Suspension type carrying device and detection method thereof

Abstract

The detection method of the suspension type carrying device comprises the following steps: acquiring position information of a vehicle body on a track and vibration information corresponding to the position information; generating vibration peak data based on the position information and the vibration information; and performing an analysis operation on the vibration peak data to generate an analysis result. And determining whether the analysis result indicates the critical gap position of the track or not. Through the detection method, the critical gap position of the track can be judged or detected. Therefore, better production efficiency can be realized.

Description

Technical Field

[0001] The present invention relates to a suspended transport device and a detection method of the suspended transport device. Background Art

[0002] Generally speaking, an overhead hoist transport (OHT) device is often used in semiconductor automated logistics systems to transport materials within the production site. Further, the overhead transport device includes a vehicle body that transports different materials within the production site along a track. The track includes multiple sections assembled together to complete a complex layout. However, under long-term use, the gaps between the various sections of the track will increase (for example, equal to or greater than a critical distance), resulting in an increase in the internal load of the vehicle body. Therefore, when the vehicle body passes through these gaps in the track, a shaking problem occurs, and this shaking problem may cause wear of the components of the vehicle body.

[0003] In view of this, how to provide a suspended handling device and a detection method thereof that can overcome the above problems is one of the research and development goals in the relevant field. Summary of the invention

[0004] The technical aspect of the present invention is a detection method for a suspended handling device.

[0005] According to some embodiments of the present invention, a method for detecting a suspended transport device includes obtaining position information of a vehicle body on a track and vibration information corresponding to the position information. Vibration peak data is generated based on the position information and the vibration information. An analysis operation is performed on the vibration peak data to generate an analysis result. It is determined whether the analysis result indicates a critical gap position on the track.

[0006] In some embodiments, performing an analysis operation on the vibration peak data to generate an analysis result includes converting the vibration peak data into a plurality of vibration values, calculating the vibration values ​​to generate a plurality of weighted vibration values, and comparing a plurality of differences between the vibration values ​​and the weighted vibration values.

[0007] In some implementations, when one of the difference values ​​is equal to or greater than a predetermined value, the former one of the difference values ​​indicates a critical gap position at the track.

[0008] In some embodiments, performing the analysis operation includes using a graph structure integrated by adjacency relationships of multiple segments of the track.

[0009] In some embodiments, the detection method further comprises performing an inspection operation on a critical gap position of the track.

[0010] In some embodiments, the position information of the vehicle body on the track is obtained by a position sensor disposed on the vehicle body, and the vibration information is obtained by a vibration sensor disposed on the vehicle body.

[0011] In some embodiments, the track has a plurality of barcodes arranged at intervals, and the position sensor recognizes the barcodes of the track to obtain the position information.

[0012] In some embodiments, the vibration information is obtained when the vehicle body stops at one of the bar codes of the track.

[0013] In some embodiments, the vibration information includes vibration acceleration data of wheels of the vehicle body over a period of time.

[0014] In some embodiments, the vibration peak data includes maximum vibration acceleration data of a wheel of the vehicle body within a period of time.

[0015] In some implementations, the analysis operation is performed by a logic operation unit.

[0016] In some implementations, the detection method further includes transmitting the position information and the vibration information to a logic operation unit.

[0017] The technical aspect of the present invention is a hanging type transport device.

[0018] According to some embodiments of the present invention, a suspended transport device includes a vehicle body, a position sensor, a vibration sensor, and a logic operation unit. The position sensor is disposed on the vehicle body, and the position sensor is configured to obtain position information of the vehicle body on a track. The vibration sensor is disposed on the vehicle body, and the vibration sensor is configured to obtain vibration information corresponding to the position information. The logic operation unit is configured to generate vibration peak data based on the position information and the vibration information, perform an analysis operation on the vibration peak data to generate an analysis result, and determine whether the analysis result indicates a critical gap position on the track.

[0019] In some embodiments, the analyzing operation includes converting the shock peak data into a plurality of shock values, calculating the shock values ​​to generate a plurality of weighted shock values, and comparing a plurality of differences between the shock values ​​and the weighted shock values.

