WO2023282254A1

WO2023282254A1 - Plant management system

Info

Publication number: WO2023282254A1
Application number: PCT/JP2022/026691
Authority: WO
Inventors: 博文菅野; 雅康天井
Original assignee: ヤマハ発動機株式会社
Priority date: 2021-07-08
Filing date: 2022-07-05
Publication date: 2023-01-12

Abstract

The purpose of the present invention is to provide a plant management system that can be constructed at relatively low cost and that can manage the progress of plant processes in which an automated guided vehicle is used.　A plant management system (1) comprises: an automated guided vehicle (10); a guided vehicle computer (20) provided in the automated guided vehicle (10); and a management computer (30). The management computer (30) is not connected in a manner that enables communication with computers (111, 112, 113, 114) of processing devices (101, 102, 103, 104). The guided vehicle computer (20) can communicate wirelessly with the management computer (30). The management computer (30) has a progress management unit that manages the progress of plant processes, on the basis of data relating to the automated guided vehicle (10) that has been received from the guided vehicle computer (20).

Description

Factory management system

The present invention relates to a factory management system that manages a factory in which articles are transported by automatic guided vehicles between multiple processes.

At the factory, products are manufactured by sequentially performing a series of predetermined processes. Each step is processed by a processing device including one or more machine tools. An article processed by one processing device is conveyed to another processing device, and the next processing is performed by the other processing device. An article is finished as a product through a plurality of processes. 2. Description of the Related Art In recent years, in order to save labor or make factories unmanned, the use of automatic guided vehicles has been promoted as means for conveying articles between processes.

In such a factory, it is preferable to have a management computer that manages the progress of each process in order to improve productivity. For example, a factory management system is known in which a computer (hereinafter referred to as a station computer) is provided for each processing apparatus and the station computers are directly connected to a management computer so as to be communicable. In such a factory management system, operation data of each processing device is sent from each station computer to the management computer. The management computer can manage the progress of each process based on the data received from each station computer.

Japanese Patent Laying-Open No. 7-156044 (Patent Document 1) describes a factory in which goods are not transported by automatic guided vehicles, but a representative PLC (programmable logic controller) of each station is installed in a management room via a network. A system connected to a line computer is disclosed. In this system, data relating to the time required for machine tool operation is transmitted from the representative PLC to the line computer. The line computer is configured to predict failure of the machine tool based on the measured value of the required time.

JP-A-7-156044

By the way, the processing equipment in the factory is not necessarily designed according to unified standards. Some processing apparatuses are equipped with station computers of a different type from station computers of other processing apparatuses. When connecting a plurality of station computers with different communication interfaces and standards to a management computer, the configuration tends to be more complicated and costly than expected. A system in which a management computer is directly connected to each station computer can acquire accurate data on each processing device, but it is difficult to meet the need for cost reduction.

An object of the present invention is to provide a factory management system that can manage the progress of processes in factories where automatic guided vehicles are used and that can be constructed at relatively low cost.

The inventor of the present application diligently studied the characteristics of factories using automated guided vehicles and came up with the following points.

In other words, in factories where automated guided vehicles are used, the automated guided vehicles transfer the processing equipment and the goods. Also, the automatic guided vehicle travels between a plurality of processing apparatuses. Therefore, the operation of the automatic guided vehicle is closely related to the progress of each process in the factory. In addition, the automatic guided vehicle performs operations over a plurality of processes. Therefore, it is possible to grasp the progress of the process in the factory based on the operation of the automatic guided vehicle. Automated guided vehicles can be used not only as tools for transporting articles between processes, but also as tools for communicating the progress of processes.

In addition, unmanned guided vehicles tend to be introduced collectively compared to processing equipment. It is relatively easy to unify communication interfaces, standards, and the like for computers provided in automated guided vehicles (hereinafter referred to as guided vehicle computers). Therefore, by using the communication between the transport vehicle computer and the management computer, the communication between the station computer of the processing apparatus and the management computer can be reduced. Thereby, the configuration of the communication equipment can be simplified, and the cost of the communication equipment can be reduced.

The inventors of the present application focused on the above points and came to make the following inventions. The factory management system disclosed herein is provided with at least a first processing device for performing a first step and a second processing device for performing a second step, and a plurality of steps including the first step and the second step are installed. It is a factory management system that manages factories that are carried out sequentially. The factory management system includes an automatic guided vehicle, a guided vehicle computer provided in the automatic guided vehicle, and a management computer. The first processing device has a first computer and the second processing device has a second computer. The management computer is not communicatively connected to the first computer and the second computer. The transport vehicle computer is configured to be able to communicate wirelessly with the management computer. a first receiving control unit for controlling the automatic guided vehicle to receive the article after the first process from the first processing device at a first position in front of the first processing device; a travel control unit that controls the automatic guided vehicle to travel from the first position to a second position in front of the second processing device; and a travel control unit that delivers the article to the second processing device at the second position. a delivery control unit that controls the automatic guided vehicle; and a standby control unit that controls the automatic guided vehicle so as to wait at the second position from the start of the second process until the second processing device is finished. a second reception control unit for controlling the automatic guided vehicle to receive the article after the second process from the second processing device at the second position; and a transport vehicle data transmission unit for transmission. The management computer has a progress management unit that manages the progress of the factory process based on the data regarding the automatic guided vehicle received from the guided vehicle computer.

According to the above factory management system, the progress of factory processes is managed based on the data on the automatic guided vehicle sent from the guided vehicle computer to the management computer. For example, there is no need to transmit data on the second processing device from the second computer provided in the second processing device to the management computer. Therefore, it is sufficient not to connect the management computer and the second computer. No communication facility is required to connect the management computer and the second computer. In addition, it is relatively easy to unify the communication interface, standard, etc. for the guided vehicle computer provided in the automatic guided vehicle. Therefore, according to the above factory management system, the cost of communication equipment can be reduced, so that the system can be constructed at a relatively low cost.

The data on the automatic guided vehicle includes the time from when the automatic guided vehicle finishes the operation of handing over the article to the second processing device at the second position to when it starts the operation of receiving the article. Data for a certain wait time may be included. The progress management section of the management computer may be configured to manage the progress of the process in the factory based on the waiting time data.

The waiting time of the automated guided vehicle at the second position correlates with the time required for the second process. According to the above, the progress of the second step can be estimated based on the waiting time at the second position. Therefore, the progress of factory processes including the second process can be managed.

The management computer includes a standby time determination unit that determines whether the standby time is equal to or less than a predetermined lower limit value of standby time or is equal to or greater than a predetermined upper limit value of standby time, and and a standby time notifying unit that notifies when it is determined that the value is equal to or less than the upper limit value or equal to or greater than the upper limit value.

As a result, if it is estimated that the second step is not being performed well, the management computer will notify you, and the administrator can easily recognize this.

The data relating to the automatic guided vehicle includes delivery time data, which is the time from when the automatic guided vehicle starts and ends the operation of handing over the article to the second processing device at the second position. may be The progress management unit of the management computer may be configured to manage the progress of the factory process based on the data of the delivery time.

The delivery time at the second position of the automated guided vehicle has a correlation with the timing of the start of the second process. According to the above, the progress of the second step can be estimated based on the delivery time at the second position. Therefore, the progress of factory processes including the second process can be managed.

The management computer includes a delivery time determination unit that determines whether or not the delivery time is equal to or greater than a predetermined upper limit of the delivery time, and notifies when the delivery time is determined to be equal to or greater than the upper limit. and a delivery time notification unit.

As a result, if it is estimated that the start of the second step will be delayed, the management computer will notify the administrator, and the administrator can easily recognize this.

The data on the automatic guided vehicle includes data on the reception time, which is the time from when the automatic guided vehicle starts receiving the article from the second processing device to when it ends at the second position. may be The progress management section of the management computer may be configured to manage the progress of the process in the factory based on the reception time data.

The reception time at the second position of the automatic guided vehicle has a correlation with the start timing of the process after the second process. According to the above, the progress of the process after the second process can be estimated based on the reception time at the second position. Therefore, it is possible to manage the progress of the factory processes including the processes after the second process.

The management computer includes a reception time determination unit that determines whether or not the reception time is equal to or greater than a predetermined upper limit of the reception time, and notifies when the reception time is determined to be equal to or greater than the upper limit. You may have a receipt time notification part.

　As a result, when it is estimated that the start of the process after the second process will be delayed, the management computer will notify it, and the manager can easily recognize it.

The data relating to the automatic guided vehicle may include data of a first movement time, which is the time from when the automatic guided vehicle departs from the first position to when it arrives at the second position. The progress management section of the management computer may be configured to manage the progress of the process in the factory based on the data of the first travel time.

The travel time of the automatic guided vehicle from the first position to the second position correlates with the timing of the start of the second process. According to the above, the progress of the second step can be estimated based on the travel time of the automatic guided vehicle from the first position to the second position. Therefore, the progress of factory processes including the second process can be managed.

