JP2020155076A - Conveyance system control device and conveyance system control method - Google Patents

Abstract

To prevent stop of a manufacturing line.SOLUTION: A conveyance system control device comprises an acquisition unit, an estimation unit, and an instruction unit. The acquisition unit acquires production line information about a production line in which a complete product is manufactured in cooperation with a plurality of manufacturing apparatuses. Based on the manufacturing line information acquired by the acquisition unit, the estimation unit estimates whether components for the complete product that are equal to or larger in number than a threshold are accumulated in the manufacturing apparatuses and the components do not become deficient in number in a case where an instruction given to a conveyance device for conveying articles in the manufacturing line is caused to execute. In a case where the estimation unit estimates that the components equal to or larger in number than the threshold are not accumulated and also estimates that the components do not become deficient in number, the instruction unit causes the conveyance device to execute the instruction.SELECTED DRAWING: Figure 6

Description

Embodiments of the present invention relate to a transfer system control device and a transfer system control method.

Conventionally, in order to transport parts and products in a factory, an automated guided vehicle (AGV), which can automatically travel to a destination without human operation, has been used. Further, in such an AGV, a method of determining an action by future prediction reasoning is known. According to this action determination method, the future production operation status at the factory is predicted, and the action to be taken by the AGV is selected. As a result, the factory can be operated without adversely affecting the production ratio.

Since such an automatic guided vehicle generally runs on an electric motor, it is provided with a rechargeable battery as a power supply source. Then, when the charge amount of the battery becomes low, the battery is charged at the charging station. In order to efficiently charge a plurality of automatic guided vehicles, there is known an example in which a charging task is assigned to an automatic guided vehicle having the smallest amount of charge when a charging time can be secured.

Hidehiko Yamamoto, "AGV Behavioral Decisions by Future Predictive Reasoning in Autonomous Decentralized FMS", JSME Proceedings C, Vol. 65 (1999-3) No. 631 Japanese Patent No. 5135550

However, Non-Patent Document 1 discloses a technique in which one manufacturing apparatus manufactures a finished product. That is, Non-Patent Document 1 does not disclose a technique for manufacturing one finished product in cooperation with a plurality of manufacturing devices on a manufacturing line. When a plurality of manufacturing devices collaborate to manufacture a finished product, it is not preferable that more parts than necessary are stored in one manufacturing device. Therefore, when more parts than necessary are stored in one manufacturing apparatus, the manufacturing line is stopped.

Further, for example, in Patent Document 1, since the charging task is assigned to the automatic guided vehicle that can secure the charging time, it is not possible to improve the operating rate of the plurality of automatic guided vehicles.

Therefore, one of the problems of the present disclosure is, for example, to prevent the production line from being stopped. Another issue is to efficiently charge the automatic guided vehicle.

In order to solve the above-mentioned problems, the transfer system control device according to the embodiment includes, for example, an acquisition unit that acquires manufacturing line information regarding a manufacturing line in which a plurality of manufacturing devices cooperate to manufacture one finished product. Based on the manufacturing line information acquired by the acquisition unit, when an instruction to a transport device for transporting an article on the manufacturing line is executed, the finished product parts are accumulated in the manufacturing device by a threshold value or more, and the parts When the prediction unit predicts whether or not the parts will be insufficient, and when the prediction unit predicts that the parts exceeding the threshold value will not be accumulated and predicts that the parts will not be insufficient, the transport An instruction unit for causing the device to execute the instruction is provided. As a result, the transfer system control device can prevent the production line from stopping.

Further, in the transfer system control device, as an example, the prediction unit gives the instruction to replace the trolley for transporting the article by pulling the transport device in the middle of the transport path for transporting the parts. Predicts whether or not the parts of the finished product are accumulated in the manufacturing apparatus in an amount equal to or more than the threshold value and the parts are not insufficient, and the indicating unit predicts whether or not the parts in the prediction unit are equal to or more than the threshold value. When it is predicted that the parts will not be accumulated and the parts will not be insufficient, the transfer device is made to execute the instruction. As a result, the transport system control device can prevent the production line from being stopped even when the task to be executed by the transport device includes the task of exchanging the carriage.

Further, in the transport system control device, when the predictor causes the transport device to execute the instruction to transport the storage container for storing the parts, the parts of the finished product are stored in the manufacturing device at a threshold value or more. And predicting whether the parts will be insufficient, the indicator predicts that the parts above the threshold value will not be accumulated, and the parts will not be insufficient. When predicted, the transfer device is made to execute the instruction. As a result, the transfer system control device can prevent the production line from being stopped even when the task to be executed by the transfer device includes the task of transporting the rack.

Further, the transfer system control device according to the embodiment is a transfer system control device that controls the operating state of a plurality of automatic guided vehicles powered by batteries in a factory, and charges each battery of the automatic guided vehicle. The charge amount acquisition unit for acquiring the amount, the operation state acquisition unit for acquiring the task execution state of each of the automatic guided vehicles, the task setting unit for assigning tasks to the automatic guided vehicle that is not executing the task, and the above. A charge amount prediction unit that predicts the charge amount of the automatic guided vehicle when it is assumed that the task assigned by the task setting unit is performed based on the charge amount acquired by the charge amount acquisition unit, and the charge amount prediction. The automatic guided vehicle is provided with a determination unit for determining whether to execute the task assigned by the task setting unit or to charge the vehicle based on the charge amount predicted by the unit.

As a result, the operating rate of the automatic guided vehicle can be improved by keeping the charging frequency of the automatic guided vehicle as low as possible.

Further, in the transfer system control device, as an example, when the charge amount predicted by the charge amount prediction unit is equal to or greater than the first threshold value, the determination unit executes the task assigned to the automatic guided vehicle. As a result, the task can be preferentially assigned to the automatic guided vehicle whose battery charge amount at the time of completing the task does not fall below the minimum level at which the task can be continued, so that the frequency of charging can be reduced. it can.

Further, in the transfer system control device, as an example, the determination unit causes the automatic guided vehicle to be charged when the charge amount predicted by the charge amount prediction unit is smaller than the first threshold value. As a result, the automatic guided vehicle with a small amount of charge can be preferentially charged.

Further, in the transfer system control device, as an example, in the determination unit, the average value of the current charge amount of each battery of the automatic guided vehicle acquired by the charge amount acquisition unit is less than the second threshold value, and the battery is charged. When the variation in the amount is smaller than the third threshold value, the automatic guided vehicle that is not performing the task is charged. This makes it possible to avoid a situation in which all AGVs are out of charge at the same time. Further, when the number of AGVs that can be charged at the same time is limited, it is possible to avoid a situation in which a plurality of automatic guided vehicles are charged at the same time.