[0020] In some implementations, when one of the difference values ​​is equal to or greater than a predetermined value, the former one of the difference values ​​indicates a critical gap position at the track.

[0021] In some embodiments, the predetermined value is a standard deviation value of the difference between the shock value and the weighted shock value.

[0022] In some embodiments, the suspended transport device further includes a transmission unit electrically connected to the position sensor and the vibration sensor, wherein the transmission unit is configured to transmit the position information and the vibration information to the logic operation unit.

[0023] In some embodiments, the vehicle body has a top portion and a side portion connected to the top portion, and the position sensor and the shock sensor are disposed on the top portion of the vehicle body.

[0024] In some embodiments, the suspended handling device further includes a control unit electrically connected to the logic operation unit, wherein the control unit is configured to perform a checking operation when the analysis result indicates a critical gap position of the rail.

[0025] In some embodiments, the logic operation unit is configured to perform the analysis operation including using a graph structure integrated by adjacency relationships of multiple segments of the track.

[0026] According to the above-mentioned embodiment of the present invention, since the analysis operation is performed on the vibration peak data to generate the analysis result, the critical gap position of the track can be determined or detected. In this way, better production efficiency can be achieved. In addition, the shaking problem of the vehicle body can be avoided, thereby avoiding the wear of the components of the vehicle body (for example, wheels or terminal elements) and the components of the track (for example, power lines or signal lines). The cost and time of manual detection can also be reduced.

[0027] It is to be understood that both the foregoing general description and the following detailed description are exemplary only, and are intended to provide further explanation of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to make the above and other objects, features, advantages and embodiments of the present invention more clearly understood, the accompanying drawings are described as follows:

[0029] Figure 1 is a side view of a suspended handling device according to some embodiments of the present invention.

[0030] Figure 2 for Figure 1 A bottom view of the suspended handling device is shown.

[0031] Figure 3 for Figure 1 Block diagram of the suspended handling device shown.

[0032] Figure 4 4 is a flow chart of a detection method of a suspended handling device according to some embodiments of the present invention.

[0033] Figure 5 4 is a flow chart of a detection method of a suspended handling device according to some embodiments of the present invention.

[0034] Figure 6 Schematic diagram of a track of a suspended transport device according to some embodiments of the present invention.

[0035] Figure 7 A comparison diagram of the difference between a vibration value and a weighted vibration value according to some embodiments of the present invention is shown. DETAILED DESCRIPTION

[0036] The following will disclose multiple embodiments of the present invention with the accompanying drawings. For the purpose of clear description, many practical details will be described together in the following description. However, it should be understood that these practical details should not be used to limit the present invention. That is to say, in some embodiments of the present invention, these practical details are not necessary and therefore should not be used to limit the present invention. In addition, in order to simplify the drawings, some conventional structures and components will be illustrated in a simple schematic manner in the drawings. In addition, for the convenience of readers, the sizes of the components in the drawings are not drawn according to the actual scale.

[0037] Figure 1 is a side view of an overhead hoist transport (OHT) device 10 according to some embodiments of the present invention, Figure 2 for Figure 1 A bottom view of the suspended handling device 10 is shown, and Figure 3 yes Figure 1 FIG. 1 is a block diagram of a suspended handling device 10. Figures 1 to 3 The suspended transport device 10 includes at least one vehicle body 110, a position sensor 120, a vibration sensor 130 and a logic operation unit 150. The position sensor 120 is disposed on the vehicle body 110, and the position sensor 120 is configured to obtain position information of the vehicle body 110 on the track 200. The vibration sensor 130 is disposed on the vehicle body 110, and the vibration sensor 130 is configured to obtain vibration information corresponding to the position information. The logic operation unit 150 is configured to generate vibration peak data based on the position information and the vibration information, perform an analysis operation on the vibration peak data to generate an analysis result, and determine whether the analysis result indicates a critical gap position of the track 200. By configuring the suspended transport device 10, better production efficiency can be achieved. In addition, the shaking problem of the vehicle body 110 can be avoided, thereby avoiding the wear of components of the vehicle body 110 (e.g., wheels or terminal elements) and components of the track 200 (e.g., power lines or signal lines). At the same time, the cost and time of manual inspection can also be reduced.

