TWI901172B - Lot handling system and lot handling method - Google Patents

Abstract

The present disclosure provides a lot handling system and a lot handling method. The method is used to operate a lot handling system to transport multiple lots between multiple floors. The method includes: in a command queue including a plurality of handling commands of the lot handling system, based on the current location information and destination location information of the lots corresponding to each of the plurality of handling commands, , the carrying arm location and the status information of the transmission system controller. The plurality of handling commands is sorted according to the adjusted priority order to form a command sequence. The first command with the highest priority in the command sequence is sent to the handling system controller to operate the carrying arm. The carrying arm, corresponding to the first command; carrying the first lot to its destination.

Description

Cargo handling systems and methods

The present invention relates to a cargo handling system and a cargo handling method.

In a wafer fab, a large number of wafer cassettes are stored in the stocker (STK) system, and a large number of wafer cassettes need to be transported in and out of the STK. Traditional material handling control systems issue transport commands to wafers and the STK system, and the STK system executes the orders sequentially without considering the current status. This results in low wafer cassette transport system efficiency, impacting wafer fab production efficiency.

The present invention provides a cargo transport method and a cargo transport system for adjusting the transport sequence according to the status of the transport device.

The present invention provides a cargo handling system, comprising: a handling device having a handling space, wherein the handling space has a plurality of cargo entrances, a plurality of cargo exits, and a storage area; a handling arm disposed in the handling device and used to handle a plurality of cargoes in the handling device; a material handling control system for issuing a plurality of handling commands corresponding to the plurality of cargoes to the handling device; a communication module for receiving the plurality of handling commands issued by the material handling control system and status information of the handling arm; a handling device controller for actuating the handling arm to perform cargo handling according to the handling commands received by the communication module; and a command control module having a command queue for receiving the plurality of handling commands and the status information of the handling arm from the communication module. The command control module is configured to: adjust the priority of each of the multiple transport commands according to the location information and destination location information of the goods corresponding to each of the multiple transport commands, the status information of the transport arm, and the status information of the transport system controller; sort the multiple transport commands according to the adjusted priority to form a command sequence; the command control module sends the first command with the highest priority in the command sequence to the communication module, and the communication module sends the first command to the transport arm; and the transport arm transports the first goods corresponding to the first command according to the first command.

The present invention provides a cargo handling method for operating a cargo handling system to transport multiple cargoes between multiple floors. The method comprises: adjusting the priority of each of the multiple handling commands in a command queue of the cargo handling system based on location information and destination information of the cargo corresponding to each of the multiple handling commands, status information of a handling arm of the cargo handling system, and status information of a transmission system controller; sorting the multiple handling commands according to the adjusted priorities to form a command sequence; sending a first command with the highest priority in the command sequence to the handling arm; and the handling arm handling a first cargo corresponding to the first command according to the first command.

Based on the above, the cargo handling device and cargo handling method provided by this disclosure can adjust the priority of cargo handling orders according to the current status of the handling device to improve cargo handling efficiency.

FIG1 is a schematic diagram of a cargo handling device according to an embodiment of the present invention. Referring to FIG1 , the cargo handling system 10 includes a material handling control system 110 , a communication module 120 , a command control module 130 , and a handling device 140 .

The transport device 140 has a transport device controller 142. The transport device controller 142 actuates transport arms corresponding to a plurality of cargo entrances, a plurality of cargo exits, and a storage area 144 for transporting or placing cargo A, B, and C.

The transporting arm (not shown) is disposed in the transporting device 140 and is used to transport multiple goods in the transporting device 140.

The material handling control system 110 is used to issue a plurality of handling commands corresponding to a plurality of goods to the handling device 140 .

The communication module 120 is used to receive multiple transport commands issued by the material handling control system 110, as well as status information of the transport arm 146. The communication module 120 further transmits the received status information of the transport arm 146 to the material handling control system 110 and the command control module 130. In some embodiments, the communication module 120 can connect to the material handling control system 110, the command control module 130, and the transport device controller 142 for data transmission using various methods, such as wireless networks such as WiFi or Bluetooth, or wired networks such as local area networks (LANs), although this disclosure is not limited thereto.

The transport device controller 142 controls the transport arm to transport goods according to the multiple transport commands received by the communication module 120.

The command control module 130 includes a command queue 132 for receiving multiple transport commands issued by the material handling control system 110 from the communication module 120 and storing the received transport commands in the command queue 132. The command control module further receives status information of the transport arm 146 and a transport system controller (not shown) from the communication module 120. The transport system controller controls the status of cargo handling between multiple transport devices, including information such as the current transport device of cargo and the location of the graveyard of cargo waiting to be transported or in transit. Therefore, by integrating multiple transport commands, status information of the transport arm 146, and status information of the transmission system controller, the command control module 130 can adjust the execution order of the transport commands in the command queue 132 to form a new command sequence, and then transport goods in sequence according to this command sequence.

The command control module 130 is configured to perform the following functions.

The command control module 130 adjusts the priority of each of the multiple transport commands based on the location information and destination location information of the cargo corresponding to each of the multiple transport commands, the status information of the transport arm 146, and the status information of the transmission system controller.

The command control module 130 sorts the multiple transport commands according to the adjusted priority to form a new command sequence.

The command control module 130 sends the first command with the highest priority in the command sequence to the communication module 120 , and the communication module 120 sends the first command to the transport device controller 142 to actuate the transport arm 146 .

