Method, device and system for controlling semiconductor transmission equipment

Abstract

The invention relates to a control method, device and system of semiconductor transmission equipment. The method comprises the following steps: sending position information to a road management unit arranged in the automatic material conveying system according to a preset period; wherein the jurisdiction of each track turnout in the automatic material conveying system is allocated to the road management unit according to a preset allocation strategy; receiving a control instruction sent by the road management unit; judging judgment information carried in the control instruction; and if the discrimination information is inconsistent with the discrimination information carried in the received previous management and control instruction, executing the current management and control instruction. Therefore, the control right can be autonomously switched by the road management unit with the turnout administration right distributed in advance, driving is performed according to the control instruction issued by the road management unit with the turnout administration right, the switching complexity of different road management units is greatly simplified, the switching efficiency is improved, and the stability of the system is high.

Description

Technical Field

[0001] The present application relates to the field of semiconductor material transportation technology, and in particular to a control method, device, and system for semiconductor transmission equipment. Background Art

[0002] In semiconductor automation factories, AMHS (Automatic Material Handling System) is usually used to improve transportation efficiency. The most important components of AMHS include: tracks, overhead hoist transport (OHT), a scheduling system that can cluster OHTs, and a traffic control unit (TCU) that controls OHTs passing through turnouts. In AMHS, all OHTs pass through turnouts in an orderly manner under the control of TCU, allowing OHTs to run safely and smoothly on the track.

[0003] In traditional technology, OHT switching between different TCU controllers is almost always based on map decisions, that is, the map area to be controlled by the TCU is demarcated in advance, and when the OHT is driving in the current map area, it applies for road rights from the TCU responsible for the current map area. When the OHT leaves the current map area, it will actively apply to release the control of the corresponding TCU and apply for road rights from the TCU in charge of the map area it is about to enter.

[0004] However, the TCU switching process is relatively complicated and the entire switching process takes a long time.

[0005] Referring to a kind of article handling equipment disclosed in Chinese invention application CN108408346A, the article handling vehicle sends permission request information to the management device when it determines that it is in the first state. Therefore, if there are other article handling vehicles in front, that is, if it is not in the first state, if it is close to the fork, it is easy to cause the management device to respond untimely, stop and wait, etc.

[0006] Referring to a kind of article handling equipment disclosed in Chinese invention application CN107055019A, when an article handling vehicle travels to a position close to a fork in the road, a detection device 44 arranged on the article handling vehicle detects an object 48 to be detected on the travel path. After the corresponding control device H obtains the result of the aforementioned detection, it performs traffic control. This results in the article handling vehicle being able to perform control only when it travels to the position corresponding to the object 48 to be detected, and it is also easy to cause the management device to respond untimely, stop and wait, etc.

[0007] It can be seen that various existing control methods all have the disadvantage of low control response efficiency. Summary of the invention

[0008] Based on this, it is necessary to provide a control method, device and system for semiconductor transmission equipment that can improve response efficiency in response to the above technical problems.

[0009] In a first aspect, the present application provides a control method for a semiconductor transmission device, which is applied to the semiconductor transmission device, comprising:

[0010] Sending location information to a road management unit arranged in the automatic material handling system according to a preset cycle; wherein the jurisdiction of each track branch in the automatic material handling system has been allocated to the road management unit according to a preset allocation strategy;

[0011] Receive the current control instruction sent by the road management unit; optionally, the identification information includes: a timestamp, and / or an instruction sequence number;

[0012] If the identification information carried in the current control instruction is inconsistent with the identification information carried in the last control instruction received, the current control instruction is executed.

[0013] In a second aspect, the present application further provides a control method for semiconductor transmission equipment, which is applied to a group of road management units, wherein a plurality of the road management units are arranged in an automatic material handling system, and the jurisdiction of each track branch in the automatic material handling system has been allocated to the road management unit according to a preset allocation strategy; the method comprises:

[0014] receiving location information sent by semiconductor transmission equipment;

[0015] Determine a first road management unit and a second road management unit having jurisdiction over the fork road according to the location information;

[0016] Control instructions are sent to the semiconductor transmission equipment through the first road management unit and the second road management unit respectively, wherein the control instructions carry identification information and location information of the semiconductor transmission equipment; optionally, the identification information includes: a timestamp, and / or an instruction sequence number.

[0017] In a third aspect, the present application further provides a control device for semiconductor transmission equipment, which is applied to semiconductor transmission equipment, and the device includes:

[0018] A sending module, used for sending location information to a road management unit arranged in the automatic material handling system according to a preset period; wherein the jurisdiction of each track branch in the automatic material handling system has been allocated to the road management unit according to a preset allocation strategy;

[0019] A receiving module, used to receive the current control instructions sent by the road management unit;

[0020] A judgment module, used to judge the judgment information carried in the current control instruction; optionally, the judgment information includes: a timestamp, and / or an instruction sequence number;

[0021] An execution module is used to execute the current control instruction when the discrimination information carried in the current control instruction is inconsistent with the discrimination information carried in the last control instruction received.

[0022] In a fourth aspect, the present application further provides a control device for semiconductor transmission equipment, which is applied to a group of road management units, wherein a plurality of the road management units are arranged in an automatic material handling system, and the jurisdiction of each track branch in the automatic material handling system has been allocated to the road management unit according to a preset allocation strategy; the device comprises:

[0023] A receiving module, used for receiving position information sent by a semiconductor transmission device;

[0024] A determination module, configured to determine a first road management unit and a second road management unit having jurisdiction over a fork road according to the location information;

[0025] A sending module, used to send control instructions to the semiconductor transmission equipment through the first road management unit and the second road management unit respectively, wherein the control instructions carry discrimination information and location information of the semiconductor transmission equipment; optionally, the discrimination information includes: a timestamp, and / or an instruction sequence number.

[0026] In a fifth aspect, the present application further provides a control system for semiconductor transmission equipment, comprising: a group consisting of semiconductor transmission equipment and a road management unit, wherein the semiconductor transmission equipment and the road management unit are connected via wireless communication;

[0027] The semiconductor transmission device is used to send position information to a road management unit arranged in the automatic material handling system according to a preset period; wherein the jurisdiction of each track branch in the automatic material handling system has been allocated to the road management unit according to a preset allocation strategy;

[0028] The group of road management units is used to receive the location information sent by the semiconductor transmission equipment, and determine the first road management unit and the second road management unit that have the jurisdiction over the branch road according to the location information;

[0029] The first road management unit and the second road management unit respectively send control instructions to the semiconductor transmission equipment, wherein the control instructions carry identification information and location information of the semiconductor transmission equipment; optionally, the identification information includes: a timestamp, and / or an instruction sequence number;

[0030] The semiconductor transmission device is also used to receive the control instructions sent by the road management unit and judge the judgment information carried in the control instructions; if the judgment information is inconsistent with the judgment information carried in the last control instruction received, the control instruction is executed.

[0031] In one of the embodiments, the system further comprises: a server of a road management unit, the server of the road management unit being connected to the semiconductor transmission device via wireless communication;

[0032] The semiconductor transmission device is further used to determine whether the received M consecutive control instructions are from the same road management unit; if they are from the same road management unit, it is determined that there is an invalid road management unit, and a prompt message is sent to the server of the road management unit; wherein M is a natural number greater than 1;

[0033] The server of the road management unit is used to receive the prompt information sent by the semiconductor transmission equipment, and start the backup function according to the prompt information to automatically take over the branch road range under the jurisdiction of the failed road management unit.

[0034] In a sixth aspect, the present application further provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps in any one of the embodiments of the first aspect or the second aspect when executing the computer program.

[0035] In a seventh aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps in any one of the embodiments of the first aspect or the second aspect are implemented.

[0036] In an eighth aspect, the present application further provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps in any one of the embodiments of the first aspect or the second aspect.

[0037] The control method, device, system, computer device, computer-readable storage medium and computer program product of the semiconductor transmission equipment send location information to the road management unit arranged in the automatic material handling system according to a preset cycle; wherein the jurisdiction of each track branch in the automatic material handling system has been assigned to the road management unit according to a preset allocation strategy; thus, the road management unit that pre-assigns the jurisdiction of the branch can autonomously switch the control right, which greatly simplifies the complexity of switching between different road management units and improves the response efficiency. Receive the current control instruction sent by the road management unit; judge the discrimination information carried in the current control instruction; thus, it can be judged whether the control instructions received before and after are for the same control instruction according to the discrimination information carried in the current control instruction. If the discrimination information carried in the current control instruction is inconsistent with the discrimination information carried in the last control instruction received, the current control instruction is executed. Thus, it can be driven according to the control instruction issued by the road management unit with the jurisdiction of the branch to ensure the safe operation of the semiconductor transmission equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 A diagram showing an application environment of a control method for semiconductor transmission equipment in one embodiment;

[0040] Figure 2 A schematic flow chart of a control method for semiconductor transmission equipment in one embodiment;

[0041] Figure 3 It is a schematic diagram of the principle of two-wheel fork allocation in one embodiment;

[0042] Figure 4 A schematic flow chart of a control method for semiconductor transmission equipment in another embodiment;

[0043] Figure 5 A schematic flow chart of a control method for semiconductor transmission equipment in yet another embodiment;

[0044] Figure 6 is a flow chart of a control method for semiconductor transmission equipment in a fourth embodiment;

[0045] Figure 7 is a flow chart of a control method for semiconductor transmission equipment in a fifth embodiment;

[0046] Figure 8 is a flow chart of a control method for semiconductor transmission equipment in a sixth embodiment;

[0047] Fig. 9 It is a signaling interaction diagram of a control method for semiconductor transmission equipment in the seventh embodiment;

[0048] Fig.10 is a structural block diagram of a control device for a semiconductor transmission device in one embodiment;

[0049] Fig.11 It is a structural block diagram of a control device of a semiconductor transmission device in another embodiment;

[0050] Fig.12 A structural block diagram of a control system of a semiconductor transmission device in one embodiment;

[0051] Fig.13 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0053] AMHS can be used in semiconductor production workshops, including a track (also called an aerial track) suspended under the ceiling and a number of aerial transport vehicles running on the aerial track.