The management computer comprises a travel time determination unit that determines whether or not the first travel time is equal to or greater than a predetermined upper limit of travel time, and a travel time determination unit that determines whether the first travel time is equal to or greater than the upper limit. and a travel time notification unit that notifies the

The data on the automatic guided vehicle includes the time from when the automatic guided vehicle starts the operation of delivering the article to the second processing device at the second position to when the operation of receiving the article is completed. Data for certain delivery times may be included. The progress management unit of the management computer may be configured to manage the progress of the process in the factory based on the delivery time data.

The delivery time at the second position of the automated guided vehicle is correlated with the time required for the second process. According to the above, the progress of the second step can be estimated based on the delivery time at the second position. Therefore, the progress of factory processes including the second process can be managed.

The management computer includes a delivery time determination unit that determines whether the delivery time is equal to or less than a predetermined lower limit of the delivery time or is equal to or greater than the predetermined upper limit of the delivery time; and a delivery time notifying unit that notifies when it is determined that the value is equal to or less than the upper limit value or equal to or greater than the upper limit value.

In the data about the automatic guided vehicle, after the automatic guided vehicle starts receiving the article from the first processing device at the first position, the article is delivered to the second processing device at the second position. Data of operation time, which is the time until the handover operation is completed, may be included. The progress management unit of the management computer may be configured to manage the progress of the factory process based on the operating time data.

The operation time of the automatic guided vehicle has a correlation with the timing of the start of the second process. According to the above, the progress of the second step can be estimated based on the travel time of the automatic guided vehicle. Therefore, the progress of factory processes including the second process can be managed.

The management computer includes an operation time determination unit that determines whether or not the operation time is equal to or greater than a predetermined upper limit of operation time, and notifies when the operation time is determined to be equal to or greater than the upper limit. and an operating time notification unit.

A plurality of processing devices that perform the plurality of processes may be installed in the factory. The transport vehicle computer may have a transport control unit that controls the automatic transport vehicle to transport the articles between the plurality of processing devices. The data on the automatic guided vehicle may include data on the number of times the article is transported by the automatic guided vehicle. The progress management section of the management computer may be configured to manage the progress of the process in the factory based on the data on the number of times of transportation.

The number of times an automated guided vehicle is transported is correlated with the progress of the process. According to the above, it is possible to manage the progress of the factory process based on the number of transfers by the automatic guided vehicle.

The management computer includes a transportation number determination unit that determines whether or not the number of transportations in a predetermined time period is equal to or less than a predetermined lower limit of the number of transportations, and and a number-of-conveyance notification unit that notifies when it is determined that

　If the number of times the automated guided vehicle is transported per predetermined time period is too low, it is presumed that the factory processes are not being carried out satisfactorily. According to the above, when it is estimated that the progress of the process is not good, it is notified by the management computer, and the manager can easily recognize it.

The factory management system may include a passage confirmation device arranged between the first processing device and the second processing device. The passage confirmation device may have a communication device that performs wireless communication with the guided vehicle computer when the automatic guided vehicle passes through a checkpoint in front of the passage confirmation device.

As a result, the automated guided vehicle can detect that it has passed the checkpoint by performing wireless communication with the communication device of the passage confirmation device. Therefore, the motion of the automatic guided vehicle and the progress of the process based on the motion can be managed in more detail.

The data relating to the automatic guided vehicle includes the time from when the automatic guided vehicle departs from the first position until it passes the checkpoint, or the time from when the automatic guided vehicle passes the checkpoint to the first Data for a second travel time, which is the time to reach the second location, may also be included. The progress management unit of the management computer may be configured to manage the progress of the process in the factory based on the data of the second travel time.

The travel time of the automated guided vehicle from the first position to the checkpoint and the travel time from the checkpoint to the second position are correlated with the timing of the start of the second process. According to the above, the progress of the second step can be estimated based on the travel time of the automatic guided vehicle. Therefore, the progress of factory processes including the second process can be managed.

A third processing device that performs the third process may be installed in the factory. The traveling control unit of the guided vehicle computer controls the automatic guided vehicle to travel from the first position to the second position when the article received from the first processing device is a predetermined first article. and when the article received from the first processing device is a predetermined second article, the automatic guided vehicle is controlled to travel from the first position to a third position in front of the third processing device. may be configured to

It is relatively easy to change the movement route of an unmanned guided vehicle. If the transport destination of the automatic guided vehicle is changed according to the type of article, a series of steps can be appropriately changed according to the type of article. According to the above, it is possible to suitably manage the progress of processes in a factory that manufactures a wide variety of products.

The factory management system may include an imaging device provided in the automatic guided vehicle. The data related to the automatic guided vehicle may include image data of the second processing device captured by the imaging device. The progress management unit of the management computer may be configured to manage the progress of the process in the factory based on the image data.

As a result, the progress of the second process can be managed based on the state of the second processing device. Therefore, the progress of factory processes including the second process can be managed.

The guided vehicle computer is configured to be able to communicate with the first computer when the automated guided vehicle is stopped at the first position, and is configured to communicate with the first computer when the automated guided vehicle is stopped at the second position. It may be configured to be communicable with the second computer.

This allows the guided vehicle computer to receive data regarding the first processing device from the first computer when the automated guided vehicle is stopped at the first position. Also, the vehicle computer can receive data regarding the second processing device from the second computer when the automated guided vehicle is parked at the second position. Data about the first processing device and the second processing device can be acquired by the automated guided vehicle. Further, short-distance communication can be used as the communication between the carrier computer and the first computer and the communication between the carrier computer and the second computer.

The transport vehicle computer includes a processing device data receiving unit that receives data regarding the first processing device from the first computer and data regarding the second processing device from the second computer; and a processing device data transmission unit that transmits data and data related to the second processing device to the management computer.

As a result, the management computer can acquire data about the first processing device from the first computer and data about the second processing device from the second computer via the transport vehicle computer.

If there is an obstacle in front of the automated guided vehicle during travel, the travel control unit of the guided vehicle computer slows down or stops the automated guided vehicle so as to avoid collision with the obstacle. may be configured.

As a result, collisions between the automatic guided vehicle and the obstacles can be avoided when the traveling route of the automatic guided vehicle is temporarily blocked by an obstacle such as a forklift during work or a temporarily placed container. . Therefore, it is possible to prevent the progress of the process from being delayed due to the failure of the automatic guided vehicle.

The travel control unit of the guided vehicle computer slows down or stops the automated guided vehicle so that the automated guided vehicle does not reach the second position while another automated guided vehicle is stopped at the second position. It may be configured to allow

If there is a delay in the second process while another automatic guided vehicle is waiting at the second position, the other automatic guided vehicle does not receive the article from the second processing device, so it remains stopped at the second position. becomes. When the automatic guided vehicle moves to the second position, the automatic guided vehicle may collide with another automatic guided vehicle. However, according to the above, it is possible to avoid collisions between the automatic guided vehicle and other automatic guided vehicles. Therefore, it is possible to prevent the progress of the process from being delayed due to the failure of the automatic guided vehicle.

The factory management system may include multiple sets of the automatic guided vehicle and the guided vehicle computer. The transport vehicle computer may be composed of a computer with common specifications.

This makes it possible to easily standardize communication specifications between the management computer and the transport vehicle computer. A factory management system suitable for a factory using a plurality of automatic guided vehicles can be constructed at a relatively low cost.

According to the present invention, it is possible to provide a factory management system that can manage the progress of processes in a factory where automatic guided vehicles are used and that can be constructed at a relatively low cost.

FIG. 1 is a configuration diagram of a factory management system according to one embodiment. FIG. 2A is a side view of an automatic guided vehicle. FIG. 2B is a plan view of the automatic guided vehicle and processing equipment. FIG. 3A is a plan view explaining one operation of the automatic guided vehicle. FIG. 3B is a plan view explaining one operation of the automatic guided vehicle. FIG. 3C is a plan view explaining one operation of the automatic guided vehicle. FIG. 3D is a plan view explaining one operation of the automatic guided vehicle. FIG. 3E is a plan view explaining one operation of the automatic guided vehicle. FIG. 4 is a time chart showing the relationship between the first step, the second step, and the operation of the automatic guided vehicle. FIG. 5 is a configuration diagram of the management computer. FIG. 6 is a configuration diagram of the transport vehicle computer. FIG. 7 is a functional block diagram of the carrier computer. FIG. 8 is a functional block diagram of the management computer. FIG. 9 is a functional block diagram of a management computer according to another embodiment. FIG. 10 is a functional block diagram of a management computer according to another embodiment. FIG. 11 is a functional block diagram of a management computer according to another embodiment. FIG. 12 is a functional block diagram of a carrier computer according to another embodiment. FIG. 13 is a configuration diagram of part of a factory management system according to another embodiment. FIG. 14 is a diagram of an example of an image representing the operation status of an automatic guided vehicle. FIG. 15 is a diagram of an example image representing the production progress. FIG. 16 is a diagram of an example image representing the transport rate. FIG. 17 is a diagram of an example image representing data relating to an automatic guided vehicle. FIG. 18 is a diagram of an example image representing data relating to production status.

Embodiments will be described below with reference to the drawings. FIG. 1 is a diagram showing the configuration of a factory management system 1 according to one embodiment. A factory management system (hereinafter simply referred to as a management system) 1 is a system for managing a factory in which a plurality of processes are sequentially performed by a plurality of processing apparatuses. In the main factory, products or semi-finished products are manufactured by sequentially performing the plurality of processes.

