Assembly and method for transferring substrate

A substrate transfer assembly that transfers a substrate includes a robot arm configured to transfer the substrate, a laser disposed at the robot arm and emitting one or more rays of light, an image sensor disposed at the robot arm and generating a photographed picture or video including an image of a front object by the one or more emitted rays of light, and a control circuit configured to control transfer of the substrate based on the image present in the photographed picture or video.

CROSS REFERENCE TO RELATED APPLICATION

The present application claims priority to Korean Patent Application No. 10-2021-0105171, filed Aug. 10, 2021, the entire contents of which is incorporated by reference herein for all purposes.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to an assembly and a method for transferring a substrate, and more particularly, to a technique capable of emitting light in a forward movement path and grasping the degree of risk of collision based on a photographed picture or video obtained by photographing the shape of an image formed by the emitted light.

2. Description of the Related Art

Various processes such as photolithography for supplying a photosensitive liquid onto a substrate, etching, ion implantation, deposition, and cleaning are performed in order to manufacture a semiconductor element or a liquid crystal display. The substrate is transferred from one device to another device during such a process. In such a transfer process, the substrate may be handled by a substrate transfer assembly such as a transfer robot.

In general, for example, a semiconductor manufacturing facility such as a spinner system or a scrubber includes a plurality of processing units, and a wafer is transferred to the processing unit by a transfer robot. The processing units perform the respective processes, and the wafer is transferred to the outside by the transfer robot.

In such substrate transfer by the transfer robot, there is a risk of collision with various objects. In the case of severe collision, the operation of the semiconductor manufacturing facility itself may be required to be stopped. In addition, even though slight collision occurs, the substrate being transferred may be damaged.

Furthermore, collision prevention of the transfer robot is implemented in software, but the risk of collision may be increased by transferring the substrate to an abnormal position when teaching data and the like on substrate transfer have a problem.

Techniques for determining the risk of collision based on a picture or video obtained by photographing the front with a camera have been proposed. However, in such related arts, the speed and reliability are poor because an analysis on all objects present in the photographed picture or video is required.

Techniques for emitting light and determining the risk of collision by receiving the reflected light have also been proposed. However, in such related arts, it is not possible to emit light to the entire area in front and receive reflected light. Thus, it is not possible to grasp various obstacles present in front, and it is not possible to prevent collision with an obstacle located in an area in which the light does not reach.

Examples of the related art include Korean Patent No. 10-1909181.

SUMMARY OF THE INVENTION

The present invention has been devised to solve the problems of the prior art as described above, and an object of the present invention is to provide a collision prevention technique having high stability and reliability in substrate transfer with a substrate transfer robot.

In particular, the present invention has been devised to solve the problem that the collision prevention of the transfer robot is implemented in software, and thus the risk of collision is increased by transferring a substrate to an abnormal position when teaching data and the like on substrate transfer have a problem.

In addition, the present invention has been devised to solve the problem that the speed and reliability are poor because an analysis on all objects present in a picture or video image is required when the risk of collision is determined based on the picture or video obtained by photographing the front with a camera.

In addition, the present invention has been devised to solve the problem that, in a case where light is emitted and the risk of collision is determined by receiving reflected light, it is not possible to grasp all various obstacles present in front, and thus it is not possible to prevent collision with an obstacle located in an area in which light does not reach.

The objects of the present invention are not limited to the above description, and other objects and advantages of the invention which are not mentioned can be clearly understood by those skilled in the art as described below.

According to an aspect of the present invention, a substrate transfer assembly that transfers a substrate includes a robot arm configured to transfer the substrate, a laser disposed at the robot arm and emitting one or more rays of light, an image sensor disposed at the robot arm and generating a photographed picture or video including an image of a front object by the one or more emitted rays of light, and a control circuit configured to control transfer of the substrate based on the image present in the photographed picture or video.

According to an aspect of the present invention, a substrate transfer method of transferring a substrate includes emitting light, generating a picture or video including an image of a front object by the emitted light, and controlling transfer of the substrate based on the image present in the picture or video.