[0038] The overhead handling device 10 further includes a transmission unit 140, which is electrically connected to the position sensor 120, the vibration sensor 130, and the logic operation unit 150. The transmission unit 140 is configured to transmit the position information and the vibration information to the logic operation unit 150. In some embodiments, the transmission unit 140 is electrically connected to the position sensor 120, the vibration sensor 130, and the logic operation unit 150 via a wireless connection.

[0039] The overhead handling device 10 further includes a control unit 160, which is electrically connected to the logic operation unit 150. The control unit 160 is configured to perform a check operation on the critical gap position of the rail 200 when the analysis result indicates the critical gap position of the rail 200. In other words, when the analysis result does not indicate the critical gap position of the rail 200 (i.e., the analysis result indicates that the critical gap position does not exist), the check operation is not performed (i.e., the control unit 160 does not generate a control signal to perform the check operation).

[0040] In some embodiments, performing the analysis operation includes using a graph structure, wherein the graph structure (interchangeably referred to as a graph structure model or a graph structure method) is integrated by the adjacency relationship of multiple segments of the track 200 (e.g., the physical distance or entity distance of the multiple segments of the track 200). In some embodiments, the analysis operation includes converting the vibration peak data into a plurality of vibration values, calculating the vibration values ​​to generate a plurality of weighted vibration values, and comparing a plurality of differences between the vibration values ​​and the weighted vibration values. In detail, the logic operation unit 150 is configured to convert the vibration peak data into vibration values ​​at each position of the track 200 (i.e., different barcodes 210), to calculate the vibration values ​​at each position of the track 200 (i.e., different barcodes 210) to generate weighted vibration values, and further configured to compare the differences between the vibration values ​​and the weighted vibration values. In some embodiments, comparing the differences between the vibration values ​​and the weighted vibration values ​​includes calculating the vibration values ​​and the weighted vibration values ​​to obtain differences, and further includes comparing each of the differences with a predetermined value. When one of the difference values ​​is equal to or greater than the predetermined value, the aforementioned one of the difference values ​​indicates a critical gap position on the track 200 (i.e., the gap 200G is equal to or greater than the critical distance); and when both of the difference values ​​are less than the predetermined value, the difference value indicates that there is no critical gap position on the track 200 (i.e., the gap 200G is less than the critical distance). In some embodiments, the predetermined value can be calculated by the logic operation unit 150 based on the difference between the total vibration value and the weighted vibration value. In some embodiments, the suspended transport device 10 further includes a database unit, and the predetermined value is stored in the database unit.

[0041] In some embodiments, the predetermined value is used to determine whether the difference value deviates from the normal distribution, thereby determining whether the gap 200G equal to or greater than the critical distance is at a position corresponding to the aforementioned difference value on the track 200. In some embodiments, the predetermined value is a standard deviation value (e.g., one standard deviation value or two standard deviation values) of the difference value between the vibration value and the weighted vibration value. Alternatively, the predetermined value may be an average value, an average variation value, or a standard deviation variation value of the difference value between the vibration value and the weighted vibration value.

[0042] In some embodiments, the vehicle body 110 has a top portion 112 and a side portion 114 connected to the top portion 112. The top portion 112 of the vehicle body 110 is closer to the track 200 than the side portion 114 of the vehicle body 110. In detail, the top portion 112 of the vehicle body 110 has a connection section 111. The connection section 111 is disposed on the track 200 to allow the vehicle body 110 to move along the track 200. The side portion 114 of the vehicle body 110 is used to extend downward to pick up an object (e.g., a wafer box with a plurality of wafers) when the vehicle body 110 is in a stationary state (or stopped). For example, the control unit 160 is configured to provide a first control signal to operate the connection section 111 to move along the track 200, and the control unit 160 is configured to provide a second control signal to operate the side portion 114 to pick up the object. In some embodiments, since the vibration sensor 130 is disposed on the top portion 112 of the vehicle body 110, the accuracy of the vibration information can be improved. In some embodiments, the vibration sensor 130 is a gyroscope. In some embodiments, the position sensor 120 , the vibration sensor 130 , and the transmission unit 140 are all disposed on the top portion 112 of the vehicle body 110 .