[0054] The aerial track has interconnected straight track sections, curved track sections, and forks (also called track forks), so there is at least one path between any two positions on the aerial track, allowing the aerial transport vehicle to travel from one position to another along one of the aforementioned one or more paths. It is easy to understand that there can also be two or more paths between any two positions on the aerial track, depending on the needs of the track layout, and this application does not limit this.

[0055] The aerial transport vehicle comprises a traveling mechanism, a vehicle body connected to the traveling mechanism, a transverse movement mechanism arranged on the vehicle body, a lifting mechanism arranged on the transverse movement mechanism, and a clamping mechanism arranged on the lifting mechanism.

[0056] The direction in which the aerial transport vehicle moves forward along the path on the aerial track is defined as the travel direction, and the horizontal direction perpendicular to the travel direction is defined as the lateral direction. Accordingly, the lateral movement mechanism can drive the lifting mechanism to move in the lateral direction, thereby controlling the lifting mechanism to move between an internal position in the aerial transport vehicle and an external position partially or completely extended to the outside of the aerial transport vehicle; the lifting mechanism is connected to the clamping mechanism through a flexible belt assembly, and the clamping mechanism is controlled to move up and down relative to the body of the aerial transport vehicle by retracting and releasing the belt assembly, and the clamping mechanism is used to clamp materials. The aerial track and the aerial transport vehicle can be implemented with reference to the prior art, and this application does not limit this and will not repeat it.

[0057] On the ground side of the semiconductor production workshop, there are several process machines, storage devices and other equipment, wherein the process machines may be photolithography machines, etching machines, etc., and the storage devices may be storage bins, storage shelves, etc. The process machines and storage devices are arranged along the aerial track and are located below or below the side of the aerial track. When the aerial transport vehicle stops at a position corresponding to a process machine or storage device on the aerial track, it can place materials on the docking station of the process machine or storage device, or take materials from the docking station. In this way, the aerial transport vehicle can travel along the aerial track and transport materials between various process machines, storage devices and other sites.

[0058] Depending on the specific application, the materials transported by the aerial transport vehicle can be FOUP (Front Opening Unified Pod) used to load wafers, or other material boxes such as SIMF POD (Standard Mechanical Interface Pod, a box using a standard mechanical interface).

[0059] It is easy to understand that in AMHS, FOUP can also be transmitted through other types of semiconductor transmission equipment such as OHS (Overhead Shuttle), RGV (railguided vehicle), etc. The following embodiments are introduced using an aerial transport vehicle as an example, but the present application is not limited to this and can also be applied to control other types of transmission equipment.

[0060] AMHS also includes several APs (wireless access points) and several road management units arranged in the semiconductor production workshop, wherein the APs and the road management units are configured to be communicatively connected. The APs and the several road management units are optionally arranged on the aerial track, or arranged beside the aerial track, or arranged at other locations in the semiconductor production workshop, so that the aerial transport vehicle traveling on the aerial track can communicate with at least one AP within a certain range when it is at any position. AP is a communication device for sending and / or receiving signals for wireless communication. In addition, the signal coverage and communication range are determined according to the scale of the semiconductor production workshop and the aerial track, and the number of APs and road management units is confirmed, which can be several, dozens, hundreds or more, and this application does not limit it.

[0061] The control method of the semiconductor transmission device provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown. Among them, the aerial transport vehicle 101 is connected to the AP (wireless access point) by wireless communication, and multiple APs are connected to the server 103 of the road management unit and the road management unit 102 through the switch 104. The aerial transport vehicle 101 sends location information to the road management unit 102 deployed in the AMHS according to a preset cycle; wherein the jurisdiction of each track branch in the automatic material handling system has been allocated to the road management unit 102 according to a preset allocation strategy; the aerial transport vehicle 101 receives the control instruction sent by the road management unit 102; then the location information contained in the control instruction is judged; if the location information is inconsistent with the location information in the last control instruction received, it drives according to the instructions of the control instruction.

[0062] The road management unit is responsible for controlling the track switches in the AMHS and sending control instructions to the OHT. The OHT can execute the control instructions issued by the TCU. The server of the road management unit (TCU server for short) has more powerful storage and computing capabilities than the TCU. The TCU server is at the same level as the TCU. Since it has a larger storage space, it is usually used to store TCU logs. If a TCU goes down, the TCU server can immediately start the backup program to replace the corresponding TCU for switch control. For example, Figure 1 As shown in FIG. 1 , multiple TCUs are connected to the switch via wired or wireless means, and the TCU server is connected to the switch via wired or wireless means. From the physical layer, the TCU server is at the same level as multiple TCUs.

[0063] In an exemplary embodiment, Figure 2 As shown, a control method for a semiconductor transmission device is provided, and the method is applied to Figure 1Taking the aerial transport vehicle in the example as an example, the method includes the following steps 201 to 204. Among them:

[0064] Step 201: Sending location information to a road management unit deployed in an automatic material handling system according to a preset cycle.

[0065] The automatic material handling system, AMHS, includes tracks, OHTs, a dispatching system that can dispatch OHTs in clusters, and a TCU when OHTs pass through turnouts. The jurisdiction of each track turnout in the AMHS has been allocated to the road management unit according to a preset allocation strategy.

[0066] Exemplarily, the preset allocation strategy is used to pre-allocate the jurisdiction of track switches in the AMHS so that each switch is governed by at least two TCUs.

[0067] In an optional embodiment, each branch of each track in the AMHS is marked to obtain a number corresponding to each branch, wherein the number is used to distinguish different branches; jurisdiction is assigned according to the number corresponding to the branch, wherein the jurisdiction of the branch corresponding to each number is assigned to at least two different road management units.

[0068] In this embodiment, the numbering format of the branch tracks of each track in the AMHS is not limited. For example, the branch tracks can be numbered sequentially according to the running direction of the OHT (counterclockwise, clockwise, or clockwise or counterclockwise in a certain area). Exemplarily, any branch track in the track can be used as the starting point, and the number can be defined as 1, and then the remaining branch tracks can be numbered sequentially in a clockwise or counterclockwise direction. In addition, random numbering can also be performed, that is, not in a specific order, and the branch track numbering is only used to distinguish different branch tracks.

[0069] In another optional embodiment, the branches of each track are divided into multiple areas according to their distribution locations, wherein the number of branches contained in each area is within a preset range; the jurisdiction of the branches is allocated according to the areas, wherein the jurisdiction of the branches in the same area is allocated to at least two different road management units.

[0070] In this embodiment, each track can be divided into regions. Considering the balance of TCU control, when allocating by region, the number of turnouts in each region is made as close to the average as possible. When applying the method in this embodiment, each region can be identified to facilitate the division of jurisdiction over turnouts by region. For example, assuming that three regions A, B, and C are allocated, each region contains 10 turnouts, the jurisdiction over the turnouts in regions A and B is allocated to the first TCU, the jurisdiction over the turnouts in regions B and C is allocated to the second TCU, and the jurisdiction over the turnouts in regions C and A is allocated to the third TCU; so that each region corresponds to the jurisdiction of two different TCUs.

[0071] It should be noted that the present embodiment does not limit the numbering format of the branches in each area, and the numbering may be continuous or random, and the numbers corresponding to the branches are only used to distinguish different branches.

[0072] In another optional embodiment, the jurisdiction of each track in the automatic material handling system is allocated to the road management unit according to a preset allocation strategy, including: determining the number of forks under the jurisdiction of each road management unit according to the number of road management units in the automatic material handling system; allocating a first round of jurisdiction over forks to the road management units according to the corresponding numbers of the forks based on the determined number of forks under the jurisdiction of each road management unit, wherein the numbers corresponding to the forks under the jurisdiction of each road management unit are consecutive.

[0073] In this embodiment, the track in the AMHS is generally a loop (i.e., starting from a certain position, traveling in a clockwise or counterclockwise direction, and eventually returning to the starting position), and after determining that a certain fork is the initial first fork, the forks of the track can be numbered sequentially in the clockwise or counterclockwise direction. Then, the forks under its jurisdiction are allocated to each TCU as evenly as possible according to the number of TCUs.

[0074] For example, assuming that the number of road management units in the automatic material handling system is a, and the number of forks in the automatic material handling system is n, the number of forks under the jurisdiction of each road management unit is b, where b is the integer part of n / a rounded down or up. According to the corresponding number of the forks, each road management unit is assigned the jurisdiction of b consecutive forks.

[0075] In a possible case, when the control capability of TCU is redundant, the value can be rounded up. For example, assuming there are 3 TCUs and 13 forks, rounding up means that 13 divided by 3 equals 4, and the remainder is 1. In this case, the value is 5, that is, each TCU is allocated 5 forks, and the allocation result is: 5, 5, 3.