According to an aspect of the present invention, a substrate transfer assembly that transfers a substrate includes a robot arm configured to transfer the substrate, a substrate support connected to a first end of the robot arm and configured to support the substrate, a laser disposed at a first region of the robot arm, and emits a ray of light in a diagonal direction of a forward movement path of the substrate support, wherein the first region is adjacent to the first end of the robot arm, and wherein the laser is disposed adjacent to a side of the first region which is spaced apart from a center of the first region in a direction perpendicular to the forward movement path of the substrate support, a camera disposed at the robot arm and photographing a picture or video including an image of a front object by the emitted ray of light, and a control circuit configured to control transfer of the substrate by dividing the photographed picture or video into a plurality of areas, and determining a risk factor based on an area in which the image is located within the picture or video.

According to the present invention, it is possible to stably and reliably prevent collision with a front object in substrate transfer with a substrate transfer robot.

In particular, in the case of recognizing a front object by emitting light and receiving reflected light, it is possible to solve the problem of difficulty in recognizing all wide areas in front. In addition, in the case of recognizing a front object from a front photographed picture or video, it is possible to solve the problem of difficulty in a quick and immediate response because an analysis on all objects present in the photographed picture or video is required.

The effects of the present invention are not limited to the effects described above, and effects not mentioned can be clearly understood by those skilled in the art, from the specification and the attached drawings.

DESCRIPTION OF THE EMBODIMENTS

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, but the present invention is not limited by the embodiments.

In order to describe the present disclosure, the operational advantages of the present disclosure, and the objectives achieved by the present disclosure, embodiments of the present disclosure are illustrated below, and the present disclosure is described with reference to the embodiments.

First, the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used herein, the singular forms “a”, “an”, and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms “comprise”, “include”, “have”, and the like when used in this application should be understood to specify the presence of stated features, numbers, steps, operations, elements, components, or combinations thereof but not to preclude the presence or addition of one or more other features, numbers, steps, operations, elements, components or combinations thereof.

In describing the present disclosure, when it is decided that a detailed description of a known configuration or function related to the disclosure makes the gist of the disclosure unclear, the detailed description is omitted.

The present invention relates to a technique capable of emitting light in a forward movement path of a substrate transfer assembly and grasping the degree of risk of collision based on a photographed picture or video obtained by photographing the shape of an image formed by the emitted light.

FIG.1is a plan view schematically illustrating an embodiment of a substrate processing system to which the present invention is applied.

A substrate processing system1to which the present invention is applied includes an index unit10and a process processing unit20. The index unit10and the process processing unit20may be arranged in a line.

A carrier11has a function of carrying a substrate into a process module13and drawing out the substrate subjected to process processing by the process module13. A load port12may be provided between the carrier11and the process module13. The index module11may carry the substrate into the process module13through the load port12and draw the substrate out from the load port12.

The index unit10may include a load port12and a transfer frame14.

The carrier11in which a substrate W is accommodated may be mounted on the load port12. A plurality of load ports12may be provided and may be arranged in a line. The number of load ports12may increase or decrease in accordance with process efficiency and footprint conditions of the substrate processing system1.

A front opening unified pod (FOUP) may be used as the carrier11. A plurality of slots for accommodating substrates in a state of being arranged horizontally with respect to the ground may be formed in the carrier11.

The transfer frame14may be disposed adjacent to the load port12. Preferably, the transfer frame14may be disposed between the load port12and a buffer unit30in the process processing unit20. The transfer frame14may include an index rail15and an index robot17. The index robot17may be mounted on the index rail15. The index robot17may transfer a substrate W between the buffer unit30and the carrier11. The index robot17may move linearly along the index rail15or rotate about an axis.

The process processing unit20may be disposed in the rear of the substrate processing system1to be adjacent to the index unit10.

The process processing unit20may include the buffer unit30, a moving passage40, a main transfer robot50, and a substrate processing device60.

The buffer unit30may be disposed in front of the process processing unit20and may serve as a location in which a substrate W is temporarily accommodated and waits before the substrate W is transported between the substrate processing device60and the carrier11. The buffer unit30may be provided with a slot (not illustrated) in which the substrate W is placed, and a plurality of slots (not illustrated) may be provided to be spaced from each other.

The moving passage40may be disposed corresponding to the buffer unit30and may provide a passage for moving the main transfer robot50. The substrate processing apparatuses60may be disposed on both sides of the moving passage40to face each other. A moving rail may be installed on the moving passage40. The main transfer robot50moves on the moving rail, and the moving rail is capable of ascending and descending to the upper and lower levels of the substrate processing device60and the upper and lower levels of the buffer unit30.

