at the same time, route conflicts or resource competition may occur. Giving priority to relay overhead cranes can effectively avoid these potential dispatching problems and make the operation of the entire system more coordinated.

[0104] In addition, the destinations of the synchronous crane and the target crane are the same, but giving priority to the relay crane can ensure that the materials of the synchronous crane are delivered to the destination in the shortest time. This is particularly important for time-sensitive production environments such as semiconductor manufacturing, because the terminal equipment needs to receive materials from the synchronous crane in time for processing, especially when the target crane fails, the materials of the target crane cannot be delivered to the semiconductor equipment in time, so as to maintain production efficiency. That is, by giving priority to the relay crane, it can be ensured that the terminal equipment always has materials available during the target period, thereby reducing shutdowns or delays caused by material shortages.

[0105] Prioritizing the selection of relay cranes can also leave more operating time for synchronous cranes. Since synchronous cranes have the same destination, if they are not dispatched immediately, they can be allowed to complete other important handling tasks first, thus maintaining the continuity of the production line.

[0106] If no suitable relay overhead crane is found within the target period, the synchronous overhead crane can be considered. This priority strategy enables the system to be flexibly adjusted when resources are tight to ensure the stability of the production process.

[0107] In other words, the priority selection of relay overhead cranes is based on multiple considerations such as efficiency, time sensitivity, coordination, and load balancing. It helps to improve the overall efficiency of the production line, ensure that the equipment has enough materials for processing at critical moments, and thus optimize the entire production process.

[0108] The device for handling abnormal operation of an overhead crane in a collaborative task provided by the present invention is described below. The device for handling abnormal operation of an overhead crane in a collaborative task described below and the method for handling abnormal operation of an overhead crane in a collaborative task described above can be referred to each other.

[0109] like Figure 3 As shown, the apparatus for handling abnormal operation of an overhead travelling crane in a collaborative task provided by an embodiment of the present invention mainly includes a first determining module 310 , a second determining module 320 , an identifying module 330 , a first processing module 340 and a second processing module 350 .

[0110] The first determination module 310 is used to determine a target overhead travelling vehicle that is in an abnormal state;

[0111] The second determination module 320 is used to determine whether the target overhead travelling vehicle is performing a coordinated transport task; the coordinated transport task includes a relay transport task and a synchronous transport task;

[0112] The identification module 330 is used to identify the associated overhead cranes associated with the target overhead crane in the case where the target overhead crane is performing a coordinated transport task, wherein the associated overhead cranes include a relay overhead crane for performing a relay transport task and a synchronous overhead crane for performing a synchronous transport task;

[0113] The first processing module 340 is used to search for a replacement crane for taking over the work of the target crane from the associated cranes based on the working status of the semiconductor devices at the end point of the transport task corresponding to each associated crane and the position of each associated crane;

[0114] The second processing module 350 is used for controlling the replacement crane to take over the target crane to perform the transport task based on the positions of the target crane and the replacement crane.

[0115] According to the apparatus for handling abnormal operation of an overhead crane in a collaborative task provided by an embodiment of the present invention, by determining whether a target overhead crane in an abnormal state is performing a collaborative handling task, identifying other associated overhead cranes working in collaboration with the target overhead crane, and by analyzing the positions of each associated overhead crane and the working status of semiconductor devices at their endpoints, coordinating the tasks of each associated overhead crane, and effectively finding the most suitable replacement overhead crane, the complex route that the replacement overhead crane needs to take when responding to and performing tasks can be reduced, thereby improving the overall efficiency, maximizing the utilization rate of the overhead crane, and enabling the overhead crane system to have stronger dynamic adaptability, and being able to make timely adjustments according to fault conditions in actual operations to ensure production continuity.

