JP2000010630A - Unmanned carrying device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily change or improve a system and to flexibly cope with abnormality and trouble concerning an unmanned carrying device provided with at least one self-traveling vehicle receiving and delivering carrying matters at plural loading and unloading places. SOLUTION: Cells 161 to 165 are divided into plural groups 301 and 302 depending on carrying processing contents and the kind of the carrying matter. Then, self-traveling robots 131 to 133 which are respectively assigned to these plural groups 301 and 302 and suited to a carrying request are specified. Then, the carrying device is provided with contract robots 101, 102 commanding the specified robots 131 to 133 to execute a carrying request, a first communication means 20 communicating various kinds of information between the plural robots 101, 102, second communication means 191, to 193 communicating various kinds of information between the robots 101, 102 and the plural robots 131 to 133, and a means respectively provided for the robot 131 to 133 to judge the carrying processing possibility on its own and to transmit this judged result to the robots 101, 102.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unmanned transfer device, and more particularly to a method for transferring goods at a plurality of unloading locations.
The present invention relates to an unmanned transfer device having at least one self-propelled vehicle. Generally, an unmanned transport device has a self-propelled vehicle that travels along a guide band laid on the floor surface of a factory or warehouse, etc., and allows parts, materials, finished products and semi-finished products to be stipulated by the self-propelled vehicle. It is configured to be transported to a place. This unmanned transport device is frequently used in various types of industries including manufacturing fields and various places.

[0002] In the following description, parts, materials,
Objects to be transported, such as finished products and semi-finished products, are collectively referred to as “transported objects”.

[0003]

2. Description of the Related Art FIG. 1 is a conceptual view of a conventional unmanned transfer device. For convenience of explanation, a transfer between manufacturing steps (for example, a semiconductor device manufacturing step) will be described as an example. In FIG. 1, reference numeral 1 denotes an upper system constituted by a host computer or the like.
Serves to comprehensively manage the entire production process, all steps (hereinafter, referred to as cells) 16 ₁ manages the stock situation of the conveyance object in the to 16 _5, and all the moving vehicle 12 ₁ -
12 ₃ cargo status and manages the current location. Self-propelled vehicle 12
_{1 to} 12 ₃ are configured to travel on a taxiway 15 provided between the cells 16 _{1 to} 16 ₅ in advance.

In each of the cells 16 _{1 to} 16 ₅ , a portion 17 ₁ to 17 for storing a conveyed material called storage is stored.
17 ₅ is provided, when conveying the number on the storage 17 _{1-17 5} falls below a predetermined number of reference (or exceeded), or out-carrying requirements provided in the storage 17 _{1-17 5} button when (not shown) is depressed, with respect to the host system 1 from the cell 16 ₁ to 16 _5, loading request or carry-out request (hereinafter, referred to as the transport request to fit them) so that the results. This transfer request is made via the communication means 18.

The host system 1 responds to the received transport request.
And the empty vehicle 12 closest to the requesting cell.₁~ 12
_Three(Hereinafter, it is referred to as an empty vehicle.
2₁Was vacant) and requested transport
Cell 16 stocking things₁~ 16_FiveIdentified
After, empty car 12₁Required information (identification of requested goods)
Code and identification code of the loading / unloading cell).
And the transfer request is sent to the empty vehicle 12₁Run on
Let it. This transfer command is transmitted to the communication unit 19.₁(19 _Two~ 1
9_Four).

[0006]

However, in such a conventional unmanned transport apparatus, all the cells 16 ₁ to 16 ₁ are required.
Stock status of conveyance object in 6 _5, and all the cargo status and the current position of the moving vehicle 12 ₁ to 12 _3, it is necessary to collectively managed by the host system 1, arrangement change of the cell 16 ₁ to 16 ₅ In order to change or improve the system by adding or adding a new system, there is a problem that the host system 1 must be rebuilt and the system cannot be flexibly handled.

Further, abnormalities and troubles occurring in a part of the unmanned transport device affect the entire system, and partial abnormalities and troubles affect the entire system, making it impossible to work or significantly reducing efficiency. Such a defect also occurred. The present invention has been made in view of the above points, and an object of the present invention is to provide an unmanned transfer device that can easily change or improve a system and can flexibly respond to abnormalities and troubles. Aim.