The transport arm 146 transports the first cargo corresponding to the first command according to the first command.

In this way, the command control module 130 can reorder the multiple transport commands issued by the material transport control system 110 instead of simply executing the transport commands issued by the material transport control system 110 in sequence, thereby transporting goods more efficiently.

Furthermore, each time the material handling control system 110 issues a new transport order, the command control module 130 is configured to determine the priority of the new transport order based on the location and destination of the goods corresponding to the new transport order and add the new transport order to the command queue 132. Therefore, each time the material handling control system 110 issues a new transport order, the command control module 130 adjusts the priority of the new transport order and re-arranges the priorities of the transport orders.

The specific method will be described through the following examples.

FIG2A is a schematic diagram of a cargo handling method according to an embodiment of the present invention. Please refer to FIG2A . In FIG2A , a cargo handling device 140 includes a handling device controller 142, a handling arm 146 (not shown), and a storage area 144. The cargo handling device 140 also includes multiple cargo entrances I2, I3, and I4, and multiple cargo exits O2, O3, and O4. In this embodiment, the storage area 144, the multiple cargo entrances I2, I3, and I4, and the multiple cargo exits O2, O3, and O4 of the cargo handling device 140 are all located on the same floor. In other words, the cargo handling device 140 of this embodiment is a single-floor cargo handling device. In other embodiments, the cargo handling device 140 may have multiple floors, each with a corresponding cargo entrance and exit. In the cargo handling device 140, cargo A, B, C, and D are present. Cargo A is located at cargo entrance I3 and will be transported to the storage area 144. Cargo B is located in the storage area 144 and will be transported to cargo exit O3. Cargo C is located at cargo entrance I4 and will be transported to cargo exit O4. Cargo D is located at cargo entrance I2 and will be transported to cargo exit O3.

The material handling control system 110 issues handling commands 132A, 132B, 132C, and 132D to goods A, B, C, and D in sequence, and stores the commands in the command queue 132.

The command control module 130 adjusts the order of the multiple transport commands in the command queue 132 based on a plurality of rules. Specifically, when the distance between the location of a specific shipment and the destination is the shortest, the command control module 130 is configured to increase the priority of the transport command corresponding to the first specific shipment in the command queue 132 to the highest priority.

Specifically, taking Figure 2A as an example, no subsequent cargo is expected to enter entrances I2 and I3, and cargo C is located at entrance I4 and its destination is the corresponding cargo exit O4. Therefore, in command queue 132, the priority of transport command 132C corresponding to cargo C is increased to the highest priority, forming a new command sequence 132'.

Subsequently, the command control module 130 sends the first command 132C with the highest priority in the command sequence 132' to the communication module 120, and the communication module 120 sends the first command 132C to the transport arm 146.

The transport arm 146 transports the cargo C corresponding to the first command 132C according to the first command 132C.

In another case, that is, when the cargo handling device 140 has multiple floors, the distance between the location of a specific cargo and the destination location is the shortest when the location of the specific cargo and the destination location are on the same floor. Therefore, the distance that the handling arm moves up and down can be reduced.

Specifically, the method for transporting the first cargo C includes configuring the command control module 130 to execute the following steps.

According to the first command 132C, the location and destination of the cargo C are obtained. In this embodiment, the location is the cargo entrance I4 and the destination is the cargo exit O4.

The transport arm 146 is controlled to move to the location of the cargo C to grab the cargo C at the cargo entrance I4 at the location.

The transport arm 146 that has grabbed the cargo is controlled to move to the destination location to place the cargo C at the cargo outlet O4 of the destination location.

Therefore, when no subsequent cargo is expected to enter other entrances and the existing cargo transfer orders for other entrances do not need to be executed immediately, by raising the transfer orders of cargo whose location and destination are the same as the specific cargo to the highest level, cargo that does not require additional mechanical action can be given priority for transfer, thus saving transfer time.

FIG2B is a schematic diagram illustrating a cargo handling method according to an embodiment of the present invention. FIG2B is similar to FIG2A , except that, in FIG2B , subsequent cargo is expected to enter both inlet I2 and inlet I3. Therefore, in command queue 132 , the priority of handling command 132C corresponding to cargo C is raised to the highest priority, forming a new command queue 132′.

Since subsequent shipments are expected at both entrances I2 and I3, the priorities of shipments A and D are higher than those of shipment B. Since shipment D is moving from entrance I2 to exit O3, and shipment A is moving from entrance I3 to storage area 144, shipment D's transport command 132D has a higher priority than shipment A's transport command 132A. Therefore, the order of the order sequence 132' is 132C, 132D, 132A, and 132B.

Subsequently, the command control module 130 sends the first command 132C with the highest priority in the command sequence 132' to the communication module 120, and the communication module 120 sends the first command 132C to the transport arm 146.

The transport arm 146 transports the cargo C corresponding to the first command 132C according to the first command 132C, and transports other cargoes in sequence.

Therefore, when subsequent cargo is expected to enter other entrances, the overall system's transportation efficiency can be accelerated by increasing the transportation orders for cargo whose location and destination are the same as the specific cargo to the highest level and increasing the transportation orders for the entrances where subsequent cargo is expected to enter.

3 is a schematic diagram of a cargo transport method according to an embodiment of the present invention. The command control module 130 adjusts the order of the multiple transport commands in the command queue 132 according to the following rules.

