Transfer Robot Obstacle Sharing to Prevent Mobile Robot Bottlenecks
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Solution Overview
Problem
Conventional mobile robots in semiconductor manufacturing facilities face bottlenecks when encountering new obstacles not included in their pre-explored maps, as they attempt to pass through these unrecognized obstacles, leading to congestion and inefficiencies in autonomous driving.
Innovation Solution
The transfer robot system employs a combination of Overhead Hoist Transport (OHT) systems with bottom side distance detection sensors and a control system that generates and updates obstacle information in real time, which is shared with mobile robots to exclude new obstacles from their driving paths, preventing bottlenecks by using proximity sensors for path adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If mobile robots autonomously drive based on a pre-explored map using SLAM and lidar sensor, then the mobile robot can autonomously move to the set destination while avoiding known obstacles, but new obstacles not on the map are recognized as drivable paths causing bottleneck phenomena
Solution Approach 1:
The patent merges the overhead viewpoint of OHT with the ground-level mobile robot system. The OHT's bottom side distance detection sensor detects new obstacles from above, and this obstacle information is combined with the mobile robot's pre-explored map data, creating a comprehensive obstacle awareness system that prevents bottleneck phenomena.
Solution Approach 2:
The OHT acts as an intermediary between the aerial monitoring system and ground-level mobile robots. The OHT's distance detection sensor serves as a mediator to detect new obstacles, and the obstacle information is transmitted through the control system to guide mobile robots, bridging the gap between static maps and dynamic obstacle detection.
2Ease of operation
If mobile robots continue to attempt to pass through new obstacles recognized as drivable paths, then the robots follow their autonomous driving algorithm, but bottleneck phenomena occur where mobile robots cannot move and gather near the new obstacle
Solution Approach 1:
The system performs preliminary obstacle detection from the OHT's overhead position before mobile robots encounter the obstacle. By detecting new obstacles in advance and transmitting this information to the control system, the robots receive obstacle warnings before reaching the bottleneck area, allowing them to adjust paths proactively rather than reacting after congestion occurs.
Solution Approach 2:
The system implements feedback by continuously monitoring distance information from the OHT's bottom side distance detection sensor and transmitting obstacle information back to the mobile robot control system. This feedback loop enables real-time path adjustments, allowing robots to modify their autonomous driving paths based on current obstacle locations, preventing bottleneck formation while maintaining operational simplicity.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution effectively prevents bottlenecks by allowing mobile robots to recognize and avoid new obstacles in advance, ensuring smooth autonomous driving and efficient article transfer within semiconductor manufacturing facilities.
Implementation Method 1
a bottom side distance detection sensor installed for generating a distance information of below
Implementation Method 2
a lidar sensor which detects a distance if an obstacle is in close proximity
Data Source
AI summary
The inventive concept provides a transfer robot system. Embodiments of the inventive concept provide a transfer robot system and a transfer robot system driving method in which a bottleneck phenomenon of mobile robots may be prevented, as a new obstacle which does not exist within a map for a mobile robot is recognized in advance during an autonomous driving of the mobile robot and the new obstacle is not passed through. The transfer robot system includes an OHT for transferring an article by autonomously driving along a rail and having a bottom side distance detection sensor installed for generating a distance information of below; and a mobile robot for transferring the article by autonomously driving on the ground and autonomously driving while avoiding an obstacle information generated through the distance information.