CONTROL APPARATUS AND LOGISTICS SYSTEM INCLUDING THE SAME

A control apparatus for automating teaching between a gas cylinder transport apparatus and a gas cylinder storage apparatus and a logistics system including the control apparatus are provided. The logistics system includes: a gas cylinder transport apparatus transferring gas cylinders containing process gases; a gas cylinder storage apparatus storing the gas cylinders; and a control apparatus controlling the gas cylinder transport apparatus and the gas cylinder storage apparatus, wherein the control apparatus performs auto-teaching for operations between the gas cylinder transport apparatus and the gas cylinder storage apparatus.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims priority from Korean Patent Application No. 10-2022-0141727 filed on Oct. 28, 2022 in the Korean Intellectual Property Office, and all the benefits accruing therefrom under 35 U.S.C. 119, the contents of which in its entirety are herein incorporated by reference.

BACKGROUND

The present disclosure relates to a control apparatus and a logistics system including the same, and more particularly, to a control apparatus used in a system for storing, transporting, and supplying gases for use in semiconductor manufacturing processes, and a logistics system including the same.

2. Description of the Related Art

Semiconductor devices can be formed on silicon wafers, which are used as semiconductor substrates, through a series of manufacturing processes. These semiconductor devices can be individualized through a dicing process and manufactured into semiconductor packages through die bonding and packaging processes.

Various types of process gases can be supplied for the manufacture of semiconductor devices. These process gases are stored in cylinder-shaped storage containers and can be supplied to each process equipment. The gas cylinders are stored and managed in separate storage units.

However, due to insufficient automation, the manual handling of gas cylinders for transportation and storage purposes is currently prevalent. Since this manual handling poses a risk of accidents, appropriate measures are needed to address this and other issues.

SUMMARY

Aspects of the present disclosure provide a control apparatus for automating teaching between a gas cylinder transport apparatus and a gas cylinder storage apparatus, and a logistics system including the control apparatus.

According to an aspect of the present disclosure, a logistics system includes: a gas cylinder transport apparatus transferring gas cylinders containing process gases; a gas cylinder storage apparatus storing the gas cylinders; and a control apparatus controlling the gas cylinder transport apparatus and the gas cylinder storage apparatus, wherein the control apparatus performs auto-teaching for operations between the gas cylinder transport apparatus and the gas cylinder storage apparatus.

According to another aspect of the present disclosure, a logistics system includes: a gas cylinder transport apparatus transferring gas cylinders containing process gases, the gas cylinder transport apparatus including a distance measuring sensor; a gas cylinder storage apparatus storing the gas cylinders, the gas cylinder storage apparatus including a plurality of ports, which provide storage spaces for the gas cylinders, and support blocks, which are installed in each of the ports and in which each of the gas cylinders is placed; and a control apparatus controlling the gas cylinder transport apparatus and the gas cylinder storage apparatus, wherein the control apparatus performs auto-teaching for operations between the gas cylinder transport apparatus and the gas cylinder storage apparatus in an order of the entry into a teaching mode, port teaching, and the release from the teaching mode, the port teaching includes calculating a position of the support blocks based on identification information installed on the support blocks and storing the calculated position as a loading/unloading position for each of the gas cylinders, the control apparatus calculates the position of the support blocks based on a distance between the gas cylinder transport apparatus and the support blocks, measured by the distance measuring sensor, the gas cylinder transport apparatus and the gas cylinder storage apparatus include a plurality of parallel input/output (PIO) sensors, which communicate with one another, and the PIO sensors allow the ports to enter the teaching mode, and open or close doors installed in the ports.

According to another aspect of the present disclosure, a control apparatus controls a gas cylinder transport apparatus, which transfers gas cylinders containing process gases, and a gas cylinder storage apparatus, which stores the gas cylinders, wherein the control apparatus performs auto-teaching for operations between the gas cylinder transport apparatus and the gas cylinder storage apparatus in an order of the entry into a teaching mode, port teaching, and the release from the teaching mode, and loading/unloading of the gas cylinders is performed after the auto-teaching.