[0043] In some embodiments, the track 200 has a plurality of barcodes 210 arranged at intervals. The barcode 210 may be a one-dimensional code or a two-dimensional code. The position sensor 120 is configured to identify the barcode 210 of the track 200 to obtain position information.

[0044] In some embodiments, multiple vehicles 110 move along the track 200 at the same time. The number of vehicles 110 may be two, three or more, but the present invention is not limited thereto. Figure 2 The vibration caused by the vehicle body 110 in the vehicle body and / or the vehicle body (for example, Figure 2The vibration information is obtained when the vehicle 110 stops (i.e., is in a stationary state) at one of the barcodes 210 on the track 200. In other words, the vibration information is related to the vibration caused by the other moving vehicle bodies (especially the moving vehicle body closest to the stopped vehicle body) on the track 200. In other words, when the vibration information is obtained, the vehicle body 110 at one of the barcodes 210 on the track 200 is in a stationary state, and at least one of the other vehicle bodies on the track 200 (i.e., the other vehicle bodies not at one of the aforementioned barcodes) is not in a stationary state (i.e., is in a moving state).

[0045] In some embodiments, the vehicle body 110 includes a wheel 118 disposed on the connecting section 111 of the top portion 112. The wheel 118 includes a driving wheel and a driven wheel, wherein the driven wheel is used to support the weight of the entire vehicle body 110. In some embodiments, the vibration information includes vibration acceleration data of the wheel 118 (e.g., the driven wheel) of the vehicle body 110 over a period of time. The vibration caused by other vehicle bodies passing through the gap 200G mainly comes from the driven wheel, and the waveform of the vibration acceleration of the driven wheel over a period of time may have a double peak shape, wherein the acceleration difference between the double peaks (i.e., the two maximum vibration accelerations) is less than 5%. In other words, the double peaks (i.e., the two maximum vibration accelerations) are substantially the same. In some embodiments, in order to exclude the vibration effect (i.e., overlapping waves) caused by other vehicle bodies (not shown) at different positions at the same time, the logic operation unit 150 is configured to obtain (or capture) the maximum vibration acceleration data in the vibration acceleration data of the vibration information, and the logic operation unit 150 therefore generates vibration peak data based on the position information and the vibration information. In this way, the accuracy of determining the critical gap position can be improved.

[0046] In some implementations, when a larger shock peak value data is generated at the same position of the track 200 (eg, the same barcode 210 ), the logic operation unit 150 is further configured to replace the original shock peak data with the larger shock peak data.

[0047] In some embodiments, the vehicle body 110 further includes two steering portions 113 configured to allow the vehicle body 110 to turn (or adjust the direction of the vehicle body 110). Specifically, the driven wheels 118 are divided into two groups (e.g., front driven wheels and rear driven wheels). The position sensor 120 and the vibration sensor 130 are respectively disposed on the two steering portions 113 of the vehicle body 110. The steering portion 113 is connected to the main body of the vehicle body 110 (e.g., the connecting section 111, the top portion 112, and the side portion 114 are collectively referred to as the main body), so that the steering portion 113 can rotate, thereby driving the main body of the vehicle body 110 to turn. In some embodiments, the track 200 includes a plurality of sections, which are assembled together to complete a complex layout. The suspended transport device 10 of the present invention can be applied to any type of suspended transport device, with only minor modifications (e.g., the vibration model, the assembly method of the track, and the support method of the track).

[0048] See now Figure 4 . Figure 4 FIG. 3 is a flow chart of a detection method 300 of a suspended handling device according to some embodiments of the present invention. It should be understood that Figure 4 Additional steps are provided before, during, and after the detection method 300, and some of the steps described may be replaced, eliminated, or moved for additional implementations of the detection method 300. The detection method 300 may include step S310, step S320, step S330, step S340, step S350, and step S360, which will be referred to below. Figures 1 to 4 In more detail, the detection method 300 may be Figures 1 to 3 The suspended handling device 10 shown performs.