Please refer to Figure 3. Cargo handling device 140 includes cargo A, B, C, and D. Cargo A is located at cargo entrance I3 and will be transported to cargo exit O3. Cargo B is located at cargo exit O3 and will be transported out of cargo exit O3. Cargo C is located at cargo entrance I4 and will be transported to cargo exit O4. Cargo D is located in storage area 144 and will be transported to cargo exit O2. The transport commands issued by material handling control system 110 are stored in command queue 132, which are, in order: transport command 132A for transporting cargo A, transport command 132B for transporting cargo B, transport command 132C for transporting cargo C, and transport command 132D for transporting cargo D.

Item A's destination is the same as item B's, and A's movement is blocked by B. Therefore, command control module 130 is configured to lower the priority of transport command 132A corresponding to item A in command queue 132 and store it in command sequence 132'. Therefore, in command sequence 132', the transport commands are 132C, 132B, 132A, and 132D, in order.

According to the above rules, when the destination of cargo A is the same as the location of cargo B, the command control module 130 lowers the priority of the cargo A's transport command. After the cargo B's transport command 132B is completed, that is, after the cargo exit O3 is emptied, the command control module 130 executes the cargo A's transport command 132A to ensure smooth cargo transportation.

4 is a schematic diagram of a cargo transport method according to an embodiment of the present invention. The command control module 130 adjusts the order of the multiple transport commands in the command queue 132 according to the following rules.

Please refer to Figure 4. Cargo handling device 140 includes cargo A, B, C, D, and E. Cargo A is located in storage area 144 and will be transported to cargo exit O3. Cargo B is located at cargo entrance I4 and will be transported to cargo exit O4. Cargo C is located at cargo exit O4 and will be transported to cargo entrance I4. Cargo D is located at cargo entrance I3 and will be transported to cargo exit O3. Cargo E is located at cargo exit O3 and will be transported to cargo entrance I3. The transport commands issued by the material handling control system 110 are stored in the command queue 132, in the following order: transport command 132B for item B, transport command 132C for item C, transport command 132D for item D, transport command 132E for item E, and transport command 132A for item A. Since items B, C, D, and E are located at the shortest distances from their destinations, they have a higher priority. However, this also causes item A, which has a lower priority, to remain in the storage area 144 and cannot be moved.

The dwell time of cargo A at its current location (i.e., storage area 144) is greater than the first time. Therefore, command control module 130 is reconfigured to increase the priority of transport command 132A corresponding to cargo A in command queue 132 and store it in command sequence 132'. Therefore, in command sequence 132', the transport commands are 132A, 132B, 132C, 132D, and 132E, in order.

According to the above rule, when the dwell time of cargo A at the location (i.e., storage area 144) is greater than the first time, the command control module 130 increases the priority of the transport command of cargo A to prioritize the transport of cargo A that has been at the location for too long and has no chance to be moved out, thereby ensuring smooth cargo transportation.

5 is a schematic diagram of a cargo transport method according to an embodiment of the present invention. The command control module 130 adjusts the order of the multiple transport commands in the command queue 132 according to the following rules.

Please refer to Figure 5. In this embodiment, the cargo handling device 140 has multiple floors: 2F, 3F, and 4F. Cargo handling device 140 includes cargo A, B, C, D, and E. Cargo A is located at cargo entrance I3 on the 3F and will be transported to storage area 144. Cargo B is located at cargo entrance I4 on the 4F and will be transported to storage area 144. Cargo C is located at cargo entrance I4 on the 4F and will be transported to cargo exit O3 on the 3F. Cargo D is located at cargo entrance I2 on the 2F and will be transported to cargo exit O3 on the 3F. Cargo E is located in storage area 144 and will be transported to cargo exit O4 on the 4F. The transport commands issued by the material transport control system 110 are stored in the command queue 132, which are, in order, transport command 132A for transporting cargo A, transport command 132B for transporting cargo B, transport command 132C for transporting cargo C, transport command 132D for transporting cargo D, and transport command 132E for transporting cargo E.

As shown in FIG5 , the transport arm 146 is located at the cargo entrance I4 on the fourth floor.

Among cargo A, B, C, D, and E, cargo B and C are located on the fourth floor, which is closest to the transport arm 146 (floor 0), which is shorter than the distances of cargo A, D, and E from the transport arm 146 (floor 0, floor 2, and floor 2, respectively). Therefore, the command control module 130 is configured to adjust the priority of the transport commands corresponding to cargo B and C in the command queue 132 to the first priority, and adjust the priority of the transport commands corresponding to cargo A, D, and E in the command queue 132 to the second priority. Since move command 132B precedes move command 132C in command queue 132, move command 132B is prioritized. The remaining move commands are then sorted in the same manner, concatenating them sequentially. In command sequence 132', the move commands are 132B, 132E, 132C, 132A, and 132D, in that order.

According to the above rules, when multiple goods need to enter and exit the tower handling device, by taking the location of the handling arm 146 into consideration, the handling efficiency of the handling arm 146 can be optimized to ensure smooth handling of the goods.

6 is a schematic diagram of a cargo transport method according to an embodiment of the present invention. The command control module 130 adjusts the order of the multiple transport commands in the command queue 132 according to the following rules.