It should be noted that the effects of the present disclosure are not limited to those described above, and other effects of the present disclosure will be apparent from the following description.

DETAILED DESCRIPTION

Embodiments of the present disclosure will be described with reference to the attached drawings. The same reference numerals are used for the same components in the drawings, and redundant descriptions for these components will be omitted.

The present disclosure relates to a control apparatus, which automates a teaching process between a gas cylinder transport apparatus and a gas cylinder storage apparatus, and a logistics system including the control apparatus. Further detailed explanations of the present disclosure will be given below with reference to the drawings.

First, the logistics system will hereinafter be described.FIG.1is a schematic view illustrating the internal configuration of a logistics system for the transportation and storage of a gas cylinder.

Referring toFIG.1, a logistics system100may be configured to include a gas cylinder transport apparatus110, a gas cylinder storage apparatus120, a gas cylinder130, and a control apparatus140.

The gas cylinder transport apparatus110is designed for the transportation of the gas cylinder130, which is used for supplying process gases in the manufacture of semiconductor devices or display devices. The gas cylinder transport apparatus110may be implemented as a mobile robot, for example, a mobile robot.

The gas cylinder transport apparatus110may include a transport vehicle210, which is for transporting the gas cylinder130, and a transport robot220, which is placed on an upper part of the transport vehicle210. The transport robot220may include a robot hand222to support the bottom surface of the gas cylinder130, a hand driving unit224, which is for moving the robot hand222horizontally and vertically, and a first gripper unit226, which is for gripping side portions of the gas cylinder130supported on the robot hand222.

FIGS.2and3are a side view and a plan view, respectively, of a gas cylinder transport apparatus that constitutes the logistics system.

Referring toFIGS.2and3, the robot hand222may include a support member231, which extends in a front-to-rear direction (e.g., an X-axis direction) of the transport vehicle210to support the bottom surface of the gas cylinder130, and a hand bracket232, which extends vertically from a rear portion of the support member231. A plurality of support pads233, which are for supporting the gas cylinder130, may be arranged on a front portion and the rear portion of the support member231.

The hand driving unit224may move the robot hand222horizontally and vertically to pick up the gas cylinder130. The hand driving unit224may include a first horizontal driving unit24, which is for moving the robot hand222in the front-to-rear direction of the transport vehicle210, a second horizontal driving unit243, which is for moving the robot hand222in a left-to-right direction (e.g., a Y-axis direction) of the transport vehicle210, and a vertical driving unit245, which is for moving the robot hand222in the vertical direction, i.e., a Z-axis direction.

For example, the first horizontal driving unit241may include a first actuator242, which is mounted on the transport vehicle210for longitudinal movement in the front-to-rear direction, and the second horizontal driving unit243may include a second actuator244, which is mounted on the first actuator242for side-to-side movement in the left-to-right direction. Additionally, the vertical driving unit245may include a vertical actuator246, which is mounted on the second actuator244for vertical movement.

The hand driving unit224may include a tilt driving unit247, which adjusts the inclination of the robot hand222to tilt an upper part of the gas cylinder130rearward after the gas cylinder130is supported on the robot hand222.

The tilt driving unit247may prevent the gas cylinder130from being detached from the robot hand222by adjusting the inclination of the robot hand222to tilt the upper part of the gas cylinder130rearward during the transportation of the gas cylinder130.

In one example, the hand bracket232of the robot hand222may be mounted on a vertical driving unit245to rotate about an axis, and the tilt driving unit247may include a link member248, which is connected to the hand bracket232, and may be mounted on the vertical driving unit245to move the link member248in the vertical direction. However, the configuration of the tilt driving unit247is not particularly limited, but may vary. In another example, the tilt driving unit247may use a pneumatic cylinder to adjust the inclination of the robot hand222.

The first gripper unit226may grip both the side portions of the gas cylinder130during the transportation of the gas cylinder130to prevent the gas cylinder130from falling. The first gripper unit226may be mounted on the hand bracket232.

