Control apparatus and logistics system including the same

1 . A logistics system comprising:

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.

2 . The logistics system of claim 1 , wherein the control apparatus performs the auto-teaching for a loading/unloading position for each of the gas cylinders.

3 . The logistics system of claim 1 , wherein 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.

4 . The logistics system of claim 3 , wherein

the gas cylinder storage apparatus includes a plurality of ports, which provide storage spaces for the gas cylinders, and

the PIO sensors allow the ports to enter teaching mode, and open or close doors installed in the ports.

5 . The logistics system of claim 1 , wherein when the gas cylinder transport apparatus approaches the gas cylinder storage apparatus, at least one of a plurality of doors installed in the gas cylinder storage apparatus is closed based on a position of the gas cylinder transport apparatus.

6 . The logistics system of claim 5 , wherein the at least one of the plurality of doors is adjacent to a target door that the gas cylinder storage apparatus is to open.

7 . The logistics system of claim 1 , wherein the control apparatus approaches one of ports in the gas cylinder storage apparatus and performs port teaching on the corresponding port when a door installed in the corresponding port opens.

8 . The logistics system of claim 7 , wherein

support blocks, in which each of the gas cylinders is to be placed, are installed in each of the ports, and

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.

9 . The logistics system of claim 8 , wherein the identification information is QR code.

10 . The logistics system of claim 8 , wherein

the gas cylinder transport apparatus includes a distance measuring sensor, and

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.

11 . The logistics system of claim 10 , wherein the control apparatus uses the position of the gas cylinder transport apparatus when calculating the position of the support blocks.

12 . The logistics system of claim 7 , wherein the door is closed when the port teaching is complete.

13 . The logistics system of claim 1 , wherein the gas cylinder transport apparatus enters and is released from a teaching mode ahead of the gas cylinder storage apparatus.

14 . The logistics system of claim 1 , wherein loading/unloading of the gas cylinders is performed after the auto-teaching.

15 . The logistics system of claim 1 , wherein the control apparatus performs the auto-teaching in an order of the entry into a teaching mode, port teaching, and the release from the teaching mode.

16 . A logistics system comprising:

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.

17 . A control apparatus controlling 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.

18 . The control apparatus of claim 17 , wherein the port teaching includes calculating a position of support blocks within the gas cylinder storage apparatus, in which each of the gas cylinders is placed, 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.

19 . The control apparatus of claim 18 , wherein the control apparatus calculates the position of the support blocks based on a position of the gas cylinder transport apparatus and a distance between the gas cylinder transport apparatus and the support blocks.

20 . The control apparatus of claim 17 , wherein

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 control apparatus allows the gas cylinder transport apparatus and the gas cylinder storage apparatus to enter the teaching mode and manipulates doors, which open or close the interior of the gas cylinder storage apparatus during the port teaching, using the PIO sensors.