Please refer to Figure 6. Cargo handling device 140 includes cargo A, B, C, D, and E. Cargo A is located in storage area 144, cargo B is located at cargo entrance I3 on the third floor and will be transported to storage area 144, cargo C is located at cargo entrance I4 on the fourth floor, cargo D is located at cargo entrance I3 on the third floor and will be transported to storage area 144, and cargo E is located at cargo entrance I3 on the third floor and will be transported to storage area 144. The transport commands issued by the material transport control system 110 are stored in the command queue 132, which are, in order, transport command 132A for transporting cargo A, transport command 132B for transporting cargo B, transport command 132C for transporting cargo C, transport command 132D for transporting cargo D, and transport command 132E for transporting cargo E.

Among cargo A, B, C, D, and E, cargo B, D, and E are all located on the third floor, and their destinations are all storage room 144. Therefore, command control module 130 is configured to adjust the priority of the transport commands corresponding to cargo B, D, and E in command queue 132 to the highest priority.

According to the above rules, when multiple cargoes need to enter or exit the tower handling device, when multiple handling orders accumulate at a certain cargo entrance, the handling orders of that cargo entrance can be executed first to ensure smooth cargo handling.

7 is a schematic diagram of a cargo transport method according to an embodiment of the present invention. The command control module 130 adjusts the order of the multiple transport commands in the command queue 132 according to the following rules.

Please refer to Figure 7. Cargo handling device 140 includes cargo A, B, C, D, and E. Cargo A is located in storage area 144 and will be transported to cargo exit O3 on the third floor. Cargo B is located at cargo entrance I3 on the third floor. Cargo C is located at cargo entrance I4 on the fourth floor. Cargo D is located in storage area 144 and will be transported to cargo exit O3 on the third floor. Cargo E is also located in storage area 144 and will be transported to cargo exit O3 on the third floor. The transport commands issued by the material transport control system 110 are stored in the command queue 132, which are, in order, transport command 132A for transporting cargo A, transport command 132B for transporting cargo B, transport command 132C for transporting cargo C, transport command 132D for transporting cargo D, and transport command 132E for transporting cargo E.

Among cargo items A, B, C, D, and E, cargo items A, D, and E are all located in storage room 144, and cargo items B, D, and E are all destined for cargo exit O3 on the third floor. Therefore, command control module 130 is configured to adjust the priority of the transport commands corresponding to cargo items A, D, and E in command queue 132 to the highest priority.

According to the above rules, when multiple goods need to enter and exit the tower handling device, when multiple handling orders accumulate for a certain cargo outlet, the handling order for that cargo outlet can be executed first to ensure smooth cargo handling.

In addition to the above handling rules, the cargo handling system also includes the following handling rules.

In some embodiments, the cargo handling system includes multiple cargoes, wherein the multiple cargoes include a first specific cargo, and the cargo outlet of the destination location of the first specific cargo is empty, and the command control module 130 is configured to increase the priority of the handling command corresponding to the first specific cargo in the command queue 132.

In some embodiments, the cargo handling system includes multiple cargoes, wherein the multiple cargoes include multiple specific cargoes, the multiple specific cargoes are located at the same location and have the same destination, and the command control module 130 is configured to increase the priority of all handling commands corresponding to the multiple specific cargoes in the command queue 132 to the highest priority.

In some embodiments, there is no cargo at the cargo outlet of a specific floor among the multiple floors of the cargo handling system, and the command control module 130 is configured to increase the priority of all handling commands whose destination is the specific floor in the command queue 132.

By using the above-mentioned transport rules, the cargo handling system can adjust the priority of transport orders to improve transport efficiency.

When the material handling control system 110 issues a new transport command, the new transport command triggers the command control module 130 to classify the new transport command and adjust its priority. The specific method will be described below.

FIG8 is a flow chart of a cargo handling method according to an embodiment of the present invention. Please refer to FIG8 . Method S100 is a flow chart of a cargo handling method. Specifically, method S100 is applicable when the cargo entrance, cargo exit, and storage area of the handling device 140 are all located on the same floor.

In step S102, the command control module 130 receives a new transport command and analyzes the transport command. Then, based on the analysis result, it executes steps S104, S106, or S108.

If the transport command is to transport specific cargo located at a cargo entrance of the transport device 140 to a cargo exit of the transport device 140 , the process proceeds to step S104 and executes step S114 .

In step S114, command control module 130 determines, based on the status information from the transport system controller, whether another shipment will arrive at the cargo entrance within a first timeframe via the conveyor. If so, the priority of the transport command in command queue 132 is increased. Specifically, the priority of the transport command in command queue 132 is increased by adding a weight S4 to the priority of the transport command to increase its priority. The transport command is then input into command queue 132 of command control module 130. Weight S4 is a positive value.

In this way, when it is known in advance that goods are about to enter the cargo entrance of the specific cargo, the priority of the moving order can be increased to move the specific cargo as soon as possible to vacate the cargo entrance so that new goods can enter the cargo entrance.

In step S114, if the determination result is no, the process proceeds to step S116.

In step S116, command control module 130 determines, based on the status information from the transport system controller, whether the cargo outlet at the destination of the specific cargo is empty. If so, command control module 130 increases the priority of the transport command in command queue 132. Specifically, the priority of the transport command in command queue 132 is increased by adding a weight S5 to the priority of the transport command to increase the priority of the transport command. The transport command is then input into command queue 132 of command control module 130. Weight S5 is a positive value and is less than weight S4.