Here, a first processing device 101, a second processing device 102, a third processing device 103, and one or more other processing devices 104 are installed in the factory. Although illustration is omitted, each of the processing apparatuses 101 to 104 includes one or more machine tools. The first processing device 101, the second processing device 102, and the third processing device 103 have a first computer 111, a second computer 112, and a third computer 113, respectively. Another processing device 104 has another computer 114 . The first to fourth computers 111 to 114 control the operations of the first to fourth processing apparatuses 101 to 104, respectively. The first processing device 101, the second processing device 102, and the third processing device 103 perform the first process, the second process, and the third process, respectively. Another processing device 104 performs one or more other processes after the third process. To simplify the explanation below, it is assumed that the number of other processing apparatuses 104 installed is one. The other processing device 104 is called a fourth processing device, and the process performed by the other processing device 104 is called a fourth process.

In the main factory, the article 200 is transported by the unmanned guided vehicle 10. The number of automatic guided vehicles 10 may be one, but here, a plurality of automatic guided vehicles 10 work simultaneously. The automatic guided vehicle 10 is configured to be able to travel automatically. The automatic traveling system of the unmanned guided vehicle 10 is not particularly limited. The automatic traveling system of the unmanned guided vehicle 10 may be a route guidance system, an autonomous movement system, or a follow-up system. It should be noted that the route guidance system is a system in which the user moves by being guided by a guide installed along the route. An autonomous mobile system is a system that moves to a destination without using orbits, derivatives, or human control. A follow-up system is a system in which a vehicle moves by following a specific person or vehicle in front of it. The automatic guided vehicle 10 according to the present embodiment is a route guidance type automatic guided vehicle that uses a light reflecting tape attached to the ground of a factory as a guide.

As shown in FIGS. 2A and 2B, the automatic guided vehicle 10 includes a vehicle body 11, wheels 12 attached to the vehicle body 11, a loading platform 13 supported by the vehicle body 11, and a motor as a drive source for driving the wheels 12. 14 and a carrier computer 20 . The unmanned guided vehicle 10 also includes a camera 16</b>F for imaging the front, a camera 16</b>S for imaging the side, and a sensor 17 for detecting that the article 200 is loaded on the carrier 13 . Here, the sensor 17 is a light transmission sensor and has a light emitting element 17a and a light receiving element 17b. However, the type of sensor 17 is not particularly limited. Sensor 17 may be a weight sensor that measures the weight of an object placed on platform 13 .

The automatic guided vehicle 10 is configured to be able to transfer the article 200 to and from the first to fourth processing devices 101 to 104. It should be noted that delivery means delivery and receipt. Also, the automatic guided vehicle 10 is configured to be able to transport the article 200 from any one of the first to fourth processing apparatuses 101 to 104 to the other one. The article 200 is finished as a finished product or semi-finished product by being sequentially processed by the first to fourth processing apparatuses 101 to 104 .

The operation of the automatic guided vehicle 10 will be explained. As shown in FIG. 3A , the automatic guided vehicle 10 receives an article 200 processed by the first processing device 101 from the first processing device 101 at a first position P1 in front of the first processing device 101 . Next, as shown in FIG. 3B, the automatic guided vehicle 10 moves from the first position P1 to the second position P2 in front of the second processing device 102 with the article 200 still loaded. Next, as shown in FIG. 3C, the automatic guided vehicle 10 delivers the article 200 to the second processing device 102 at the second position P2. After delivering the article 200 to the second processing device 102 , the second processing device 102 performs a second step of processing the article 200 . As shown in FIG. 3D, the automatic guided vehicle 10 waits at the second position P2 while the second processing device 102 is performing the second step. As shown in FIG. 3E , after second processing device 102 processes article 200 , AGV 10 receives article 200 from second processing device 102 .

After that, as shown in FIG. 1, the automatic guided vehicle 10 moves from the second position P2 to a third position P3 in front of the third processing device 103. The automatic guided vehicle 10 delivers the article 200 to the third processing device 103 at the third position P3. The automatic guided vehicle 10 waits at the third position P3 while the third processing device 103 is performing the third step. After the third processing device 103 processes the article 200 , the automatic guided vehicle 10 receives the article 200 from the third processing device 103 .

Next, the automatic guided vehicle 10 moves from the third position P3 to a fourth position P4 in front of the fourth processing device 104. The automatic guided vehicle 10 delivers the article 200 to the fourth processing device 104 at the fourth position P4. After that, the automatic guided vehicle 10 returns from the fourth position P4 to the first position P1, and repeats the above-described operations. The automatic guided vehicle 10 patrols the first to fourth positions P1 to P4.

FIG. 4 is a time chart showing the relationship between the first process S1 performed by the first processing device 101, the second process S2 performed by the second processing device 102, and the operation of the automatic guided vehicle 10. FIG. The symbol t represents time. As shown in FIG. 4, the first step S1 and the second step S2 are each repeatedly performed. Although illustration is omitted, the third step and the fourth step are also repeatedly performed. Reference W1 represents the operation of the automatic guided vehicle 10 waiting at the first position P1. Symbol R1 represents the operation of the automatic guided vehicle 10 receiving the article 200 from the first processing device 101 . Reference M12 represents the operation of the automatic guided vehicle 10 moving from the first position P1 to the second position P2. Symbol H2 represents the operation of the automatic guided vehicle 10 delivering the article 200 to the second processing device 102 . Reference character W2 represents the operation of the automatic guided vehicle 10 waiting at the second position P2. Symbol R2 represents the operation of the automatic guided vehicle 10 receiving the article 200 from the second processing device 102 .

In this way, the operation of the automatic guided vehicle 10 is closely related to the progress of factory processes. Further, the automatic guided vehicle 10 performs operations across a plurality of processes. Therefore, it is possible to grasp the progress of the process based on the operation of the automatic guided vehicle 10 . The automatic guided vehicle 10 can be used not only as a tool for transporting the article 200 between processes, but also as a tool for communicating the progress of the processes.

The management system 1 according to the present embodiment is a system that uses the automatic guided vehicle 10 to manage the progress of factory processes. The management system 1 includes an automatic guided vehicle 10, a guided vehicle computer 20 (see FIG. 2A) provided in the automatic guided vehicle 10, and a management computer 30 (see FIG. 1). The management computer 30 is configured to be able to wirelessly communicate with the carrier computer 20 . On the other hand, the management computer 30 is not communicably connected to the first to fourth computers 111 to 114 of the first to fourth processing apparatuses 101 to 104 . The management computer 30 is not wired to the first to fourth computers 111 to 114 and is configured not to communicate wirelessly with the first to fourth computers 111 to 114 .

The configuration of the management computer 30 is not particularly limited. The management computer 30 has a CPU 31, a memory 32, a wireless communication circuit 33, and an input/output circuit 34, for example, as shown in FIG. An input device 35 such as a keyboard, a display device 36 such as a liquid crystal display, and a speaker 37 may be connected to the management computer 30 . Also, an external storage device such as a hard disk may be connected to the management computer 30 .

The configuration of the transport vehicle computer 20 is also not particularly limited. The transport vehicle computer 20 has a CPU 21, a memory 22, a wireless communication circuit 23, and an input/output circuit 24, for example, as shown in FIG. The transport vehicle computer 20 is connected to a sensor 17 for detecting that the article 200 is loaded, a camera 16F, and a camera 16S. A plurality of automatic guided vehicles 10 are used in the main factory. Standards and specifications for communication of the wireless communication circuit 23 are standardized. In this embodiment, the automatic guided vehicle 10 is equipped with a guided vehicle computer 20 having the same specifications. The transport vehicle computer 20 is configured by a computer with common specifications.

FIG. 7 is a functional block diagram of the transport vehicle computer 20. FIG. The CPU 21 of the transport vehicle computer 20 functions at least as the transport control unit 50 and the transport vehicle data transmission unit 56 by executing the programs stored in the memory 22 . The transport control unit 50 controls the automatic transport vehicle 10 to transport the article 200 among the first to fourth processing devices 101-104. The transport control unit 50 includes at least a first reception control unit 51 , a travel control unit 52 , a delivery control unit 53 , a standby control unit 54 and a second reception control unit 55 .

The first reception control unit 51 controls the automatic guided vehicle 10 to receive the article 200 after the first process from the first processing device 101 at the first position P1 (see FIG. 3A). The traveling control unit 52 controls the automatic guided vehicle 10 to travel from the first position P1 to the second position P2 (see FIG. 3B). The delivery control unit 53 controls the automatic guided vehicle 10 to deliver the article 200 to the second processing device 102 at the second position P2 (see FIG. 3C). The standby control unit 54 controls the automatic guided vehicle 10 to wait at the second position P2 from when the second processing device 102 starts to finishes the second step (see FIG. 3D). The second reception control unit 55 controls the automatic guided vehicle 10 to receive the article 200 after the second process from the second processing device 102 at the second position P2 (see FIG. 3E).

The memory 22 of the guided vehicle computer 20 stores data related to the operation of the automated guided vehicle 10 . The guided vehicle data transmission unit 56 transmits data regarding the automatic guided vehicle 10 to the management computer 30 .