The main transfer robot50may be installed on the moving passage40and may transfer a substrate W between the substrate processing device60and the buffer unit30or between the substrate processing devices60. The main transfer robot50may move linearly along the moving passage40or rotate about an axis.

A plurality of substrate processing devices60may be disposed, and the substrate processing devices60may be disposed on both sides of the moving passage40. Some of the substrate processing devices60may be arranged in a longitudinal direction of the moving passage40, and some of the substrate processing devices60may be arranged to be stacked. The arrangement position or the number of substrate processing devices60may be changed as required. In an example, the substrate processing device60may be provided only on one side of the moving passage40, or the substrate processing device60may be provided as a single layer on one side and both sides of the moving passage40.

The substrate transfer assembly according to the present invention may be disposed in the above-described substrate processing system1or the like. In an example, the substrate transfer assembly according to the present invention may be applied to the index robot17, the main transfer robot50, or the like.

An example of the substrate transfer assembly according to the present invention will be described below.

FIG.2is a diagram illustrating a configuration of the example of a substrate transfer assembly according to the present invention.

The substrate transfer assembly100includes a light emitting section110, a photographing section120(i.e., an image sensor or a camera having an image sensor), a control unit140(i.e., a control circuit), and a drive unit130. The substrate transfer assembly100further includes the basic components for substrate transfer.

The light emitting section110(i.e., a laser) emits one or more rays of light forward. Here, the light emitting section110may emit light forward in a form of a vertical line or in a circular or a polygonal form.

In an example, the light emitting section110may emit light in a diagonal direction of a forward movement path. In addition, the light emitting section110may emit a first ray of light in a direction of the forward movement path and emit a second ray of light in the diagonal direction of the forward movement path. The number of rays of light emitted from such a light emitting section110, a light emission direction, and a light emission angle may be changed as appropriate.

Preferably, the light emitting section110may emit colored laser light. When the light emitting section110emits a plurality of rays of light, the light emitting section110may emit laser light having the same color or emit rays of laser light having different colors from each other.

More preferably, the light emitting section110may emit light to deviate from a substrate mounted in front for transfer.

The photographing section120is equipped with a camera having an image sensor, and may generate a photographed picture or video by photographing an image formed on a front object by the light emitted from the light emitting section110.

The photographing section120may generate a picture by photographing the front under various conditions, for example, a predetermined time interval or when an event occurs by recognition of a proximity sensor. In addition, the photographing section120may generate a real-time photographed picture or video by continuously photographing the front.

In addition, the photographing section120may be equipped with a plurality of cameras, and may generate a plurality of photographed picture or videos. In this case, the arrangement position of each of the cameras may be adjusted to photograph, at a different angle, an image formed on a front object by light.

The drive unit130may transfer the mounted substrate to a target position by ascending or descending the mounted substrate, or moving the mounted substrate to the front or the rear.

The control unit140may control substrate transfer based on a photographed picture or video generated by the photographing section120. The control unit140may grasp the position of an image present in the photographed picture or video and control the substrate transfer based on the grasped position. Here, the control unit140may be disposed as an internal component of the substrate transfer assembly100or may be separate from the substrate transfer assembly100and be disposed as an external component of the substrate transfer assembly100.

As an example of the control unit140,FIG.3is a diagram illustrating a configuration of an example of a control unit in the substrate transfer assembly according to the present invention.

The control unit140may include a picture or video analysis unit141, a risk determination unit143, a transfer control unit145, and the like.

The picture or video analysis unit141may receive the photographed picture or video provided from the photographing section120and grasp an image by image processing. Here, the picture or video provided from the photographing section120may be a picture or a real-time video.

The picture or video analysis unit141may perform image processing on the photographed picture or video to extract an image, grasp the position or size of the image, and track the movement of the image. In addition, the picture or video analysis unit141may generate a combined picture or video in which divided areas are displayed, by matching an area layer in which division into a plurality of areas is performed, with the photographed picture or video.

Furthermore, in a case where the photographing section120generates a plurality of photographed picture or videos with a plurality of cameras, the picture or video analysis unit141may compare photographed picture or videos photographed at different angles or different positions in the same time period so as to extract the image or grasp the position or size of the image.