Further, in the transfer system control device, as an example, the second threshold value is set to a value larger than the first threshold value. This allows charging to occur as soon as possible before the task is performed below the lowest sustainable level.

Further, in the above-mentioned transfer system control device, as an example, the task setting unit deletes the automatic guided vehicle set to be charged from the candidates of the automatic guided vehicle capable of setting the task. As a result, it is possible to prevent the task from being assigned to the automatic guided vehicle that is being charged.

Further, in the above-mentioned transfer system control device, as an example, the task setting unit adds an automatic guided vehicle that has been charged as a candidate for an automatic guided vehicle that can set a task. As a result, the automatic guided vehicle that has been charged can be immediately made a candidate for task assignment.

FIG. 1 is a block diagram showing an example of a system configuration of an automatic guided vehicle. FIG. 2 is a diagram showing an example of a typical task set by an automatic guided vehicle. FIG. 3 is a hardware block diagram showing an example of the hardware configuration of the automatic guided vehicle system. FIG. 4 is a hardware block diagram showing an example of the hardware configuration of the transport system control device. FIG. 5 is a diagram showing an example of the contents of the input / output information of the transfer system control device and the contents of the processing performed by the transfer system control device. FIG. 6 is a functional block diagram showing an example of the functional configuration of the transport system control device according to the second embodiment. FIG. 7 is an exemplary and schematic flowchart showing an instruction process executed by the transfer system control device according to the second embodiment. FIG. 8 is a functional block diagram showing an example of the functional configuration of the transport system control device. FIG. 9 is a flowchart showing an example of a flow of a series of processes performed by the transfer system control device. FIG. 10 is a flowchart showing an example of the flow of future prediction inference performed by the transfer system control device. FIG. 11 is a flowchart showing an example of the flow of the first future prediction inference performed by the transfer system control device. FIG. 12 is a flowchart showing an example of the flow of the i-th (i = 2, 3, ...) Future prediction inference performed by the transfer system control device.

(First Embodiment)
Hereinafter, the first embodiment of the present invention will be described with reference to the drawings. In the present embodiment, the present invention is unmanned to set and execute a delivery plan of an automatic guided vehicle (hereinafter referred to as AGV) that transports parts and products to a necessary place at a necessary time in an electronic parts manufacturing factory. This is an example applied to a transport system.

(Outline explanation of automatic guided vehicle)
FIG. 1 is a block diagram showing an example of a system configuration of an automatic guided vehicle. A plurality of AGVs 30a, 30b, ... Are always available in the factory. The automatic guided vehicle system 10 transports parts and products to a set destination by making the AGVs 30a, 30b, ... Follow the designated traveling route. A plurality of AGVs are always provided, but for the sake of simplicity, the following description will be given for the AGV30a. Unless otherwise specified, the following description also applies to other AGV30b, ... Further, in the following description, when it is not necessary to identify AGV30a, 30b, ..., It is referred to as AGV30.

In the factory shown in FIG. 1, there are a plurality of points that serve as destinations for AGV30a. That is, the trolley A station 11, the trolley B station 12, the charging station 16, the rack storage area 17, the parts storage area 18, the intermediate buffer 19, the mold storage area 20, the finished product storage area 21, and the finished product storage area. 22, a mold collection station 23, and a parts collection station 24.

The trolley A station 11 is a small trolley station that carries small parts towed by the AGV30a. The trolley B station 12 is a large trolley station that carries large parts towed by the AGV30a.

The charging station 16 is a charging place for charging a battery whose power source is the AGV 30a.

The rack storage place 17 is a storage place for a rack on which the AGV30a mounts the manufactured substrate when the manufactured substrate is conveyed.

The manufacturing process includes a first assembly line 13, a second assembly line 14, and a third assembly line 15, and the AGV 30 conveys between the assembly lines.

The parts storage area 18 is provided in the vicinity of the first assembly line 13 and is a place where parts are temporarily placed. The component collection point 24 is a collection place for electronic components before being transported to the component storage area 18.

The intermediate buffer 19 is a place where the board for which mounting is completed is temporarily placed.

The mold storage space 20 is provided in the vicinity of the third assembly line 15 and is a place where molds such as housings for electronic components are temporarily placed. The mold collection place 23 is a mold collection place before being transported to the mold storage place 20.

The finished product storage area 21 is provided in the vicinity of the third assembly line 15 and is a place where the completed electronic components (finished products) are temporarily placed. The finished product collection point 22 is a collection place for finished products transported from the finished product storage area 21.

The above-mentioned parts storage place 18, parts collection place 24, intermediate buffer 19, mold storage place 20, mold storage place 23, finished product storage place 21, and finished product storage place 22 are placed in the corresponding places. A sensor (not shown) is installed in FIG. 1 to measure the number of scraped articles. The number of articles measured by the sensor is immediately transmitted to the transport system control device 40. When the number of articles to be put into the manufacturing process becomes 0, it becomes impossible to manufacture electronic parts, so that the manufacturing line has to be stopped. Therefore, the transport system control device 40 maintains a normal operating state of the production line by constantly monitoring the number of articles.

The AGV30a performs a task of transporting necessary articles to the above-mentioned locations. Further, the AGV 30a is charged at the charging station 16 as needed.

That is, the AGV30a performs the parts transfer task T1, the inter-process transfer task T2, the intermediate collection task T3, the intermediate loading task T4, the rack loading task T5, and the rack collecting task T6. Further, the AGV30a includes a finished product transport task T7, a trolley replacement task T8, a predictive charging task T9, a finished product empty box replenishment task T10, a parts empty box collection task T11, and a mold empty box collection task T12. Perform the mold transfer task T13.

The AGV30a transports parts, substrates, molds, finished products, racks, and replaces and charges trolleys by moving along the arrows corresponding to each task shown in FIG. The typical tasks will be described in detail later (Fig. 2).

The transport system control device 40 transmits and receives necessary information by wireless communication with the AGV 30a. That is, the transport system control device 40 transmits the contents of the assigned task to the AGV30a together with the identification number that identifies the AGV30a. Specifically, the transport system control device 40 uses the destination, the travel route, the transported object information (what to transport), and the trolley information (use a large trolley or a small trolley) with respect to the AGV30a. Do you want to) and send.