[0008]

The above-mentioned object can be attained by taking the following means. According to the first aspect of the present invention, in an unmanned transport device having one or more self-propelled vehicles that deliver goods at a plurality of unloading locations, the number of the unloading places may vary depending on the content of a transport process and the type of the goods. A self-propelled vehicle that is assigned to each of the plurality of groups and that is suitable for the transfer request based on the detection result of the transfer processing status in the group and the transfer request requested from the unloading location. Control means for instructing the self-propelled vehicle to execute the transfer request, first communication means for communicating various information between the plurality of control means, and communication between the control means and the self-propelled vehicle. A second communication means for communicating various information; and a plurality of self-propelled vehicles, each of which is provided in each of the plurality of self-propelled vehicles. It is characterized in further comprising a determining means for transmitting to the stage.

According to a second aspect of the present invention, in the unmanned transport apparatus according to the first aspect, the control means is configured to perform a transfer process of each of the self-propelled vehicles transmitted from the plurality of determination means. The present invention is characterized in that a self-propelled vehicle that is most suitable for the requested transport processing is determined.

According to a third aspect of the present invention, in the unmanned transport apparatus according to the first or second aspect, the determination unit is configured to execute a currently executed or next one of the transfer requests currently instructed by the control unit. From the time required to execute the transfer request to be executed, calculate the time required to execute the new transfer request when the new transfer request is notified, and use the calculated time as an index of the transfer processing possibility. It is characterized in that it is used.

According to a fourth aspect of the present invention, in the unmanned transfer device according to any one of the first to third aspects, the control means belonging to one group among the plurality of control means is provided with another control means. The control means belonging to the group may be configured to request communication or a command with the self-propelled vehicle, and the other control means may be configured to use the communication means with the self-propelled vehicle. Things.

According to a fifth aspect of the present invention, in the automatic guided vehicle according to the fourth aspect, the information transmitted / received between any of the control means and the self-propelled vehicle distinguishes the identity of the information. A unique identifier is assigned. According to a sixth aspect of the present invention, in the unmanned transport apparatus according to the first aspect, the control unit includes a group to which an unloading destination or a loading destination is assigned to a transport request from the unloading location. In the case where it is determined that there is no transport group, an inquiry about the transport status or a transport processing operation can be performed to the control means of another group.

According to a seventh aspect of the present invention, in the automatic guided vehicle according to the sixth aspect, information transmitted and received between any of the control means is provided with an identifier capable of distinguishing the identity of the information. It is a feature. Also,
According to an eighth aspect of the present invention, in the unmanned transfer device according to any one of the first to seventh aspects, further, information exchange is performed between the plurality of control means at the time of starting the apparatus, whereby each control means is controlled. Control means for detecting an activation state is provided with activation time detection means.

According to a ninth aspect of the present invention, in the automatic guided vehicle according to any one of the first to seventh aspects, further, information is exchanged with the self-propelled vehicle when the apparatus is started. Thus, a self-propelled vehicle start-up detecting means for detecting the activated state of each self-propelled vehicle is provided.

Each of the above means operates as follows. According to the first aspect of the present invention, the loading / unloading place is divided into a plurality of groups according to the content of the transport processing and the type of the transported article, and a self-propelled vehicle suitable for the transport request is specified and a transport request to the mobile vehicle is transmitted. Since the control means for instructing execution is assigned to each of a plurality of groups, even if an abnormality or trouble occurs in one of the plurality of groups, this abnormal state is transmitted to other groups. Can be prevented, and an abnormal state can be prevented from being minimized in the automatic guided machine.

[0016] In addition, by providing a judgment means for judging the possibility of the self-transfer process based on the information from the control means and transmitting the judgment result to the control means, each of the plurality of self-propelled vehicles is provided. The management process can be distributed to each vehicle (judgment means) in addition to the control means, so that the system can be flexibly changed or improved by changing the process or adding a new one.