The risk determination unit143may determine the degree of risk of collision based on the position, size, movement, and the like of the image, which are grasped by the picture or video analysis unit141.

For example, the risk determination unit143may determine the degree of risk of collision in substrate transfer, based on an area in which the image is located, the size of the image, an interval between a plurality of pictures or videos, or the like, which is a result of the analysis of the picture or video analysis unit141. In addition, in a case where the photographed picture or video is a video, the risk determination unit143may determine the degree of risk for the substrate transfer based on a movement direction of the image tracked by the picture or video analysis unit141, a moved position, the degree of variation in a distance between a plurality of pictures or videos, and the like.

The risk determination unit143may perform determination by classifying the situations of the substrate transfer into collision risk, collision caution, transfer safety, and the like.

The transfer control unit145may control the substrate transfer based on a determination result of the risk determination unit143. For example, in a case where the risk determination unit143determines the situation to be collision risk, the transfer control unit145may control the drive unit140to stop the substrate transfer. In addition, in a case where the risk determination unit143determines the situation to be the collision caution, the transfer control unit145may control the drive unit130to reduce the speed of the substrate transfer or move to a safety area.

FIGS.4to5Billustrate an example of the substrate transfer assembly according to the present invention.

FIG.4is a perspective view illustrating an example of the substrate transfer assembly according to the present invention.FIGS.5A and5Bare a top plan view and a side view illustrating main parts of the example of the substrate transfer assembly according to the present invention.

The substrate transfer assembly100may include a robot body150, a substrate support160, the light emitting section110, the photographing section120, the control unit140, and the like.

The robot body150may include an arm151, a support body155, and the like. The arm151is equipped with a plurality of joints so that the length can increase or decrease. The support body155may move and rotate through a rail or the like. The movement and rotation, and the stretch and contraction of the robot body150may be performed by control of the control unit140on the drive unit130.

The substrate support160may be disposed at the tip of the arm151, and a substrate to be transferred may be mounted on the substrate support160. The substrate support160is an end effector, and various forms in which a substrate such as a wafer can be stably mounted and transferred may be applied.

The light emitting section110and the photographing section120may be disposed on the upper surface of the tip of the arm151.

As described in the above example, the light emitting section110may be disposed on one side spaced from the center on the upper surface of the tip of the arm151, and thus may emit light P having a form of a vertical line, toward another side in a diagonal direction of the forward movement path. A light emission angle and the intensity of the light emitting section110may be adjusted so as not to cause the emitted light P to affect the mounted substrate or to deviate from the substrate mounted on the substrate support160.

In addition, in the above example, a case where the light emitting section110is disposed on the upper surface of the tip of the arm151has been described. The light emitting section110may be disposed on the side surface of the tip of the arm151if necessary.

The light P emitted from the light emitting section110may have a form of a vertical line, but the intensity and the shape of the emitted light P may be variously adjusted, for example, a circular or polygonal shape, if necessary.

In the light emitting section110, light having various wavelength range may be selected and emitted. Preferably, laser light may be emitted. The laser light emitted at this time may be colored so as to more clearly recognize the image.

The photographing section120may photograph a forward direction in which light is emitted from the light emitting section110. Preferably, the photographing section120may photograph an image formed on a front object by light emitted from the light emitting section110, to generate a photographed picture or video.

In the above example, a case where the photographing section120includes one camera and is disposed on the upper surface of the tip of the arm151has been described. The position at which the photographing section120is located, and the number of cameras may be changed as required. For example, the photographing sections120may be spaced from each other and photograph, at different angles, an image formed on a front object by light.

The arrangement and the number of components of the substrate transfer assembly according to the present invention may be variously changed.FIG.6is a top plan view illustrating the main parts of another example of the substrate transfer assembly according to the present invention.

In the example inFIG.6, the light emitting section110may include a plurality of light emitting units. The light emitting section110may include a first light emitting unit110band a second light emitting unit110a. The first light emitting unit110bis disposed at the center of the robot body150and emits a first ray P1of light in the direction of the forward movement path. The second light emitting unit110ais disposed on one side spaced from the center of the robot body150and emits a second ray P2of light toward another side in the diagonal direction of the forward movement path. Here, the portion of the robot body150at which the light emitting section is disposed may be the tip of the arm151as in the above example.