The first gripper unit226may include a pair of first gripper members251, which are for gripping both side portions of the gas cylinder130, and a first gripper driving unit252, which is for operating the first gripper members251. The first gripper members251may be arranged to face each other and may be moved closer to each other and farther away from each other by the first gripper driving unit252. Although not illustrated inFIGS.2and3, the first gripper driving unit252may include multiple rack gears, which are connected to the first gripper members251, and a pinion gear, which engages between the multiple rack gears.

Referring back toFIG.1, the gas cylinder storage apparatus120is designed for storing the gas cylinder130, which is used for supplying process gases in the manufacture of semiconductor devices or display devices. The gas cylinder storage apparatus120may be provided, for example, as a storage queue. Moreover, as mentioned above, the process gases may be used to treat substrates used in the manufacture of semiconductor devices or display devices.

FIGS.4and5are a front view and a side view, respectively, of a gas cylinder storage apparatus that constitutes the logistics system.

Referring toFIGS.4and5, the gas cylinder storage apparatus120may include a storage chamber310, which is equipped with an internal space for storing gas cylinders130, a plurality of stages320, which are placed within the storage chamber310to support the gas cylinders130, and a plurality of second gripper units330, which are positioned within the storage chamber310to secure the gas cylinders130.

The interior of the storage chamber310may be sealed from the outside. A plurality of doors340may be provided on a front portion of the storage chamber310to open and close the internal space of the storage chamber310. Although not illustrated inFIGS.4and5, when the gas cylinder transport apparatus110approaches the doors340for storing or retrieving the gas cylinders130, one of the doors340may be opened by a door driving unit.

The second gripper unit330may include second gripper members331, which are for gripping the side portions of each of the gas cylinders130and a second gripper driving unit332, which is for operating the second gripper members331.

Each of the gas cylinders130may be equipped with an information tag131, in which historical information of the corresponding gas cylinder is stored. For example, the information tag131may store a series of information, such as material code representing the gas material stored in the corresponding gas cylinder, manufacturing number information, purity of the filled gas, manufacturing date information, expiration date information, and other relevant information. Within the storage chamber310, an information acquisition unit350may be provided to obtain the historical information from the information tags131on the gas cylinders130.

For example, barcode-form information tags131may be attached to the gas cylinders130, and a barcode reader may be provided as the information acquisition unit350within the storage chamber310to read barcode information. Alternatively, in another example, QR code-form information tags131may be attached to the gas cylinders130, and a QR code reader may be provided as the information acquisition unit350within the storage chamber310to read QR code information.

The gas cylinder storage apparatus120may include a third horizontal driving unit360, which allows the information acquisition unit350to move horizontally and be adjacent to each of the information tags131on the gas cylinders130. For example, the information tags131may be attached to the upper surfaces of the gas cylinders130, and the information acquisition unit350may be horizontally moved from the top of each of the gas cylinder130by the third horizontal driving unit360.

To prevent gas leakage from the gas cylinders130, a constant temperature may preferably be maintained within the storage chamber310. For this purpose, the gas cylinder storage apparatus120may include a temperature control unit370, which keeps the interior of the storage chamber310at a predetermined temperature. Although not illustrated inFIGS.4and5, the temperature control unit370may include a temperature sensor to measure the internal temperature of the storage chamber310and a heating or cooling device to regulate the internal temperature of the storage chamber310.

The gas cylinder storage apparatus120may include a pressure control unit380to maintain the pressure inside the storage chamber310at a predetermined level. The pressure control unit380may keep the internal pressure of the storage chamber310lower than the external pressure to prevent gas leakage. For example, the pressure control unit380may provide a negative pressure inside the storage chamber310, which is lower than atmospheric pressure.

For example, a fan filter unit may be placed on the top of the storage chamber310, and any gas leakage from the gas cylinders130may be removed by the fan filter unit. The fan filter unit may be connected to a gas scrubber or a similar device for gas purification. Alternatively, in another example, the storage chamber310may be connected to a vacuum supply system, such as a vacuum pump or vacuum ejector, and the air and gas discharged by a vacuum supply system may be purified through the gas scrubber before being released outside.