The AGV30a receives the information transmitted by the transport system control device 40, its own current position information, its own status (contents of the task being executed, or information indicating that the task is not being performed), and the battery. The charge amount of the above is transmitted to the transfer system control device 40. In this way, the AGV 30a carries out the task assigned by the transport system control device 40.

(Explanation of AGV task example)
A typical task performed by the AGV30a will be described with reference to FIG. FIG. 2 is a diagram showing an example of a typical task set by an automatic guided vehicle.

The parts transport task T1 is a task of transporting a product or a part to the next process. For example, the AGV 30a shown in FIG. 1 is an example in which the component transfer task T1 for transporting the component from the component collection point 24 to the component storage area 18 is assigned.

The rack loading task T5 and the rack collecting task T6 are tasks for loading and collecting racks for transporting products. For example, AGV30a shown in FIG. 1 is an example in which a rack loading task T5 for loading a rack from the rack storage 17 into the rack loading port or a rack collecting task T6 for collecting the rack from the rack discharge port to the rack loading port 17 is assigned. ..

The trolley exchange task T8 is a task of exchanging a trolley to be towed from a large trolley to a small trolley or from a small trolley to a large trolley. For example, AGV30a shown in FIG. 1 is an example in which a trolley exchange task T8 for exchanging a large trolley to a small trolley is assigned.

The predictive charging task T9 is a task of charging the battery when the charge amount of the battery is expected to be lower than a predetermined value. For example, in the AGV30a shown in FIG. 1, when it is assumed that the assignable tasks A, B, ..., And N are executed, the charge amount of the battery is expected to be lower than the predetermined value in each case. , AGV30a is an example in which the predicted charging task T9 is assigned. In the present embodiment, the predetermined value of the charge amount is set to, for example, 30%. This value is a value that an automated guided vehicle must always have as the minimum required charge amount in order to prevent deterioration of battery performance. Further, the predetermined value is not limited to 30% and can be set as appropriate.

(Explanation of hardware configuration of automatic guided vehicle)
The hardware configuration of the automatic guided vehicle system 10 will be described with reference to FIG. FIG. 3 is a hardware block diagram showing an example of the hardware configuration of the automatic guided vehicle system.

As shown in FIG. 3, the unmanned transfer system 10 includes a transfer system control device 40 and an AGV 30a. Then, the AGV 30a wirelessly communicates with the transport system control device 40 via the communication device 50 connected to the communication network 52. The transport system control device 40 may be installed in a factory via a LAN, which is an example of a communication network 52, or may be installed in a cloud via the Internet, which is an example of a communication network 52. Since all AGV30s have the same hardware configuration, only the configuration of AGV30a is shown in FIG.

The transport system control device 40 wirelessly communicates with the AGV30a and acquires the current state of the AGV30a. Further, the transport system control device 40 assigns the various tasks described above to the AGV 30a and instructs the AGV 30a to execute the assigned tasks.

The AGV 30a includes a battery 32, a motor controller 33, a motor 34, and a communication device 36.

The battery 32 supplies electric power to the motor 34. As the battery 32, a rechargeable secondary battery such as a nickel hydrogen secondary battery or a lithium ion secondary battery is used. The battery 32 has a function of detecting the charge amount, and the detected charge amount is transmitted to the transport system control device 40 at any time.

The motor 34 operates by the electric power from the battery 32 to drive the AGV 30a.

By controlling the operation of the motor 34, the motor controller 33 controls the speed of the AGV 30a, controls the traveling direction, and the like.

The factory map (not shown) of the AGV30a detects the position in the factory. The detected position is transmitted to the transport system control device 40 at any time. The guidance method of the AGV30 may be, for example, a laser guidance method in which the position of a reflector installed on a wall or a pillar is detected by a laser radar, or guidance is performed based on image information captured by a camera installed in the AGV30a. It may be a method of Further, the position of the AGV30a may be detected by using GPS (Global Positioning System) positioning or by using Wi-Fi (registered trademark) positioning.

The AGV30a conveys either the carriage 62 or the rack 64. The carriage 62 is towed by the AGV 30a and used for transporting large parts. As described above, the trolley 62 includes a large trolley and a small trolley. The rack 64 is mounted on the upper surface of the AGV 30a and is used for transporting small parts. Note that FIG. 3 depicts both the dolly 62 and the rack 64 for the sake of explanation.

(Explanation of hardware configuration of transport system control device)
The hardware configuration of the transfer system control device 40 will be described with reference to FIG. FIG. 4 is a hardware block diagram showing an example of the hardware configuration of the transport system control device. The transfer system control device 40 includes a control unit 42, a storage unit 43, and a controller 45.

The control unit 42 includes a CPU (Central Processing Unit) 421, a ROM (Read Only Memory) 422, and a RAM (Random Access Memory) 423. The CPU 421 connects the ROM 422 and the RAM 423 via the bus line 44. The CPU 421 expands the control program P1 stored in the storage unit 43 into the RAM 423. The CPU 421 controls the operation of the transfer system control device 40 by operating according to the control programs P1 expanded in the RAM 423 and various data stored in the ROM 422. That is, the control unit 42 has a general computer configuration.

The control unit 42 further connects to the storage unit 43 and the controller 45 via the bus line 44.

The storage unit 43 is a non-volatile memory such as a flash memory, an HDD (Hard Disk Drive), or the like that retains the stored information even when the power is turned off. The storage unit 43 stores a program or the like including the control program P1. The control program P1 is a program for exerting the functions provided in the transport system control device 40.

The control program P1 may be provided by being incorporated in the ROM 422 in advance. Further, the control program P1 is a file in a format that can be installed or executed in the control unit 42, and can be read by a computer such as a CD-ROM, a flexible disk (FD), a CD-R, or a DVD (Digital Versatile Disc). It may be configured to be recorded and provided on a various recording media. Further, the control program P1 may be stored on a computer connected to a network such as the Internet and provided by downloading via the network. Further, the control program P1 may be configured to be provided or distributed via a network such as the Internet.

Further, the storage unit 43 stores the AGV state information D1 and the task information D2. The AGV status information D1 is information that stores the current status of all AGVs 30 operating in the factory. Specifically, the AGV state information D1 stores the presence / absence of the current task of each AGV, the current position, the charge amount, and the like. The AGV state information D1 is generated based on the information transmitted from the AGV30.

The task information D2 is information that stores all the tasks that can be performed at present. As described above, the task information D2 includes the parts storage place 18, the parts collection place 24, the intermediate buffer 19, the mold storage place 20, the mold storage place 23, the finished product storage place 21, and the finished product collection. It is generated based on the measurement result of the number of articles placed at the place 22.

