JP2016044012A - Conveyance system and conveyance control program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To collectively grasp operation of a conveyance apparatus and a state of the conveyance apparatus based on the operation.SOLUTION: A conveyance system 100 comprises a conveyance apparatus 101 and a portable terminal 102 which provides a graphical user interface. The terminal 102 comprises: a virtual button display part 124 which displays a virtual button 123 for operating the conveyance apparatus 101; a state information acquisition part 125 for acquiring state information on the operation of the conveyance apparatus 101, which is caused by the operation of the virtual button 123; and a state information display part 126 for displaying the acquired state information on the same screen as the virtual button 123 is displayed.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a transport system capable of transporting a load, and relates to a transport system including a terminal capable of arbitrarily operating a transport device that directly contributes to the transport of a load.

  Conventionally, like the transport vehicle system described in Patent Document 1, the transport vehicle includes a communication device that is used for normal transport work, and transports a communication device that can communicate with an operation terminal that is operated by an operator. There is a transportation vehicle system that a vehicle has as a separate body.

  In such a transport vehicle system, the operation of the entire transport vehicle system is not stopped, and only a specific transport vehicle can be separated from normal transport work and can be arbitrarily operated using an operation terminal. Yes.

  According to this, since the operator can remotely operate the transport vehicle, the specific transport vehicle can be operated from a safe place. And after moving a conveyance vehicle to a safe place, the safety of an operator is ensured by performing maintenance etc.

JP 2010-132370 A

  However, if any abnormality occurs in a transport device including a transport vehicle, it is difficult to maintain the transport device unless the cause of the abnormality is investigated, such as whether the location of the abnormality is in the transport vehicle or on the track. . In addition, even if no abnormality occurs, there may be a case where it is desired to detect some trouble in periodic inspection and prevent the abnormality from occurring.

  This invention is made | formed in view of the said subject, and it aims at provision of the conveyance system which can pinpoint the malfunction of a conveyance apparatus, operating a conveyance apparatus in the form close | similar to actual operation.

  In order to achieve the above object, a transport system according to the present invention comprises a graphical user interface comprising a transport device for transporting a load, a display device for displaying an image, and a touch pad arranged on the display surface side of the display device. A portable system that implements a portable terminal that realizes a virtual button display unit that displays a virtual button for operating the conveyance device on the display device, and the virtual button is operated. A status information acquisition unit that acquires status information indicating a status related to the operation of the transfer device from the transfer device, and a status information display that displays the acquired status information on the same screen as the screen on which the virtual button is displayed And a section.

  According to this, since the state of the transport device can be confirmed on the same screen while operating the transport device with the virtual button, it is possible to observe the operation of the transport device and the state of the transport device due to the operation at a time. It becomes possible.

  Therefore, it can be confirmed from the state of the transfer device whether or not the operation of the transfer device by the virtual button is wrong. Further, it is possible to determine a malfunction of the transport device from a change in the state of the transport device due to the operation of the transport device using the virtual button.

  Further, the terminal includes a storage unit that stores a plurality of the state information in association with time, and the state information display unit displays a graph of the transition of the state information based on the state information stored in the storage unit May be.

  According to this, since the transition of the state information can be confirmed with a graph, the causal relationship between the operation of the transport device and the state information can be obtained in more detail. Therefore, it is possible to easily identify the cause of the failure.

  The terminal further includes an abnormality information acquisition unit that acquires abnormality information indicating an abnormality of the transport device, and an abnormality information identification unit that identifies a type of the acquired abnormality information, and the state information acquisition unit is identified. State information corresponding to the type of abnormality information may be acquired as abnormal state information, and the state information display unit may display the acquired abnormal state information.

  According to this, since the abnormal state information is displayed when the conveyance device becomes abnormal, it is possible to cancel the abnormal state by operating the conveyance device according to the abnormal state information. Further, by operating the transport device, it is possible to reproduce the occurrence of an abnormality and investigate the cause of the abnormality.

  In order to achieve the above object, a transport control program according to the present invention includes a transport device for transporting a load, a display device for displaying an image, and a touch pad arranged on the display surface side of the display device. A transport control program used in a transport system including a portable terminal for realizing a graphical user interface, wherein a virtual button display for displaying a virtual button for operating the transport device on the display device of the terminal A status information acquisition unit that acquires status information indicating a status related to the operation of the transport device when the virtual button is operated, and the same screen as the screen on which the virtual button is displayed. And a state information display unit for displaying the state information.