[0076] In another possible case, the rounding down method is adopted. Assume that the number of road management units in the automatic material handling system is a, the number of forks in the automatic material handling system is n, and n / a = N more than c. If the value of c is 0, then a road management units are sequentially allocated N forks; if n cannot be divided by a, there are c remaining unallocated forks. At this time, the allocation can be performed in any of the following ways:

[0077] Method 1: Assume that a road management units are recorded as T1, T2, T3, ..., T a , then N forks are allocated to a road management units in sequence, and the remaining c unallocated forks are all allocated to the last TCU.

[0078] In this embodiment, assuming that there are 4 TCUs and 18 forks, rounding down means that 18 divided by 4 equals 4, and the remainder is 2. In this case, the rounding down value is 4, that is, each TCU is allocated 4 forks, and the allocation results are: 4, 4, 4, 6. This allocation method allocates all the remaining unallocated forks to the last TCU, and is also applicable to the situation where the TCU control capacity is redundant.

[0079] Method 2: first allocate N forks to the first ac road management units in sequence, and then allocate M forks to the last c road management units in sequence, where M = (nN) / c.

[0080] In this embodiment, assuming that there are 4 TCUs and 18 forks, rounding down means that 18 divided by 4 equals 4, and the remainder is 2. In this case, the value is rounded down to 4, that is, each TCU is assigned 4 forks, and the allocation result is: 4, 4, 5, 5 (that is, 2 TCUs are selected forward). This allocation method can make the number of forks controlled by each TCU as close to the average as possible.

[0081] Among them, method 1 is usually used when there are fewer TCUs and the number of forks that the TCU can control is large enough. Method 2 reflects the principle of allocating the same or similar number of forks to each TCU as much as possible. Method 2 can make the processing capacity of the TCU be used more evenly and avoid some TCUs from being burdened with too many forks.

[0082] Method 3: Assume that a road management units are recorded as T1, T2, T3, ..., T a , then the remaining c forks are all assigned to T a , and perform the following steps:

[0083] Step S1: Set the initial value of y to 0;

[0084] Step S2: Determine whether the value of y is less than c. If so, increment y by x and execute step S3; if not, execute step S4; wherein x is a natural number greater than 0 and less than c;

[0085] Step S3: Assign the numbers to T a+1-(y / x) The forks corresponding to the first cy numbers under the jurisdiction are assigned to T a-(y / x) , return to step S2;

[0086] Step S4: End the allocation.

[0087] For example, assume that there are n tracks in the entire AMHS, and the tracks are numbered in order (without limiting the direction, as long as they remain continuous without gaps), 1, 2...n. Assuming that the number of tracks that each controller can control is 2H, the number of TCUs required is n / H. a is the integer value of n / H rounded up (that is, the number of TCUs deployed in the AMHS is a). The a TCUs are denoted as T1, T2, T3, ..., T a , and let the number of forks controlled by each TCU be b (b is the integer part of n / a rounded down). First, in order to maintain continuity, the remaining number of forks c (c = nb·a) is all assigned to TCU. a (i.e., the ath TCU) is under its jurisdiction. i The numbered roads from [b·(i-1)+1] to [b·(i-1)+cy] are assigned to T according to the numbering sequence of the first cy number. i-1 For example, if T a The first c-1 numbered forks of the controller are assigned to T a-1 jurisdiction, and at the same time a-1 The first c-2 numbered forks of the controller are assigned to T a-2 After the first round of fork allocation is completed, T1, T2, T3, ..., T a The corresponding controlled branch road numbers are recorded as b1, b2, b3, ..., b a , where, since the branch numbers are arranged in sequence and the branch numbers assigned to each TCU are continuous, it can be ensured that each TCU controls the branch within a certain area. This allocation method can avoid frequent switching of TCUs, that is, when the OHT enters a certain area, it is controlled by the same TCU for a long period of time.

[0088] In some embodiments, when allocating the remaining unallocated forks of the number of forks c, the parameter y starts with a value of 1, and the value of the parameter y increases by 2 or a greater integer each time the allocation is performed. In some embodiments, each time the allocation is performed, the increase value of the parameter y is a positive integer and is less than the number of forks c.

[0089] It should be noted that because the AMHS track is generally a loop, that is, starting from any position in the loop, the OHT can travel clockwise or counterclockwise and eventually return to the starting point. Based on this, the branch tracks can be coded from any position in the track, and the smallest branch track number and the largest branch track number must be adjacent to each other.

[0090] Exemplarily, the jurisdiction of each track in the automatic material handling system is allocated to the road management unit according to a preset allocation strategy, and also includes: numbering the branch roads obtained by each road management unit in the first round of allocation forward and / or backward to obtain several consecutive numbers; and allocating the several consecutive numbers obtained forward and / or backward in the second round of branch road jurisdiction, so that each branch road in the automatic material handling system is governed by at least two different road management units.

[0091] In this embodiment, a two-round fork allocation method is adopted, so that there is always one TCU that switches the fork jurisdiction while the other TCU does not switch, thereby improving decision-making efficiency and avoiding the instability caused by TCU switching.

[0092] In one embodiment, if Figure 3 As shown, it is assumed that there are 3 TCUs (respectively denoted as T1, T2, and T3) in AMHS, and there are 150 turnouts. In the first round of turnout allocation, 50 turnouts are allocated to T1, T2, and T3 respectively, among which T1 governs the turnouts numbered 1, 2, 3, ..., 50, T2 governs the turnouts numbered 51, 52, 53, ..., 100, and T3 governs the turnouts numbered 101, 102, 103, ..., 150. In the second round of turnout allocation, each TCU takes 25 more turnouts forward and 25 turnouts backward in the order of turnout numbers, based on the current controlled turnout number. See Figure 3 As shown, after the second round of branch road allocation is completed, T1 governs the branches numbered 126, 127, …, 150, 1, 2, 3, …, 50, 51, 52, …, 75, T2 governs the branches numbered 26, 27, 28, …, 50, 51, 52, 53, …, 100, 101, 102, …, 125, and T3 governs the branches numbered 76, 77, …, 100, 101, 102, 103, …, 150, 1, 2, 3, …, 25.

[0093] In another possible embodiment, assuming that the number of forks is n=152, the number of TCUs is a=3, which are respectively denoted as T1, T2, and T3. That is, when n / a cannot be divided evenly, the following method can be used to perform the first round of fork allocation:

[0094] The first method: First, allocate 50 branches to T1, T2, and T3 respectively, namely: T1: 1, 2, 3, ..., 50; T2: 51, 52, 53, ..., 100; T3: 101, 102, 103, ..., 150; secondly, the remaining branches 151 and 152 are assigned to T3, and the first c-1 of the branch numbers under the jurisdiction of T3 are assigned to T2, and the final allocation result is: T1 governs 1, 2, 3, ..., 50; T2 governs 51, 52, 53, ..., 100, 101; T3 governs 102, 103, ..., 150, 151, 152.

[0095] The second method: given the remainder c=2 of n / a, T1, T2, and T3 are divided into two parts, the first part is the first ac TCUs, and the second part is the last c TCUs; N forks are allocated to the first part of TCUs in sequence (N is the value of n / a rounded down), and M forks are allocated to the second part of TCUs in sequence, where M=(nN) / c, that is, 50 forks are allocated to T1, and 51 forks are allocated to T2 and T3, and the final allocation result is: T1 governs 1, 2, 3, …, 50; T2 governs 51, 52, 53, …, 100, 101; T3 governs 102, 103, …, 150, 151, 152.

[0096] Furthermore, the second round of fork allocation may include:

[0097] Method 1: Assume that T1 controls 50 forks; T2 controls 51 forks; and T3 controls 51 forks. First, divide the number of forks controlled by each TCU twice:

[0098] T1, first time: 50÷2=25 (round down); second time: 50÷2=25 (round up);

[0099] T2, first time: 51÷2=25 (round down); second time: 51÷2=26 (round up);

[0100] T3, first time: 51÷2=25 (round down); second time: 51÷2=26 (round up);

[0101] Among them, the "first time" is rounded down, and the "second time" is rounded up, so that the sum of the two results is equal to the original dividend.

[0102] Based on the above, the 50 branches under the jurisdiction of T1, the 51 branches under the jurisdiction of T2, and the 51 branches under the jurisdiction of T3 are divided into 6 sections in order: Section A 25 (branches 1-25), Section B 25 (branches 26-50), Section C 25 (branches 51-75), Section D 26 (branches 76-101), Section E 25 (branches 102-126), and Section F 26 (branches 127-152).

[0103] Method 2: Directly divide the branch roads into sections by numbering them. If the number of sections is 2a, then n÷(2a)=K remainder CC. From this, we can know that remainder CC must be less than 2a, that is, one part of the sections (2a-CC sections) each contains K branches, and the other part of the sections (CC sections) each contains K+1 branches.

[0104] Exemplarily, when n=152 and a=3, it is divided into 2a=2*3=6 sections; 152÷6=25 remainder 2, then the remaining 2 forks need to be divided into any 2 of the 6 sections. Among them, the segment containing 26 forks can be two adjacent sections or non-adjacent sections. The allocation results when they are non-adjacent can refer to the allocation results of the above method 1, and the allocation results when they are adjacent can be: Section A 25 (forks 1-25), Section B 25 (forks 26-50), Section C 25 (forks 51-75), Section D 25 (forks 76-100), Section E 26 (forks 101-126), Section F 26 (forks 127-152).