[0049] The detection method 300 begins at step S310, where the position information of the vehicle body on the track is obtained. Figures 1 to 4 In some embodiments of step S310, the position information of the vehicle body 110 on the track 200 is obtained by a position sensor 120 disposed on the vehicle body 110. In some embodiments, the position sensor 120 reads (or recognizes) a barcode 210 of the track 200 to obtain the position information.

[0050] In step S320, vibration information corresponding to the position information is obtained. Figures 1 to 4In some embodiments of step S320, the vibration information corresponding to the position information is obtained by the vibration sensor 130 disposed on the vehicle body 110. The vibration information includes vibration acceleration data of the wheel 118 (e.g., the driven wheel) of the vehicle body 110 over a period of time. In some embodiments, the vibration information is obtained when the vehicle body 110 stops (i.e., is in a stationary state) at one of the barcodes 210 of the track 200. In some embodiments, the vibration information corresponding to the position information is obtained after the position information of the vehicle body 110 on the track 200 is obtained. In some embodiments, the vibration information corresponding to the position information is obtained while the position information of the vehicle body 110 on the track 200 is obtained.

[0051] In step S330, the position information and the vibration information are transmitted to the logic operation unit. Figures 1 to 4 In some embodiments of step S330, the transmission unit 140 is configured to transmit the position information and the vibration information to the logic operation unit 150. The transmission unit 140 is electrically connected to the position sensor 120, the vibration sensor 130, and the logic operation unit 150. The position sensor 120, the transmission unit 140, and the vibration sensor 130 are all disposed on the top portion 112 of the vehicle body 110, so that the accuracy of the position information and the vibration information can be improved.

[0052] In step S340, vibration peak data is generated based on the position information and the vibration information. Figures 1 to 4 In some embodiments of step S340, the logic operation unit 150 is configured to generate vibration peak data based on the position information and the vibration information. In some embodiments, the vibration peak data includes the maximum vibration acceleration data of the wheel 118 (eg, the driven wheel) of the vehicle body 110 within a period of time.

[0053] The detection method 300 proceeds to step S350 to perform an analysis operation on the vibration peak value data to generate an analysis result. Figures 1 to 4 In some embodiments of step S350, the logic operation unit 150 is configured to perform an analysis operation on the vibration peak data to generate an analysis result. In some embodiments, performing the analysis operation includes using a graph structure (interchangeably referred to as a graph structure model or data structure), wherein the graph structure is integrated by the adjacency relationship of multiple track segments of the track 200 (e.g., the physical distance or entity distance of multiple segments of the track 200). In some embodiments, step S350 includes steps S351, S352, and S353, and can use Figures 1 to 3 The illustrated overhead handling device 10 is used for execution. Figure 5 According to some embodiments of the present invention Figure 4 Flow chart of step S350 of the detection method 300. Figure 5The flowchart shown in is only an example and is not intended to limit the present invention beyond the scope explicitly described in the claims. Figure 5 Provide additional steps before, during, and after the steps of Figure 5 Additional implementations of the steps may replace, eliminate, or move some of the steps described.

[0054] In step S351, the vibration peak data is converted into a plurality of vibration values. Figures 1 to 5 In some embodiments of step S351, the logic operation unit 150 is configured to convert the vibration peak data into vibration values ​​at various positions (i.e., different barcodes 210) of the track 200. In some embodiments, the logic operation unit 150 is configured to convert the maximum vibration acceleration data in the vibration peak data into multiple vibration values. Figure 6 Schematic diagram of a track 200 of a suspended handling device according to some embodiments of the present invention. Figure 3 and Figure 6 As shown, the vibration peak data includes the maximum vibration acceleration data at positions P1 to P10 of the track 200 (i.e., the positions where different barcodes 210 are located), and the logic operation unit 150 is configured to convert the maximum vibration acceleration data into each vibration value at positions P1 to P10 of the track 200. In some embodiments, the maximum vibration acceleration data of the vibration peak data is converted by the logic operation unit 150 by using a function, a machine learning algorithm, or a training data set to generate a vibration value. In some embodiments, converting the vibration peak data into a vibration value includes using a graph structure. In detail, the logic operation unit 150 uses the graph structure to generate an ordered graph representing the distance relationship between multiple segments of the track 200 (e.g., multiple positions including positions P1 to P10). Since vibration is not directional and vibration can be transmitted through adjacent segments of the track 200, the ordered graph is modified (or corrected) to an unordered graph representing the adjacency relationship between multiple segments of the track 200 (e.g., multiple positions including positions P1 to P10). In some embodiments, the vibration peak data is converted into a plurality of vibration values ​​by using a regression method. The vibration acceleration data caused by a position of the vehicle body 110 on the track 200 is regressed (or converted) into a vibration value under the same standard speed (for example, assuming that each vehicle body 110 passes through the aforementioned position of the track 200 at the same speed), thereby obtaining the degree of the discontinuity (for example, the gap 200G) on the track 200. For example, the vehicle bodies 110 on the track 200 may have different speeds. By regressing the different speeds of the vehicle body 110 to the same standard speed, the vibration value calculated based on the vibration peak data can be more accurate.