The controller 45 connects the display device 46, the operation device 47, and the communication device 48. The controller 45 controls the operation of various connected hardware based on the command from the control unit 42.

The display device 46 is, for example, a liquid crystal display, and displays information such as the operating state of all AGV30s.

The operation device 47 is, for example, a touch panel or a keyboard, and receives input of information necessary for operating the transfer system control device 40.

The communication device 48 controls communication with the AGV 30.

Next, the flow of information between the transfer system control device 40 and the AGVs 30a, 30b, ... Will be described with reference to FIG. FIG. 5 is a diagram showing an example of the contents of the input / output information of the transfer system control device and the contents of the processing performed by the transfer system control device.

The transfer system control device 40 acquires the production line information shown in FIG.

That is, the transport system control device 40 includes the required tasks that need to be executed, the number of buffers indicating the number of articles in the above-mentioned locations, the trolley information indicating the number of trolleys 62 used, and the rack 64 used. The rack information indicating the number, the AGV information including the location of each AGV30a, 30b, ..., the task execution state, the content of the task being executed, and the like, and the charging station information which is the usage state of the charging station 16 are acquired. The required task may be calculated by the transfer system control device 40 based on the acquired number of buffers.

The transport system control device 40 performs necessary arithmetic processing based on the acquired production line information. That is, the transport system control device 40 performs task assignment, travel route selection, prediction inference, and charge amount prediction. The flow of each process will be described with reference to the flowchart described later.

The transport system control device 40 assigns tasks to the AGVs 30a, 30b, ... Based on the information calculated by various arithmetic processes. Then, the information related to the assigned task is transmitted to each AGV30a, 30b, ... That is, the transport system control device 40 assigns, for each AGV30a, 30b, ..., an identification number for identifying the destination AGV30a, 30b, ..., A destination, a traveling route, and the content and quantity of the goods to be transported. The trolley (or rack) information that specifies the trolley 62 or the rack 64 used for transportation is transmitted.

(Explanation of the functional configuration of the transport system control device)
The functional configuration of the transfer system control device 40a will be described with reference to FIG. FIG. 6 is a functional block diagram showing an example of the functional configuration of the transport system control device.

Here, FIG. 6 is a functional block diagram showing an example of the functional configuration of the transport system control device 40 according to the first embodiment. The control unit 42 of the transfer system control device 40 expands the control program P1 into the RAM 423 and operates it, thereby using the manufacturing line information acquisition unit 81, the prediction unit 82, and the instruction unit 83 shown in FIG. 6 as functional units. Realize.

The manufacturing line information acquisition unit 81 acquires manufacturing line information regarding a manufacturing line in which a plurality of manufacturing devices cooperate to manufacture one finished product.

Here, as shown in FIG. 1, a plurality of manufacturing devices such as the first assembly line 13, the second assembly line 14, and the third assembly line 15 cooperate with each other to manufacture one finished product. A production line is set up. The production line information acquisition unit 81 acquires production line information regarding the production line installed in the production line.

Further, as shown in FIG. 5, the production line information includes required tasks, the number of buffers, trolley information, rack information, AGV information, and charging station information. The manufacturing line information acquisition unit 81 may acquire the manufacturing line information as one piece of information, or may individually acquire the information included in the manufacturing line information.

For example, when the manufacturing line information acquisition unit 81 acquires the required task, it acquires it by calculating based on the number of buffers. The manufacturing line information acquisition unit 81 is not limited to the calculation based on the number of buffers, and may acquire the required task by receiving from a device (not shown), or may acquire the required task by another method. May be good.

For example, the manufacturing line information acquisition unit 81 acquires the number of buffers indicating the number of articles by using sensors or the like installed in various places. Here, the number of buffers indicates the number of articles in each place shown in FIG. That is, the number of buffers means, for example, parts in various places such as the first assembly line 13, the second assembly line 14, the third assembly line 15, the parts storage area 18, the intermediate buffer 19, the mold storage area 20, and the finished product storage area 21. It is the number of articles such as rack 64 and molds. Then, the manufacturing line information acquisition unit 81 acquires the number of buffers indicating how much the parts are stored in the manufacturing equipment such as the first assembly line 13, the second assembly line 14, and the third assembly line 15. The manufacturing line information acquisition unit 81 is not limited to acquiring the number of buffers by the sensor, but may acquire the number of buffers at each location by recording the transfer destination of the parts, or acquires the number of buffers by another method. You may.

For example, the manufacturing line information acquisition unit 81 acquires the trolley information from a storage device that stores the trolley information. That is, the production line information acquisition unit 81 receives from a storage device that stores trolley information indicating the types of trolleys 62 such as large and small, the number of trolleys 62 of each type, and the current position of each trolley 62. To get by. The manufacturing line information acquisition unit 81 may acquire the trolley information from a sensor or the like that detects the trolley 62 of the production line, or may acquire the trolley information by another method.

For example, the manufacturing line information acquisition unit 81 acquires rack information from a storage device that stores rack information. That is, the manufacturing line information acquisition unit 81 stores rack information indicating the types of racks 64, which are storage containers for storing finished product parts, the number of racks 64 of each type, and the current position of each rack 64. Acquired by receiving from the storage device. The manufacturing line information acquisition unit 81 may acquire rack information from a sensor or the like that detects the rack 64 of the manufacturing line, or may acquire rack information by another method.

For example, the manufacturing line information acquisition unit 81 acquires rack information from a storage device that stores AGV information related to the AGV30, which is a transport device for transporting finished products, parts, and articles such as rack 64 on the manufacturing line. That is, the manufacturing line information acquisition unit 81 acquires AGV information which is information about the AGV30 such as the task being executed by the AGV30 and the current position of the AGV30. The manufacturing line information acquisition unit 81 may acquire the AGV information from the AGV30, may acquire the AGV information by receiving the AGV information from a storage device that stores the AGV information, or may acquire the AGV information by another method. You may.

For example, the manufacturing line information acquisition unit 81 acquires charging station information indicating the state of the charging station 16 from the charging station 16. That is, the manufacturing line information acquisition unit 81 acquires a state such as whether or not the charging station 16 is in use. The manufacturing line information acquisition unit 81 may acquire charging station information from a sensor or the like that detects the state of the charging station 16.