[0105] Furthermore, the jurisdiction is allocated according to the allocation results of Method 1 and Method 2:

[0106] According to the above 6 segments, each TCU (T1, T2, T3) is assigned jurisdiction:

[0107] T1 selects any section from A to F as the first starting section, and selects 4 sections in sequence for jurisdiction. T2 selects 4 sections in sequence starting from the 3rd section for jurisdiction. T3 selects 4 sections in sequence starting from the 5th section for jurisdiction.

[0108] Exemplarily, T1 starts from segment F and selects 4 segments as FABC; T2 selects BCDE, and T3 selects DEFA.

[0109] It should be noted that in the case of a TCU, it is divided into 2a segments, and it can also be divided into more segments (for example, 4a segments), but the corresponding TCU will also select more segments when allocating jurisdiction, for example, from 2a to 4a segments. In the above example, it can also be changed from 6 segments to 12 segments. When selecting, the continuous selection of 4 segments will be changed to the selection of 8 segments. The i-th TCU starts to select from the first segment of the i-1th TCU with an interval of 3 segments, which is changed to: starting from the 5th segment from the first segment of the i-1th TCU, where i = 1, 2, 3, ... a.

[0110] Exemplarily, by combining the results of the first round of fork road allocation and the second round of fork road allocation, we can obtain:

[0111] T1 selects FABC, specifically: branch roads 127-152, 1-25, 26-50, 51-75;

[0112] T2 selects BCDE, specifically: forks 26-50, 51-75, 76-101, 102-126;

[0113] T3 selects DEFA, specifically: branches 76-101, 102-126, 127-152, 1-25.

[0114] It should be noted that the embodiment of the present application does not limit how many consecutive new numbers are taken forward and / or how many consecutive new numbers are taken backward. When allocating forks in the second round, it is only necessary to satisfy that the fork numbers under the jurisdiction of each TCU are continuous and each fork is governed by at least two different road management units.

[0115] In step 201, the aerial transport vehicle scans the markers arranged in advance on the track according to its own acquisition equipment, so that the current position information can be obtained according to the markers. In addition to the positioning method of scanning the markers, the signals emitted by the grating and infrared sensors can also be collected to determine the current position. Exemplarily, the motor encoder in the OHT can also roughly estimate the position of the OHT in the track according to the number of rotations of the motor. This embodiment does not limit the positioning method of the aerial transport vehicle. In some embodiments, a combination of at least two of the aforementioned multiple positioning methods can also be used for positioning.

[0116] Step 202, receiving the current control instruction sent by the road management unit.

[0117] In this embodiment, combined with Figure 1 As shown, the overhead transport vehicle (OHT) can send location information to all the road management units (TCUs) in the AMHS.

[0118] In a possible embodiment, assuming that the area where the OHT is currently traveling is controlled by two certain TCUs for a long period of time, at this time, the OHT may also send location information only to these two TCUs with jurisdiction.

[0119] In another possible embodiment, assuming that there are five TCUs in the AMHS, the area where the OHT is currently traveling is controlled by the first and second TCUs, and the area to be entered next is controlled by the third TCU. At this time, the OHT can send location information only to some TCUs. For example, the location information is only sent to the first TCU, the second TCU, and the third TCU, but not to the fourth TCU and the fifth TCU.

[0120] In this embodiment, the TCU determines which TCUs are in charge of controlling the fork road that is about to be entered according to the location information. After determining the TCU with jurisdiction, the TCU with jurisdiction sends a control instruction to the OHT, wherein the control instruction is used to indicate whether the TCU can pass through the fork road.

[0121] Step 203: judge the identification information carried in the current control instruction.

[0122] In this embodiment, the OHT parses the received control instruction and obtains the identification information carried in the current control instruction, wherein the identification information includes: a timestamp and / or an instruction sequence number.

[0123] Exemplarily, the timestamp refers to the moment when the TCU generates a control instruction after receiving the location information sent by the OHT. The TCU can determine the order in which the control instructions are generated through the timestamp. Exemplarily, suppose that the timestamp carried in the control instruction sent by the first TCU is 10:11:20; the timestamp carried in the control instruction sent by the second TCU is 10:11:21; then it means that the control instruction sent by the first TCU is earlier than the control instruction sent by the second TCU. Exemplarily, in addition to determining the order of control instructions sent by different TCUs, the timestamp can also be used to determine the order of control instructions sent by the same TCU. Therefore, the timestamp can be used to determine whether the current control instruction is a newly received instruction that has not yet been executed.

[0124] Exemplarily, the instruction sequence number may be a sequence number generated when the TCU generates a control instruction and used to characterize the order in which the control instruction is generated. Since the instruction sequence number is generated in chronological order (e.g., in the form of self-increment), the order of the control instructions can be determined based on the instruction sequence number. Thus, the instruction sequence number can be used to determine whether the current control instruction is a newly received instruction that has not yet been executed.

[0125] Step 204: If the identification information carried in the current control instruction is inconsistent with the identification information carried in the last control instruction received, the current control instruction is executed.

[0126] In this embodiment, the OHT compares the discrimination information carried in the current control instruction received with the discrimination information carried in the last control instruction received. If the two discrimination information are inconsistent, it means that the current control instruction is the latest control instruction, so the current control instruction is executed.

[0127] In the control method of the above-mentioned aerial transport vehicle, the location information is sent to the road management unit arranged in the automatic material handling system according to a preset cycle; wherein, the jurisdiction of each track branch in the automatic material handling system has been allocated to the road management unit according to a preset allocation strategy; thus, the road management unit that pre-allocated the jurisdiction of the branch can autonomously switch the control right, which greatly simplifies the complexity of switching between different road management units and improves the switching efficiency. Receive the current control instruction sent by the road management unit; judge the discrimination information carried in the current control instruction; thus, it can be judged whether the control instructions received before and after are the same control instructions according to the discrimination information carried in the control instruction. If the discrimination information is inconsistent with the discrimination information carried in the last control instruction received, the current control instruction is executed. Thus, it can be driven according to the control instruction issued by the road management unit with the jurisdiction of the branch to ensure the safe operation of the aerial transport vehicle.

[0128] In another exemplary embodiment, Figure 4 As shown, a control method for a semiconductor transmission device is provided, and the method is applied to Figure 1 Taking the aerial transport vehicle in the example as an example, the method may include: Step 401 to Step 411. Among them:

[0129] Step 401, sending location information to a road management unit deployed in an automatic material handling system according to a preset cycle.

[0130] Step 402, receiving the current control instruction sent by the road management unit.

[0131] Step 403, determine whether the identification information carried in the current control instruction is consistent with the identification information carried in the last control instruction received. If so, return to step 401; if not, execute step 404.

[0132] For the specific implementation process and technical effects of steps 401 to 403 in this embodiment, please refer to Figure 2 The descriptions of steps 201 to 203 in the illustrated method embodiment are not repeated here.

[0133] Step 404, determine whether the location information carried in the current control instruction is consistent with the location information carried in the last control instruction received; if so, execute step 405; if not, execute the current control instruction.

[0134] Step 405, compare the control result indicated by the current control instruction with that indicated by the previous control instruction to obtain a first comparison result.

[0135] In this embodiment, if the location information contained in the current control instruction is consistent with the location information in the last control instruction received (indicating that it is a control instruction issued for the same position of an aerial transport vehicle), it is necessary to further compare the control results. For example, assuming that the 7th fork is the fork to be passed, assuming that the control instruction sent by the first road management unit indicates to pass through the 7th fork, and the control instruction sent by the second road management unit indicates not to pass through the 7th fork, this means that the two TCUs issued different control instructions for the same position.

[0136] Step 406, determining whether the first comparison results are the same, if so, executing step 407; if not, executing step 408.

[0137] Step 407: do not execute the current control instruction and return to step 401.

[0138] In this embodiment, if the current control instruction is consistent with the control result indicated by the last control instruction received, the current control instruction does not need to be executed. Generally speaking, the OHT will execute the first control instruction received that is different from the last one. If two identical control instructions are received successively, the OHT can execute either of the two identical control instructions.

[0139] In some embodiments, for a fork in the road, when the control results of two control instructions from two road management units (the first road management unit and the second road management unit) that have jurisdiction over the fork in the road are consistent, the previous control instruction of the two control instructions can be selectively continued to be executed, or the current control instruction of the two control instructions can be selectively executed. It is easy to understand that since the control results of the two control instructions are consistent, the specific selection of which control instruction to execute has no effect on the result. In this case, executing the previous control instruction and executing the current control instruction can be regarded as the same operation.

[0140] Step 408: do not execute the current control instruction, and send a first request to the first road management unit and the second road management unit.

[0141] In this embodiment, when two control instructions issued for the same location information indicate different control results, it indicates that an error may have occurred. At this time, a first request is resent to the first road management unit and the second road management unit, wherein the first request is used to instruct the first road management unit and the second road management unit to reissue the control instruction; the first road management unit is the road management unit that sends the current control instruction, and the second road management unit is the road management unit that sends the previous control instruction.

[0142] Step 409: receiving the control instructions sent by the first road management unit and the second road management unit, and comparing the control results indicated by the two re-received control instructions to obtain a second comparison result.

[0143] In this embodiment, a fault tolerance opportunity is given, that is, the control instructions sent by the first road management unit and the second road management unit are received again, and the control results indicated by the two control instructions are obtained respectively.

[0144] Step 410, determining whether the second comparison result is the same, if so, executing step 411; if not, executing step 412.

[0145] Step 411, execute any re-received control instruction.