[0055] In step S352, the vibration values ​​are calculated to generate a plurality of weighted vibration values. Figures 1 to 5 In some embodiments of step S352, the logic operation unit 150 is configured to calculate the vibration value to generate a plurality of weighted vibration values. Figure 3 and Figure 6 As shown, the vibration values ​​at positions P1 to P10 are calculated to generate weighted vibration values. In some embodiments, the vibration values ​​are calculated by the logic operation unit 150 by using a numerical analysis method, a function, a machine learning algorithm, or a training data set to generate weighted vibration values. In some embodiments, calculating the vibration values ​​to generate weighted vibration values ​​is performed by using a graph structure. In some embodiments, generating weighted vibration values ​​includes analyzing the degree of connection (e.g., adjacency) and length of each of the segments of the track 200. In some embodiments, the vibration values ​​are calculated by using a polarization operation (e.g., a Laplace operator in image processing). The magnitude of the weight is related to the distance between two points on the track 200 (e.g., any two positions of the positions P1 to P10). For example, adjacent points on the track 200 (e.g., position P9 and another position P10 close to position P9) will have a higher weight than non-adjacent points. In some embodiments, generating the weighted vibration value includes performing a breadth-first search (BFS) on each point (e.g., positions P1-P10) on the unordered graph representing the adjacency relationship of the segments on the track 200. Thus, the extent of the discontinuity (e.g., gap 200G) on the track 200 can be obtained.

[0056] In step S353, a plurality of differences between the shock value and the weighted shock value are compared. Figures 1 to 5 In some embodiments of step S353, the logic operation unit 150 is configured to compare a plurality of differences between the vibration value and the weighted vibration value. In some embodiments, comparing a plurality of differences between the vibration value and the weighted vibration value includes calculating the vibration value and the weighted vibration value to obtain a difference between the two, and further includes comparing each of the differences with a predetermined value.

[0057] In some embodiments, the logic operation unit 150 is configured to compare the difference between the vibration value and the weighted vibration value to generate a comparison graph (or comparison result), and the logic operation unit 150 is further configured to generate an analysis result based on the comparison graph (or comparison result). Figure 7 A comparison diagram of the difference between the vibration value and the weighted vibration value according to some embodiments of the present invention is shown. Figure 3 and Figures 5 to 7 As shown, curve VV plots the vibration values ​​at positions P1 to P10 on the track 200 (i.e., the positions of different barcodes 210), and curve WVV plots the weighted vibration values ​​at positions P1 to P10 on the track 200. The logic operation unit 150 analyzes the comparison chart (e.g., Figure 7) to determine whether the difference deviates from the normal distribution, and then generate an analysis result based on the comparison chart. In other words, the logic operation unit 150 is configured to compare each of the difference values ​​with a predetermined value. For example, at position P10, the difference between the vibration value and the weighted vibration value is equal to or greater than a predetermined value (for example, one standard deviation value, two standard deviation values, or other suitable standard deviation values); and at positions P1 to P9, the difference between the vibration value and the weighted vibration value is less than the predetermined value. In some embodiments, the logic operation unit 150 is also configured to classify the difference values ​​according to different types of sections of the track 200. For example, the track 200 includes straight sections and curved sections. The logic operation unit 150 is configured to compare the difference value corresponding to one of the straight sections of the track 200 with a predetermined value corresponding to the aforementioned straight section (for example, a standard deviation value), and to compare the difference value corresponding to one of the curved sections of the track 200 with a predetermined value corresponding to the aforementioned curved section (for example, a standard deviation value).