FIG. 8 is a functional block diagram of the management computer 30. FIG. By executing the program stored in the memory 32, the CPU 31 of the management computer 30 manages at least the receiving unit 70 that receives data regarding the automatic guided vehicle 10 and the progress of the factory process based on the received data. It functions as a progress management unit 60 .

The progress management unit 60 includes a waiting time management unit 61, a waiting time determination unit 61a, a waiting time notification unit 61b, a delivery time management unit 62, a delivery time determination unit 62a, a delivery time notification unit 62b, a reception time management unit 63, a reception It includes a time determining unit 63a, a receiving time notifying unit 63b, a moving time managing unit 64, a moving time determining unit 64a, a moving time notifying unit 64b, a transportation number managing unit 65, a transportation number determining unit 65a, and a transportation number notifying unit 65b. .

(waiting time)
The data on the automatic guided vehicle 10 includes data on the standby time of the automatic guided vehicle 10 . The standby time is the time during which the automatic guided vehicle 10 waits at the first to fourth positions P1 to P4 in front of the first to fourth processing devices 101 to 104 without performing the operation of delivering the article 200. Say things.

In this embodiment, the automatic guided vehicle 10 does not deliver the article 200 to the first processing device 101. The waiting time at the first position P1 is the time from when the automatic guided vehicle 10 arrives at the first position P1 to when it starts receiving the article 200 after the first process from the first processing device 101 . The waiting time at the second position P2 is the operation of receiving the article 200 after the second process from the second processing apparatus 102 from the time when the automatic guided vehicle 10 finishes the operation of delivering the article 200 to the second processing apparatus 102. Time to start. The standby time at the third position P3 is the operation of receiving the article 200 after the third process from the third processing apparatus 103 after the automatic guided vehicle 10 finishes the operation of delivering the article 200 to the third processing apparatus 103. is the time to start In this embodiment, automatic guided vehicle 10 does not receive article 200 from fourth processing device 104 . The standby time at the fourth position P4 is the time from when the automatic guided vehicle 10 finishes delivering the article 200 to the fourth processing device 104 to when it leaves the fourth position P4.

For example, as shown in FIG. 4, the standby time of the automatic guided vehicle 10 at the second position P2 has a correlation with the time required for the second process S2 performed by the second processing device 102. In the example shown in FIG. 4, the standby time at the second position P2 is t4-t5. In this way, the progress of at least some steps can be estimated based on the waiting time of the automatic guided vehicle 10 . The waiting time management unit 61 manages the progress of factory processes based on the waiting time data of the automatic guided vehicle 10 . The waiting time management unit 61 manages the progress of the second step based on, for example, the waiting time of the automatic guided vehicle 10 at the second position P2.

If the process is being carried out well, the time required for that process will be within a predetermined range. On the other hand, if the time required for the process is too short or too long, it is presumed that the process is not well performed.

The standby time determination unit 61a determines whether the standby time is equal to or less than a predetermined lower limit value or equal to or greater than a predetermined upper limit value. In addition, the upper limit value is a value larger than the lower limit value. Since the time required for each process differs for each process, the upper limit and lower limit of the waiting time are set for each process. The upper limit value and lower limit value of the waiting time for each process are stored in the memory 32 . The upper limit value and lower limit value of the standby time may be stored in a non-rewritable state or may be stored in a rewritable state.

The standby time notification unit 61b notifies when it is determined that the standby time is equal to or less than the lower limit value or equal to or greater than the upper limit value. This allows the manager to easily recognize that there is a possibility that the progress of the process is not good. Note that the notification method performed by the waiting time notification unit 61b is not limited at all. As a notification method, for example, display by the display device 36, output of sound by the speaker 37, vibration of a vibration device (not shown), or the like can be used. The same applies to the notification methods performed by the delivery time notification unit 62b, the reception time notification unit 63b, the movement time notification unit 64b, and the transportation number notification unit 65b, which will be described later.

(delivery time)
The data on the automatic guided vehicle 10 includes data on the delivery time of the automatic guided vehicle 10 . The delivery time refers to the time from when the automatic guided vehicle 10 starts to deliver the article 200 to when it ends. In this embodiment, the automatic guided vehicle 10 delivers the articles 200 to the second to fourth processing devices 102-104. The delivery times at the second position P2, the third position P3, and the fourth position P4 are from the start of the operation of delivering the article 200 to the second processing device 102, the third processing device 103, and the fourth processing device 104, respectively. It is the time until the end.

For example, the second process starts after the automatic guided vehicle 10 delivers the article 200 to the second processing device 102 . As shown in FIG. 4, the second step S2 is performed after the transfer H2 of the automatic guided vehicle 10 at the second position P2. If the time t3-t4 of the delivery H2 is long, the start of the second step S2 will be delayed. The delivery time at the second position P2 has a correlation with the start timing of the second step. As such, the progress of at least some steps can be estimated based on the delivery time. The delivery time management unit 62 manages the progress of factory processes based on the delivery time data of the automatic guided vehicle 10 . The delivery time management unit 62 manages the progress of the second step based on the delivery time at the second position P2 of the automatic guided vehicle 10, for example.

　If the delivery is successful, the delivery time will be within the specified range. On the other hand, if the handover time is too long, it is presumed that the handover is not good and that the progress of subsequent processes will be delayed. For example, if the time t3 to t4 of the delivery H2 in FIG. 4 is too long, it is estimated that the progress of the second step S2 will be delayed.

The delivery time determination unit 62a determines whether or not the delivery time is equal to or greater than a predetermined upper limit. Since the time required to deliver the article 200 differs for each of the processing apparatuses 102-104, the upper limit of the delivery time is set for each of the processing apparatuses 102-104. The upper limit of the delivery time for each of the processing devices 102-104 is stored in the memory 32. FIG. The upper limit value of the delivery time may be stored in a non-rewritable manner or may be stored in a rewritable manner.

The delivery time notification unit 62b notifies when it is determined that the delivery time is equal to or greater than the upper limit. This allows the manager to easily recognize that there is a possibility that the progress of the process is not good.

(receipt time)
The data on the automatic guided vehicle 10 includes data on the reception time of the automatic guided vehicle 10 . The receiving time refers to the time from when the automatic guided vehicle 10 starts receiving the article 200 to when it ends. In this embodiment, the automatic guided vehicle 10 receives articles 200 from the first to third processing devices 101-103. The receiving time at the first position P1, the second position P2, and the third position P3 starts and ends after receiving the article 200 from the first processing device 101, the second processing device 102, and the third processing device 103, respectively. It is the time until

For example, the second process is started after the automatic guided vehicle 10 receives the article 200 from the first processing device 102 . As shown in FIG. 4, the second step S2 is performed after the reception R1 of the automatic guided vehicle 10 at the first position P1. If the time t1 to t2 of the receiving R1 is long, the start timing t4 of the second step S2 will be delayed. The reception time at the first position P1 has a correlation with the start timing of the second step. As such, the progress of at least some steps can be estimated based on the time of receipt. The reception time management unit 63 manages the progress of factory processes based on the reception time data of the automatic guided vehicle 10 . The receiving time management unit 63 manages the progress of the second step based on, for example, the receiving time of the automatic guided vehicle 10 at the first position P1.

If the pick-up is done well, the pick-up time will be within the specified range. On the other hand, if the receiving time is too long, it is presumed that the receipt is not good, and that the progress of subsequent processes will be delayed. For example, if the time t1-t2 of the receiving R1 in FIG. 4 is too long, it is estimated that the progress of the second step S2 will be delayed.

The reception time determination unit 63a determines whether or not the reception time is equal to or greater than a predetermined upper limit. Since the time required to receive the article 200 differs for each of the processing apparatuses 101-103, the upper limit of the receiving time is set for each of the processing apparatuses 101-103. The upper limit of the receiving time of each of the processing devices 101-103 is stored in the memory 32. FIG. The upper limit of the receiving time may be stored in a non-rewritable manner or may be stored in a rewritable manner.

The reception time notification unit 63b notifies when it is determined that the reception time is equal to or greater than the upper limit. This allows the manager to easily recognize that there is a possibility that the progress of the process is not good.

(Travel time)
The data on the automatic guided vehicle 10 includes data on the traveling time of the automatic guided vehicle 10 . The travel time is the time it takes for the automatic guided vehicle 10 to depart from any one of the first to fourth positions P1 to P1 in front of the first to fourth processing devices 101 to 104 and arrive at the other one. speak of time. Here, the automatic guided vehicle 10 patrols in order of the 1st position P1, the 2nd position P2, the 3rd position P3, and the 4th position P4.

For example, as shown in FIG. 4, the second step S2 is started after movement M12 of the automatic guided vehicle 10 from the first position P1 to the second position P2. If the time t2 to t3 of the movement M12 is long, the start timing t4 of the second step S2 will be delayed. The movement time from the first position P1 to the second position P2 has a correlation with the start timing of the second step. In this way, the progress of at least some steps can be estimated based on the travel time. The travel time management unit 64 manages the progress of factory processes based on the travel time data of the automatic guided vehicle 10 . The travel time management unit 64 manages the progress of the second step based on, for example, the travel time of the automatic guided vehicle 10 from the first position P1 to the second position P2.