As described in the above example, the first ray P1of light emitted from the first light emitting unit110band the second layer P2of light emitted from the second light emitting unit110amay travel forward to intersect with each other.

In addition, the first ray P1of light emitted from the first light emitting unit110band the second ray P2of light emitted from the second light emitting unit110amay be colored. Laser light having the same color may be adopted, and more preferably, rays of laser light having different colors may be adopted.

The arrangement positions of the first light emitting unit110band the second light emitting unit110aand directions of light emitted may be variously changed.

The photographing section120may generate a photographed picture or video by photographing images formed by the first ray P1of light and the second ray P2of light emitted from the first light emitting unit110band the second light emitting unit110a.

According to the present invention, there is provided a substrate transfer method by the substrate transfer assembly described above. An example of the substrate transfer method according to the present invention will be described below with the above-described example of the substrate transfer assembly according to the present invention.

FIG.7is a flowchart illustrating the example of the substrate transfer method according to the present invention.

The substrate transfer assembly100emits light forward through the light emitting section110during movement for substrate transfer or ahead of the movement for substrate transfer (S110). The photographing section120photographs an image formed by the emitting light reaching a front object (S130) to acquire a photographed picture or video.

The photographed picture or video generated by the photographing section120is provided to the control unit140. The control unit140may analyze the photographed picture or video (S150) and determine a risk factor based on an image present in the photographed picture or video (S170). The control unit140may control the drive unit130to control substrate transfer in accordance with the determined risk factor (S190).

Various examples of such a substrate transfer method according to the present invention will be described.

FIGS.8A to8Cillustrate a first example of risk factor determination in the substrate transfer method according to the present invention.

The first example is an example of emitting light having a vertical line in the diagonal direction of the forward movement path and determining a risk factor based on a photographed picture or video obtained by photographing the front.

When there is an object in front, images215a,215b, and215cformed on a front object by the emitted light are present in photographed picture or videos210a210b, and210cobtained by photographing the front. The risk factor may be determined based on the position, shape, and magnitude of an image.

For example, the photographed picture or video210a,210b, or210cmay be divided into a plurality of areas, and the plurality of areas may be classified into risky areas211a,211b, and211c, caution areas212a,212b, and212c, and safe areas213a,213b, and213c. Then, the risk factor may be determined in accordance with the area in which the image is located. That is, since the light is emitted in the diagonal direction of the forward movement path, the image can be formed to become closer to the central portion from the outer portion of the photographed picture or video in accordance with the degree of approaching the front object.

In the case ofFIG.8A, the image215aof the vertical line is located in the risky area211aclose to the central portion, and thus may be determined to be within a collision risky distance with the front object. In this case, it is possible to perform control to stop substrate transfer.

In the case ofFIG.8B, the image215bof the vertical line is located in the caution area212bspaced from the central portion at a predetermined distance, and thus may be determined to be within the collision risky distance with the front object. In this case, it is possible to perform control to reduce the speed of the substrate transfer or move to avoid the front object.

In the case ofFIG.8C, the image215cof the vertical line is located in the safe area213cwhich is sufficiently spaced from the central portion, and thus may be determined to be within a safe distance in which collision risk with the front object is low. In this case, it is possible to perform control to maintain the substrate transfer.

FIG.9illustrates a modification example of the first example of the risk factor determination in the substrate transfer method according to the present invention.

The modification example is an example of emitting light of a vertical line in the diagonal direction of the forward movement path and determining a risk factor based on a photographed picture or video obtained by photographing the front, as in the first example.

In the modification example, in a photographed picture or video220, an image225of a vertical line is located in a safe area213, but a wafer substrate W2is located in front. An image227is formed by light emitted above the wafer substrate W2located in front.

In such a case, a risk factor may be determined based on the position of the image227of a diagonal line and the angle of the diagonal line. That is, when a portion of the image of the diagonal line is located in a risky area221or the angle of the image of the diagonal line is equal to or larger than a predetermined level, it is possible to determine that the image is within the collision risky distance with the front object. In this case, it is possible to perform control to stop substrate transfer.

FIGS.10A to10Cillustrate a second example of the risk factor determination in the substrate transfer method according to the present invention.

The second example is an example of determining a risk factor based on photographed picture or videos230a,230b, and230cobtained by photographing first images231a,231b, and231cformed by emitting first rays of light in a vertical line in the direction of the forward movement path and second images233a,233b, and233cformed by emitting second rays of light in a vertical line in the diagonal direction of the forward movement path.