[0146] Step 412, issuing an alarm prompt.

[0147] In this embodiment, when the position information is consistent with the position information in the last control instruction received, the control results indicated by the current control instruction and the last control instruction are compared to obtain a first comparison result; if the first comparison result is different, the current control instruction is not executed, and a first request is sent to the first road management unit and the second road management unit; if the first comparison result is the same, the current control instruction is not executed. The control instructions sent by the first road management unit and the second road management unit are received again, and the control results indicated by the two re-received control instructions are compared to obtain a second comparison result; if the second comparison result is the same, any one of the re-received control instructions is executed; if the second comparison result is different, an alarm is issued. In this way, each branch road can have two TCUs to perform branch road control at the same time, and the control results indicated by the two TCU control instructions are backed up and verified by each other, thereby improving the stability of the automatic material handling system. In addition, compared with the existing map-based branch road management method, the OHT in this embodiment does not need to actively apply to the TCU for control or release of control. The TCU in the system independently decides whether to exercise jurisdiction over the branch road that is about to be entered.

[0148] In yet another exemplary embodiment, Figure 5 As shown, a control method for a semiconductor transmission device is provided, and the method is applied to Figure 1 Taking the aerial transport vehicle in the example as an example, the method may include: Step 501 to Step 506. Among them:

[0149] Step 501: Sending location information to a road management unit deployed in an automatic material handling system according to a preset cycle.

[0150] Step 502, receiving a control instruction sent by a road management unit.

[0151] For the specific implementation process and technical effects of steps 501 to 502 in this embodiment, please refer to Figure 2 The descriptions of steps 201 to 201 in the illustrated method embodiment will not be repeated here.

[0152] Step 503, determine whether the M consecutive control instructions received are from the same road management unit.

[0153] Wherein, M is a natural number greater than 1.

[0154] In this embodiment, assuming that the control instructions received M times in succession are all from the same road management unit, it means that one of the road management units with jurisdiction has been disconnected for some reason.

[0155] Step 504: If they are from the same road management unit, it is determined that there is an invalid road management unit.

[0156] In this embodiment, when a failed road management unit appears, it means that all the forks in a certain area have lost control. At this time, it is necessary to restore the control of the forks in the area in a timely manner.

[0157] Step 505: Send prompt information to the server of the road management unit.

[0158] The prompt information is used to instruct the server of the road management unit to start the backup function and automatically take over the branch road range under the jurisdiction of the failed road management unit; or, issue an alarm prompt.

[0159] In this embodiment, compared with TCU, the server of TCU has better storage capacity and computing power, so it can be used as a backup for all other road management units and store logs of other road management units. When receiving the prompt information sent by the overhead transport vehicle (OHT), the failed TCU is determined according to the current position of the OHT, and the backup program is started to take over the branch road under the jurisdiction of the failed TCU.

[0160] In this embodiment, after receiving the control instructions sent by the road management unit, it is determined whether the received M consecutive control instructions are from the same road management unit. If they are from the same road management unit, it is determined that there is an invalid road management unit; then a prompt message is sent to the server of the road management unit. In this way, the server of the road management unit can be instructed to start the backup function and automatically take over the branch road range under the jurisdiction of the invalid road management unit; or, an alarm prompt is issued to remind the staff to eliminate the fault in time. In this way, the stability of the system can be improved and the operation safety of OHT can be guaranteed.

[0161] In a fourth exemplary embodiment, as Figure 6 As shown, a control method for a semiconductor transmission device is provided, and the method is applied to Figure 1 Taking the aerial transport vehicle in the example as an example, the method may include: Step 601 to Step 603. Among them:

[0162] Step 601: Sending location information to a road management unit deployed in an automatic material handling system according to a preset cycle.

[0163] For the specific implementation process and technical effects of step 601 in this embodiment, please refer to Figure 2 The description of step 201 in the illustrated method embodiment will not be repeated here.

[0164] Step 602: If no control instruction is received from the road management unit within N heartbeat cycles, it is considered that a disconnection occurs.

[0165] Wherein, N is a natural number greater than 1.

[0166] In this embodiment, it is generally considered that if the overhead crane does not receive the control instruction from the TCU within two heartbeat cycles, it is considered to be disconnected.

[0167] Step 603, stop driving and issue an alarm.

[0168] In this embodiment, when the situation in step 602 occurs, the OHT is promptly controlled to stop and an alarm is sounded, so that the staff can eliminate the fault in time.

[0169] In a fifth exemplary embodiment, as Figure 7 As shown, a control method for a semiconductor transmission device is provided, and the method is applied to Figure 1 Taking the group composed of road management units in as an example, it can include: steps 701 to 703.

[0170] in:

[0171] Step 701, receiving location information sent by the aerial transport vehicle.

[0172] In this embodiment, a plurality of the road management units are arranged in the automatic material handling system. The overhead transport vehicle (OHT) sends the location information to all the road management units (TCU) arranged in the automatic material handling system (AMHS) according to a preset period. The jurisdiction of each track branch in the automatic material handling system has been allocated to the road management unit according to a preset allocation strategy.

[0173] Exemplarily, the preset allocation strategy is used to pre-allocate the jurisdiction of track switches in the AMHS, that is, each TCU corresponds to its own set of jurisdiction switches.

[0174] Exemplarily, the jurisdiction of each track in the automatic material handling system is assigned to the road management unit according to a preset allocation strategy, including: numbering the branches of each track in the automatic material handling system in sequence; determining the number of branches under the jurisdiction of each road management unit according to the number of road management units in the automatic material handling system; allocating a first round of branch jurisdiction to the road management unit according to the numbers corresponding to the branches based on the determined number of branches under the jurisdiction of each road management unit, wherein the numbers corresponding to the branches under the jurisdiction of each road management unit are consecutive; forwarding and / or backwarding several consecutive new numbers for the branch numbers obtained from the first round of allocation to each road management unit; and allocating a second round of branch jurisdiction to the road management unit according to the new numbers, so that each branch in the automatic material handling system is governed by at least two different road management units.

[0175] In this embodiment, the track in the AMHS is generally a circular track. After a certain fork is determined as the initial first fork, the forks of the track can be numbered in sequence in a clockwise or counterclockwise direction. Then, the forks under the jurisdiction of each TCU are allocated as evenly as possible according to the number of TCUs.

[0176] For example, assuming that the number of road management units in the automatic material handling system is a, and the number of forks in the automatic material handling system is n, the number of forks under the jurisdiction of each road management unit is b, where b is the integer part of n / a rounded down or up. According to the corresponding number of the forks, each road management unit is assigned the jurisdiction of b consecutive forks.

[0177] In one possible case, assuming that the number of road management units in the automatic material handling system is a, the number of branch roads in the automatic material handling system is n, and n / a=N multiplied by c, if the value of c is 0, then N branch roads are sequentially allocated to a road management units;

[0178] If the value of c is not 0, it is allocated in one of the following ways:

[0179] Method 1: Assume that a road management units are recorded as T1, T2, T3, ..., T a , then N forks are allocated to a road management unit in sequence, and the remaining c unallocated forks are all allocated to T a ;

[0180] Method 2: first allocate N forks to the first ac road management units in sequence, and then allocate M forks to the last c road management units in sequence, where M = (nN) / c;

[0181] Method 3: Assume that a road management units are recorded as T1, T2, T3, ..., T a , then the remaining c forks are all assigned to T a , and perform the following steps:

[0182] Step S1: Set the initial value of y to 0;

[0183] Step S2: Determine whether the value of y is less than c. If so, increment y by x and execute step S3; if not, execute step S4; wherein x is a natural number greater than 0 and less than c;

[0184] Step S3: Assign the numbers to T a+1-(y / x) The forks corresponding to the first cy numbers under the jurisdiction are assigned to T a-(y / x) , return to step S2;

[0185] Step S4: End the allocation.

[0186] For more information about the preset allocation strategy, see Figure 2 The relevant description of step 201 in the embodiment shown, and the combination Figure 3 The embodiments shown will not be described in detail here.

[0187] Step 702, determining the first road management unit and the second road management unit having jurisdiction over the fork road according to the location information.

[0188] In this embodiment, the definitions of the first road management unit and the second road management unit can be found in Figure 4 The relevant description of step 407 in the illustrated embodiment. Here, the first road management unit and the second road management unit are two TCUs that have jurisdiction over the fork road that the OHT is about to enter at the current position.

[0189] Optionally, Figure 3Taking the embodiment shown as an example, in actual operation, OHT is assumed to be about to pass through the No. 51 fork. At this time, OHT will report the location information to all TCUs with communication connections through the network. At this time, each TCU receives the location information of the OHT. The TCU can determine whether to release the No. 51 fork based on the location information of the OHT. At this time, both T1 and T2 have the control right of the No. 51 fork. After T1 and T2 complete the calculation independently, they send the control instructions to OHT through the network to complete the control of the No. 51 fork that OHT is going to pass. As for T3, although it received the location information of OHT, after analysis, it was found that the No. 51 fork was not under its jurisdiction, so no signal feedback was given to OHT.

[0190] Step 703: Send control instructions to the aerial transport vehicle through the first road management unit and the second road management unit respectively.

[0191] Wherein, the control instruction includes the location information of the aerial transport vehicle.

[0192] It should be noted that as long as the OHT passes the previous branch, it will immediately enter the control of the next branch. That is to say, when the OHT passes the next branch, it will continuously receive control instructions for the branch from the corresponding TCU, that is, the branch control instructions from the TCU to the OHT are updated in real time, and the OHT always executes the latest control instruction.