The automatic guided vehicle 10 is configured to automatically brake or stop when there is an obstacle (for example, a working forklift, a temporarily placed container, etc.) on the travel route. When there is an obstacle in front of the automatic guided vehicle 10, the traveling control unit 52 (see FIG. 7) of the guided vehicle computer 20 controls the automatic guided vehicle 10 to decelerate or stop so as to avoid collision with the obstacle. conduct.

Further, when the other automatic guided vehicle 10 is stopped at the first to fourth positions P1 to P4 in front of the first to fourth processing devices 101 to 104, the other automatic guided vehicle 10 It is configured to automatically brake or stop so as not to collide with 10. For example, while another automatic guided vehicle 10 is stopped at the second position P2, the traveling control unit 52 of the guided vehicle computer 20 slows down or stops the automatic guided vehicle 10 so as not to reach the second position P2. control to allow

When the unmanned guided vehicle 10 is moving smoothly, the travel time is within a predetermined range. On the other hand, if the movement time is too long, it is presumed that the movement is not good and that the progress of subsequent steps will be delayed. For example, in FIG. 4, if the time t2 to t3 of the movement M12 of the automatic guided vehicle 10 is too long, it is estimated that the start timing t4 of the second step S2 after the automatic guided vehicle 10 delivers the article 200 is delayed. . Further, for example, when the second process S2 (that is, the leftmost second process S2 in FIG. 4) before the automatic guided vehicle 10 arrives at the second position P2 is delayed, another of the automatic guided vehicle 10 remains on standby. In this case, the automatic guided vehicle 10 heading for the second position P2 may decelerate or stop, and the arrival of the automatic guided vehicle 10 at the second position P2 may be delayed. Since the time t2 to t3 of the movement M12 of the automatic guided vehicle 10 is long, it can be estimated that the progress of the second step S2 is delayed.

The travel time determination unit 64a determines whether or not the travel time is equal to or greater than a predetermined upper limit. The travel time from the first position P1 to the second position P2, the travel time from the second position P2 to the third position P3, the travel time from the third position P3 to the fourth position P4, and the travel time from the fourth position P4 to the first The travel times to position P1 are different from each other. As described above, since the travel time varies depending on the travel route, the upper limit value of the travel time is set for each travel route. The upper limit of travel time for each travel route is stored in the memory 32 . The upper limit value of the travel time may be stored in a non-rewritable manner or may be stored in a rewritable manner.

The travel time notification unit 64b notifies when it is determined that the travel time is equal to or greater than the upper limit. This allows the manager to easily recognize that there is a possibility that the progress of the process is not good.

(Number of transports)
Data on the automatic guided vehicle 10 includes data on the number of times the automatic guided vehicle 10 has been transported. The number of times of transportation means the number of times that the automatic guided vehicle 10 receives the article 200 from one of the first processing apparatuses 101 to 104 and delivers it to another one. In this embodiment, the unmanned guided vehicle 10 performs a total of three transportations from arrival at the first position P1 to departure from the fourth position P4. Further, in this embodiment, the automatic guided vehicle 10 patrols the first to fourth positions P1 to P4. Therefore, the unmanned guided vehicle 10 performs transportation four times or more.

The number of transfers has a correlation with the progress of the process. The transportation number management unit 65 manages the progress of the factory process based on the data of the number of transportations.

When the first to fourth steps are performed satisfactorily, the number of times of transportation in a predetermined predetermined time is equal to or greater than the predetermined number of times. On the other hand, if the number of times of transportation per predetermined time is too small, it is presumed that at least one of the first to fourth steps is not performed satisfactorily. The number-of-conveyance determination unit 65a determines whether or not the number of times of conveyance per predetermined time is equal to or less than a predetermined lower limit. The lower limit value is stored in the memory 32 . The lower limit value may be stored in a non-rewritable state or may be stored in a rewritable state.

The number-of-conveyances notification unit 65b notifies when it is determined that the number of times of conveyances per predetermined time is equal to or less than the lower limit. This allows the manager to easily recognize that there is a possibility that the progress of the process is not good.

As described above, according to the management system 1 according to the present embodiment, based on the data regarding the automatic guided vehicle 10 sent from the guided vehicle computer 20 provided in the automatic guided vehicle 10 to the management computer 30, the process of the factory is controlled. Can manage progress. There is no need to transmit data regarding the first to fourth processing apparatuses 101 to 104 to the management computer 30 from the first to fourth computers 111 to 114 provided in the first to fourth processing apparatuses 101 to 104 . Therefore, it is not necessary to connect the management computer 30 to the first to fourth computers 111 to 114 of the first to fourth processing apparatuses 101 to 104. FIG. Communication equipment for connecting the management computer 30 and the first to fourth computers 111 to 114 is unnecessary.

The first to fourth processing devices 101 to 104 are configured to perform processing different from each other. The characteristics of the first to fourth processing apparatuses 101 to 104 differ greatly. The first through fourth computers 111-114 tend to be designed or selected to match the characteristics of the first through fourth processing apparatuses 101-104, respectively. Specifications of the first to fourth computers 111 to 114 are often different from each other. On the other hand, as compared with the first to fourth computers 111 to 114, it is easier to unify communication interfaces, standards, etc. for the guided vehicle computer 20 provided in the automatic guided vehicle . Although not particularly limited, in this embodiment, the transport vehicle computer 20 is configured by a computer with common specifications.

Therefore, according to the management system 1 according to this embodiment, the cost of communication equipment can be reduced. Therefore, a system for managing the progress of factory processes can be constructed at a relatively low cost.

According to this embodiment, the travel control unit 52 of the guided vehicle computer 20 controls the automated guided vehicle 10 to avoid collision with the obstacle when there is an obstacle in front of the automated guided vehicle 10 during travel. configured to slow down or stop. Collision between the automatic guided vehicle 10 and the obstacle can be avoided when the traveling route of the automatic guided vehicle 10 is temporarily blocked by an obstacle such as a working forklift or a temporarily placed container. Therefore, it is possible to prevent the progress of the process from being delayed due to the failure of the automatic guided vehicle 10 .

For example, while another automatic guided vehicle 10 is stopped at the second position P2, the traveling control unit 52 of the guided vehicle computer 20 slows down or slows down the automatic guided vehicle 10 so as not to arrive at the second position P2. configured to stop. If there is a delay in the second process while another automatic guided vehicle 10 is waiting at the second position P2, the other automatic guided vehicle 10 does not receive the article 200 from the second processing device 102, so the second It remains stopped at position P2. When the automatic guided vehicle 10 moves to the second position P<b>2 , the automatic guided vehicle 10 may collide with another automatic guided vehicle 10 . However, according to the present embodiment, collisions between the automatic guided vehicle 10 and other automatic guided vehicles 10 can be avoided. Therefore, it is possible to prevent the progress of the process from being delayed due to the failure of the automatic guided vehicle 10 .

According to this embodiment, the transport vehicle computer 20 is configured by a computer with common specifications. Communication specifications between the management computer 30 and the transport vehicle computer 20 can be easily standardized. Therefore, the management system 1 suitable for a factory using a plurality of automatic guided vehicles 10 can be constructed at a relatively low cost.

Although one embodiment has been described above, the embodiment is merely an example. Various other embodiments are possible. Next, examples of other embodiments will be described.

(delivery time)
As the data regarding the automatic guided vehicle 10, the delivery time of the automatic guided vehicle 10 may be used. The delivery time refers to the time from when the automatic guided vehicle 10 starts delivering the article 200 to when it finishes receiving the article 200 . After delivering the article 200 , the automatic guided vehicle 10 waits and then receives the article 200 . Therefore, the delivery time is the sum of the delivery time, the waiting time, and the receiving time.

For example, as shown in FIG. 4, at the second position P2, the automatic guided vehicle 10 performs a handover H2 of the article 200 to the second processing apparatus 102, a standby W2, and a reception R2 of the article 200 from the second processing apparatus 102. conduct. The delivery time at the second position P2 is t3-t6. If the time required for the second step S2 is too short or too long, the waiting time t4-t5 will be long, and the delivery time t3-t6 will be long. If the delivery times t3 to t6 are too short or too long, it is presumed that the second step S2 has not been carried out satisfactorily.

As shown in FIG. 9, the progress management section 60 of the management computer 30 may include a delivery time management section 66, a delivery time determination section 66a, and a delivery time notification section 66b. The delivery time management unit 66 manages the progress of factory processes based on the delivery time of the automatic guided vehicle 10 . The delivery time management unit 66 manages the progress of the second step based on the delivery time at the second position P2 of the automatic guided vehicle 10, for example.

The delivery determination unit 66a determines whether the delivery time is equal to or less than a predetermined lower limit or equal to or greater than a predetermined upper limit. In addition, the upper limit value is a value larger than the lower limit value. The upper limit and lower limit of the delivery time are set for each processing apparatus. The upper limit and lower limit of delivery time for each processing device are stored in memory 32 . The upper limit value and lower limit value of the delivery time may be stored non-rewritably or rewritably stored.