To detect gas leakage, a gas sensor390may be installed inside the storage chamber310. The gas cylinder storage apparatus120may determine the presence of gas leakage based on the output signal of the gas sensor390. If gas leakage is detected from the gas cylinders130, the gas cylinder storage apparatus120may generate an alarm signal to alert a user.

FIGS.6and7are an enlarged partial plan view and an enlarged partial side view, respectively, of a support member of a robot hand of the gas cylinder transport apparatus and a stage of the gas cylinder storage apparatus.

Referring toFIGS.6and7, the support member231may extend in the front-to-rear direction (or longitudinal direction) of the transport vehicle210. A stage320may include multiple support blocks to support the side portions of the bottom surface of a gas cylinder130. For example, when loading the gas cylinder130onto the stage320, the support member231may move forward between two different support blocks321aand321bby the first horizontal driving unit241. Then, the gas cylinder130may be lowered onto the support blocks321aand321bby the vertical driving unit245.

Conversely, when unloading the gas cylinder130from the stage320, the support member231may move forward between the two different support blocks321aand321bby the first horizontal driving unit241. Then, the gas cylinder130may be lifted from the support blocks321aand321bby the vertical driving unit245.

Front portions of the support blocks321aand321bthat face the support member231of the robot hand222may have alignment marks for alignment with the support member231of the robot hand222and the support blocks321aand321bof the stage320. For example, QR codes322aand322bcontaining information on the stage320may be attached to the front portions of the support blocks321aand321b.The QR codes322aand322bmay serve as alignment marks for alignment between the support member231and the support blocks321aand321b,and a distance measuring sensor260may be used as a QR code reader to read the QR codes322aand322b.

The distance measuring sensor260may measure the distance between the QR codes322aand322b.The distance and angle from the current position of the robot hand222to the support blocks321aand321bmay be calculated based on measurements from the distance measuring sensor260. The distance measuring sensor260may be, for example, a laser distance sensor (LDS) for distance measurement.

Alternatively, the distance measuring sensor260may be a sensor including a camera module. In this case, the distance measuring sensor260may acquire images containing the QR codes322aand322b.The gas cylinder transport apparatus110may detect the position coordinates of the QR codes322aand322bfrom the images obtained by the distance measuring sensor260and control the operation of the second horizontal driving unit243to place the support member231of the robot hand222between the support blocks321aand321b.The distance measuring sensor260may be, for example, a vision sensor specifically designed for QR code detection.

On the other hand, the gas cylinder transport apparatus110may include a camera module in addition to the distance measuring sensor260, which is configured as an LDS for distance measurement. The camera module may be arranged parallel to the distance measuring sensor260in the left-to-right direction (or the Y-axis direction) and/or parallel to the distance measuring sensor260in the vertical direction (or the Z-axis direction). In this case, the camera module, like the distance measuring sensor260, may be mounted on a front portion of the support member231.

Referring again toFIG.1, the control apparatus140controls the operation of the gas cylinder transport apparatus110and the gas cylinder storage apparatus120. Specifically, the control apparatus140may be provided in the logistics system100to automate a teaching process between the gas cylinder transport apparatus110and the gas cylinder storage apparatus120.

Conventionally, the teaching process between the gas cylinder transport apparatus110and the gas cylinder storage apparatus120is manually conducted, requiring multiple operators to handle each of the gas cylinder transport apparatus110and the gas cylinder storage apparatus120, resulting in inconvenience due to excessive work time and manpower.

Conversely, according to the embodiment ofFIG.1, the control apparatus140may automate the teaching process between the gas cylinder transport apparatus110and the gas cylinder storage apparatus120. Specifically, parallel input/output (PIO) sensors may be installed in the gas cylinder transport apparatus110and the gas cylinder storage apparatus120to enable the automation of the teaching process between the gas cylinder transport apparatus110and the gas cylinder storage apparatus120, and the teaching process for the storage location of the gas cylinders130in the gas cylinder storage apparatus120may be automated. The teaching process between the gas cylinder transport apparatus110and the gas cylinder storage apparatus120may involve entering teaching mode, performing a teaching process, and exiting the teaching mode.