[0193] Corresponding to the situation where the position of the OHT on the track changes, the OHT is in a driving state, the previous position corresponds to the previous time node, and the TCU responds to a control instruction corresponding to a branch road that needs to be passed (the control instruction relative to the new instruction referred to below can be called the old control instruction); and the current position corresponds to the current time, the vehicle is moving forward relative to the previous position, and the TCU responds to a new control instruction corresponding to the branch road. The control result of the new control instruction may be different from the control result of the aforementioned old control instruction. For example, under the previous conditions, the old control instruction prohibits OHT from passing through the branch road, but as the operating status of the entire system is updated, OHT can be allowed to pass through the branch road, and the new control instruction allows OHT to pass through the branch road. Alternatively, when the OHT is parked and waiting on the track, although the position of the OHT does not change, the old control instructions and the new control instructions can be distinguished by time or other replaceable parameters. For example, at the previous time node, the TCU responded to a control instruction corresponding to a branch (as mentioned above, it can be relatively called the old control instruction), and at the current time node, the TCU responded to a new control instruction corresponding to the branch, wherein at the previous time node, the old control instruction prohibited OHT from passing through the branch, but as the operating status of the entire system is updated, OHT is allowed to pass through the branch, and at the current time node, the new control instruction allows OHT to pass through the branch.

[0194] Under the above premise, for a branch track to be passed, if both T1 and T2 have jurisdiction over the branch track, whether OHT receives the control instruction from T1 or T2 first, for OHT, it is the control instruction for the next branch track. For the two control instructions from two TCUs that OHT responds to at the same position and corresponding time on the track, OHT can not distinguish which TCU issued the control instruction, but execute the control instruction received first.

[0195] In this embodiment, the location information sent by the aerial transport vehicle is received; the first road management unit and the second road management unit having jurisdiction over the fork road are determined according to the location information; and the first road management unit and the second road management unit respectively send control instructions to the aerial transport vehicle, wherein the control instructions contain the location information of the aerial transport vehicle. As a result, the OHT does not need to actively apply to the TCU for control and release of control, and the TCU in the system independently decides whether to have jurisdiction over the fork road to be entered, and there is always one TCU that switches the jurisdiction of the fork road while the other TCU does not switch, thereby improving the decision-making efficiency of the fork road and avoiding the instability caused by the TCU switching.

[0196] In a sixth exemplary embodiment, as Figure 8As shown, a control method for a semiconductor transmission device is provided, and the method is applied to Figure 1 Taking the group composed of road management units in as an example, it can include: steps 801 to 805.

[0197] in:

[0198] Step 801, receiving location information sent by the aerial transport vehicle.

[0199] Step 802, determining the first road management unit and the second road management unit having jurisdiction over the fork road according to the location information.

[0200] Step 803: Send control instructions to the aerial transport vehicle through the first road management unit and the second road management unit respectively.

[0201] For the specific implementation process and technical effects of steps 801 to 803 in this embodiment, please refer to Figure 7 The descriptions of steps 701 to 703 in the illustrated method embodiment are not repeated here.

[0202] Step 804: Receive a first request sent by the aerial transport vehicle.

[0203] In this embodiment, after OHT sends the location information, there is a situation where the control results indicated by the control instructions given by two TCUs (the first road management unit and the second road management unit) are different. Whether OHT should execute and which TCU to execute the control instructions becomes a problem.

[0204] Step 805: According to the first request, the control instruction is resent to the aerial transport vehicle through the first road management unit and the second road management unit.

[0205] In this embodiment, in order to solve the above problem, the OHT first identifies whether the two TCUs have the same calculation result of position information. Figure 3 Take the illustrated embodiment as an example, that is, when T1 and T2 return the control instructions to OHT, the field of OHT's location information will be carried in the returned message. After receiving the control instructions from TCU, OHT will compare it with the previous control instructions first. If the location information (field) is different, the latest control instruction will be directly executed. If the location information is the same, the control results indicated by the control instructions will be further compared. If the control results are different, the currently received control instructions will not be executed, and the control conclusion of TCU will be requested again immediately. If the control results indicated by the control instructions of the two TCUs are consistent after the second request, no alarm will be issued. If the control results requested for the second time are inconsistent, OHT will stop immediately and issue an alarm, prompting manual troubleshooting of the abnormality.

[0206] In this embodiment, after the first road management unit and the second road management unit send control instructions to the aerial transport vehicle respectively, a first request sent by the aerial transport vehicle is received; according to the first request, the first road management unit and the second road management unit resend the control instructions to the aerial transport vehicle. This adds one more verification of the TCU control result and increases the accuracy of the system.

[0207] In a seventh exemplary embodiment, as Fig. 9 As shown, a control method for a semiconductor transmission device is provided, and the method is applied to Figure 1 Taking the group consisting of the aerial transport vehicle, the road management unit, and the server of the road management unit as an example, the method may include steps 901 to 913, wherein:

[0208] Step 901, the aerial transport vehicle sends location information to a group of road management units.

[0209] Step 902, determine whether no control instruction is received from the road management unit within N heartbeat cycles. If so, stop driving and issue an alarm; if not, execute step 903.

[0210] Step 903: The first road management unit and the second road management unit in the group of road management units that have jurisdiction over the branch road generate control instructions based on the location information and send the control instructions to the aerial transport vehicle.

[0211] In step 904 , the aerial transport vehicle determines whether the control instructions received M times in succession are from the same road management unit. If so, step 905 is executed; if not, step 907 is executed.

[0212] Step 905: the aerial transport vehicle sends a prompt message to the server of the road management unit.

[0213] Step 906: The server of the road management unit starts the backup function according to the prompt information and automatically takes over the branch road range under the jurisdiction of the failed road management unit.

[0214] Step 907: the aerial transport vehicle judges the identification information carried in the current control instruction.

[0215] Step 908, if the discrimination information carried in the current control instruction is inconsistent with the discrimination information carried in the last control instruction received, execute step 909; if the discrimination information carried in the current control instruction is consistent with the discrimination information carried in the last control instruction received, the current control instruction is not executed.

[0216] Step 909, determine whether the location information carried in the current control instruction is consistent with the location information carried in the last control instruction received. If they are consistent, execute step 910; if they are inconsistent, execute the current control instruction.

[0217] Step 910, compare the control result indicated by the current control instruction with that indicated by the previous control instruction to obtain a first comparison result.

[0218] Step 911, if the first comparison result is different, the current control instruction is not executed, and a first request is sent to the first road management unit and the second road management unit; if the first comparison result is the same, the current control instruction is not executed, and return to execute step 901.

[0219] Step 912: The first road management unit and the second road management unit resend control instructions to the aerial transport vehicle according to the first request.

[0220] Step 913: The aerial transport vehicle compares the control results indicated by the two re-received control instructions to obtain a second comparison result.

[0221] Step 914: if the second comparison result is the same, execute any one of the re-received control instructions; if the second comparison result is different, issue an alarm.

[0222] In this embodiment, steps 901 to 914 are integrated. Figure 2 to Figure 8 For all the method embodiments shown, their specific implementation processes and technical effects, please refer to Figure 2 to Figure 8 The description of each step in the method embodiment is not repeated here.

[0223] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0224] Based on the same inventive concept, the embodiment of the present application also provides a control device for semiconductor transmission equipment for implementing the control method of the semiconductor transmission equipment involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in the embodiments of the control device for one or more semiconductor transmission equipment provided below can refer to the limitations of the control method for semiconductor transmission equipment above, and will not be repeated here.

[0225] In an exemplary embodiment, Fig.10 As shown, a control device for semiconductor transmission equipment is provided, which is applied to an aerial transport vehicle, including: a sending module 1001, a receiving module 1002, a judging module 1003 and an executing module 1004, wherein:

[0226] The sending module 1001 is used to send the position information to the road management unit arranged in the automatic material handling system according to a preset cycle; wherein the jurisdiction of each track branch in the automatic material handling system has been allocated to the road management unit according to a preset allocation strategy;

[0227] The receiving module 1002 is used to receive the current control instruction sent by the road management unit;

[0228] The judgment module 1003 is used to judge the judgment information carried in the control instruction; the judgment information includes: a timestamp and / or an instruction sequence number;

[0229] The execution module 1004 is used to execute the current control instruction when the discrimination information carried in the current control instruction is inconsistent with the discrimination information carried in the last control instruction received.

[0230] Exemplarily, the jurisdiction of each track in the automatic material handling system is assigned to the road management unit according to a preset allocation strategy, including: marking each branch of each track in the automatic material handling system to obtain a number corresponding to each branch, wherein the number is used to distinguish different branches; and allocating jurisdiction according to the numbers corresponding to the branches, wherein the jurisdiction of the branch corresponding to each number is allocated to at least two different road management units.

[0231] Exemplarily, the jurisdiction of each track branch in the automatic material handling system is allocated to the road management unit according to a preset allocation strategy, including: dividing the branches of each track according to their distribution locations to obtain multiple areas, wherein the number of branches contained in each area is within a preset range; and allocating the jurisdiction of the branches according to the area, wherein the jurisdiction of the branches in the same area is allocated to at least two different road management units.