The first ray and the second ray intersect with each other in front to form the first image and the second image on the front object. Thus, as the distance between the first image and the second image increases, it may be determined that the front object is at an adjacent distance. That is, it is possible to determine the risk factor based on a distance between the first images231a,231b, and231cand the second images233a,233b, and233cin the photographed picture or videos230a,230b, and230c.

As inFIG.10A, a distance L1between the first image231aand the second image233ain the photographed picture or video230ais a sufficient distance. Thus, it is possible to determine that the image is located in the safe area. In this case, it is possible to perform control to maintain substrate transfer.

As inFIG.10B, a distance L2between the first image231band the second image233bin the photographed picture or video230bis a distance in a predetermined level range. Thus, it is possible to determine that the image is in the caution area. In this case, it is possible to perform control to reduce the speed of substrate transfer or move to avoid the front object.

As inFIG.10C, a distance L3between the first image231cand the second image233cin the photographed picture or video230cis a distance that is shorter than the predetermined level range. Thus, it is possible to determine that the image is located in the risky area. In this case, it is possible to perform control to stop substrate transfer.

In the second example inFIGS.10A to10C, as inFIGS.8A to9, the degree of risk of collision may be grasped by dividing the photographed picture or video into areas.

FIGS.11A and11Billustrate a third example of the risk factor determination in the substrate transfer method according to the present invention.

The third example is an example of determining the risk factor based on a video obtained by photographing, in real time, an image formed by emitting light in a vertical line in the diagonal direction of the forward movement path.

It is possible to determine the risk factor based on various change factors such as a movement direction and a movement speed in addition to the position of an image241aor241bof a vertical line from a real-time photographed video240aor240b.

In addition, it is possible to determine the risk factor based on various change factors such as a position change, a movement direction, and a movement speed of the image of the vertical line from a plurality of pictures periodically photographed.

As inFIG.11A, an image241aat a first position in the real-time photographed video240amoves to a second position toward the central portion, and thus an image243ais formed. In this case, it may be determined that a collision risk probability increases gradually. In addition, since the movement speed of the image gradually decreases from the outer portion to the central portion, the degree of risk of collision may be determined based on the movement speed of the image.

As inFIG.11B, an image241bat a first position in the real-time photographed video240bmoves to a second position toward the outer portion, and thus an image243bis formed. In this case, it may be determined that a collision risk probability is decreased. In addition, since the movement speed of the image gradually increases from the central portion to the outer portion, the degree of risk of collision may be determined based on the movement speed of the image.

In the third example inFIGS.11A and11B, as inFIGS.8A to9, the degree of risk of collision may be grasped by dividing the photographed picture or video into areas.

In a case where the degree of risk of collision is grasped by dividing the area of the photographed picture or video, the picture or video analysis unit141in the control unit140may generate a combined picture or video270by matching an area layer260in which division into a plurality of areas261,262, and263is performed, with a real-time photographed picture or video250, and determine the degree of risk of collision based on the position of an image275that moves between the plurality of areas261,262, and263in the combined picture or video270, as illustrated inFIG.12.

Such a method of generating the combined picture or video by matching the area layer260in which division into the plurality of areas261,262, and263is performed, with the photographed picture or video and more easily determining the degree of risk of collision based on the combined picture or video may be applied to the first example and the second example described above.

Hitherto, according to the present invention, it is possible to stably and reliably prevent collision with a front object in substrate transfer with a substrate transfer robot.

In particular, in the case of recognizing a front object by emitting light and receiving reflected light, it is possible to solve the problem of difficulty in recognizing all wide areas in front. In addition, in the case of recognizing a front object from a front photographed picture or video, it is possible to solve the problem of difficulty in a quick and immediate response because an analysis on all objects present in the photographed picture or video is required.

Although the above description of the present disclosure has been provided for illustrative purposes, those skilled in the art will appreciate that various modifications, additions, and substitutions are possible, without departing from essential characteristics of the disclosure. Therefore, embodiments of the present disclosure are not intended to limit the technical spirit of the disclosure but rather to describe the technical spirit of the disclosure, and the scope of the disclosure is not to be limited by the above embodiments. The protection scope of the present invention should be construed by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.