FIG.8is a flowchart illustrating an auto-teaching method between the gas cylinder transport apparatus and the gas cylinder storage apparatus. Specifically,FIG.8illustrates a teaching process for the storage location of the gas cylinders130.

Referring toFIGS.1and8, the gas cylinder transport apparatus110and the gas cylinder storage apparatus120remain in a standby state before entering the teaching mode (S410). As mentioned earlier, the teaching mode may involve teaching the coordinates of the loading/unloading positions for the gas cylinders130, but the present disclosure is not limited thereto. That is, an auto-teaching process between the gas cylinder transport apparatus110and the gas cylinder storage apparatus120may encompass nearly all processes related to the transportation and storage of the gas cylinders130until their completion.

The gas cylinder storage apparatus120may store multiple gas cylinders. In this case, the gas cylinders130may be stored in separate ports, and the ports may be opened and closed through separate doors. The gas cylinder storage apparatus120will hereinafter be described as being divided into four ports and having four doors for opening and closing the four ports. However, it should be noted that the structure of the gas cylinder storage apparatus120is not particularly limited.

As mentioned earlier, the gas cylinder transport apparatus110may be provided as a storage queue (“SQ”), and the gas cylinder storage apparatus120may be designed as a mobile robot (“MR”). Furthermore, as mentioned earlier, the auto-teaching process between the gas cylinder transport apparatus110and the gas cylinder storage apparatus120may be automated using PIO sensors. The gas cylinder transport apparatus110, which operates actively, and the gas cylinder storage apparatus120, which operates passively, will hereinafter be referred to as “PIO(A)” and “PIO(P)”, respectively, where “A” stands for “active” and “P” stands for “passive.”

As an example, the gas cylinder storage apparatus120may have eight input/output (IO) sensors, i.e., first through eighth IO sensors #1 IO through #8 IO. The first through eighth IO sensors #1 IO through #8 IO of the gas cylinder storage apparatus120may be defined as a second sensor group.

The first through eighth IO sensors #1 IO through #8 IO of the second sensor group may be used to control four ports, i.e., first through fourth ports. Specifically, the first through eighth IO sensors #1 IO through #8 IO of the second sensor group may be utilized to enter the teaching mode for the four ports and to open and close the doors installed in the four ports.

For example, the first IO sensor #1 IO of the second sensor group may be used to enter the teaching mode for the first port, and the fifth IO sensor #5 IO of the second sensor group may be used to open and close the door installed in the first port. Similarly, for example, the second IO sensor #2 IO of the second sensor group may be used to enter the teaching mode for the second port, and the sixth IO sensor #6 IO of the second sensor group may be used to open and close the door installed in the second port. Likewise, for example, the third IO sensor #3 IO of the second sensor group may be used to enter the teaching mode for the third port, and the seventh IO sensor #7 IO of the second sensor group may be used to open and close the door installed in the third port. Additionally, for example, the fourth IO sensor #4 IO of the second sensor group may be used to enter the teaching mode for the fourth port, and the eighth IO sensor #8 IO of the second sensor group may be used to open and close the door installed in the fourth port.

However, the present disclosure is not limited to this. Alternatively, the gas cylinder storage apparatus120may also have only one IO sensor that independently controls all the ports.

The gas cylinder transport apparatus110, like the gas cylinder storage apparatus120, may have eight IO sensors, i.e., first through eighth IO sensors #1 IO through #8 IO. The first through eighth IO sensors #1 IO through #8 IO of the gas cylinder transport apparatus110may be defined as a first sensor group. The first through eighth IO sensors #1 IO through #8 IO of the first sensor group may be linked with the first through eighth IO sensors #1 IO through #8 IO, respectively, of the second sensor group.

The first through eighth IO sensors #1 IO through #8 IO of the gas cylinder transport apparatus110may communicate with the first through eighth IO sensors #1 IO through #8 IO, respectively, of the gas cylinder storage apparatus120. In this case, if first through eighth IO sensors #1 IO through #8 IO of the gas cylinder transport apparatus110function as input sensors, the first through eighth IO sensors #1 IO through #8 IO of the gas cylinder storage apparatus120may function as output sensors, and vice versa.