When the prediction unit 82 executes an instruction to the AGV 30 for transporting an article on the production line based on the production line information acquired by the production line information acquisition unit 81, the parts of the finished product are accumulated in the production apparatus at a threshold value or more. Moreover, it is predicted that there will be no shortage of parts. That is, the prediction unit 82 has the number of parts used for manufacturing by the manufacturing equipment such as the first assembly line 13, the second assembly line 14, and the third assembly line 15 when the AGV30 executes the task, that is, each place. Predict whether or not the number of buffers in the assembly line exceeds the threshold value. Further, the prediction unit 82 predicts whether or not the parts to be put into the manufacturing apparatus are below the threshold value.

More specifically, the prediction unit 82 predicts whether or not the finished product parts are stored in the manufacturing apparatus in an amount equal to or larger than the threshold value based on the future prediction inference. Further, the prediction unit 82 predicts whether or not there will be a shortage of parts used by the manufacturing apparatus. That is, the prediction unit 82 predicts whether or not the number of parts used by the manufacturing apparatus is less than the specified value. Specifically, the prediction unit 82 selects one protagonist AGV30 from a plurality of AGVs 30 that convey articles on the production line. The prediction unit 82 executes a virtual production simulation assuming that the main character AGV30 executes a required task. Then, the prediction unit 82 determines whether or not the production line has stopped based on the execution result of the virtual production simulation. That is, the prediction unit 82 determines whether or not the manufacturing line has stopped because the finished product parts are not accumulated in the manufacturing apparatus by the threshold value or more and the number of parts is less than the specified value.

When the prediction unit 82 predicts that the production line will not stop because the finished product parts are not accumulated in the manufacturing apparatus above the threshold value and the number of parts used by the manufacturing apparatus exceeds the specified value, the leading AGV30 A virtual production simulation is executed assuming that the required task is executed for the AGV30 different from the above. By repeatedly executing this future prediction inference a set number of times, the prediction unit 82 predicts whether or not the finished product parts are stored in the manufacturing apparatus in an amount equal to or larger than the threshold value.

In such prediction of whether or not the production line is stopped, the prediction unit 82 can arbitrarily select the required task to be executed by the AGV 30.

For example, when the prediction unit 82 causes the AGV30 to execute an instruction to replace the carriage 62 that is pulled by the AGV30 to transport the article in the middle of the transport path for transporting the parts, the manufacturing apparatus is set to the threshold value for the finished parts. It is predicted that the above will not be accumulated and that there will be no shortage of parts. That is, when the prediction unit 82 executes the task of exchanging the trolley 62 at the trolley A station 11 or the trolley B station 12 in the middle of the transport path for transporting the parts, the manufacturing apparatus has a threshold value for the finished parts. It is predicted that the above will not be accumulated and that there will be no shortage of parts.

Further, the prediction unit 82 predicts whether or not the finished product parts are not stored in the manufacturing apparatus at a threshold value or more and the parts are not insufficient when the AGV 30 is instructed to convey the storage container for storing the parts. That is, when the prediction unit 82 executes the task of transporting the racks 64 stored in various places to the rack storage place 17, the prediction unit 82 determines whether the finished product parts are not stored in the manufacturing apparatus above the threshold value and the parts are not insufficient. Predict.

The instruction unit 83 causes the AGV 30 to execute an instruction when the prediction unit 82 predicts that the number of parts equal to or more than the threshold value is not accumulated and the number of parts is equal to or more than the specified value. More specifically, even if the future prediction inference is repeatedly executed a set number of times, the prediction unit 82 does not stop the manufacturing line because the finished product parts are not accumulated in the manufacturing apparatus more than the threshold value and the number of parts is more than the specified value. When predicted, the instruction unit 83 causes the AGV 30 to execute the task. That is, the instruction unit 83 executes the task selected in the first future prediction inference by moving to the leading AGV30 selected in the first future prediction inference by the route selected in the first future prediction inference. Instruct that.

Next, the instruction processing executed by the transfer system control device 40 according to the first embodiment will be described. Here, the instruction process is a process for instructing a task or the like to be executed by the AGV 30. FIG. 7 is an exemplary and schematic flowchart showing an instruction process executed by the transfer system control device 40 according to the first embodiment.

The manufacturing line information acquisition unit 81 acquires manufacturing line information (step S51).

The prediction unit 82 determines whether or not there is a vacant AGV30 based on the production line information (step S52). That is, the prediction unit 82 determines whether or not there is an AGV 30 to which a task is not assigned based on the AGV information. When a task is assigned to all AGV30s (step S52; No), the prediction unit 82 proceeds to step S51 and waits until an unassigned AGV30 appears.

When there is an unassigned AGV30 (step S52; Yes), the prediction unit 82 selects one AGV30 that plays a leading role in the virtual production simulation (step S53). The prediction unit 82 selects a task to be executed by the leading AGV30 (step S54). The prediction unit 82 selects the movement route of the AGV 30 that executes the selected task (step S55).

The prediction unit 82 executes a virtual production simulation when the leading AGV30 moves along the selected movement route and executes the selected task (step S56). More specifically, the prediction unit 82 virtually simulates the operation of the production line. Specifically, the prediction unit 82 acquires the execution time of the AGV30 that completes the task earliest among the plurality of AGV30s installed in the production line including the leading AGV30. The prediction unit 82 advances the execution time obtained by acquiring the virtual production simulation. That is, the prediction unit 82 advances the virtual production simulation until it shifts to the next state. Then, the prediction unit 82 acquires the execution result of the virtual production simulation that has shifted to the next state.

The prediction unit 82 determines whether or not the execution result of the virtual production simulation indicates that the production line is stopped (step S57). That is, the prediction unit 82 determines whether or not the execution result of the virtual production simulation indicates that the finished product parts are not accumulated in the manufacturing apparatus by the threshold value or more and the number of parts is the specified value or more.

When the execution result of the virtual production simulation indicates that the production line is stopped (step S57; No), the prediction unit 82 shifts to step S54. That is, the prediction unit 82 executes a virtual production simulation when another task is selected and a movement route is selected.

When the execution result of the virtual production simulation indicates that the production line does not stop (step S57; Yes), whether or not the prediction unit 82 has executed the future prediction inference from step S53 to step S57 a set number of times. Is determined (step S58).

When the number of executions of future prediction inference is less than the set number of times (step S58; No), the prediction unit 82 shifts to step S53. The prediction unit 82 executes a virtual production simulation when another AGV30 is selected, a task is selected, and a movement route is selected.