According to the second aspect of the present invention, the control means is most suitable for the requested transfer processing based on the transfer processing possibility of each of the vehicles transmitted from the plurality of determination means. By adopting a configuration that determines the self-propelled vehicle,
The transport efficiency can be improved. According to the third aspect of the present invention, the determining means calculates the time required to execute the new transport request from the time required to execute the transport request that is currently being executed or is to be executed. With the configuration in which the elapsed time is used as an index of the possibility of the transfer processing, the self-propelled vehicle most suitable for the requested transfer processing can be specified reliably and in a short time.

According to the present invention, among the plurality of control means, the control means belonging to one group requests the control means belonging to another group to communicate with the self-propelled vehicle or to issue a command. By having a configuration that allows the use of communication means with the self-propelled vehicle that the other control means has,
The self-propelled vehicle can be moved between different groups, and versatility can be improved. Also, since one control means can use the communication means of the other control means, even if the self-propelled vehicle moves out of one group, a command is issued from the one control means to the self-propelled vehicle. Can be conveyed.

According to the fifth aspect of the present invention, information transmitted / received between any of the control means and the self-propelled vehicle is provided with an identifier capable of distinguishing the identity of the information. It is possible to avoid occurrence of the process twice by acquiring the same information twice. According to the invention described in claim 6, when the control means determines that there is no transfer destination or a transfer destination in the group to which the transfer destination or the transfer destination is assigned in response to the transfer request from the unloading location, the control unit determines whether the transfer request is present in another group. By adopting a configuration in which the control means can be inquired of the transfer status or the transfer processing operation can be performed, the self-propelled vehicle most suitable for the requested transfer processing can be reliably and quickly specified regardless of the group. Becomes possible.

According to the present invention, the information transmitted and received between any of the control means is provided with an identifier capable of distinguishing the identity of the information, so that the same information is obtained twice. It is possible to avoid the occurrence of the processing. Further, according to the invention of claim 8, by exchanging information among the plurality of control means at the time of starting the apparatus, the control means activation time detecting means for detecting the activation state of each control means is provided. A defective control means can be discovered before the traveling vehicle starts the transfer process. This makes it possible to deal with this defect before the start of the transport process.

Further, according to the ninth aspect of the present invention, by exchanging information with the self-propelled vehicle at the time of starting the apparatus,
The provision of the self-propelled vehicle start-up detection means for detecting the start-up state of each self-propelled vehicle enables a defective self-propelled vehicle to be found before the self-propelled vehicle starts the transfer process. This makes it possible to deal with this defect before the start of the transport process.

[0022]

Next, embodiments of the present invention will be described with reference to the drawings. First, the configuration of an unmanned transport device according to an embodiment of the present invention will be described with reference to FIG. In the unmanned transfer device according to the present embodiment, two types of robots are used to realize the transfer operation. One is a self-propelled robot that actually performs a transfer operation, and the other is a contract robot that presents and requests a transfer request to the robot.

The self-propelled robot is a conventional self-propelled robot shown in FIG.
Running car 12₁~ 12_Three, But as detailed below
The conventional self-propelled vehicle 12₁~ 12_ThreeAdvanced processing compared to
It is expressed in another word because it is realized. Also figure
2 has the same structure as the conventional unmanned transfer device shown in FIG.
The components are denoted by the same reference numerals and description thereof is omitted. Figure
In FIG. 2, the self-propelled robot that actually carries
₁~ 13_ThreeIn addition, presentation and request of transport request
The contract robot (control means) that performs ₁, 10_Two
Indicated by.

The control processing of the contract robots 10 ₁ and 10 ₂ is realized by using a CPU such as a personal computer. In the present embodiment, the self-propelled robots 13 ₁ to 13 ₁
Determination means for performing predetermined determination processing will be described later in 3 ₃ (is implemented using a CPU) is incorporated.
Further, in this embodiment, by performing grouping according to activity or object to be transported to the cell 16 ₁ to 16 _5. Specifically, the five cells 16 of the unmanned transport device
Of the ₁ to 16 _5, the cell 16 _1, 16 ₂ are first to form a group 30 _1, cell 16 _{3-16 5} is performing grouping to form a second group 30 _2.