[0232] Exemplarily, the allocation of jurisdiction based on numbers corresponding to forks includes: determining the number of forks under the jurisdiction of each road management unit based on the number of road management units in the automatic material handling system; allocating a first round of fork jurisdiction to the road management units according to the numbers corresponding to the forks based on the determined number of forks under the jurisdiction of each road management unit, wherein the numbers corresponding to the forks under the jurisdiction of each road management unit are consecutive; forwarding and / or backwarding a number of consecutive numbers obtained from the first round of allocation to each road management unit; and allocating a second round of fork jurisdiction to the several consecutive numbers obtained forward and / or backward, so that each fork in the automatic material handling system is governed by at least two different road management units.

[0233] Exemplarily, the method of determining the number of forks under the jurisdiction of each road management unit based on the number of road management units in the automatic material handling system includes: assuming that the number of road management units in the automatic material handling system is a, and the number of forks in the automatic material handling system is n, then the number of forks under the jurisdiction of each road management unit is b, where b is the integer part of n / a rounded down or up.

[0234] Exemplarily, the method of allocating the first round of jurisdiction of forks to the road management units according to the numbers corresponding to the forks according to the number of forks determined by each road management unit includes: allocating the jurisdiction of b consecutive forks to each road management unit according to the numbers corresponding to the forks; if there are c remaining unallocated forks, allocating them in any of the following ways:

[0235] Method 1: Allocate the remaining c unassigned forks to the last road management unit;

[0236] Method 2: first allocate N forks to the first ac road management units in sequence, and then allocate M forks to the last c road management units in sequence, where M = (nN) / c;

[0237] Method 3: Assume that a road management units are recorded as T1, T2, T3, ..., T a , then the remaining c forks are all assigned to T a , and perform the following steps:

[0238] Step S1: Set the initial value of y to 0;

[0239] Step S2: Determine whether the value of y is less than c. If so, increment y by x and execute step S3; if not, execute step S4; wherein x is a natural number greater than 0 and less than c;

[0240] Step S3: Assign the numbers to T a+1-(y / x)The forks corresponding to the first cy numbers under the jurisdiction are assigned to T a-(y / x) , return to step S2;

[0241] Step S4: End the allocation.

[0242] Exemplarily, the current control instruction also carries location information; the above-mentioned device also includes a comparison module 1005, and the comparison module 1005 is used to determine whether the location information carried in the current control instruction is consistent with the location information carried in the last control instruction received before executing the current control instruction. If not, the current control instruction is executed; if consistent, the control results indicated by the current control instruction and the last control instruction are compared to obtain a first comparison result; if the first comparison result is different, the current control instruction is not executed, and a first request is sent to the first road management unit and the second road management unit, wherein the first request is used to instruct the first road management unit and the second road management unit to re-issue the control instruction; the first road management unit and the second road management unit are two road management units with jurisdiction; if the first comparison result is the same, the current control instruction is not executed.

[0243] Exemplarily, the receiving module 1002 is also used to receive control instructions sent by the first road management unit and the second road management unit after sending the first request to the first road management unit and the second road management unit, and compare the control results indicated by the two re-received control instructions to obtain a second comparison result; if the second comparison results are the same, execute any one of the re-received control instructions; if the second comparison results are different, issue an alarm prompt.

[0244] Exemplarily, the above-mentioned device also includes: an alarm module 1006, which is used to send location information to a road management unit deployed in the automatic material handling system according to a preset cycle. If no control instructions are received from the road management unit within N heartbeat cycles, it is considered that a disconnection has occurred, where N is a natural number greater than 1; stop driving and issue an alarm prompt.

[0245] Exemplarily, the judgment module 1003 is also used to judge whether M consecutive control instructions received are from the same road management unit after receiving the control instructions sent by the road management unit, where M is a natural number greater than 1; if they are from the same road management unit, it is determined that there is a failed road management unit; a prompt message is sent to the server of the road management unit through the sending module 1001, and the prompt message is used to instruct the server of the road management unit to start the backup function and automatically take over the branch road range under the jurisdiction of the failed road management unit; or, an alarm prompt is issued through the alarm module 1006.

[0246] In another exemplary embodiment, Fig.11 As shown, a control device for semiconductor transmission equipment is provided, which is applied to a group of road management units, wherein a plurality of the road management units are arranged in an automatic material handling system, and the jurisdiction of each track branch in the automatic material handling system has been allocated to the road management unit according to a preset allocation strategy; the device comprises: a receiving module 1101, a determining module 1102 and a sending module 1103,

[0247] Receiving module 1101, used for receiving location information sent by the aerial transport vehicle;

[0248] A determination module 1102, configured to determine a first road management unit and a second road management unit having jurisdiction over a fork road according to the location information;

[0249] The sending module 1103 is used to send control instructions to the aerial transport vehicle through the first road management unit and the second road management unit respectively, wherein the control instructions carry identification information and location information of the aerial transport vehicle; the identification information includes: timestamp, and / or instruction sequence number.

[0250] Exemplarily, the jurisdiction of each track in the automatic material handling system is assigned to the road management unit according to a preset allocation strategy, including: marking each branch of each track in the automatic material handling system to obtain a number corresponding to each branch, wherein the number is used to distinguish different branches; and allocating jurisdiction according to the numbers corresponding to the branches, wherein the jurisdiction of the branch corresponding to each number is allocated to at least two different road management units.

[0251] Exemplarily, the jurisdiction of each track branch in the automatic material handling system is allocated to the road management unit according to a preset allocation strategy, including: dividing the branches of each track according to their distribution locations to obtain multiple areas, wherein the number of branches contained in each area is within a preset range; and allocating the jurisdiction of the branches according to the area, wherein the jurisdiction of the branches in the same area is allocated to at least two different road management units.

[0252] Exemplarily, the allocation of jurisdiction based on numbers corresponding to forks includes: determining the number of forks under the jurisdiction of each road management unit based on the number of road management units in the automatic material handling system; allocating a first round of fork jurisdiction to the road management units according to the numbers corresponding to the forks based on the determined number of forks under the jurisdiction of each road management unit, wherein the numbers corresponding to the forks under the jurisdiction of each road management unit are consecutive; forwarding and / or backwarding a number of consecutive numbers obtained from the first round of allocation to each road management unit; and allocating a second round of fork jurisdiction to the several consecutive numbers obtained forward and / or backward, so that each fork in the automatic material handling system is governed by at least two different road management units.

[0253] Exemplarily, the method of determining the number of forks under the jurisdiction of each road management unit based on the number of road management units in the automatic material handling system includes: assuming that the number of road management units in the automatic material handling system is a, and the number of forks in the automatic material handling system is n, then the number of forks under the jurisdiction of each road management unit is b, where b is the integer part of n / a rounded down or up.

[0254] Exemplarily, the method of allocating the first round of fork road jurisdiction to the road management unit according to the number of forks under the jurisdiction of each road management unit according to the number corresponding to the forks includes:

[0255] Assume that the number of road management units in the automatic material handling system is a, the number of branch roads in the automatic material handling system is n, and n / a = N c, if the value of c is 0, then a road management units are sequentially allocated N branch roads;

[0256] If the value of c is not 0, it is allocated in one of the following ways:

[0257] Method 1: Assume that a road management units are recorded as T1, T2, T3, ..., T a , then N forks are allocated to a road management unit in sequence, and the remaining c unallocated forks are all allocated to T a ;

[0258] Method 2: first allocate N forks to the first ac road management units in sequence, and then allocate M forks to the last c road management units in sequence, where M = (nN) / c;

[0259] Method 3: Assume that a road management units are recorded as T1, T2, T3, ..., T a , then the remaining c forks are all assigned to T a , and perform the following steps:

[0260] Step S1: Set the initial value of y to 0;

[0261] Step S2: Determine whether the value of y is less than c. If so, increment y by x and execute step S3; if not, execute step S4; wherein x is a natural number greater than 0 and less than c;

[0262] Step S3: Assign the numbers to T a+1-(y / x) The forks corresponding to the first cy numbers under the jurisdiction are assigned to T a-(y / x) , return to step S2;

[0263] Step S4: End the allocation.

[0264] Exemplarily, the receiving module 1101 is further configured to receive a first request sent by the aerial transport vehicle. The sending module 1103 is further configured to resend a control instruction to the aerial transport vehicle through the first road management unit and the second road management unit according to the first request.

[0265] Each module in the control device of the above-mentioned aerial transport vehicle can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each module.

[0266] In an exemplary embodiment, Fig.12 As shown, a control system for semiconductor transmission equipment is provided, including: an aerial transport vehicle 1201, a road management unit 1202, and the aerial transport vehicle 1201 and the road management unit 1202 are connected via wireless communication; wherein:

[0267] The aerial transport vehicle 1201 is used to send location information to a road management unit arranged in the automatic material handling system according to a preset cycle; wherein the jurisdiction of each track branch in the automatic material handling system has been allocated to the road management unit according to a preset allocation strategy;

[0268] The road management unit 1202 is used to receive the location information sent by the aerial transport vehicle, and determine the first road management unit and the second road management unit that have jurisdiction over the branch road according to the location information;

[0269] The road management unit 1202 is further used to send control instructions to the aerial transport vehicle through the first road management unit and the second road management unit respectively, wherein the control instructions carry identification information and location information of the aerial transport vehicle; the identification information includes: a timestamp and / or an instruction sequence number;

[0270] The aerial transport vehicle 1201 is also used to receive the control instructions sent by the road management unit and judge the discrimination information carried in the control instructions; if the discrimination information is inconsistent with the discrimination information carried in the last control instruction received, the control instruction is executed.