In step S116, if the result of the determination is negative, a weight S6 is added to the priority of the transport command, and the transport command is input into the command queue 132 of the command control module 130. The weight S6 can be a positive value, zero, or a negative value, and the weight S6 is less than the weight S5.

In this way, if it is known in advance that the cargo outlet that the specific cargo will enter is clear, the priority of the transport order can be increased to move the specific cargo to the cargo outlet as soon as possible to complete the transport task. Conversely, if it is known in advance that the cargo outlet that the specific cargo will enter is not clear, the priority of the transport order can be lowered to postpone the transport of the specific cargo to the cargo outlet.

If the transport command is to transport specific cargo located at a cargo entrance of the transport device 140 to the storage area 144 of the transport device 140, the process proceeds to step S106 and step S118.

In step S118, command control module 130 determines, based on the status information from the transport system controller, whether another shipment will arrive at the cargo entrance within a first timeframe via the conveyor. If so, the priority of the transport command in command queue 132 is increased. Specifically, the priority of the transport command in command queue 132 is increased by adding a weight S1 to the priority of the transport command to increase the priority of the transport command. The transport command is then input into command queue 132 of command control module 130. Weight S1 is a positive value.

In step S114, if the result of the judgment is negative, a weight S2 is added to the priority of the transport command, and the transport command is input into the command queue 132 in the command control module 130. The weight S2 is less than the weight S1.

In this way, when it is known in advance that there is cargo about to enter the cargo entrance of the specific cargo, the priority of the transport order can be increased to move the specific cargo as soon as possible to vacate the cargo entrance so that new cargo can enter the cargo entrance.

If the transport command is to transport specific cargo located in the storage area 144 of the transport device 140 to a cargo outlet of the transport device 140, the process proceeds to step S108.

In step 108, a weight S3 is added to the priority of the transport command, and the transport command is input into the command queue 132 in the command control module 130. The weight S3 can be a positive value, zero, or a negative value.

In step S110, command control module 130, based on status information from the transport system controller, learns that another load will arrive at the cargo entrance within a first timeframe via a conveyor. Therefore, command control module 130 increases the priority of all transport commands corresponding to the load located at the cargo entrance. Specifically, it adds a weight S7 to the priority of each transport command and enters the command queue 132 within command control module 130. Weight S7 is a positive value.

In this way, when it is known in advance that goods are about to enter the cargo entrance of the specific cargo, the priority of the moving order can be increased to move the specific cargo as soon as possible to vacate the cargo entrance so that new goods can enter the cargo entrance.

In step S112, the command control module 130 triggers and executes step 120 when the cargo exit is vacant due to cargo being moved away or when the exit has been vacant for too long.

In step 120, command control module 130 checks whether there is cargo at the cargo entrance. If so, the priority of the transport commands corresponding to all cargo located at the cargo entrance in command queue 132 is increased. Specifically, the priority of the transport commands in command queue 132 is increased by adding a weight S8 to the priority of the transport commands to increase their priority.

In step 120, the command control module 130 checks whether there is cargo at the cargo entrance. If not, step S122 is executed.

In step S122, the queue is checked to see if any transport orders corresponding to the exit are in a "hungry" state. If so, the priority of the "hungry" transport orders corresponding to all cargo items located at the cargo entrance in order queue 132 is increased. Specifically, the priority of these transport orders in order queue 132 is increased by adding a weight S9 to the order order priority to increase the priority of these transport orders.

In step 122, check whether the transport command to the cargo outlet of the transport device 140 is in a hungry state. If not, execute step S124.

In step S124, a check is performed to determine whether there is an excess of cargo to be processed at the cargo exit of the transport device 140. If not, a weight S10 is added to the priority of all transport commands in the command queue 132. If so, a weight S11 is added to the priority of all transport commands in the command queue 132. Weight S11 is greater than S10.

Thus, if too many transfer commands accumulate and are destined for the cargo exit of the transport device 140, a larger weight S11 is assigned to the priority of all transfer commands in the command queue 132 to expedite the transfer of cargo to the cargo exit. Conversely, a smaller weight S10, which may be a negative value, is assigned to the priority of all transfer commands in the command queue 132 to slow down the transfer of cargo to the cargo exit, allowing the transport arm 146 to be assigned to other transfer commands.

After the command control module 130 receives the transport command with adjusted priority, it executes step S128.

In step S128, command control module 130 sorts the transport commands according to the adjusted priorities to form a command sequence 132'. Command control module 130 sends the highest-priority command in command sequence 132' to communication module 120, which then sends the command to the transport arm for transport.

In some cases, if the transport arm 146 of the transport device 140 is about to complete a transport command within the first timeframe, or if the transport arm 146 is in a stationary state, step S126 is initiated. Initiating step S126 allows the control module 130 to continue sending the next command according to the command sequence 132', allowing the transport arm 146 to continue operating via the communication module. If the command control module 130 is computationally busy and unable to issue a new transport command immediately after the transport arm 146 completes a transport command, to prevent the transport arm 146 from pausing its operation, the communication module 120 retrieves the highest-priority transport command from the command queue 132. The communication module 120 sends the transport command to the transport arm 146, which not only ensures that the work of the transport arm 146 is not interrupted, but also allows the command control module 130 more time to issue a new transport command.

FIG9 is a flow chart of a cargo handling method according to an embodiment of the present invention. Please refer to FIG9 . Method S200 is a flow chart of a cargo handling method. Specifically, method S200 is applicable when the handling device 140 has multiple floors.