[0058] The detection method 300 continues to step S360 to determine whether the analysis result indicates a critical gap position on the track. Figures 1 to 7 In some embodiments of step S360, the logic operation unit 150 is configured to determine whether the analysis result indicates a critical gap position of the track 200 (e.g., the gap 200G is equal to or greater than the critical distance). In some embodiments, when one of the difference values ​​corresponding to a position is equal to or greater than a predetermined value, the aforementioned difference value indicates that the gap 200G at the aforementioned position is equal to or greater than the critical distance (i.e., the critical gap position); and when the difference values ​​corresponding to other positions are less than the predetermined value, it indicates that the gap 200G at these positions is less than the critical distance (i.e., the critical gap position does not exist). In some embodiments, as Figure 6 and Figure 7 As shown, the difference at position P10 is equal to or greater than the predetermined value, and therefore the analysis results corresponding to the aforementioned difference values ​​indicate that the critical gap position (i.e., the gap 200G at position P10 is equal to or greater than the critical distance) is located at (or close to) position P10, while the differences at other positions are less than the predetermined value, and therefore the analysis results corresponding to these difference values ​​indicate that there is no critical gap position located at (or close to) positions P1 to P9 (i.e., the gap 200G at positions P1 to P9 is less than the critical distance).

[0059] After step S360, the detection method 300 further includes transmitting the analysis result to the control unit 160. After step S360, the detection method 300 further includes performing subsequent operations based on the analysis result. In some embodiments, the control unit 160 is configured to perform subsequent operations based on the analysis result. When the analysis result indicates a critical gap position at the track 200, the control unit 160 is configured to perform an inspection operation on the critical gap position of the track 200 based on the analysis result. Conversely, when the analysis result indicates that there is no critical gap position at the track 200, the control unit 160 is configured not to perform the inspection operation according to the analysis result, and to perform step S310. In some embodiments, the track 200 includes an adjustment bar, and the inspection operation includes transmitting a control signal by the control unit 160 to compress the adjustment bar so that the gap 200G is reduced (for example, the distance of the gap 200G is reduced to less than the critical distance).

[0060] In some embodiments, the detection method 300 further includes generating a process / production report based on the analysis results by the logic operation unit 150. The process / production report can be transmitted to the database server of the overhead handling device 10 for review by a competent operator.

[0061] It should be noted that Figure 3 The suspended handling device 10 shown in FIG. 1 may also include a device for realizing Figures 1 to 7 A processing device that performs one or more of the described tools, subsystems, methods, or operations.

[0062] In summary, by performing an analysis operation on the vibration peak data to generate an analysis result, the critical gap position of the track can be determined. In this way, better production efficiency can be achieved. In addition, the shaking problem of the vehicle body can be avoided, thereby avoiding the wear of the vehicle body parts (such as wheels or terminal elements) and the track parts (such as power lines or signal lines). At the same time, the cost and time of manual inspection can also be reduced.

[0063] Although the present invention has been disclosed as above in the form of implementation modes, it is not intended to limit the present invention. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be determined by the definition of the attached claims.

[0064]

Explanation of symbols

[0065] 10: Suspension handling device

[0066] 110: Car body

[0067] 111: Connection section

[0068] 112: Top part

[0069] 113: Steering part

[0070] 114: Side part

[0071] 118: Wheel

[0072] 120: Position sensor

[0073] 130: Vibration sensor

[0074] 140:Transmission unit

[0075] 150:Logical operation unit

[0076] 160: Control unit

[0077] 200: Track

[0078] 200G: Gap

[0079] 210: Barcode

[0080] 300: Detection method

[0081] S310, S320, S330, S340, S350, S360: Steps

[0082] S351, S352, S353: Steps

[0083] P1~P10: Location

[0084] VV: Curve

[0085] WVV: Curve.