  According to this, since the state of the transport device can be confirmed on the same screen while operating the transport device with the virtual button, it is possible to observe the operation of the transport device and the state of the transport device due to the operation at a time. It becomes possible.

  Therefore, it can be confirmed from the state of the transfer device whether or not the operation of the transfer device by the virtual button is wrong. Further, it is possible to determine a malfunction of the transport device from a change in the state of the transport device due to the operation of the transport device using the virtual button.

  According to the present invention, since the operation of the transfer device and the state of the transfer device accompanying the operation can be grasped collectively on a single screen, the causal relationship between the operation and the state can be easily grasped. Therefore, it is possible to investigate the cause of the malfunction.

FIG. 1 is a diagram schematically illustrating a transport system. FIG. 2 is a perspective view showing a part of the transport system and a rack. FIG. 3 is a diagram showing the appearance of the terminal together with the display contents. FIG. 4 is a block diagram illustrating a functional configuration of the terminal. FIG. 5 is a diagram showing an appearance of the terminal according to the present embodiment together with display contents. FIG. 6 is a block diagram showing a functional configuration of the terminal according to the present embodiment.

  Next, an embodiment of a transport system according to the present invention will be described with reference to the drawings. The following embodiment is merely an example of the transport system according to the present invention. Accordingly, the scope of the present invention is defined by the wording of the claims with reference to the following embodiments, and is not limited to the following embodiments. Therefore, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims indicating the highest concept of the present invention are not necessarily required to achieve the object of the present invention. It will be described as constituting a preferred form.

(Embodiment 1)
FIG. 1 is a diagram schematically illustrating a transport system.

  As shown in the figure, a transport system 100 is a system for transporting a package from a predetermined location to another predetermined location, and includes a transport device 101 and a terminal 102. In the case of the present embodiment, the transport system 100 includes a host computer 103 that controls the transport apparatus 101.

  The transport device 101 is a device that can transport a package from a predetermined location to another predetermined location.

  In the case of the present embodiment, as shown in FIG. 2, the transport device 101 is a rack 104 that can transport and store luggage with a transport vehicle 112 that travels along a rail 111 provided on the ceiling side. Alternatively, it is an apparatus that can transfer a load between a production facility (not shown) that processes the load to produce a product and the transport vehicle 112.

  The transport vehicle 112 is a vehicle that can transport a load along the rail 111, and includes a cart 113 and a lifting platform 114.

  The carriage 113 is a traveling vehicle that travels along the rail 111 while being hung on the rail 111. In the case of the present embodiment, the carriage 113 travels by driving a motor with electric power supplied via a battery mounted thereon or a power supply line wired along the rail 111. Further, the carriage 113 includes a motor that can wind up the suspension member 115 for suspending the lifting platform 114, and is suspended by the suspension member 115 by winding and unwinding the suspension member 115. The lifting platform 114 can be moved up and down.

  Further, the cart 113 is a bogie cart, and includes a plurality of portions that can rotate in the horizontal direction, and can travel along the curved portion without imposing a heavy burden on the rail 111.

  The lifting / lowering table 114 is a table for holding a load while being suspended from the carriage 113 by the suspension member 115. In the case of this embodiment, a transfer device 116 is attached to the lift table 114, and the transfer device 116 moves out of the rack 104, so that a load is loaded between the lift table 114 and the rack 104. It can be transferred.

  The suspension member 115 is a member that connects the carriage 113 and the lifting platform 114 and suspends the lifting platform 114 from the carriage 113. The suspension member 115 is a member that is flexible enough to be wound, and is, for example, a metal wire or a chain. In the case of this embodiment, the lifting platform 114 is suspended using four suspension members 115.

  As described above, the carriage 112 travels along the rail 111, and the elevator 114 moves up and down with respect to the carriage 113, so that the carriage 104 is placed on the rack 104 provided along the track of the carriage 112. 114 can be positioned, and a load can be transferred to or from the rack 104 at any position.

  FIG. 3 is a diagram showing the appearance of the terminal together with the display contents.

  FIG. 4 is a block diagram illustrating a functional configuration of the terminal.

  As shown in these drawings, the terminal 102 is a device that realizes a graphical user interface with a display device 121 on which an image is displayed and a touch pad 122 arranged on the display surface side of the display device 121, and can be easily used by humans. It is a device that can be carried around. The terminal 102 includes a virtual button display unit 124, a state information acquisition unit 125, and a state information display unit 126 as functional units. In the case of the present embodiment, the terminal 102 further includes a storage unit 120 and a button operation acquisition unit 129 as functional units.