When the number of executions of the future prediction inference is the set number of times (step S58; Yes), the instruction unit 83 instructs the AGV 30 to execute the task. That is, the instruction unit 83 causes the leading AGV30 selected in the first future prediction inference to execute the task selected in the first future prediction inference on the movement path selected in the first future prediction inference. Instruct.

As described above, the transfer system control device 40 according to the first embodiment ends the instruction processing.

As described above, according to the transfer system control device 40 according to the first embodiment, the manufacturing line information acquisition unit 81 is a manufacturing line related to a manufacturing line in which a plurality of manufacturing devices cooperate to manufacture one finished product. Get information. Based on the production line information acquired by the production line information acquisition unit 81, the prediction unit 82 indicates whether or not the finished product parts are accumulated in the production apparatus above the threshold value when the instruction to the AGV30 for transporting the article on the production line is executed. Predict. The instruction unit 83 causes the AGV 30 to execute an instruction when the prediction unit 82 predicts that parts exceeding the threshold value will not be accumulated. Therefore, the transport system control device 40 can prevent the production line from stopping.

(Second Embodiment)
The automatic guided vehicle system of the second embodiment has a function of controlling the charge amount of the AGV30. The automatic guided vehicle system of the second embodiment includes a transport system control device 40a instead of the transport system control device 40 described in the first embodiment. Hereinafter, the functional configuration of the transport system control device 40a will be described with reference to FIG. FIG. 8 is a functional block diagram showing an example of the functional configuration of the transport system control device.

The control unit 42 of the transfer system control device 40a expands the control program P1 into the RAM 423 and operates it to obtain the operation state acquisition unit 71, the charge amount acquisition unit 72, the virtual production simulation unit 73, and the virtual production simulation unit 73, as shown in FIG. The determination unit 74 and the task setting unit 75 are realized as functional units.

The operation state acquisition unit 71 acquires each task execution state of the AGV 30.

The charge amount acquisition unit 72 acquires the charge amount of each battery of the AGV30.

The virtual production simulation unit 73 of each AGV30a, 30b, ... When the task setting unit 75, which will be described later, executes a task virtually assigned to the AGVs 30a, 30b, ... Which are not currently executing the task. Simulate the amount of charge and the operating state of the factory (future prediction inference). The virtual production simulation unit 73 further includes a simulation setting unit 73a, a charge amount prediction unit 73b, and a factory state prediction unit 73c.

The simulation setting unit 73a makes various settings for performing predictive inference.

The charge amount prediction unit 73b assumes that the task assigned by the task setting unit 75 has been performed based on the charge amount of each AGV30a, 30b, ... Acquired by the charge amount acquisition unit 72, and the AGV30a, 30b, Predict the amount of charge.

The factory state prediction unit 73c assumes that the task assigned by the task setting unit 75 has been performed, and the factory state after the task is completed (the number of articles in the above-mentioned places, the positions of AGV30a, 30b, ..., The line stop). Presence / absence, etc.) is predicted.

The determination unit 74 determines whether the AGVs 30a, 30b, ... Are to execute the task assigned by the task setting unit 75 or to charge the AGVs 30a, 30b, ... Based on the charge amount predicted by the charge amount prediction unit 73b. ..

The task setting unit 75 assigns tasks to AGVs 30a, 30b, ... That are not executing the tasks.

(Explanation of the processing flow performed by the transport system control device)
The flow of processing performed by the transfer system control device 40a will be described with reference to FIG. FIG. 9 is a flowchart showing an example of a flow of a series of processes performed by the transfer system control device.

First, the entire flow of processing performed by the transfer system control device 40a will be described with reference to FIG. First, the operating state acquisition unit 71 determines whether there is an AGV that has not performed a task in the AGVs 30a, 30b, ... (Step S11). If it is determined that there is an AGV that has not performed the task (step S11: Yes), the process proceeds to step S12. On the other hand, if it is not determined that there is an AGV that has not performed the task (step S11: No), the determination in step S11 is repeated.

If it is determined to be Yes in step S11, the simulation setting unit 73a sets the AGV without a task as the main character (step S12).

Next, the task setting unit 75 determines whether there is a required task that needs to be executed (step S13). When it is determined that there is a required task (step S13: Yes), the process proceeds to step S14. On the other hand, if it is not determined that there is a required task (step S13: No), the process returns to step S11.

If it is determined to be Yes in step S13, the virtual production simulation unit 73 performs future prediction inference (step S14). The detailed processing flow in step S14 will be described later (see FIGS. 10, 11, and 12).

Next, the task setting unit 75 assigns a task to each AGV30a, 30b, ... Based on the result of the future prediction inference performed in step S14, and executes the assigned task (step S15). After that, the transfer system control device 40a ends the process of FIG.

The flowchart of FIG. 9 ends after the execution of step S14, but this may be configured to return to step S11 again after the execution of step S14 and perform the next task assignment.

(Explanation of the flow of future prediction reasoning)
The virtual production simulation unit 73 assigns tasks to each of the AGVs 30a, 30b, ... Up to several hands in order to operate the factory smoothly. That is, the future prediction inference is performed in N times. In the first predictive reasoning, each AGV30a, 30b, ... Is assigned the first task to be performed. Then, as the second predictive reasoning, a new task is assigned at that time, assuming a time when any of AGV30a, 30b, ... Completes the first task. After that, the third predictive reasoning, the fourth predictive reasoning, ..., The Nth predictive reasoning are performed in the same manner, and a task is assigned to each AGV30a, 30b, ... Each time. When a certain number of predictive inferences are completed, a new AGV without a task and a required task appear at that time. Therefore, a new predictive inference is performed by adding these AGVs and a new required task. After each prediction inference, it is evaluated whether or not the factory line is stopped. If there is a risk of line outages, change the task assignments and re-execute the predictive inference for that time.

Hereinafter, the flow of future prediction inference will be described with reference to FIG. FIG. 10 is a flowchart showing an example of the flow of future prediction inference performed by the transfer system control device.

The virtual production simulation unit 73 performs the first predictive inference (step S21). The detailed processing flow of the first prediction inference will be described later (see FIG. 11).

Next, the virtual production simulation unit 73 performs the second predictive inference (step S22). The detailed processing flow of the second and subsequent prediction inferences will be described later (see FIG. 12).

The virtual production simulation unit 73 repeatedly executes the same predictive inference to perform the Nth predictive inference (step S23). After that, the process returns to step S15 of the main routine of FIG.