[0025] Then, the first group 30 ₁ with contract robot 10 ₁ is assigned, the second group 30 ₂ are assigned contract robot 10 _2.
Each of the contract robots 10 ₁ and 10 ₂ presents and requests a transfer request to the self-propelled robot existing in the assigned area of each of the groups 30 ₁ and 30 ₂ . A communication means 20 (first communication means) is provided between the contract robots 10 ₁ and 10 ₂ , and the contract robot 10 ₁
Exchange of information has a structure capable of performing with the contract robot 10 _2. Further, the contract robot 10 ₁ and the self-propelled robots 13 ₁ , 13 ₂ arranged in the first group 30 ₁
Communication means 19 ₁ and 19 ₂ are provided between
Contract robot 1 also disposed in the second group 30 ₂
0 ₂ and the communication unit 19 ₃ is provided between the self-propelled robot 13 ₃ (communication unit 19 ₁ to 13 ₃ composing the second communication means).

Further, ₁ to 17 ₅ Each storage 17, while being configured capable of managing the stock situation of each conveyed object, out-carrying request button is provided. The operation of the stock status of the goods in the storages 17 ₁ and 17 ₂ belonging to the first group 30 ₁ and the operation of the unload / load request button are
It is transmitted using a communication unit 18 ₁ to contract the robot 10 _1, also storage 17 belonging to the second group 30 _{2
3-17 5} stock status and out-carrying request button of the operation of transport of is sent to the contract the robot 10 ₂ through the communication unit 18 _2.

This communication means 18₁, 18_TwoThe Stray
J17₁~ 17_FiveStatus, and request for unloading and loading
Programmable controller that can realize button processing
And storage systems.
17₁~ 17_FiveSequencer is used to manage the status of
May be. Subsequently, the operation of the unmanned transport device having the above-described configuration is performed.
The operation will be described with reference to FIGS. FIG.
Is a process performed when a transport request is input (hereinafter referred to as the
FIG. 4 is a time chart showing
Self-propelled robot 13₁~ 13 _ThreeTime calculation performed within
It is a flowchart of FIG.

Here, a case where a transport request occurs in the cell 16 ₁ will be described as an example. The carry-out request is realized, for example, by operating the unloading-loading request button provided in the vicinity of the storage 17 _1. When a transfer request occurs in the cell 16 ₁ (step T1 in FIG. 3), the contract robot 10 ₁ detects the state by the communication means 18 ₁ (step T2).
Contract robot 10 _1, the request tasks each self-propelled robot 13 _1, 13 _2, 13 notifies via the communication unit 19 ₁ to ₃ (step T3).

This communication means 19₁~ 19_FiveAs a
Real wireless communication and LAN wireless communication can be used.
Wear. Also, in indoor wireless communication,
30 ₁, 30_Two(In the above, we also used the group
However, here it is used as a wireless reach area)
Due to restrictions, the contract robot 10₁, 10
_TwoEach group 30₁, 30_TwoContract robot in the area
10₁, 10_TwoSo that wireless communication can reach from
The installation of such as, multiple groups 30₁, 30_TwoNo
The intersection of the line arrival areas is at least on taxiway 15.
It is arranged to be generated.

In the state shown in FIG. 2, the requesting task sends the self-propelled robots 13 ₁ , 13 ₁ using the communication means 19 ₁ , 19 _2.
2 is notified. However, the self-propelled robot 13 _3, since the self-propelled robot 13 ₃ to contract the robot 10 _first radio coverage area 30 ₁ is not present, the wireless communication contracts robot 10 ₂ presentation of requested task by using the communication means 20 19 ₃ through to notify the self-propelled robot 13 _3. As the communication means 20 between the contract robots 10 ₁ and 10 ₂ , for example, LAN TCP / IP communication or the like can be used.

Thus, the self-propelled robot 13₁~ 13_Three
Different groups 30₁, 30_TwoCan be moved between
It becomes possible and versatility can be improved. Also, one
Contract Robot 10₁Is another contracted robot 10_TwoHas
Communication means 19_ThreeIs available, so each group 30
₁, 30_TwoSelf-propelled robot 13 between₁~ 13_ThreeMove
This self-propelled robot 13₁~ 13_ThreeAgainst each contract
Robot 10₁, 10 _TwoCan be surely communicated
it can.