  The display device 121 is a flat device that can display and reproduce images, videos, and the like, such as a liquid crystal display or an organic EL display.

  The touch pad 122 is a position input device arranged so as to cover the entire display screen of the display device 121. When the touch pad 122 is touched with a finger or the like, two-dimensional information indicating the touched position is displayed in the button operation acquisition unit 129. A type of pointing device to be transmitted.

  The display device 121 and the touch pad 122 described above constitute a touch panel.

  The virtual button display unit 124 is a processing unit that causes the display device 121 to display a virtual button 123 for operating the transport device 101. In the case of the present embodiment, as shown in FIG. 3, as the virtual buttons 123, “forward” and “reverse” buttons for moving the cart 113 forward or backward, “stop” buttons for stopping the cart 113, raising / lowering “Up” and “Down” buttons for raising or lowering the platform 114, “Right” and “Left” buttons for moving the transfer device 116 to the right or left, and the transfer device 116 having been advanced to the lifting platform 114 A “storage” button, a “automatic manual” button for switching between one or a plurality of automatic driving and manual driving, a “start” button for starting or restarting the transporting vehicle 112, transporting In addition to a “reset” button for initializing the car 112, a numeric keypad for inputting numerical values and the like are realized by a touch panel.

  The virtual button 123 functions by the display device 121, the touch pad 122, the virtual button display unit 124, and the button operation acquisition unit 129.

  The state information acquisition unit 125 is a processing unit that acquires state information indicating a state related to the operation of the transport apparatus 101 when the virtual button 123 is operated from the transport apparatus 101.

  Here, the state information is, for example, the output value of the encoder provided corresponding to the front wheel and the rear wheel of the carriage 113, the speed obtained from the encoder output value and the time information by the timer, the position information of the carriage 113, the elevation Information on position (height) information of the platform 114, values from various sensors such as sensors for determining the presence / absence of luggage, and output voltage values of a battery mounted on the transport vehicle 112. The state information includes not only information transmitted from the transport vehicle 112 but also information transmitted to the transport vehicle 112, for example, information indicating a command speed, a stop position, and the like.

  The information acquisition method of the state information acquisition unit 125 is not particularly limited, but information is acquired by communicating with the transfer apparatus 101 via Ethernet using a general communication protocol such as TCP or UDP. A method can be illustrated. Moreover, you may acquire state information by communicating with the predetermined conveyance vehicle 112 using infrared communication. In addition, the status information may be acquired by communicating with the host computer 103 that controls the transport apparatus 101.

  The status information display unit 126 is a processing unit that processes and displays the status information acquired by the status information acquisition unit 125 on the same screen as the screen of the display device 121 on which the virtual button 123 is displayed so that it can be easily understood by humans. .

  In the case of the present embodiment, the state information displayed by the state information display unit 126 includes the number for identifying the transport vehicle 112 that operates by operating the virtual button 123, the current operation mode of the transport vehicle 112, and the front wheels of the carriage 113. A value transmitted from the encoder provided, a value transmitted from the encoder provided on the rear wheel of the carriage 113, and information on whether or not a load is placed on the lifting platform 114.

  Furthermore, the status information acquisition unit 125 stores a plurality of status information in the storage unit 120 in association with the time, and the status information display unit 126 displays the status based on the stored status information and the time associated with the status information. The transition of information is displayed as a graph. Specifically, values transmitted from encoders provided on the front wheels and rear wheels of the carriage 113 and the time when the values are obtained are associated with each other and stored in the storage unit 120. The display unit 126 is a graph showing the transition of the speed (F in FIG. 3) of the front wheel corresponding part of the carriage 113 due to the rotation of the front wheel, and the carriage due to the rotation of the rear wheel, from the encoder value and time information stored in the storage unit 120. A graph showing the transition of the speed (R in FIG. 3) of the rear wheel corresponding portion 113 is displayed.

  By operating the transfer device 101 using the terminal 102 described above, the operation content and state of the transfer device 101 can be collectively confirmed visually while operating the transfer device 101 manually. In the periodic inspection 101, it is possible to find a defect that has not reached an abnormal state but may become abnormal in the future.

  Specifically, the conveyance vehicle 112 is operated with the terminal 102, and the curved portion is reciprocated as the route of the conveyance vehicle 112, and the speed difference related to the front wheel and the rear wheel at that time is confirmed in the graph. By doing so, it becomes possible to grasp the abnormality of the inverter.