In step S201, the command control module 130 is triggered by a new transport command and executes step S202.

In step S202, it is checked whether the cargo corresponding to the new transport command is located on the same floor as the transport arm 146. If not, step S204 is executed. If so, step S206 is executed.

In step S204, the command control module 130 determines, based on the status information from the transport system controller, whether another shipment will arrive at the cargo entrance via the conveyor within a first timeframe. If so, the priority of the transport command in the command queue 132 is increased. Specifically, the priority of the transport command in the command queue 132 is increased by adding a weight S12 to the priority of the transport command to increase the priority of the transport command. The transport command is then input into the command queue 132 of the command control module 130. The weight S12 is a positive value.

In this way, when it is known in advance that goods are about to enter the cargo entrance of the specific cargo, the priority of the moving order can be increased to move the specific cargo as soon as possible to vacate the cargo entrance so that new goods can enter the cargo entrance.

In step S204, if the determination result is no, the process proceeds to step S212.

In step S212, the command control module 130 checks whether there are any items to be moved to the adjacent floor. If so, the priority of the move command in the command queue 132 is increased. Specifically, the priority of the move command in the command queue 132 is increased by adding a weight S13 to the priority of the move command to increase the priority of the move command. The move command is then entered into the command queue 132 of the command control module 130. The weight S13 is a positive value.

In this way, when there are goods to be transported to the adjacent floor, the priority of the transport command can be increased so that the robot arm 146 can transport the next goods with the minimum moving distance after transporting the goods to the adjacent floor, thereby improving the transport efficiency of the robot arm 146.

In step S212, if the determination result is no, the process proceeds to step S214.

In step S214, the command control module 130 checks whether there are any cargo items located at other cargo entry points. If so, the priority of the transport commands corresponding to these cargo items in the command queue 132 is increased. Specifically, the priority of these transport commands in the command queue 132 is increased by adding a weight S14 to the priority of these transport commands to increase their priority. These transport commands are then input into the command queue 132 of the command control module 130. The weight S14 is a positive value.

In this way, when there are goods located at other cargo entrances, the priority of the transport commands corresponding to these goods can be increased so that the robot arm 146 can prioritize transporting these goods, thereby improving the transport efficiency of the robot arm 146.

If not, a weight S15 is added to the priority of the transport commands corresponding to the goods in the command queue 132, and the transport commands are input into the command queue 132 in the command control module 130. The weight S15 is less than the weight S14.

In step S206, the command control module 130 determines whether the cargo corresponding to the transport command is to be moved to the storage area 144 based on the transport command. If the determination result is no, that is, the corresponding cargo is located at a cargo entrance or a cargo exit, the module proceeds to step S216. If the determination result is yes, the module proceeds to step S218.

In step S216, the command control module 130 determines, based on the status information from the transport system controller, whether another shipment will arrive at the cargo entrance via the conveyor within a first timeframe. If so, the priority of the transport command in the command queue 132 is increased. Specifically, the priority of the transport command in the command queue 132 is increased by adding a weight S16 to the priority of the transport command to increase the priority of the transport command. The transport command is then input into the command queue 132 of the command control module 130. The weight S16 is a positive value.

If the result of the judgment is negative, the priority of the transport command in the command queue 132 is increased. Specifically, the priority of the transport command in the command queue 132 is increased by adding a weight S17 to the priority of the transport command to increase the priority of the transport command. The transport command is then input into the command queue 132 in the command control module 130. The weight S17 is a positive value and is less than the weight S16.

In this way, when it is known in advance that goods are about to enter the cargo entrance of the specific cargo, the priority of the moving order can be increased to move the specific cargo as soon as possible to vacate the cargo entrance so that new goods can enter the cargo entrance.

In step S218, the command control module 130 determines whether there is already one or more transport commands in the command queue 132 based on the transport command in the command queue. If the determination is negative, and there is only one existing command, the priority of the transport command in the command queue 132 is increased. Specifically, the priority of the transport command in the command queue 132 is increased by adding a weight S18 to the priority of the transport command to increase the priority of the transport command. The transport command is then input into the command queue 132 of the command control module 130. The weight S18 is a positive value or zero.

In step S218, if the determination result is yes, step S220 is executed.

In step S220, after the transport command is completed, it is determined that there is another transport command in the command queue 132 for the same floor as the transport arm 146. This allows the transport arm 146 to directly proceed to the next transport command without having to increase the distance by one floor. If the result of the determination is yes, the priority of the transport command in the command queue 132 is increased. Specifically, the priority of the transport command in the command queue 132 is increased by adding a weight S19 to the priority of the transport command to increase the priority of the transport command. The transport command is then input into the command queue 132 in the command control module 130. The weight S19 is a positive value.

If the result of step S220 is negative, a weight S18 is added to the priority of the transport command to adjust the priority of the transport command, and the transport command is input into the command queue 132 in the command control module 130. The weight S18 is a positive value or zero.

Thereby, the priority of the transport command can be lowered, and the transport arm 146 can prioritize transporting other goods.

In step S208, command control module 130, based on status information from the transport system controller, learns that another load will arrive at the cargo entrance within a first timeframe via the conveyor. Therefore, command control module 130 increases the priority of all transport commands corresponding to the load located at the cargo entrance. Specifically, it adds a weight S20 to the priority of each transport command and enters the command queue 132 within command control module 130. Weight S20 is a positive value.