By the way, depending on the location, the self-propelled robot 1
3₁~ 13_ThreeIs the contract robot 10 ₁Contract information from
Robot 10₁Of the contract robot
To 10₁From the contract robot 10 via the communication means 20_Two
There is a possibility that it may be received from a radio signal transmitted from the Internet.
In this case, it is likely that processing will be performed twice with the same information.
There is.

However, in the present embodiment, a unique identifier (composed of a character string or a number) is added to the information to be transmitted in advance, and when the same information is received, only one of them is processed, and the other is notified that the processing has already been performed. Is notified.
As a result, it is possible to avoid processing twice by acquiring the same information twice. Similarly, there is a possibility that the same information is exchanged between each of the contracted robots 10 ₁ and 10 _{2. In} this case as well, by assigning the same identifier, it is possible to avoid processing the information twice. .

The self-propelled robots 13 _{1 to} 13 ₃ (step T4), which have received the requested task as described above, receive the current processing status of each of the self-propelled robots 13 _{1 to} 13 _3, Using an executable task status, it is converted into an index indicating the possibility of executing a new task (step T5). In the present embodiment, the required time represented by the sum of the time required for processing the currently executing or unexecuted task and the time required for executing the new task after the processing is completed is used as an index. .

The required time is calculated by the required time calculation flow shown in FIG.
Calculated by chart. Calculation of required time shown in the figure
Is a self-propelled robot 13₁~ 13_ThreeThe request task described above
This is a process that is started by receiving the presentation of
Robot 13₁~ 13 _ThreeRealized by CPU built in
It will be applied. When the required time calculation process starts,
First, in step 10 (shown as S10 in the figure),
Initialization of required time T and counter i is performed.
(T = 0, i = 1). In the following step 11, the running
It is determined whether the requested task exists. Running key
If there is a requested task, the process proceeds to step 12.
Requires time T1 until the requested task being executed ends
It is added to time T (T = T + T1).

On the other hand, if there is no request task currently being executed, the process proceeds to step 13 where the counter value i
There or less than requested task number M having a current self-propelled robot _{131-134 3} it is determined (i ≦ M). If an affirmative determination is made in step 13, the processing proceeds to step 14
The time Ti required to execute the i-th unprocessed task is added to the required time T (T = T + Ti), and the counter i is incremented (i = i).
+1). Then, the process returns to step 13 again. That is, the processes of step 13 and step 14 are executed by the number of unprocessed tasks.

On the other hand, if an affirmative determination is made in step 13, that is, if the time required to execute the unprocessed task is all added to the required time T, the process proceeds to step 15, and the processing received at this time (the request The required time T _last required for the task is added to the required time T obtained by performing steps 10 to 14. This allows
The required time T obtained in step 15 is the
3 _{1-13 3} each processes the unprocessed tasks are already required, and the time required to perform both ears of currently requested requested task. In this embodiment, the required time T obtained as described above is used as an index.

Of course, this index is not limited to the required time T until the execution of a new task, and when a task whose priority is to be considered is handled, the new task is processed before the execution of the previous task. Alternatively, an index which is the required time may be obtained. The index obtained in this way is transmitted from each of the self-propelled robots 13 _{1 to} 13 ₃ to the communication means 19 _1.
To 19 ₃ via a is notified to contract the robot 10 ₁ presented the requesting task (T6).

The contract robot 10 ₁ is a self-propelled robot 13
Upon receiving an indication from ₁ to 13 ₃ (step 17),
The self-propelled robot that has returned the best evaluation result is selected from these (step T8), and the processing of the newly requested task is requested to the self-propelled robot that has returned the best evaluation result (step T9). By performing the series of processes described above, the execution request process of the new task is completed.

In the above configuration, for example, the self-propelled robot 1
3 ₁ is an index such as 100 seconds required, self-propelled robot 1
3 ₂ is an index of 200 seconds required, self-propelled robot 1
3 ₃ contracted robot 1
When you returned to 0 _1, contract robot 10 ₁ to request a new task in the self-propelled robot 13 _1. As described above, in the present embodiment, the required time is used as an index, so that the self-propelled robots 13 ₁ to 13 ₁ most suitable for the requested transfer processing are used.
3 ₃ may be a short time to reliably identify.