(Embodiment 2)
Next, another embodiment of the transport system 100 will be described. Note that components having the same structure and function as the mechanism unit and function unit described in Embodiment 1 may be denoted by the same reference numerals and description thereof may be omitted.

  FIG. 5 is a diagram showing an appearance of the terminal according to the present embodiment together with display contents.

  FIG. 6 is a block diagram showing a functional configuration of the terminal according to the present embodiment.

  As shown in these drawings, the terminal 102 includes an abnormality information acquisition unit 127 and an abnormality information identification unit 128 in addition to the functional units described in the first embodiment.

  The abnormality information acquisition unit 127 is a processing unit that acquires abnormality information indicating an abnormality of the transport apparatus 101.

  Here, the abnormality information includes, for example, abnormality information transmitted by an inverter that supplies power to the motors for driving the front wheels and rear wheels of the carriage 113, and the presence of luggage that should not react during the transportation of the luggage. For example, information indicating that a sensor (such as a photoelectric sensor) detects a load or information indicating that the output voltage of the battery is equal to or lower than a threshold value. The abnormality information is not only information transmitted from the transport vehicle 112 but also information transmitted by determining that the host computer 103 is abnormal while the host computer 103 is controlling and monitoring the transport vehicle 112. Also included.

  As with the state information acquisition unit 125, the method of acquiring abnormality information by the abnormality information acquisition unit 127 is not particularly limited. However, the transport device 101 and the host computer 103 are utilized using a general communication protocol such as TCP or UDP. The method of acquiring information by communication with can be illustrated.

  The abnormality information identification unit 128 is a processing unit that identifies the type of acquired abnormality information. For example, the abnormality information specifying unit 128 analyzes the abnormality information acquired by the abnormality information acquiring unit 127, and specifies a number for identifying the transport vehicle 112 in which an abnormality has occurred or a sensor that has detected the abnormality. Further, the abnormality information identification unit 128 may identify the type of abnormality based on the abnormality code if the abnormality information transmitted from the host computer 103 or the like includes an abnormality code.

  Next, an operation method of the terminal 102 when an abnormality occurs in the transport system 100 according to the present embodiment will be described.

  Here, a case will be described as an example where the load placed on the lifting platform 114 deviates from the normal position when the lifting platform 114 is lowered for one transport vehicle 112 in the transport apparatus 101.

  When the abnormal state occurs, the host computer 103 transmits a number and an abnormal code for identifying the transport vehicle 112 in which the abnormality has occurred as abnormal information.

  When the abnormality information acquisition unit 127 of the terminal 102 acquires the abnormality information, the abnormality information identification unit 128 identifies the abnormality information. In the case of the present embodiment, since the abnormal information includes an abnormal code (for example, 000-0002), the type of the abnormal information is specified as being out of load based on the abnormal code.

  The state information acquisition unit 125 acquires the state information corresponding to the load deviation that is the type of the specified abnormal information as the abnormal state information. Specifically, detection states of a plurality of baggage sensors for detecting a baggage placed on the lifting platform 114 from the corresponding conveyance vehicle 112 based on a number for identifying the conveyance vehicle 112 are acquired as abnormal state information. Furthermore, a command executed when an abnormality has occurred among the commands given by the host computer 103 to the corresponding transport vehicle 112, for example, a command to lower the elevator 114 is acquired as abnormal state information.

  The state information display unit 126 processes and displays the abnormal state information acquired on the same screen as the screen of the display device 121 on which the virtual button 123 is displayed so that it can be easily understood by humans.

  Specifically, for example, the detection states of a plurality of luggage sensors are displayed in association with the arrangement relationship of the luggage sensors. Further, when the elevator 114 is descending, a package sensor that should detect a package is displayed as “OK”, and a package sensor that should not normally detect a package is displayed as “NG”. Furthermore, the above contents are displayed as “load loss” and the occurrence status is displayed as “descent on the platform”.

  Next, an operator who confirms the screen of the terminal 102 carries the terminal 102 and goes to the vicinity of the transport vehicle 112 in which an abnormality has occurred, and manually operates the transport vehicle 112 using the terminal 102 in order to eliminate the abnormal state. To do.