The delivery time notification unit 66b notifies when it is determined that the delivery time is equal to or less than the lower limit value or equal to or greater than the upper limit value. This allows the manager to easily recognize that there is a possibility that the progress of the process is not good. As with the waiting time notification unit 61b described above, the method of notification by the delivery time notification unit 66b is not limited at all.

(Operating time)
The automatic guided vehicle 10 waits at the first to fourth positions P1 to P4, and continuously operates before and after them. For example, as shown in FIG. 4, after waiting W1 at the first position P1 and before waiting W2 at the second position P2, the automatic guided vehicle 10 receives the article 200 from the first processing device 101 R1, Movement M12 from the first position P1 to the second position P2 and delivery H2 of the article 200 to the second processing device 102 are performed. The operation time of the automatic guided vehicle 10 may be used as the data regarding the automatic guided vehicle 10 . The operation time referred to here is the time from when the automatic guided vehicle 10 starts the operation of receiving the article 200 to when it finishes the operation of handing over the article 200 . The operating time is the time obtained by adding the aforementioned receiving time, moving time, and delivery time.

For example, as shown in FIG. 4, the operation time between the first process S1 and the second process S2 of the automatic guided vehicle 10 is t1 to t4. If the operation time t1 to t4 is long, the start timing t4 of the second step S2 will be delayed. The operation time between the first process and the second process of the automatic guided vehicle 10 has a correlation with the start timing of the second process.

As shown in FIG. 10, the progress management section 60 of the management computer 30 may include an operation time management section 67, an operation time determination section 67a, and an operation time notification section 67b. The operation time management unit 67 manages the progress of factory processes based on the operation time of the automatic guided vehicle 10 . The operation time management unit 67 manages the progress of the second process based on the operation time between the first process S1 and the second process S2 of the automatic guided vehicle 10, for example.

The operation time determination unit 67a determines whether or not the operation time of the automatic guided vehicle 10 is equal to or greater than a predetermined upper limit value. The upper limit of the operation time of the automatic guided vehicle 10 is set for each process. The upper limit value of the operating time between steps is stored in the memory 32 . The upper limit value of the operation time of the automatic guided vehicle 10 may be stored non-rewritably or rewritably stored.

The operation time notification unit 67b notifies when it is determined that the operation time of the automatic guided vehicle 10 is equal to or greater than the upper limit value. This allows the manager to easily recognize that there is a possibility that the progress of the process is not good. As with the standby time notification unit 61b described above, the notification method of the operating time notification unit 67b is not limited at all.

(Image of processing equipment)
A camera 16S provided in the automatic guided vehicle 10 captures images of the first to fourth processing devices 101 to 104 when the automatic guided vehicle 10 is stopped at the first to fourth positions P1 to P4. be able to. As the data related to the automatic guided vehicle 10, the imaging data of the camera 16S provided on the automatic guided vehicle 10 may be used.

For example, while the automatic guided vehicle 10 is waiting at the second position P2, the camera 16S can capture an image of the second processing device 102 performing the second step. Based on the image of the second processing device 102, the progress of the second step can be estimated. For example, based on an image showing that the second processing device 102 is not operating, it can be estimated that the second step is not being performed satisfactorily.

As shown in FIG. 11, the progress management section 60 of the management computer 30 may include an image management section 68 . The image management unit 68 manages the progress of factory processes based on the image data of the first to fourth processing devices 101 to 104 captured by the camera 16S. The image management unit 68 manages the progress of the second process based on the image data of the second processing device 102, for example.

The guided vehicle computer 20 provided in the automatic guided vehicle 10 and the first to fourth computers 111 to 114 of the first to fourth processing apparatuses 101 to 104 may be capable of wireless or wired communication. may be impossible. Since the unmanned guided vehicle 10 moves to the vicinity of the first to fourth processing apparatuses 101 to 104, it may be configured to communicate with the first to fourth processing apparatuses 101 to 104 when it moves to the vicinity thereof. For example, the guided vehicle computer 20 is configured to be able to communicate with the first computer 111 when the automated guided vehicle 10 is stopped at the first position P1, and can communicate with the first computer 111 when the automated guided vehicle 10 is stopped at the second position P2. may be configured to be able to communicate with the second computer 112 .

The guided vehicle computer 20 is configured to be able to communicate with the computer of the processing apparatus and unable to communicate with the computers of other processing apparatuses when the automatic guided vehicle 10 is stopped at a position in front of any one processing apparatus. may be For example, the guided vehicle computer 20 is configured to be able to communicate with the first computer 111 and unable to communicate with the second to fourth computers 112 to 114 when the automatic guided vehicle 10 is stopped at the first position P1. may be As a result, for example, short-distance wireless communication can be used as communication between the transport vehicle computer 20 and the first to fourth computers 111 to 114 .

If the transport vehicle computer 20 communicates with the first to fourth computers 111 to 114, the transport vehicle computer 20 can receive data regarding the first to fourth processing apparatuses 101 to 104. By transmitting the above data from the transport vehicle computer 20 to the management computer 30, the management computer 30 can receive data regarding the first to fourth processing apparatuses 101-104. As shown in FIG. 12, the transport vehicle computer 20 includes a processing device data receiving unit 57 that receives data relating to the first to fourth processing devices 101 to 104 from the first to fourth computers 111 to 114; 4 processing device data transmission unit 58 for transmitting data regarding the processing devices 101 to 104 to the management computer 30 . According to this embodiment, the management computer 30 is not communicably connected to the first to fourth computers 111 to 114, but is connected to the first to fourth computers 111 to 114 via the carrier computer 20. Data regarding the first to fourth processing apparatuses 101 to 104 can be received.

Depending on the factory, different types of products may be manufactured on the same production line. In some cases, so-called high-mix low-volume production is performed using the same plurality of processing apparatuses. For example, when processing a first article, the first step, second step, third step, and fourth step are performed in order, and when processing a second article, the second step is omitted, and the first step and the The 3rd step and the 4th step may be performed in order. In this case, when the article received from the first processing apparatus 101 is the predetermined first article, the traveling control unit 52 of the guided vehicle computer 20 controls the automatic guided vehicle to travel from the first position P1 to the second position P2. control 10. When the article received from the first processing device 101 is a predetermined second article, the travel control unit 52 controls the automatic guided vehicle 10 to travel from the first position P1 to the third position P3. Note that the method for determining the article to be received is not particularly limited, and various known techniques can be used. For example, the automatic guided vehicle 10 is provided with a plurality of sensors 17, and based on a combination of detection results of the sensors 17, it may be determined whether the article is the first article or the second article. Based on the weight of the article loaded on the loading platform 13, it may be determined whether the article is the first article or the second article.

As described above, by changing the transport destination of the automatic guided vehicle 10 according to the type of article, it is possible to appropriately change the series of steps for each type of article. It is possible to suitably manage the progress of processes in a factory that performs high-mix low-volume production.

(Checkpoint)
For example, if the distance between the first processing device 101 and the second processing device 102 is long, the movement distance and the movement time of the automatic guided vehicle 10 from the first processing device 101 to the second processing device 102 become long. As described above, the automatic guided vehicle 10 automatically brakes or stops when there is an obstacle in the travel route. Various works are performed in a factory, and for example, between the first processing device 101 and the second processing device 102, a forklift in operation, a container temporarily placed, etc. block the traveling route of the automatic guided vehicle 10. It can be lost. In that case, the arrival of the automatic guided vehicle 10 at the second processing device 102 is delayed, and the progress of the second process is delayed. It becomes difficult to identify the cause of the delay and where the delay occurs. Therefore, as shown in FIG. 13, a passage confirmation device 90 for confirming passage of the automatic guided vehicle 10 may be installed between the first processing device 101 and the second processing device 102 .

The passage confirmation device 90 includes a communication device 105 that wirelessly communicates with the guided vehicle computer 20 of the automatic guided vehicle 10 when the automatic guided vehicle 10 passes through the checkpoint PC in front of the passage confirmation device 90 . By receiving a signal from the communication device 105 of the passage confirmation device 90, the automatic guided vehicle 10 is configured to store that it has passed through the checkpoint PC and the time at which it has passed through the checkpoint PC. By communicating with the automatic guided vehicle 10, the management computer 30 acquires information about the passage of the automatic guided vehicle 10 through the checkpoint PC and the passing time. This allows the management computer 30 to obtain more detailed data regarding the operation of the automatic guided vehicle 10 .

In this example, the data on the automatic guided vehicle 10 includes the travel time from the departure of the automatic guided vehicle 10 from the first position P1 until it passes the checkpoint PC, and the second travel time after passing the checkpoint PC. The travel time to reach position P2 is included. The travel time management unit 64 of the management computer 30 manages the progress of the factory process based on the data of each travel time.

The travel time determination unit 64a determines whether each travel time is equal to or greater than a predetermined upper limit value. Note that these upper limit values are stored in the memory 32 . The upper limit value of the travel time may be stored in a non-rewritable manner or may be stored in a rewritable manner. The travel time notification unit 64b notifies when it is determined that the travel time is equal to or greater than the upper limit value. This allows the manager to easily recognize that there is a possibility that the progress of the process is not good.