[0271] Exemplarily, the above system also includes: a server 1203 of a road management unit, wherein the server 1203 of the road management unit is connected to the aerial transport vehicle 1201 via wireless communication; the aerial transport vehicle 1201 is also used to determine whether the received M consecutive control instructions are from the same road management unit; if they are from the same road management unit, it is determined that there is a failed road management unit, and a prompt message is sent to the server of the road management unit; wherein M is a natural number greater than 1; the server 1203 of the road management unit is used to receive the prompt message sent by the aerial transport vehicle, and start the backup function according to the prompt message, and automatically take over the branch road range under the jurisdiction of the failed road management unit.

[0272] It should be noted that the aerial transport vehicle 1201 in this embodiment can perform the following operations: Figure 2 to Figure 6 In the embodiment shown, the road management unit 1202 may perform the following steps: Figure 7 , Figure 8 The various method steps in the illustrated embodiment.

[0273] In an exemplary embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as shown in FIG. Fig.13 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data of OHT and TCU. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a control method for an aerial transport vehicle is implemented.

[0274] Those skilled in the art will understand that Fig.13The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0275] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0276] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0277] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0278] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0279] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0280] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0281] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A control method for semiconductor transmission equipment, characterized in that: Applied to semiconductor transmission equipment, the method comprises: Sending location information to a road management unit arranged in the automatic material handling system according to a preset cycle; wherein the jurisdiction of each track branch in the automatic material handling system has been allocated to the road management unit according to a preset allocation strategy; Receive current control instructions sent by the road management unit; Determine the identification information contained in the current control instruction; If the identification information carried in the current control instruction is inconsistent with the identification information carried in the last control instruction received, the current control instruction is executed.

2. The method according to claim 1, characterized in that The jurisdiction of each track branch in the automatic material handling system is allocated to the road management unit according to a preset allocation strategy, including: Marking each branch of each track in the automatic material handling system to obtain a number corresponding to each branch, wherein the number is used to distinguish different branches; The jurisdiction is allocated according to the numbers corresponding to the forks, wherein the jurisdiction of the fork corresponding to each number is allocated to at least two different road management units.

3. The method according to claim 1, characterized in that The jurisdiction of each track branch in the automatic material handling system is allocated to the road management unit according to a preset allocation strategy, including: Divide the branch tracks of each track according to their distribution positions to obtain a plurality of regions, wherein the number of branch tracks contained in each region is within a preset range; The jurisdiction of the branch roads is allocated according to the regions, wherein the jurisdiction of the branch roads in the same region is allocated to at least two different road management units.

4. The method according to claim 2, characterized in that: The allocation of jurisdiction according to the number corresponding to the branch road includes: According to the number of road management units in the automatic material handling system, determine the number of branch roads managed by each road management unit; According to the determined number of forks under the jurisdiction of each road management unit, the first round of fork jurisdiction rights are allocated to the road management unit according to the numbers corresponding to the forks, wherein the numbers corresponding to the forks under the jurisdiction of each road management unit are continuous; The branch road numbers obtained by the first round of allocation of each road management unit are forward and / or backward to obtain several consecutive numbers; A second round of branch road jurisdiction allocation is performed on a plurality of consecutive numbers obtained forward and / or backward, so that each branch road in the automatic material handling system is governed by at least two different road management units.

5. The method according to claim 4, characterized in that Determining the number of branch roads under the jurisdiction of each road management unit according to the number of road management units in the automatic material handling system includes: Assuming that the number of road management units in the automatic material handling system is a, and the number of branch roads in the automatic material handling system is n, the number of branch roads under the jurisdiction of each road management unit is b, where b is the integer part of n / a rounded down or up.

6. The method according to claim 4, characterized in that The method of allocating the first round of jurisdiction of the forks to the road management units according to the numbers corresponding to the forks according to the number of the forks determined to be under the jurisdiction of each road management unit includes: Assume that the number of road management units in the automatic material handling system is a, the number of branch roads in the automatic material handling system is n, and n / a = N c, if the value of c is 0, then a road management units are sequentially allocated N branch roads; If the value of c is not 0, it is allocated in one of the following ways: Method 1: Assume that a road management units are recorded as T1, T2, T3, ..., T a , then N forks are allocated to a road management unit in sequence, and the remaining c unallocated forks are all allocated to T a ; Method 2: first allocate N forks to the first ac road management units in sequence, and then allocate M forks to the last c road management units in sequence, where M = (nN) / c; Method 3: Assume that a road management units are recorded as T1, T2, T3, ..., T a , then the remaining c forks are all assigned to T a , and perform the following steps: Step S1: Set the initial value of y to 0; Step S2: Determine whether the value of y is less than c. If so, increment y by x and execute step S3; if not, execute step S4; wherein x is a natural number greater than 0 and less than c; Step S3: Assign the numbers to T a+1-(y / x) The forks corresponding to the first cy numbers under the jurisdiction are assigned to T a-(y / x) , return to step S2; Step S4: End the allocation.

7. The method according to any one of claims 1 to 6, characterized in that: The current control instruction also carries location information; before executing the current control instruction, the method further includes: Determine whether the location information carried in the current control instruction is consistent with the location information carried in the last control instruction received, If they are inconsistent, the current control instruction is executed; If they are consistent, the control result indicated by the current control instruction is compared with the control result indicated by the previous control instruction to obtain a first comparison result; If the first comparison result is different, the current control instruction is not executed, and a first request is sent to the first road management unit and the second road management unit, wherein the first request is used to instruct the first road management unit and the second road management unit to reissue the control instruction; the first road management unit and the second road management unit are two road management units with jurisdiction; If the first comparison result is the same, the current control instruction will not be executed.

8. The method according to claim 7, characterized in that After sending the first request to the first road management unit and the second road management unit, the method further includes: Receiving the control instructions sent by the first road management unit and the second road management unit, and comparing the control results indicated by the two re-received control instructions to obtain a second comparison result; If the second comparison result is the same, then any one of the re-received control instructions is executed; If the second comparison result is different, an alarm is issued.

9. The method according to any one of claims 1 to 6, characterized in that: The identification information includes: a timestamp, and / or an instruction sequence number; After receiving the control instruction sent by the road management unit, the method further includes: Determine whether the M consecutive control instructions received are from the same road management unit, where M is a natural number greater than 1; If they are from the same road management unit, it is determined that there is a failed road management unit; Send a prompt message to the server of the road management unit, wherein the prompt message is used to instruct the server of the road management unit to start the backup function and automatically take over the branch road range under the jurisdiction of the failed road management unit; or, issue an alarm prompt.

10. The method according to any one of claims 1 to 6, characterized in that: After sending the location information to the road management unit arranged in the automatic material handling system according to a preset cycle, the method further includes: If no control command is received from the road management unit within N heartbeat cycles, it is considered that a disconnection occurs, where N is a natural number greater than 1; Stop driving and sound an alarm.

11. A control device for semiconductor transmission equipment, characterized in that: Applied to semiconductor transmission equipment, the device comprises: A sending module, used for sending location information to a road management unit arranged in the automatic material handling system according to a preset period; wherein the jurisdiction of each track branch in the automatic material handling system has been allocated to the road management unit according to a preset allocation strategy; A receiving module, used to receive the current control instructions sent by the road management unit; A judgment module, used to judge the judgment information carried in the current control instruction; An execution module is used to execute the current control instruction when the discrimination information carried in the current control instruction is inconsistent with the discrimination information carried in the last control instruction received.

12. A control device for semiconductor transmission equipment, characterized in that: Applicable to a group of road management units, a plurality of which are arranged in an automatic material handling system, and the jurisdiction of each track branch in the automatic material handling system has been allocated to the road management unit according to a preset allocation strategy; the device comprises: A receiving module, used for receiving position information sent by a semiconductor transmission device; A determination module, configured to determine a first road management unit and a second road management unit having jurisdiction over a fork road according to the location information; A sending module is used to send control instructions to the semiconductor transmission equipment through the first road management unit and the second road management unit respectively, wherein the control instructions carry discrimination information and location information of the semiconductor transmission equipment.

13. A control system for semiconductor transmission equipment, characterized in that: include: A group consisting of a semiconductor transmission device and a road management unit, wherein the semiconductor transmission device and the road management unit are connected via wireless communication; The semiconductor transmission device is used to send position information to a road management unit arranged in the automatic material handling system according to a preset period; wherein the jurisdiction of each track branch in the automatic material handling system has been allocated to the road management unit according to a preset allocation strategy; The group of road management units is used to receive the location information sent by the semiconductor transmission equipment, and determine the first road management unit and the second road management unit that have the jurisdiction over the branch road according to the location information; The first road management unit and the second road management unit respectively send control instructions to the semiconductor transmission equipment, wherein the control instructions carry discrimination information; The semiconductor transmission device is also used to receive the control instructions sent by the road management unit and judge the judgment information carried in the control instructions; if the judgment information is inconsistent with the judgment information in the last control instruction received, the control instruction is executed.

14. The system according to claim 13, characterized in that The system further comprises: a server of a road management unit, wherein the server of the road management unit is connected to the semiconductor transmission device via wireless communication; The semiconductor transmission device is further used to determine whether the received M consecutive control instructions are from the same road management unit; if they are from the same road management unit, it is determined that there is an invalid road management unit, and a prompt message is sent to the server of the road management unit; wherein M is a natural number greater than 1; The server of the road management unit is used to receive the prompt information sent by the semiconductor transmission equipment, and start the backup function according to the prompt information to automatically take over the branch road range under the jurisdiction of the failed road management unit.

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