  For example, in order to return the shifted baggage to a normal position, the elevator 114 is lowered to a position that can be reached by the operator. Specifically, the “descent” of the virtual button 123 is operated to lower the lifting platform 114. At this time, the state of the baggage sensor is confirmed on the screen of the terminal 102, and if the detection state of the baggage sensor changes, it is expected that the baggage placed on the lifting platform 114 interferes with the rack 104 or the like. Therefore, it is possible to take measures such as reducing the descent speed. Furthermore, by displaying the load state of the motor for raising and lowering the elevator 114 as state information on the same screen as the virtual button 123 of the terminal 102, it is possible to monitor the interference state between the luggage and the rack 104 in more detail. It becomes.

  With the transport system 100 as described above, the operation content of the transport device 101 and the state of the transport device 101 resulting from the operation can be confirmed at a glance, so that the causal relationship between the operation and the state can be easily grasped. Can do. Accordingly, it is possible to easily grasp the situation of the malfunction and the cause of the abnormality and take measures.

  In addition, this invention is not limited to the said embodiment. For example, another embodiment realized by arbitrarily combining the components described in this specification and excluding some of the components may be used as an embodiment of the present invention. In addition, the present invention includes modifications obtained by making various modifications conceivable by those skilled in the art without departing from the gist of the present invention, that is, the meaning described in the claims. It is.

  For example, in the present embodiment, the description has been made based on the overhead traveling vehicle including the carriage 113 and the lifting platform 114 as the conveyance device 101. However, the conveyance device 101 is a conveyance vehicle such as a stacker crane that runs on a rail. It doesn't matter. The conveyance device 101 may be a conveyance vehicle that travels on a route virtually provided on a flat floor surface without rails.

  Also, the abnormality information acquired by the abnormality information acquisition unit 127 is not limited. For example, in the travel mode, since the position where the transport vehicle 112 travels is misidentified, the transport vehicle 112 will bend a curve even though the transport vehicle 112 travels along a straight rail. As an example, the case where the speeds of the front and rear wheels are changed can be listed. In addition, a case where a load deviation occurs in the transfer mode in which a load is transferred between the transport vehicle 112 and the rack 104 can be listed. Furthermore, in the case of the autonomously movable transport vehicle 112 that travels on a trackless surface while grasping its own position, a stop mark provided on the floor even though it should have reached a predetermined position by autonomous movement So-called skipping that cannot be read may be acquired as abnormal information (disappearance of the current position).

  Each of the processing units may be a program realized by being executed by a computer.

  The present invention can be used in a transport system for transporting a package.

DESCRIPTION OF SYMBOLS 100 Conveying system 101 Conveying apparatus 102 Terminal 103 Upper computer 104 Rack 111 Rail 112 Conveying vehicle 113 Carriage 114 Lifting table 115 Lifting member 116 Transfer device 120 Storage unit 121 Display device 122 Touch pad 123 Virtual button 124 Virtual button display unit 125 Status information Acquisition unit 126 Status information display unit 127 Abnormal information acquisition unit 128 Abnormal information identification unit 129 Button operation acquisition unit

Claims (4)

A transport system comprising a transport device for transporting a load, a portable terminal that realizes a graphical user interface by a display device on which an image is displayed, and a touch pad arranged on a display surface side of the display device,
The terminal
A virtual button display unit for displaying a virtual button for operating the transport device on the display device;
A state information acquisition unit that acquires state information indicating a state related to an operation of the transport device by operating the virtual button from the transport device;
A transportation system comprising: a state information display unit that displays state information acquired on the same screen as the screen on which the virtual button is displayed. further,
A storage unit that stores a plurality of the state information in association with time;
The said status information display part is a conveyance system of Claim 1 which graphs and displays transition of status information based on the status information memorize | stored in the said memory | storage part. further,
An abnormality information acquisition unit that acquires abnormality information indicating an abnormality of the transport device;
An abnormality information specifying unit that specifies the type of acquired abnormality information,
The state information acquisition unit
Acquire status information corresponding to the specified type of error information as error status information,
The state information display section
The transport system according to claim 1 or 2, wherein the acquired abnormal state information is displayed. Transport used in a transport system comprising a transport device for transporting a load, a display device on which an image is displayed, and a portable terminal that realizes a graphical user interface by a touch pad arranged on the display surface side of the display device A control program,
A virtual button display unit that displays a virtual button for operating the transport device, with respect to the display device of the terminal;
A state information acquisition unit that acquires state information indicating a state related to an operation of the transport device by operating the virtual button from the transport device;
A conveyance control program comprising: a state information display unit that displays state information acquired on the same screen as the screen on which the virtual button is displayed.

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