As described above, the unmanned transfer device according to the present embodiment
Is cell 16₁~ 16_FiveTo a plurality (two in this embodiment)
Group 30₁, 30_TwoAs well as
Self-propelled robot 13₁~ 13_ThreeIdentify and identify
Self-propelled robot 13₁~ 13 _ThreeExecution of transfer request to
Contract robot 10 to command₁, 10_TwoEach group
30₁, 30_TwoIs assigned.

Therefore, if the group 30₁, 30_Twoof
Group (for example, group 30)₁Abnormalities)
Even if a trouble occurs, this abnormal condition will be
Group (group 30_Two) Can be prevented from spreading
Stop abnormal conditions in the unmanned transport device
Can be In addition, a plurality of self-propelled robots 13₁~
13_ThreeContract robot 10 for each₁, 10 _TwoInformation from
Calculates the index that indicates the possibility of its own transport processing based on
Together, this index is the contracted robot 10₁, 10_TwoSend to
With this configuration, management of transport operations can be performed by contract robots.
To 10₁, 10_TwoIn addition to each self-propelled robot 13₁~ 13_Three
Can be distributed, so that the process can be changed or new ones can be added.
System can be changed and improved flexibly
Becomes

Further, the contract robot 10₁, 10_TwoIs a request
Self-propelled robot 13 that issues tasks ₁~ 13_ThreeChoose
In doing so, each self-propelled robot 13₁~ 13_ThreeSent from
Based on the index (possibility of transport processing)
Self-propelled robot 13 most suitable for the transfer process₁~ 13
_ThreeCan be determined, so that transport efficiency can be improved.
You.

[0044] In the present embodiment, although not defined for the number of induction zone 15, a collision such as taxiway withdrawal-return function in self-propelled robot _{131-134 3} in the case of the lane taxiways It has a function to avoid it. In addition, when the stock of the storage 17 _{1-17 5} conveyed object of the above description a case has been described not exclusively, when exclusively as conveyed objects can not be placed only one, determining the import destination contract robot 10 ₁ applicable when the other tasks same storage 17 _{1-17 5} each contract robot 10 ₁ as unavailable, 10 ₂ always manages reservation status of charge of the group, a request for requested task, 10 may be configured to query the status _2.

At this time, the contract robot 10₁, 10_TwoIs
The state can be released as needed. In addition,
Storage 17₁~ 17_FiveThe reservation status of
Contract Robot 10 as explained₁, 10_TwoRealized within
Or communication means 18 ₁, 18_TwoConnected to
Storage 17₁~ 17_FiveTo the sequencer that processes
May be realized. In the description of the present invention,
Cases in the application of feeder were shown, but some groups
The present invention is also applied to an automatic warehouse management system divided into
It is also possible.

Subsequently, at the time of startup, the contract robot 10
_1, 10 ₂ and the confirmation process is performed on the self-propelled robot _{131-134 3} will be described. First, with reference to FIG. 5, a description will be given of a process of checking the activation state of the contract robots 10 ₁ and 10 ₂ . The activation state confirmation process for the contract robots 10 ₁ and 10 ₂ is a process that is first performed when the unmanned transfer device is activated. Further, only one of the plurality of contract robots 10 ₁ and 10 ₂ is executed by the contract robot (hereinafter, the case where the contract robot 10 ₁ executes the activation state confirmation processing will be described. explain).

When the processing shown in FIG.
At 0, the contract robot number i is initialized (i = 1). In the following step 21, the contract robot number i is set in advance to the maximum contract robot number N1 (FIG. 2).
In the example shown in (1), it is determined whether or not N1 = 2) or less (i ≦ N1). If an affirmative determination is made in step 21, the process proceeds to step 22, where the contracted robot number i
Is the contracted robot 1 that is currently executing the startup status confirmation process
0 ₁ Number (own robot number. In the case of this example i =
It is determined whether or not 1). If a negative determination is made in step 22, the process proceeds to step 23, where the activation state confirmation processing of the contract robot is performed, and the state saving processing is performed.

After incrementing the contract robot number i in step 24, the process proceeds to step 21.
Return to On the other hand, if a positive determination is made in step 22, the contract robot 10 ₁ from the processing of step 22 is performed is abnormality occurs running properly (the contract robot 10 ₁ In such a case, the process shown in FIG. 5 is not performed), so that the process proceeds to step 24 without performing step 23.
The processing of steps 21 to 24 is performed for all contracted robots.