In this way, when it is known in advance that goods are about to enter the cargo entrance of the specific cargo, the priority of the moving order can be increased to move the specific cargo as soon as possible to vacate the cargo entrance so that new goods can enter the cargo entrance.

In step S210, the command control module 130 is triggered when each cargo exit is vacant due to cargo being moved away or when the exit has been vacant for too long, and step S210 is executed.

In step S210, the command control module 130 increases the priority of the transport commands corresponding to all cargo located at the cargo entrance in the command queue 132. Specifically, the priority of the transport commands in the command queue 132 is increased by adding a weight S21 to the priority of the transport commands to increase the priority of these transport commands.

Specifically, when the cargo exit is empty or has been empty for too long, the weight S21 is positive to accelerate the movement of cargo to the empty cargo exit.

After the command control module 130 receives the transport command with adjusted priority, it executes step S224.

In step S224, command control module 130 sorts the transport commands according to the adjusted priority, forming a command sequence 132'. Command control module 130 sends the highest-priority command in command sequence 132' to communication module 120, which then sends this command to transport controller 142, instructing transport arm 146 to perform the transport.

In some cases, if the transport arm 146 of the transport device 140 is about to complete a transport command within the first timeframe, or if the transport arm 146 is in a stationary state, step S222 is initiated. The control module 130 continues to send the next command according to the command sequence 132', allowing the transport arm 146 to continue operating through the communication module. If the command control module 130 is computationally busy and unable to issue a new transport command immediately after the transport arm 146 completes a transport command, to prevent the transport arm 146 from pausing its operation, the communication module 120 temporarily replaces the control module 130 and retrieves the highest-priority transport command from the command queue 132. The communication module 120 sends the transport command to the transport arm 146 so that the work of the transport arm 146 is not interrupted and the command control module 130 has more time to issue a new transport command.

Regarding step S126 in FIG. 8 and step S222 in FIG. 9 , these steps will be further described below with reference to FIG. 10 .

FIG10 is a flow chart of a cargo handling method according to an embodiment of the present invention. Please refer to FIG10 . The method S300 shown in FIG10 is used to describe the operation process of the handling arm 146.

In step S302, the transport arm 146 executes the transport command according to the transport command sent by the communication module 120.

In step S304, the transport arm 146 transports the goods corresponding to the transport command. The transport arm 146 needs a fixed time to complete the transport task.

In step S306, the transport arm 146 completes the transport command and returns to step S302 to continue executing the new transport command according to the received new transport command.

In step S306, a new transport command is obtained in step S308 between step S304 and step S306.

In step S308 , the communication module 120 sends a new transport command to the transport arm 146 before the transport arm 146 completes the transport command received in step S302 .

The transport commands in step S308 come from two sources. As in step S128 in Figure 8 or step S224 in Figure 9 , command control module 132 sorts the transport commands according to the adjusted priority, forming a command sequence 132'. Command control module 130 sends the highest-priority command in command sequence 132' to communication module 120, which then transmits it to transport arm 146 for transport.

However, in other situations, the command control module 132 may not be able to promptly send the highest-priority command in the command sequence 132' to the communication module 120 due to analyzing the priority of the transport commands. Consequently, after completing a transport command, the transport arm 146 may not receive the next transport command, causing it to become idle, thereby reducing transport efficiency.

Therefore, if the communication module 120 has not received a move command from the command control module 132 before the transfer arm 146 is scheduled to complete a transfer, the communication module 120 retrieves the highest-priority move command from the command queue 132. The communication module 120 then sends this move command to the transfer device controller 142, ensuring that the transfer arm 146 continues to operate without interruption and allowing the command control module 130 more time to issue a new move command.

In summary, the cargo handling device and cargo handling method provided by this disclosure can adjust the priority of cargo handling commands based on the current status of the handling device to improve cargo handling efficiency.

10: Cargo handling system 110: Material handling control system 120: Communication module 130: Command control module 132: Command queue 132': Command sequence 140: Handling device 142: Handling device controller 144: Storage area 146: Handling arm 2F, 3F, 4F: Floors A, B, C: Cargo I2, I3, I4: Cargo entrance O2, O3, O4: Cargo exit S100, S200, S300: Method S102, S104, S106, S108, S110, S112, S114, S116, S118, S120, S122, S124, S202, S204, S206, S208, S210, S212, S214, S216, S218, S220, S222, S224, S226, S228, S302, S304, S306, S308: Steps S1, S2, S3, S4, S5, S6, S7, S8, S9, S10, S11, S12, S13, S14, S15, S16, S17, S18, S19, S20, S21: Weights

FIG1 is a schematic diagram of a cargo handling device according to an embodiment of the present invention. FIG2A is a schematic diagram of a cargo handling method according to an embodiment of the present invention. FIG2B is a schematic diagram of a cargo handling method according to an embodiment of the present invention. FIG3 is a schematic diagram of a cargo handling method according to an embodiment of the present invention. FIG4 is a schematic diagram of a cargo handling method according to an embodiment of the present invention. FIG5 is a schematic diagram of a cargo handling method according to an embodiment of the present invention. FIG6 is a schematic diagram of a cargo handling method according to an embodiment of the present invention. FIG7 is a schematic diagram of a cargo handling method according to an embodiment of the present invention. FIG8 is a flow chart of a cargo handling method according to an embodiment of the present invention. FIG9 is a flow chart of a cargo handling method according to an embodiment of the present invention. FIG10 is a flow chart of a cargo transport method according to an embodiment of the present invention.