(Explanation of the flow of the first future prediction reasoning)
Hereinafter, the flow of the first future prediction inference will be described with reference to FIG. FIG. 11 is a flowchart showing an example of the flow of the first future prediction inference performed by the transfer system control device.

In the charge amount prediction unit 73b, the average charge amount of the batteries of all AGV30a, 30b, ... Is less than the second threshold value Th2, and the dispersion of the charge amount of the batteries of all AGV30a, 30b, ... Is third. It is determined whether it is smaller than the threshold value Th3 (step S25). When it is determined that the condition is satisfied (step S25: Yes), the process proceeds to step S26. On the other hand, if it is not determined that the condition is satisfied (step S25: No), the process proceeds to step S32.

The second threshold Th2 is set to a value larger than the first threshold Th1, for example, 40%. By setting the second threshold Th2 to a value larger than the first threshold Th1, the charge amount is charged at an early stage before the charge amount falls below the minimum level (first threshold Th1) at which the task can be continued. Can be done.

Further, the third threshold value Th3 may be set to an appropriate value by performing a preliminary evaluation. The parameter to be evaluated is not limited to the dispersion of the charge amount, and may be a parameter representing the variation in the charge amount. For example, it may be a standard deviation, a difference value between a maximum value and a minimum value, and the like.

If it is determined to be Yes in step S25, the task setting unit 75 assigns the predicted charging task T9 to the leading AGV set in step S12 of FIG. 9 (step S26). After that, the process returns to step S15 of the main routine of FIG.

On the other hand, if No is determined in step S25, the task setting unit 75 assigns a task to be executed to the leading AGV set in step S12 of FIG. 9 (step S32). Specifically, it is desirable to allocate tasks to compensate for the shortage (FIFO) in the order in which it is detected that the number of buffers is short.

Subsequently, the virtual production simulation unit 73 performs a virtual production simulation (step S33). Specifically, the virtual production simulation unit 73 simulates the future states of the AGVs 30a, 30b, ... In time series. At that time, the charge amount prediction unit 73b predicts the charge amount of the batteries of the AGVs 30a, 30b, .... In addition, the factory state prediction unit 73c predicts the state of the factory after the task is completed.

The charge amount prediction unit 73b causes the leading AGV to perform each task that needs to be executed, and the charge amount at the time of completing the task is less than the first threshold value Th1 regardless of which task is executed. (Step S34). Regardless of which task is executed, if it is determined that the charge amount at the time of completing the task is less than the first threshold value Th1 (step S34: Yes), the process proceeds to step S35. On the other hand, when the leading AGV is made to execute any task, if it is not determined that the charge amount at the time of completing the task is less than the first threshold value Th1 (step S34: No), the process proceeds to step S36.

The first threshold value Th1 corresponds to the predetermined value of the charge amount and is set to, for example, 30%.

If it is determined to be Yes in step S34, the task setting unit 75 assigns the predicted charging task T9 to the leading AGV (step S35). After that, the process returns to step S15 of the main routine of FIG.

The task setting unit 75 deletes the AGV from the list of AGVs that can execute the task so that the AGV to which the predictive charging task T9 is assigned in step S35 is not assigned a task in the second and subsequent predictive inferences. To do. Then, when the predicted charging task T9 is completed, the task setting unit 75 re-registers the AGV in the list of AGVs that can execute the task.

On the other hand, if No is determined in step S34, the factory state prediction unit 73c determines whether or not the factory line stop occurs when the assigned task is completed (step S36). When it is determined that the factory line stop does not occur (step S36: Yes), the process proceeds to the second predictive inference (see FIG. 12). On the other hand, if it is not determined that the factory line stop does not occur (step S36: No), the process returns to step S32, the task assignment is changed, and the first prediction inference is performed again. As described above, it may be determined whether or not the factory line is stopped based on, for example, whether or not there is a shortage of articles in various parts of the factory.

(Explanation of the flow of future prediction inference after the second time)
Hereinafter, the flow of future prediction inference from the second time onward will be described with reference to FIG. FIG. 12 is a flowchart showing an example of the flow of the i-th (i = 2, 3, ...) Future prediction inference performed by the transfer system control device.

Since the processing flow shown in the flowchart of FIG. 12 is almost the same as the processing flow described in the flowchart of FIG. 11, only the points that the operations are different will be described.

That is, the processing flow shown in the flowchart of FIG. 12 is different in that after performing the processing of step S45 corresponding to step S35 of FIG. 11, the prediction inference is continued without returning to the main routine.

Further, when performing the second and subsequent prediction inferences, first, in step S41, the simulation setting unit 73a sets the AGV without a task as the leading role, and assigns the assignable task to the leading role AGV. ..

In this way, in the second and subsequent predictive inferences, the predictive inference is continued when the predictive charging task T9 is assigned to the leading AGV. As described above, the task setting unit 75 deletes the AGV to which the predictive charging task T9 is assigned from the list of AGVs that can execute the task. Then, when the predicted charging task T9 is completed, the task setting unit 75 re-registers the AGV in the list of AGVs that can execute the task.

Further, in the second and subsequent prediction inferences, by executing steps S46 and S47, it is assumed that the assigned task is executed, the charge amount of the total AGV is predicted, and the most charged that satisfies the condition. Charging tasks may be assigned to AGVs that are predicted to be low in volume.

As described above, according to the transfer system control device 40a of the second embodiment, the operation state acquisition unit 71 acquires each task execution state of the AGV (automated guided vehicle) 30 and the task setting unit. 75 assigns a task to AGVs 30a, 30b, ... Which are not executing the task. Then, the charge amount prediction unit 73b predicts the charge amount of each AGV30a, 30b, ..., Assuming that each AGV30a, 30b, ... Performs the assigned task. Then, the determination unit 74 causes each AGV30a, 30b, ... To execute the task assigned by the task setting unit 75 or charge the AGV30a, 30b, ... Based on the charge amount predicted by the charge amount prediction unit 73b. To judge. Therefore, the operating rate of the AGV 30 can be improved by keeping the charging frequency of the AGV 30 as low as possible.

Further, according to the transfer system control device 40a of the second embodiment, the determination unit 74 determines the AGV30 (automated guided vehicle) when the charge amount predicted by the charge amount prediction unit 73b is equal to or greater than the first threshold value Th1. ) To execute the assigned task. Therefore, since the task can be preferentially assigned to the AGV30 whose charge amount of the battery at the time of completing the task does not fall below the minimum level at which the task can be continued, the frequency of charging can be reduced.