[0116] Figure 4 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 4As shown, the electronic device may include: a processor (processor) 410 , a communication interface (Communications Interface) 420 , a memory (memory) 430 and a communication bus 440 , wherein the processor 410 , the communication interface 420 , and the memory 430 communicate with each other through the communication bus 440 . The processor 410 can call the logic instructions in the memory 430 to execute a method for handling abnormal operation of an overhead crane in a collaborative task, the method comprising: determining a target overhead crane that is in an abnormal state; determining whether the target overhead crane is performing a collaborative handling task; the collaborative handling task includes a relay handling task and a synchronous handling task; in the case where the target overhead crane is performing a collaborative handling task, identifying each associated overhead crane associated with the collaborative handling task performed by the target overhead crane, the associated overhead cranes including a relay overhead crane for performing the relay handling task and a synchronous overhead crane for performing the synchronous handling task; based on the working state of the semiconductor equipment at the end point of the handling task corresponding to each associated overhead crane and the position of each associated overhead crane, searching from the associated overhead cranes for a replacement overhead crane for taking over the work of the target overhead crane; based on the positions of the target overhead crane and the replacement overhead crane, controlling the replacement overhead crane to take over the target overhead crane to perform the handling task.

[0117] In addition, the logic instructions in the above-mentioned memory 430 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0118] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the method for handling abnormal operation of an overhead crane in a collaborative task provided by the above-mentioned methods, the method including: determining a target overhead crane in an abnormal state; determining whether the target overhead crane is performing a collaborative handling task; the collaborative handling task includes a relay handling task and a synchronous handling task; when the target overhead crane is performing a collaborative handling task, identifying each associated overhead crane associated with the collaborative handling task performed by the target overhead crane, the associated overhead cranes including a relay overhead crane for performing relay handling tasks and a synchronous overhead crane for performing synchronous handling tasks; based on the working state of the semiconductor equipment at the end point of the handling task corresponding to each associated overhead crane and the position of each associated overhead crane, searching from the associated overhead cranes for a replacement overhead crane for taking over the work of the target overhead crane; based on the position of the target overhead crane and the replacement overhead crane, controlling the replacement overhead crane to take over the target overhead crane to perform the handling task.

[0119] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the method for handling abnormal operation of an overhead crane in a collaborative task provided by the above-mentioned methods, the method comprising: determining a target overhead crane in an abnormal state; determining whether the target overhead crane is performing a collaborative handling task; the collaborative handling task includes a relay handling task and a synchronous handling task; in the case where the target overhead crane is performing a collaborative handling task, identifying each associated overhead crane associated with the collaborative handling task performed by the target overhead crane, the associated overhead cranes including a relay overhead crane for performing relay handling tasks and a synchronous overhead crane for performing synchronous handling tasks; based on the working state of the semiconductor equipment at the end point of the handling task corresponding to each associated overhead crane and the position of each associated overhead crane, searching from the associated overhead cranes for a replacement overhead crane for taking over the work of the target overhead crane; based on the position of the target overhead crane and the position of the replacement overhead crane, controlling the replacement overhead crane to take over the target overhead crane to perform the handling task.

[0120] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0121] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0122] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for handling abnormal operation of an overhead travelling crane in a collaborative task, characterized in that: include: Determine the target overhead travelling crane that is in an abnormal state; Determine whether the target overhead crane is performing a coordinated transport task; the coordinated transport task includes a relay transport task and a synchronous transport task; In the case where the target overhead crane is performing a collaborative transport task, identifying the associated overhead cranes associated with the collaborative transport task performed by the target overhead crane, the associated overhead cranes including a relay overhead crane for performing the relay transport task and a synchronous overhead crane for performing the synchronous transport task; the relay transport task refers to two stages of direct or indirect sequential execution of the workflow of the same target transport task in which the overhead crane and the target overhead crane are located; Based on the working status of the semiconductor devices at the end point of the transport task corresponding to each associated overhead crane and the position of each associated overhead crane, searching for a replacement overhead crane for taking over the work of the target overhead crane from the associated overhead cranes; Based on the positions of the target overhead crane and the replacement overhead crane, controlling the replacement overhead crane to take over the target overhead crane to perform the handling task; The step of searching for a replacement crane from the associated cranes for replacing the target crane based on the working status of the semiconductor device at the end point of the transport task corresponding to each associated crane and the position of each associated crane comprises: Finding each relay crane corresponding to the target crane in the collaborative transport task; Based on the working status of the semiconductor device at the corresponding transport task end point of the relay crane corresponding to the target crane in the collaborative transport task, the relay crane that cannot interact with the semiconductor device at the transport task end point within the target time period is screened; Based on the positions of the relay overhead cranes obtained by screening, the replacement overhead crane is screened out from the relay overhead cranes; The step of selecting the replacement overhead crane from the relay overhead cranes based on the selected positions of the relay overhead cranes comprises: Based on the positions of the relay cranes obtained by screening, identifying the track types within the working range of each relay crane and the target crane; Based on the track type and track length, screening conditions are set to screen the replacement overhead crane from the relay overhead cranes; the screening conditions include operating time and operating feasibility, and the operating feasibility is associated with the load capacity of the overhead crane.