When the activation state confirmation is completed for all the contracted robots, step 21 becomes a negative judgment, and the process proceeds to step 25, where execution conditions are set based on the states of all the contracted robots. Specifically, when it is determined that an abnormality has occurred in one of the plurality of contract robots (hereinafter referred to as an abnormal contract robot), the execution is performed such that the abnormal contract robot is not used. The conditions are set.

As a result, usable groups can be confirmed in advance, and there is no need to request a cell of an unusable group. In addition, any unexpected trouble can be detected before execution, and the state can be notified to a user or an apparatus manager, and the problem can be extracted and corrected. Next, a description will be given confirmation processing activation state of the self-propelled robot _{131-134 3.} This self-propelled robot 13 ₁ ~
Activation status checking process according to 13 _3, in which start-up state confirmation processing with respect to contract the robot 10 _1, 10 ₂ described with reference to FIG. 5 is carried out after completion.

[0051] To carry out the start-up state confirmation process for the self-propelled robot _{131-134 3,} among a plurality of contract robot, to elect a robot to check the activation status of the self-propelled robot. As a selection method, for example, numbers are assigned to the contract robots 10 ₁ and 10 ₂ in advance, and the contract robot having the smallest or the largest number among the available contract robots is determined as the self-propelled robot activation state confirmation robot. I do. The chosen contract robots in the procedure of the flowchart of FIG. 6, to make sure all the activation state of the self-propelled robot _{131-134 3.}

[0052] When the activation status checking process according to the self-propelled robot _{131-134 3} shown in FIG. 6 is started, initialization of the self-propelled robot number i is performed in step 30 (i =
1). In the following step 31, it is determined whether or not the self-propelled robot number i is equal to or less than a preset maximum contracted robot number N2 (N2 = 3 in the example shown in FIG. 2) (i).
≤N2).

If an affirmative determination is made in step 31, the process proceeds to step 32, in which the activation state confirmation processing of the contract robot assigned the self-propelled robot number i is performed, and the state saving processing is performed. . Then, after incrementing the contract robot number i in step 33, the process returns to step 31. This step 3
The processing from 1 to 33 is performed for all the self-propelled robots 13 ₁
It is performed on to 13 _3.

Then, all contract robots 13 _{1 to} 13
Start the state verification is completed for _3, step 31 becomes negative determination, the process proceeds to step 34, setting of execution conditions based on the status of all self-propelled robot _{131-134 3} is performed. Specifically, a plurality of self-propelled robot 13 ₁ -
Of 13 _3, one of the self-propelled robot (hereinafter, referred to as abnormal self-propelled robot) when abnormality is found to have occurred, the setting of execution conditions so as not to use this abnormal self-propelled robot Done.

As a result, usable self-propelled robots can be confirmed in advance, and a transfer request to an unusable abnormal self-propelled robot can be eliminated. Further, any unexpected trouble can be detected before execution, and the state can be notified to a user or an apparatus administrator, and the problem can be extracted and corrected.

[0056]

According to the present invention as described above, the following various effects can be realized. According to the first aspect of the present invention, even if an abnormality or trouble occurs in one of the plurality of groups, it is possible to prevent the abnormal state from spreading to other groups. Abnormal conditions can be minimized.

In addition, the management process of the transport work can be distributed to each vehicle (judgment means) in addition to the control means, so that the system can be flexibly changed or improved by changing the process or adding a new one. Become. According to the second and third aspects of the present invention, it is possible to reliably and quickly identify a self-propelled vehicle that is most suitable for a requested transport process.

According to the fourth aspect of the present invention, it is possible to move a self-propelled vehicle between different groups.
Versatility can be improved. Also, since one control means can use the communication means of the other control means, even if the self-propelled vehicle moves out of one group, a command is issued from the one control means to the self-propelled vehicle. Can be conveyed. Further, according to the fifth and seventh aspects of the present invention, it is possible to avoid the occurrence of the processing twice by acquiring the same information twice.