The first through eighth IO sensors #1 IO through #8 IO of the gas cylinder transport apparatus110may control the ports of the gas cylinder storage apparatus120through first through eighth IO sensors #1 IO through #8 IO, respectively, of the gas cylinder storage apparatus120, but the present disclosure is not limited thereto. Alternatively, the gas cylinder transport apparatus110may have only one IO sensor that can communicate with all the IO sensors installed in the gas cylinder storage apparatus120.

As mentioned earlier, the gas cylinder transport apparatus110and the gas cylinder storage apparatus120remain in a standby state before entering the teaching mode S410. Referring toFIG.9, in the standby state, the first through eighth IO sensors #1 IO through #8 IO of the gas cylinder transport apparatus110are off (“OFF”), and the first through eighth IO sensors #1 IO through #8 IO of the gas cylinder storage apparatus120are also off (“OFF”).FIG.9is an exemplary table explaining steps of the auto-teaching method between the gas cylinder transport apparatus110and the gas cylinder storage apparatus120.

Thereafter, the gas cylinder transport apparatus110and the gas cylinder storage apparatus120sequentially enter the teaching mode under the control of the control apparatus140(S420). The gas cylinder transport apparatus110may enter the teaching mode first, followed by the gas cylinder storage apparatus120, but the present disclosure is not limited thereto. Alternatively, the gas cylinder storage apparatus120may enter the teaching mode first, followed by the gas cylinder transport apparatus110. Yet alternatively, both the gas cylinder transport apparatus110and the gas cylinder storage apparatus120may enter the teaching mode simultaneously.

FIG.10shows a case where the gas cylinder transport apparatus110and the gas cylinder storage apparatus120enter the teaching mode. Referring toFIG.10, when the first through eighth IO sensors #1 IO through #8 IO of the first sensor group are changed from “OFF” to “ON” under the control of the control apparatus140, the gas cylinder transport apparatus110may enter the teaching mode. Similarly, when the first through fourth IO sensors #1 IO through #4 IO of the second sensor group are changed from “OFF” to “ON,” the gas cylinder storage apparatus120may also enter the teaching mode.FIG.10is another exemplary table explaining the steps of the auto-teaching method between the gas cylinder transport apparatus110and the gas cylinder storage apparatus120.

Once both the gas cylinder transport apparatus110and the gas cylinder storage apparatus120have entered the teaching mode (S420), the gas cylinder transport apparatus110may sequentially approach each of the first, second, third, and fourth ports to teach the storage location of the gas cylinders130(S430).

When the gas cylinder transport apparatus110approaches any one of the first through fourth ports (S430), the gas cylinder storage apparatus120opens the door of the corresponding port under the control of the control apparatus140. In this case, the doors of the adjacent ports may be closed (S440).

For example, referring toFIG.11, if the gas cylinder transport apparatus110approaches the first port, the control apparatus140may change the operation state of the fifth IO sensor #5 IO of the gas cylinder storage apparatus120from “OFF” to “ON,” while the sixth IO sensor #6 IO of the gas cylinder storage apparatus120may remain “OFF”. The gas cylinder storage apparatus120may open the target door of the first port and close the door of the adjacent port (i.e., the second port).FIG.11is another exemplary table explaining the steps of the auto-teaching method between the gas cylinder transport apparatus110and the gas cylinder storage apparatus120.

In the embodiment ofFIG.8, for auto-teaching, a single gas cylinder transport apparatus may sequentially approach each port, but alternatively, multiple gas cylinder transport apparatuses may be provided to simultaneously approach multiple ports.

For example, referring toFIG.12, if one gas cylinder transport apparatus110approaches the first port and another gas cylinder transport apparatus110approaches the fourth port, the control apparatus140may change the operation state of the fifth and eighth IO sensors #5 IO and #8 IO of the gas cylinder storage apparatus120from “OFF” to “ON,” while the sixth and seventh IO sensors #6 IO and #7 IO of the gas cylinder storage apparatus120may remain “OFF.” The gas cylinder storage apparatus120may open the target door of the first port and close the adjacent door of the second port. Additionally, the gas cylinder storage apparatus120may also open the target door of the fourth port and close the adjacent door of the third port.FIG.12is another exemplary table explaining the steps of the auto-teaching method between the gas cylinder transport apparatus110and the gas cylinder storage apparatus120.