Note that the installation location of the passage confirmation device 90 is not limited to between the first processing device 101 and the second processing device 102 . A passage confirmation device 90 can be installed between arbitrary processing devices. Further, the number of passage confirmation devices 90 installed between processing devices is not limited to one, and may be two or more. For example, the number of passage confirmation devices 90 can be appropriately set according to the distance between the processing devices.

(Display example of management data)
As described above, the display device 36 such as a liquid crystal display is connected to the management computer 30 (see FIG. 5). The manager can manage the progress of the factory processes while viewing the images displayed on the display device 36 . Various data can be displayed on the display device 36 . Next, examples of images and data displayed on the display device 36 will be described.

FIG. 14 is an example of an image representing the operation status of the automatic guided vehicle 10. FIG. In this example, the route of the automatic guided vehicle 10 is displayed in the display area K11. The route of this example includes a position P81 in front of the charging station 81, a position P82 in front of the standby station 82, a position P83 in front of the casting machine 83, a position P84 in front of the intermediate processing machine 84, and a position P84 in front of the heat treatment machine 85. A position 85 and multiple checkpoint PCs are included. A route Q1 is a route from the casting machine 83 to the heat treatment machine 85 via the intermediate processing machine 84 . A route Q2 is a route from the casting machine 83 to the heat treatment machine 85 . In this example, the arrival, standby, and departure of the automatic guided vehicle 10 at the charging station 81, the standby station 82, the casting machine 83, the intermediate processing machine 84, and the heat treatment machine 85, and the passage of the automatic guided vehicle 10 through the checkpoint PC. Based on this, the progress of the factory process can be managed.

The casting machine 83, the heat treatment machine 85, and the intermediate processing machine 84 are examples of the first processing device, the second processing device, and the third processing device, respectively. A position P83, a position P85, and a position P84 are examples of the first position, the second position, and the third position, respectively. In this example, the position P84A at which the automatic guided vehicle 10 delivers the article to the intermediate processing machine 84 and the position P84B at which the automatic guided vehicle 10 receives the article from the intermediate processing machine 84 are different. Position P84, which is an example of the third position, includes position P84A and position P84B. The first position, the second position, and the third position may be a single position or a position area containing multiple positions.

The remaining battery level of each automatic guided vehicle 10 is displayed in the display area K12. The display area K13 displays data on the automatic guided vehicle 10 between each process and each process. Here, data regarding the stop time of the automatic guided vehicle 10 in the processing apparatus is displayed in the display area K13A, and data regarding the running time of the automatic guided vehicle 10 between processing apparatuses is displayed in the display area K13B. The "set time" in FIG. 14 is a predetermined prescribed stop time or running time. The “most recent time” is the stop time or running time immediately before that time. The "excess time" is the difference between the most recent stop time and the specified stop time, or the difference between the most recent travel time and the specified travel time (these differences are hereinafter referred to as delay time). "Excess time" represents how much the latest stop time is delayed compared to the specified stop time, or how much the latest travel time is delayed compared to the specified travel time. "Average delay time" represents the average delay time of the day. "Total delay time" represents the total delay time of the current day. The "cumulative number of delays" represents the cumulative number of times the stop time exceeds the specified stop time or the number of times the travel time exceeds the specified travel time. The administrator can easily and accurately know the operation status of the automatic guided vehicle 10 by viewing the data displayed in the display area K13.

Fig. 15 is an example of an image showing the production progress. In the display area K21, the planned number of units to be produced per day (“planned number/day”), the number of units actually produced by that time (“progress number”), and the fact that production has been completed at that time. The number of units scheduled to be installed (“planned number”) and the degree of progress (percentage of the number of units in progress with respect to the number of units scheduled) are displayed. The display area K22 displays a graph showing the progress of the production volume. The horizontal axis of this graph represents the operating hours of the factory per day, and the vertical axis represents the number of units produced per day. A line 201 represents a planned line obtained by dividing planned production volume per day by operating hours per day. A line 202 is a line representing the progress of the production volume up to the time Tp. By looking at this graph, the manager can easily and accurately know the progress of production volume.

In this embodiment, if the processing of the processing device is defective, the automatic guided vehicle 10 that has received the article from the processing device does not hand over the article to the processing device that performs the next process. In other words, the automatic guided vehicle 10 that has received the defective product does not transport the defective product to the processing device that performs the next process. If there are no defective products, the transfer rate of the automatic guided vehicle 10 is 100%, but if there are defective products, the transfer rate of the automatic guided vehicle 10 is less than 100%. The fewer defective products, the higher the transport rate. FIG. 16 is an example of an image representing the transport rate. The “number of heat treated items” displayed in the display area K31 represents the number of articles delivered to the heat treatment machine 85 by the automatic guided vehicle 10 . “Number of castings carried out” represents the number of articles received by the automatic guided vehicle 10 from the casting machine 83 . "Conveyance rate" represents the percentage of the number of heat treatment deliveries to the number of casting deliveries. A display area K32 displays a graph showing changes in the number of heat treatments carried in and the number of castings carried out with respect to the operating hours of the day. The horizontal axis of the graph displayed in the display area K32 represents the operating time of the factory per day, and the vertical axis represents the cumulative number of transports per day. A line 301 represents the number of articles received from the casting machine 83 by the automatic guided vehicle 10 (the number of cast outs), and a line 302 represents the number of articles handed over to the heat treatment machine 85 by the automatic guided vehicle 10 (the number of heat treated articles carried in). The display area K33 displays a graph showing the hourly transportation rate. The horizontal axis of this graph represents the operating time of the factory, and the vertical axis represents the transport rate. By looking at these graphs, the manager can grasp how the transport rate has changed over time.

FIG. 17 is an example of an image representing data related to the automatic guided vehicle 10. FIG. In this embodiment, the automatic guided vehicle 10 is configured to issue an alarm when a predetermined condition such as a condition for determining the presence or absence of an abnormality is satisfied. The display area K41 displays the running time of each automatic guided vehicle 10 and the number of times an alarm is generated. “No.” represents the identification number of the automatic guided vehicle 10 . In the running time column, "Total" represents the cumulative running time, "Month" represents the running time of the current month, and "Day" represents the running time of the current day. In the column of the number of alarms, "month" indicates the number of alarms in the current month, and "day" indicates the number of alarms in the current day. A history of alarms is displayed in the display area K42. Here, as the alarm history, the identification number of the automatic guided vehicle 10 where the alarm was generated, the alarm generation time, and the content of the alarm are displayed. In the display area K43, a bar graph of the number of alarm occurrences for each processing device and between processing devices is displayed.

FIG. 18 is an example of an image representing data related to production status. A bar graph of the planned number of vehicles and the actual number of vehicles for the day is displayed in the display area K51. Note that the actual number of products means the number of products whose production has been completed up to that point in time. A bar graph of the planned number of vehicles and the actual number of vehicles for the current month is displayed in the display area K52.

　The above images are merely examples. The image displayed on the display device 36 by the management computer 30 is not limited at all. Data displayed on the display device 36 by the management computer 30 is not limited at all.

Although the embodiment of the present invention has been described above, the embodiment is merely an example. Various other embodiments are possible.

The management computer 30 may be installed in the space where the first to fourth processing apparatuses 101 to 104 are installed, or may be installed in a space different from the above space. The management computer 30 may be installed in a building other than the building in which the first to fourth processing apparatuses 101 to 104 are installed in the premises of the factory. The management computer 30 may be installed outside the factory premises. The management computer 30 may be configured to wirelessly communicate directly with the vehicle computer 20, or may be configured to wirelessly communicate indirectly with the vehicle computer 20 via a network such as the Internet. good.

The first to fourth processing apparatuses 101 to 104 may be installed in a single building, or may be installed dispersedly in multiple buildings. The automated guided vehicle 10 may travel within a single building or across multiple buildings. The automatic guided vehicle 10 may run not only indoors but also outdoors.

As described above, the automatic guided vehicle 10 according to the embodiment is configured to automatically travel along the tape attached to the ground of the factory. The work of applying the tape to the ground is relatively easy. Tape is an example of an easy-to-install dielectric. In this way, if a derivative that is easy to install is used, it is possible to construct a relatively inexpensive factory management system using a route guidance type automatic guided vehicle. However, the derivative is not limited to tape. Also, the automatic guided vehicle is not limited to a route guidance type automatic guided vehicle.

The number of articles conveyed by the unmanned guided vehicle 10 may be one, or two or more.

In the above embodiment, the above notification is performed by the management computer 30. However, together with the notification by the management computer 30 or instead of the notification by the management computer 30, the automatic guided vehicle 10 may make the notification.

The first to fourth computers 111 to 114 may be dedicated computers (eg, programmable logic controllers) built in the first to fourth processing apparatuses 101 to 104, respectively, and general-purpose computers such as personal computers. may be The management computer 30 may be a dedicated computer for the management system or a general-purpose computer.

The position of the camera provided on the automatic guided vehicle 10 is not particularly limited. The number of cameras provided in the automatic guided vehicle 10 is not limited at all.