Further, according to the transfer system control device 40a of the second embodiment, the determination unit 74 determines the AGV30 (automated guided vehicle) when the charge amount predicted by the charge amount prediction unit 73b is smaller than the first threshold value Th1. ) Is charged. Therefore, the AGV 30 having a small amount of charge can be preferentially charged.

Further, according to the transfer system control device 40a of the second embodiment, the determination unit 74 has an average value of the current charge amount of each battery of the AGV30 (automated guided vehicle) smaller than the second threshold value Th2. Moreover, when the dispersion (variation) of the charge amount is smaller than the third threshold value Th3, the AGV30 having the smallest charge amount without performing the task is charged. Therefore, it is possible to avoid a situation in which all AGV30s are out of charge at the same time. Further, when the number of AGVs 30 that can be charged at the same time is limited, it is possible to avoid a situation in which a plurality of automatic guided vehicles charge at the same time.

Further, according to the transport system control device 40a of the second embodiment, the second threshold value Th2 is set to a value larger than the first threshold value Th1. Therefore, charging can be performed as soon as possible before the task can be performed below the minimum sustainable level.

Further, according to the transfer system control device 40a of the second embodiment, the task setting unit 75 deletes the AGV30 (automated guided vehicle) set to be charged from the candidates of the AGV30 capable of setting the task. To do. Therefore, it is possible to prevent task assignment to the AGV 30 being charged.

Further, according to the transport system control device 40a of the second embodiment, the task setting unit 75 adds the fully charged AGV30 (automated guided vehicle) as a candidate for the AGV30 capable of task setting. Therefore, the AGV 30 that has completed charging can be immediately made a candidate for task assignment.

Although the embodiments of the present invention have been illustrated above, the above-described embodiments are merely examples and are not intended to limit the scope of the invention. The above-described embodiment can be implemented in various other forms, and various omissions, replacements, combinations, and changes can be made without departing from the gist of the invention. Further, the configuration and shape of each embodiment can be partially exchanged.

10 ... Unmanned transfer system, 30, 30a, 30b ... AGV (automated guided vehicle), 40, 40a ... Transfer system control device, 71 ... Operating state acquisition unit, 72 ... Charge amount acquisition unit, 73 ... Virtual production simulation unit, 73a ... Simulation setting unit, 73b ... Charge amount prediction unit, 73c ... Factory state prediction unit, 74 ... Judgment unit, 75 ... Task setting unit, 81 ... Production line information acquisition unit, 82 ... Prediction unit, 83 ... Indicator unit, Th1 ... 1st threshold, Th2 ... 2nd threshold, Th3 ... 3rd threshold

Claims (11)

An acquisition department that acquires manufacturing line information about a manufacturing line in which multiple manufacturing devices work together to manufacture one finished product.
Based on the manufacturing line information acquired by the acquisition unit, when an instruction to a transport device for transporting an article on the manufacturing line is executed, the finished product parts are accumulated in the manufacturing device by a threshold value or more, and the parts Prediction unit that predicts whether there will be a shortage,
An instruction unit that causes the transfer device to execute the instruction when the prediction unit predicts that the parts exceeding the threshold value will not be accumulated and that the parts will not be insufficient.
Conveyance system control device. When the predictor causes the transport device to execute the instruction to replace the carriage for transporting the article by being pulled by the transport device in the middle of the transport path for transporting the parts, the manufacturing device causes the manufacturing device to perform the instruction. Predict whether the parts of the finished product will be accumulated above the threshold value and the parts will be insufficient.
The instruction unit causes the transfer device to execute the instruction when the prediction unit predicts that the parts above the threshold value will not be accumulated and that the parts will not be insufficient.
The transport system control device according to claim 1. When the transfer device executes the instruction to transport the storage container for storing the parts, the prediction unit stores the finished product parts in the manufacturing device at a threshold value or more, and the parts are insufficient. Predict if there is
The instruction unit causes the transfer device to execute the instruction when the prediction unit predicts that the parts above the threshold value will not be accumulated and that the parts will not be insufficient.
The transport system control device according to claim 1 or 2. A transport system control device that controls the operating status of multiple automated guided vehicles powered by batteries in a factory.
A charge amount acquisition unit that acquires the charge amount of each battery of the automatic guided vehicle,
An operation state acquisition unit that acquires each task execution state of the automatic guided vehicle,
A task setting unit that assigns tasks to automated guided vehicles that are not executing tasks,
A charge amount prediction unit that predicts the charge amount of the automatic guided vehicle when it is assumed that the task assigned by the task setting unit is performed based on the charge amount acquired by the charge amount acquisition unit.
Based on the charge amount predicted by the charge amount prediction unit, a determination unit that determines whether the automatic guided vehicle is to execute the task assigned by the task setting unit or to charge the vehicle.
Conveyance system control device. The determination unit executes a task assigned to the automatic guided vehicle when the charge amount predicted by the charge amount prediction unit is equal to or greater than the first threshold value.
The transport system control device according to claim 4. When the charge amount predicted by the charge amount prediction unit is less than the first threshold value, the determination unit causes the automatic guided vehicle to be charged.
The transport system control device according to claim 5. The determination unit is a task when the average value of the current charge amount of each battery of the automatic guided vehicle is less than the second threshold value and the variation of the charge amount is smaller than the third threshold value. Charge an automated guided vehicle that is not running
The transport system control device according to claim 5 or 6. The second threshold value is set to a value larger than the first threshold value.
The transport system control device according to claim 7. The task setting unit deletes the automatic guided vehicle set to be charged from the candidates of the automatic guided vehicle capable of setting the task.
The transport system control device according to any one of claims 4 to 8. The task setting unit adds the fully charged automatic guided vehicle as a candidate for the automatic guided vehicle that can set the task.
The transport system control device according to any one of claims 4 to 9. A transport system control method that controls the operating status of multiple automated guided vehicles powered by batteries in a factory.
A charge amount acquisition process for acquiring the charge amount of each battery of the automatic guided vehicle, and
An operation state acquisition process for acquiring each task execution state of the automatic guided vehicle, and
A task setting process that assigns tasks to automated guided vehicles that are not executing tasks,
A charge amount prediction step for predicting the charge amount of the automatic guided vehicle when it is assumed that the task assigned by the task setting step is performed based on the charge amount acquired by the charge amount acquisition step.
Based on the charge amount predicted by the charge amount prediction process, a determination step of determining whether to cause the automatic guided vehicle to execute the task assigned by the task setting process or to charge the vehicle.
Transport system control method to execute.

Images