The doors installed in the respective ports of the gas cylinder storage apparatus120may be sliding doors. Therefore, when the door of a particular port opens, the control apparatus140may prevent the adjacent port's door from opening. Alternatively, the doors installed in the respective ports of the gas cylinder storage apparatus120may be hinged doors, in which case, the control apparatus140may also prevent the adjacent port's door from opening when the door of the particular port opens. However, the present disclosure is not limited to these examples. If the doors installed in the respective ports of the gas cylinder storage apparatus120are hinged doors, the control apparatus140may allow the adjacent port's door to open even when the door of the particular port opens.

When the gas cylinder transport apparatus110approaches a particular port of the gas cylinder storage apparatus120(S430) and the door of the particular port opens (S440), the control apparatus140utilizes the gas cylinder transport apparatus110and the gas cylinder storage apparatus120to perform port teaching (S450). Here, port teaching refers to a process of teaching the storage location of the gas cylinders130. Port teaching will hereinafter be described.

FIG.13is a flowchart illustrating a port teaching method between the gas cylinder transport apparatus110and the gas cylinder storage apparatus120that constitutes the logistics system100.

Two support blocks321aand321b,in which a gas cylinder130is placed, may be provided in parallel on either side of each port, and QR codes322aand322bmay be installed on the support blocks321aand321b,respectively to provide identification information. The distance measuring sensor260may measure the distance to one of the QR codes322aand322bfirst and then measure the distance to the other QR code.

For convenience, the support block arranged on one side of each port may be defined as a first support block321a,and the support block arranged on the other side of each port may be defined as a second support block321b.Additionally, the QR code installed on the first support block321amay be defined as a first QR code322a,and the QR code installed on the second support block321bmay be defined as a second QR code322b.

First, the distance measuring sensor260of the gas cylinder transport apparatus110measures the distance to a first QR code322ainstalled on a first support block321aof a particular port in the gas cylinder storage apparatus120(S610). Thereafter, the distance measuring sensor260measures the distance to a second QR code322binstalled on a second support block321bof the same particular port (S620).

Alternatively, As mentioned earlier, the distance measuring sensor260may measure the distance to the second QR code322bfirst and then measure the distance to the first QR code322a.

Thereafter, the control apparatus140calculates the position coordinates of the first QR code322abased on the current position of the gas cylinder transport apparatus110and the distance between the gas cylinder transport apparatus110and the first QR code322a(S630). Similarly, the control apparatus140calculates the position coordinates of the second QR code322bbased on the current position of the gas cylinder transport apparatus110and the distance between the gas cylinder transport apparatus110and the second QR code322b(S640).

Thereafter, the control apparatus140combines the position coordinates of the first QR code322aand the second QR code322bto store the combined position coordinates as teaching values (S650). The teaching values stored by the control apparatus140may be used as loading/unloading points for the gas cylinders130.

S450ofFIG.8may be performed for all the ports provided in the gas cylinder storage apparatus120. For example, if the gas cylinder storage apparatus120has four ports, i.e., the first through fourth ports, the gas cylinder transport apparatus110may sequentially approach the first through fourth ports in the gas cylinder storage apparatus120and perform port teaching under the control of the control apparatus140(S450).

S450ofFIG.8may not necessarily target all the ports in the gas cylinder storage apparatus120, but may target only some of the ports. For example, if there are ports, among the four ports, that have not yet undergone port teaching, the gas cylinder transport apparatus110may approach the corresponding ports and perform port teaching on the corresponding ports (S450).

Alternatively, if there are ports, among the four ports, where the loading/unloading of the gas cylinders130has not been properly completed, the gas cylinder transport apparatus110may perform port teaching on the corresponding ports (S450).