2. The method for handling abnormal operation of overhead crane in collaborative tasks according to claim 1, characterized in that: After searching for each relay crane corresponding to the target crane in the collaborative transport task, the method further includes: In the case where no relay crane that cannot interact with the semiconductor device at the end point of the transport task within the target time period is found, searching for each synchronous crane corresponding to the target crane in the coordinated transport task; Based on the working status of the semiconductor device at the corresponding transport task end point of the synchronous overhead crane corresponding to the target overhead crane in the collaborative transport task, screening out the synchronous overhead crane that cannot interact with the semiconductor device at the transport task end point within the target time period; Based on the positions of the synchronized overhead cranes obtained by screening, the replacement overhead crane is screened from the synchronized overhead cranes.

3. The method for handling abnormal operation of overhead crane in collaborative tasks according to claim 2, characterized in that: The step of selecting the replacement overhead crane from the synchronous overhead cranes based on the positions of the synchronous overhead cranes obtained by screening includes: Based on the position of the synchronous overhead crane that cannot interact with the semiconductor device at the end point of the transport task, identifying the track type within the working range of each synchronous overhead crane and the target overhead crane; The replacement overhead crane is obtained by screening from various synchronous overhead cranes based on the track type and track length.

4. The method for handling abnormal operation of overhead crane in collaborative tasks according to claim 1, characterized in that: In the case where the target overhead crane is performing a coordinated transport task, identifying each associated overhead crane associated with the coordinated transport task performed by the target overhead crane comprises: Obtaining each subtask in the collaborative transport task performed by the target overhead crane; Traverse the equipment status of the starting position and the end position of each subtask, determine the crane list after the equipment status of the starting position and the end position is the state of completing the work, and obtain the associated cranes associated with the collaborative handling task executed by the target crane.

5. The method for handling abnormal operation of overhead crane in collaborative tasks according to claim 1, characterized in that: The abnormal state includes a position abnormality or a speed abnormality.

6. A device for handling abnormal operation of overhead travelling crane in a collaborative task, characterized in that: The device for handling abnormal operation of an overhead crane in a collaborative task adopts the method for handling abnormal operation of an overhead crane in a collaborative task as claimed in any one of claims 1 to 5 to handle abnormal operation of an overhead crane in a collaborative task, and the method for handling abnormal operation of an overhead crane in a collaborative task comprises: A first determination module is used to determine a target overhead travelling crane that is in an abnormal state; The second determination module is used to determine whether the target overhead travelling vehicle is performing a coordinated transport task; the coordinated transport task includes a relay transport task and a synchronous transport task; an identification module, for identifying, when the target overhead crane is performing a coordinated transport task, each associated overhead crane associated with the coordinated transport task performed by the target overhead crane, wherein the associated overhead cranes include a relay overhead crane for performing the relay transport task and a synchronous overhead crane for performing the synchronous transport task; A first processing module is used to search for a replacement crane from the associated cranes for taking over the work of the target crane based on the working status of the semiconductor devices at the end point of the transport task corresponding to each associated crane and the position of each associated crane; The second processing module is used for controlling the replacement crane to take over the target crane to perform the transport task based on the positions of the target crane and the replacement crane.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, characterized in that: When the processor executes the program, the method for handling abnormal operation of an overhead crane in a collaborative task as described in any one of claims 1 to 5 is implemented.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, the method for handling abnormal operation of an overhead crane in a collaborative task as claimed in any one of claims 1 to 5 is implemented.

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