According to the sixth aspect of the present invention, it is possible to identify a self-propelled vehicle that is most suitable for a requested transport process regardless of the group in a short time. Further, according to the inventions described in claim 8 and claim 9, it is possible to detect a defective control means or the self-propelled vehicle before the self-propelled vehicle starts the transfer process, and therefore, before starting the transfer process. It is possible to deal with this defect.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a main part of a conventional unmanned transfer device.

FIG. 2 is a main part configuration diagram of an unmanned conveyance device according to an embodiment of the present invention.

FIG. 3 is a time chart showing processing of a request task.

FIG. 4 is a flowchart of a required time calculation performed in the self-propelled robot.

FIG. 5 is a time chart for confirming the activation state of the contract robot.

FIG. 6 is a time chart for checking the activation state of the self-propelled robot.

[Explanation of symbols]

10 ₁ , 10 ₂ Contracted robots 13 _{1 to} 13 ₃ Self-propelled robots 15 Guideways 16 _{1 to} 16 ₅ cells 17 _{1 to} 17 ₅ Slagees 19 _{1 to} 19 ₃ , 20 Communication means 30 ₁ First group 30 ₂ Second group

Continued on the front page F term (reference) 3C042 RB27 RB38 RH05 RK07 3F022 AA08 FF01 KK20 LL07 MM05 MM08 MM11 5H301 AA02 AA09 BB05 BB08 BB14 DD07 DD15 EE01 KK04 KK06 KK18 MM01

Claims (9)

[Claims] 1. An unmanned transfer device having one or more self-propelled vehicles for transferring goods at a plurality of unloading locations, wherein the unloading places are divided into a plurality of groups according to the content of a transfer process and the type of the goods. Along with the separation, a self-propelled vehicle suitable for the transfer request is specified based on the detection result of the transfer processing status in the group and the transfer request requested from the unloading location, assigned to each of the plurality of groups. Control means for instructing the self-propelled vehicle to execute the transfer request; first communication means for communicating various information between the plurality of control means; and various information between the control means and the self-propelled vehicle. A second communication unit that communicates with each of the plurality of self-propelled vehicles, and determines the possibility of own transport processing based on information from the control unit, and transmits the determination result to the control unit. Unmanned conveying device, characterized in that it comprises determination means for, the. 2. The unmanned transfer device according to claim 1, wherein the control unit is most suitable for a requested transfer process based on a transfer process possibility of each vehicle transmitted from a plurality of the determination units. An unmanned transport device configured to determine a self-propelled vehicle. 3. The unmanned transfer device according to claim 1, wherein the determination unit is configured to execute a transfer request currently being executed or a transfer request to be executed from among the transfer requests currently instructed by the control unit. The time required to execute the new transport request when the new transport request is notified is calculated from the required time, and the calculated time is used as an index of the transport processing possibility. Unmanned transport device. 4. The unmanned transfer device according to claim 1, wherein, among the plurality of control means, a control means belonging to one group has a function of a control means belonging to another group. An unmanned transport device, characterized in that communication with a running vehicle and a command can be requested, and communication means with the self-propelled vehicle of the other control means can be used. 5. The unmanned transport device according to claim 4, wherein information transmitted and received between any of the control means and the self-propelled vehicle is provided with an identifier capable of distinguishing the identity of the information. Unmanned transfer device. 6. The unmanned transfer device according to claim 1, wherein the control unit determines that the transfer request from the unloading location does not exist in the group to which the destination or the destination is assigned. An unmanned transfer device characterized in that the transfer means can be inquired of a transfer condition or a transfer processing operation can be performed to control means of another group. 7. The unmanned transport device according to claim 6, wherein an identifier capable of distinguishing the identity of the information is given to information transmitted and received between any of the control means. 8. The unmanned transfer device according to claim 1, further comprising: exchanging information between the plurality of control means at the time of starting the apparatus, thereby detecting an activation state of each control means. An unmanned transfer device provided with a control unit start-up detection unit that performs the operation. 9. The unmanned transfer device according to claim 1, further comprising: exchanging information with the self-propelled vehicle at the time of starting the device, so that a start-up state of each self-propelled vehicle is determined. An unmanned transport device provided with a detection means for detecting the start of a self-propelled vehicle.