Referring back toFIG.8, once port teaching is complete (S450), the gas cylinder storage apparatus120closes the door of the particular port, which has undergone the port teaching, under the control of the control apparatus140(S460). In this case, the gas cylinder transport apparatus110requests the gas cylinder storage apparatus120to close the door of the particular port so that the door of the particular port can be closed.

Thereafter, the gas cylinder transport apparatus110and the gas cylinder storage apparatus120are released from the teaching mode under the control of the control apparatus140(S470). In this case, the control apparatus140may turn off all the IO sensors that are “ON” to release both the gas cylinder transport apparatus110and the gas cylinder storage apparatus120from the teaching mode.

In S470, one of the gas cylinder transport apparatus110and the gas cylinder storage apparatus120may be released from the teaching mode first, followed by the other apparatus. Alternatively, both the gas cylinder transport apparatus110and the gas cylinder storage apparatus120may be released from the teaching mode simultaneously.

For example, referring toFIG.14, if the gas cylinder transport apparatus110is released from the teaching mode first, the control apparatus140may turn off the IO sensors of the gas cylinder transport apparatus110that are “ON,” i.e., the first through eighth IO sensors #1 IO through #8 IO of the gas cylinder transport apparatus110.FIG.14is another exemplary table explaining the steps of the auto-teaching method between the gas cylinder transport apparatus110and the gas cylinder storage apparatus120.

Similarly, referring toFIG.15, if the gas cylinder storage apparatus120is released from the teaching mode first, the control apparatus140may turn off the IO sensors of the gas cylinder storage apparatus120that are “ON,” i.e., the first through fifth IO sensors #1 IO through #5 IO of the gas cylinder storage apparatus120.FIG.15is another exemplary table explaining the steps of the auto-teaching method between the gas cylinder transport apparatus110and the gas cylinder storage apparatus120.

Considering its mobility, the gas cylinder transport apparatus110may be powered by portable power (e.g., a battery), while the gas cylinder storage apparatus120may be powered by commercial power. In this case, for an efficient power management, the gas cylinder transport apparatus110may be released from the teaching mode before the gas cylinder storage apparatus120and may enter the teaching mode later than the gas cylinder storage apparatus120.

The logistics system100, which includes a mobile robot MR (or the gas cylinder transport apparatus110) and a storage queue SQ (or the gas cylinder storage apparatus120), and the auto-teaching method between the gas cylinder transport apparatus110and the gas cylinder storage apparatus120have been described.

In the teaching mode, the mobile robot MR uses a vision sensor or an LDS sensor to measure the QR labels on both sides of a target port's lower plate in the storage queue SQ. The mobile robot MR determines/calibrates the loading/unloading point's position in the target port based on the mobile robot MR's stationary position, acquires distance and angle information and calculates teaching coordinates based on the result of the determination/calibration, and stores teaching values. The loading/unloading of the gas cylinders130may be conducted based on the coordinates taught in loading/unloading mode.

During loading/unloading, the storage queue SQ may report the storage status of the gas cylinder130in each port to a higher-level master control system (MCS), a loading/unloading command for a target gas cylinder may be sent from the higher-level to the mobile robot MS and the storage queue SQ.

Conventionally, there is no auto-teaching feature between the mobile robot MS and the storage queue SQ. The present disclosure provides automating the entry into the teaching mode, teaching, and the release from the teaching mode between the mobile robot MS and the storage queue SQ, which are both equipped with an auto-teaching function. The present disclosure also provides an auto-teaching method using PIO sensors and methods of measuring and calibrating coordinates/tilts using vision sensors and LDS sensors.

According to the present disclosure, the transportation and storage of the gas cylinders130can be automated by the gas cylinder transport apparatus110and the gas cylinder storage apparatus120, which are both equipped with the auto-teaching function. Consequently, accidents that may occur during the transportation and storage of the gas cylinders130can be significantly reduced.

Embodiments of the present disclosure have been described above with reference to the accompanying drawings, but the present disclosure is not limited thereto and may be implemented in various different forms. It will be understood that the present disclosure can be implemented in other specific forms without changing the technical spirit or gist of the present disclosure. Therefore, it should be understood that the embodiments set forth herein are illustrative in all respects and not limiting.