DESCRIPTION OF SYMBOLS 1... Factory management system, 10... Automatic guided vehicle, 16S... Camera (imaging device), 20... Conveyance computer, 30... Management computer, 50... Conveyance control part, 51... First reception control part, 52... Travel control part, 53... Delivery control unit, 54... Standby control unit, 55... Second reception control unit, 56... Transport vehicle data transmission unit, 57... Processing device data reception unit, 58... Processing device data transmission unit, 60... Progress management unit, 61a... Waiting time determining unit 61b... Waiting time notifying unit 62a... Delivery time determining unit 62b... Delivery time notifying unit 63a... Receiving time determining unit 63b... Receiving time notifying unit 64a... Moving time determining unit 64b Moving time notification unit 65a Conveyance number determination unit 65b Conveyance number notification unit 66a Delivery time determination unit 66b Delivery time notification unit 67a Operation time determination unit 67b Operation time notification unit 90 Passage confirmation device 101 First processing device 102 Second processing device 103 Third processing device 104 Fourth processing device 111 First computer 112 Second computer 200 Goods P1 First position, P2... Second position, PC... Check point, S1... First step, S2... Second step

Claims

A factory management system for managing a factory in which at least a first processing apparatus for performing a first process and a second processing apparatus for performing a second process are installed, and a plurality of processes including the first process and the second process are sequentially performed. and
an unmanned guided vehicle,
a guided vehicle computer provided in the automatic guided vehicle;
a management computer;
The first processing device has a first computer, the second processing device has a second computer,
The management computer is not communicatively connected to the first computer and the second computer,
The transport vehicle computer is configured to be able to communicate wirelessly with the management computer,
The vehicle computer is configured to:
a first receiving control unit that controls the automatic guided vehicle to receive the article after the first process from the first processing device at a first position in front of the first processing device;
a travel control unit that controls the automatic guided vehicle to travel from the first position to a second position in front of the second processing device;
a delivery control unit that controls the automatic guided vehicle to deliver the article to the second processing device at the second position;
a standby control unit that controls the automatic guided vehicle to wait at the second position from when the second processing device starts until it finishes the second step;
a second reception control unit that controls the automatic guided vehicle to receive the article after the second process from the second processing device at the second position;
a guided vehicle data transmission unit that transmits data related to the automatic guided vehicle to the management computer;
The factory management system, wherein the management computer has a progress management section that manages the progress of the process in the factory based on the data regarding the automatic guided vehicle received from the guided vehicle computer.
The data on the automatic guided vehicle includes the time from when the automatic guided vehicle finishes the operation of handing over the article to the second processing device at the second position to when it starts the operation of receiving the article. contains data for a certain wait time,
2. The factory management system according to claim 1, wherein said progress management section of said management computer is configured to manage the progress of processes in said factory based on said waiting time data.
The management computer is
a standby time determination unit that determines whether the standby time is equal to or less than a predetermined lower limit of standby time or greater than or equal to a predetermined upper limit of standby time;
3. The factory management system according to claim 2, further comprising a standby time notification unit that notifies when said standby time is determined to be equal to or less than said lower limit value or equal to or greater than said upper limit value.
The data relating to the automatic guided vehicle includes delivery time data, which is the time from when the automatic guided vehicle starts and ends the operation of handing over the article to the second processing device at the second position. ,
4. The factory management system according to any one of claims 1 to 3, wherein said progress management section of said management computer is configured to manage the progress of processes in said factory based on said delivery time data. .
The management computer is
a delivery time determination unit that determines whether the delivery time is equal to or greater than a predetermined upper limit of the delivery time;
5. The factory management system according to claim 4, further comprising a delivery time notification unit that notifies when said delivery time is determined to be equal to or greater than said upper limit.
The data on the automatic guided vehicle includes data on the reception time, which is the time from when the automatic guided vehicle starts receiving the article from the second processing device to when it ends at the second position. ,
6. The factory management system according to any one of claims 1 to 5, wherein said progress management unit of said management computer is configured to manage the progress of processes in said factory based on said reception time data. .
The management computer is
a reception time determination unit that determines whether or not the reception time is equal to or greater than a predetermined upper limit of the reception time;
7. The factory management system according to claim 6, further comprising a receiving time notifying unit that notifies when said receiving time is determined to be equal to or greater than said upper limit.
The data about the automatic guided vehicle includes data of a first travel time, which is the time from when the automatic guided vehicle departs from the first position to when it arrives at the second position,
The factory according to any one of claims 1 to 7, wherein the progress management section of the management computer is configured to manage the progress of the process in the factory based on the data of the first travel time. management system.
The management computer is
a travel time determination unit that determines whether or not the first travel time is equal to or greater than a predetermined travel time upper limit;
9. The factory management system according to claim 8, further comprising a travel time notification unit that notifies when the first travel time is determined to be equal to or greater than the upper limit value.
The data on the automatic guided vehicle includes the time from when the automatic guided vehicle starts the operation of delivering the article to the second processing device at the second position to when the operation of receiving the article is completed. contains data for a certain delivery time,
10. The factory management system according to any one of claims 1 to 9, wherein said progress management unit of said management computer is configured to manage the progress of processes in said factory based on said delivery time data. .
The management computer is
a delivery time determination unit that determines whether the delivery time is equal to or less than a predetermined lower limit of delivery time or equal to or greater than a predetermined upper limit of delivery time;
11. The factory management system according to claim 10, further comprising a delivery time notification unit that notifies when said delivery time is determined to be equal to or less than said lower limit value or equal to or greater than said upper limit value.
In the data about the automatic guided vehicle, after the automatic guided vehicle starts receiving the article from the first processing device at the first position, the article is delivered to the second processing device at the second position. Contains data for the action time, which is the time to complete the handover action,
The factory management system according to any one of claims 1 to 11, wherein said progress management unit of said management computer is configured to manage progress of processes in said factory based on said operating time data. .
The management computer is
an operation time determination unit that determines whether or not the operation time is equal to or greater than a predetermined upper limit of the operation time;
13. The factory management system according to claim 12, further comprising an operating time notification unit that notifies when the operating time is determined to be equal to or greater than the upper limit value.
The factory is equipped with a plurality of processing apparatuses that perform the plurality of steps, respectively,
The transport vehicle computer has a transport control unit that controls the automatic transport vehicle to transport the article between the plurality of processing devices,
The data on the automatic guided vehicle includes data on the number of times the article is transported by the automatic guided vehicle,
14. The factory management system according to any one of claims 1 to 13, wherein said progress management section of said management computer is configured to manage the progress of processes in said factory based on said data on the number of times of transportation. .
The management computer is
a number-of-conveyance determination unit that determines whether or not the number of times of conveyance in a predetermined time is equal to or less than a predetermined lower limit of the number of times of conveyance;
15. The factory management system according to claim 14, further comprising a conveying number notification unit that notifies when it is determined that the number of conveying times in the predetermined time is equal to or less than the lower limit value.
A passage confirmation device disposed between the first processing device and the second processing device,
16. The pass confirmation device has a communication device that performs wireless communication with the guided vehicle computer when the automatic guided vehicle passes through a checkpoint in front of the pass confirmation device. Factory management system according to one.
The data relating to the automatic guided vehicle includes the time from when the automatic guided vehicle departs from the first position until it passes the checkpoint, or the time from when the automatic guided vehicle passes the checkpoint to the first includes data for a second travel time, which is the time to arrive at two locations;
17. The factory management system according to claim 16, wherein said progress management section of said management computer is configured to manage the progress of a process in said factory based on said second travel time data.
The factory is equipped with a third processing device for performing the third step,
When the article received from the first processing device is a predetermined first article, the traveling control unit of the guided vehicle computer causes the automatic guided vehicle to travel from the first position to the second position. If the article received from the first processing device is a predetermined second article, the automatic guided vehicle is controlled to travel from the first position to a third position in front of the third processing device. A factory management system according to any one of claims 1 to 17, configured to:
An imaging device provided in the automatic guided vehicle,
The data related to the automatic guided vehicle includes image data of the second processing device captured by the imaging device,
19. The factory management system according to any one of claims 1 to 18, wherein said progress management section of said management computer is configured to manage progress of processes in said factory based on said image data. .
The guided vehicle computer is configured to be able to communicate with the first computer when the automated guided vehicle is stopped at the first position, and is configured to communicate with the first computer when the automated guided vehicle is stopped at the second position. The factory management system according to any one of claims 1 to 19, configured to communicate with the second computer.
The vehicle computer is configured to:
a processing device data receiving unit that receives data about the first processing device from the first computer and data about the second processing device from the second computer;
The factory management according to any one of claims 1 to 20, further comprising a processing device data transmission unit that transmits data regarding said first processing device and data regarding said second processing device to said management computer. system.
If there is an obstacle in front of the automated guided vehicle during travel, the travel control unit of the guided vehicle computer slows down or stops the automated guided vehicle so as to avoid collision with the obstacle. A factory management system according to any one of claims 1 to 21, configured.
The travel control unit of the guided vehicle computer slows down or stops the automated guided vehicle so that the automated guided vehicle does not reach the second position while another automated guided vehicle is stopped at the second position. 23. A factory management system according to any one of claims 1 to 22, configured to allow
A plurality of sets of the automatic guided vehicle and the guided vehicle computer,
24. The factory management system according to any one of claims 1 to 23, wherein said transport vehicle computer is composed of a computer with common specifications.