10: Cargo handling system

110: Material handling control system

120: Communication module

130: Command Control Module

132: Command queue

140: Transport device

142: Transport device controller

144: Storage Area

A, B, C: Goods

Claims (14)

A cargo handling system includes: a handling device having a handling space, wherein the handling space has multiple cargo entrances, multiple cargo exits, and a storage area; a handling arm disposed in the handling device and used to handle multiple cargoes in the handling device; a material handling control system for issuing multiple handling commands corresponding to the multiple cargoes to the handling device; a communication module for receiving the multiple handling commands issued by the material handling control system and status information of the handling arm; a handling device controller for controlling the handling arm to perform cargo handling according to the multiple handling commands received by the communication module; a command control module having a command queue for receiving the multiple handling commands, the status information of the handling arm, and the status information of the handling arm from the communication module; and status information of the transmission system controller, and stored in the command queue, wherein the command control module is configured to: adjust the priority of each of the multiple transport commands according to the location information and destination location information of the goods corresponding to each of the multiple transport commands, the status information of the transport arm, and the status information of the transmission system controller; sort the multiple transport commands according to the adjusted priority to form a command sequence; the command control module sends the first command with the highest priority in the command sequence to the communication module, and the communication module sends the first command to the transport device controller; the transport device controller activates the transport arm to transport the first goods corresponding to the first command according to the first command. A cargo handling system as described in claim 1, wherein the command control module is configured to: obtain a first location and a first destination location of the first cargo according to the first command; control the handling arm to move to the first location to grab the first cargo located at the first location; and control the handling arm that has grabbed the first cargo to move to the first destination location to place the first cargo at the first destination location. In the cargo handling system of claim 1, when the material handling control system issues a new handling order, the command control module is configured to determine the priority of the new handling order based on the location and destination of the cargo corresponding to the new handling order, and add the new handling order to the command queue. A cargo handling system as described in claim 1, wherein the multiple cargoes include a first specific cargo, and the distance between the location of the first specific cargo and the destination location is the shortest, and the command control module is configured to: increase the priority of the handling command corresponding to the first specific cargo in the command queue to the highest priority. A cargo handling system as described in claim 1, wherein the plurality of cargoes includes a first specific cargo, and the floor where the first specific cargo is located is the same as the floor where the destination location is located, and the command control module is configured to: increase the priority of the handling command corresponding to the first specific cargo in the command queue to the highest priority. A cargo handling system as described in claim 1, wherein the multiple cargoes include a first specific cargo and a second specific cargo, and the destination location of the first specific cargo is the same as the location of the second specific cargo, and the command control module is configured to: lower the priority of the handling command corresponding to the first specific cargo in the command queue. A cargo handling system as described in claim 1, wherein the multiple cargoes include a first specific cargo, and the first specific cargo stays at the location for a time greater than a first time, and the command control module is configured to: increase the priority of the handling command corresponding to the first specific cargo in the command queue. A cargo handling system as described in claim 1, wherein the multiple cargoes include a first specific cargo and a second specific cargo, and a first distance between the floor where the first specific cargo is located and the floor where the handling arm is located is less than a second distance between the floor where the second specific cargo is located and the floor where the handling arm is located, and the command control module is configured to: adjust the priority of the handling command corresponding to the first specific cargo in the command queue to a first priority, and adjust the priority of the handling command corresponding to the second specific cargo in the command queue to a second priority, wherein the first priority is higher than the second priority. A cargo handling system as described in claim 1, wherein the multiple cargoes include multiple specific cargoes, and the locations of the multiple specific cargoes are the same and the destination locations of the multiple specific cargoes are the same, and the command control module is configured to: increase the priority of all handling commands corresponding to the multiple specific cargoes in the command queue to the highest priority. A cargo handling system as described in claim 1, wherein the multiple cargoes include a first specific cargo and a second specific cargo, and the second specific cargo will arrive at the location of the first specific cargo within a first time via a conveying device, and the command control module is configured to: increase the priority of the handling command corresponding to the first specific cargo in the command queue. A cargo handling system as described in claim 1, wherein the multiple cargoes include a first specific cargo, and there is no cargo at the destination location of the first specific cargo, and the command control module is configured to: increase the priority of the handling command corresponding to the first specific cargo in the command queue. A cargo handling system as described in claim 1, wherein the handling orders corresponding to the cargo outlet of a specific floor among the multiple floors are in a hungry state, and the command control module is configured to: increase the priority of the handling order with the destination being the specific floor in the command queue among all the handling orders. A cargo handling system as described in claim 1, wherein the handling arm is about to complete the handling command within the first time, and the command control module does not send a new handling command to the communication module, and the communication module is configured to: obtain the handling command with the highest priority among all the handling commands from the command queue, and the communication module sends the handling command to the handling device controller. A cargo handling method for operating a cargo handling system to transport multiple cargoes between multiple floors includes: adjusting the priority of each of the multiple handling commands in a command queue of the cargo handling system based on location information and destination information of the cargo corresponding to each of the multiple handling commands, status information of a handling arm of the cargo handling system, and status information of a transmission system controller; sorting the multiple handling commands according to the adjusted priorities to form a command sequence; sending a first command with the highest priority in the command sequence to the handling arm; and causing the handling arm to transport a first cargo corresponding to the first command according to the first command.