Claims

1. A method for detecting a suspended handling device, characterized in that: Include: Obtaining position information of the vehicle body on the track and vibration information corresponding to the position information; generating vibration peak data based on the position information and the vibration information; performing an analysis operation on the vibration peak value data to generate an analysis result; as well as A determination is made as to whether the analysis result indicates a critical gap position on the track.

2. The detection method according to claim 1, wherein performing the analysis operation on the vibration peak data to generate the analysis result comprises: converting the vibration peak data into a plurality of vibration values; calculating the plurality of shock values ​​to generate a plurality of weighted shock values; as well as A plurality of differences between the plurality of shock values ​​and the plurality of weighted shock values ​​are compared. 3 . The detection method according to claim 2 , wherein when one of the plurality of difference values ​​is equal to or greater than a predetermined value, the one of the plurality of difference values ​​indicates the critical gap position at the track. 4 . The detection method according to claim 1 , wherein performing the analysis operation comprises using a graph structure integrated by adjacency relationships of multiple segments of the track.

5. The detection method according to claim 1, wherein: Also includes: An inspection operation is performed on the critical gap position of the track. 6 . The detection method according to claim 1 , wherein the position information of the vehicle body on the track is obtained by a position sensor provided on the vehicle body, and the vibration information is obtained by a vibration sensor provided on the vehicle body. 7 . The detection method according to claim 6 , wherein the track has a plurality of barcodes arranged at intervals, and the position sensor identifies the plurality of barcodes of the track to obtain the position information. 8 . The detection method according to claim 7 , wherein the vibration information is obtained when the vehicle body stops at one of the plurality of barcodes on the track. 9 . The detection method according to claim 1 , wherein the vibration information comprises vibration acceleration data of wheels of the vehicle body over a period of time.

10. The detection method according to claim 1, wherein the vibration peak data comprises maximum vibration acceleration data of the wheels of the vehicle body within a period of time. The detection method according to claim 1 , wherein the analysis operation is performed by a logic operation unit.

12. The detection method according to claim 11, wherein: Also includes: The position information and the vibration information are transmitted to the logic operation unit.

13. A hanging type transport device, characterized in that: Include: Vehicle body; a position sensor disposed on the vehicle body, the position sensor being configured to obtain position information of the vehicle body on the track; a vibration sensor disposed on the vehicle body, the vibration sensor being configured to obtain vibration information corresponding to the position information; as well as Logical operation unit, configured with: generating vibration peak data based on the position information and the vibration information; performing an analysis operation on the vibration peak value data to generate an analysis result; as well as A determination is made as to whether the analysis result indicates a critical gap position on the track.

14. The overhead transport device according to claim 13, wherein the analyzing operation comprises: converting the vibration peak data into a plurality of vibration values; calculating the plurality of shock values ​​to generate a plurality of weighted shock values; as well as A plurality of differences between the plurality of shock values ​​and the plurality of weighted shock values ​​are compared.

15. The suspended transport device of claim 14, wherein when one of the plurality of difference values ​​is equal to or greater than a predetermined value, the one of the plurality of difference values ​​indicates the critical gap position at the track. 16 . The suspended transport device according to claim 15 , wherein the predetermined value is a standard deviation value of the plurality of differences between the plurality of vibration values ​​and the plurality of weighted vibration values.

17. The hanging type handling device according to claim 13, wherein: Also includes: The transmission unit is electrically connected to the position sensor and the vibration sensor, wherein the transmission unit is configured to transmit the position information and the vibration information to the logic operation unit.

18. The suspended transport device according to claim 13, wherein the vehicle body has a top portion and a side portion connected to the top portion, and wherein the position sensor and the vibration sensor are disposed on the top portion of the vehicle body.

19. The hanging transport device according to claim 13, wherein: Also includes: A control unit is electrically connected to the logic operation unit, wherein the control unit is configured to perform a checking operation when the analysis result indicates the critical gap position of the track.

20. The overhead transport device of claim 13, wherein the logic operation unit is configured to perform the analysis operation including using a graph structure integrated by adjacency relationships of a plurality of segments of the track.

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