JP3303513B2 - Operation allocation control method for automatic guided vehicles - Google Patents
Operation allocation control method for automatic guided vehiclesInfo
- Publication number
- JP3303513B2 JP3303513B2 JP06387194A JP6387194A JP3303513B2 JP 3303513 B2 JP3303513 B2 JP 3303513B2 JP 06387194 A JP06387194 A JP 06387194A JP 6387194 A JP6387194 A JP 6387194A JP 3303513 B2 JP3303513 B2 JP 3303513B2
- Authority
- JP
- Japan
- Prior art keywords
- pallet
- automatic guided
- guided vehicle
- collection
- production line
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 title claims description 17
- 238000004519 manufacturing process Methods 0.000 claims description 90
- 238000012546 transfer Methods 0.000 claims description 42
- 230000032258 transport Effects 0.000 description 37
- 238000010586 diagram Methods 0.000 description 5
- 238000011161 development Methods 0.000 description 3
- 238000011084 recovery Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/60—Electric or hybrid propulsion means for production processes
Landscapes
- General Factory Administration (AREA)
- Warehouses Or Storage Devices (AREA)
- Control Of Conveyors (AREA)
- Control By Computers (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Multi-Process Working Machines And Systems (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明は、複数の無人搬送車を同
時にコントロールして、被搬送物を自動的に搬送する無
人搬送システムに用いて好適な無人搬送車の作業割付制
御方法に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for controlling the operation of an automatic guided vehicle suitable for use in an automatic guided vehicle system that automatically controls a plurality of automatic guided vehicles and automatically transports an object. is there.
【０００２】[0002]
【従来の技術】近年、ＦＡ（ファクトリー・オートメー
ション）の発達にともない、生産ラインで組み立てられ
た製品等を、複数の無人搬送車を用いて自動的に製品倉
庫に搬入する無人搬送システムが実用化されている。こ
の無人搬送システムでは、複数の無人搬送車が制御装置
により無線等の通信手段を介してコントロールされ、生
産ラインに設けられた作業ステーションと自動倉庫に設
けられた作業ステーションとの間を移動することによ
り、無人で製品等の搬送を行うものである。2. Description of the Related Art In recent years, with the development of factory automation (FA), an unmanned transport system has been put into practical use that automatically loads products assembled on a production line into a product warehouse using a plurality of unmanned transport vehicles. Have been. In this automatic guided vehicle system, a plurality of automatic guided vehicles are controlled by a control device via wireless communication means and move between a work station provided on a production line and a work station provided in an automatic warehouse. With this, products and the like can be transported unattended.
【０００３】図１に従来の無人搬送システムの一例を示
す。図においてＡ〜Ｃは各々生産ラインである。ここ
で、生産ラインＡには、供給ステーション２ａおよび回
収ステーション３ａが設けられている。生産ラインＡに
おいて製造された製品は、パレットに載せられた状態で
回収ステーション３ａから搬出される。また、供給ステ
ーション２ａには、上記製品の搬出に必要なパレットお
よび生産材料がパレットに載せられた状態（以下、製品
あるいは生産材料が載せられたパレットを実装パレット
という）で供給される。また、回収ステーション３ａか
らは、上記生産材料の供給に使われるパレット（以下、
製品を載せる前の、あるいは生産材料を積み降ろしたパ
レットを空パレットという）が搬出される。他の生産ラ
インＢおよびＣについても、同様な供給ステーション２
ｂおよび２ｃと回収ステーション３ｂおよび３ｃが設け
られている。８は自動倉庫である。この自動倉庫８に
は、上記空パレットおよび生産材料の載せられた実装パ
レットを生産ラインＡ〜Ｃに供給する出庫ステーション
１０、および生産ラインＡ〜Ｃから搬出された製品の載
せられた実装パレットおよび生産材料を積み降ろした空
パレットを入庫する入庫ステーション９が設けられてい
る。７は無人搬送車４ｘ〜４ｚが移動する搬送ルートで
ある。無人搬送車４ｘ〜４ｚは、搬送ルート７に沿って
移動し、上記空パレットの供給作業および実装パレット
の回収作業を行う。FIG. 1 shows an example of a conventional unmanned transport system. In the figure, A to C are production lines, respectively. Here, the production line A is provided with a supply station 2a and a collection station 3a. The product manufactured on the production line A is carried out from the collection station 3a while being placed on a pallet. In addition, the supply station 2a is supplied with a pallet and a production material required for carrying out the product on a pallet (hereinafter, a pallet on which the product or the production material is placed is referred to as a mounting pallet). From the collection station 3a, pallets (hereinafter, referred to as pallets) used for supplying the production
A pallet before loading the product or on which the production material is unloaded is referred to as an empty pallet). The same supply station 2 is used for the other production lines B and C.
b and 2c and collection stations 3b and 3c. 8 is an automatic warehouse. The automatic warehouse 8 has a delivery station 10 for supplying the empty pallets and the mounting pallets on which the production materials are mounted to the production lines A to C, and a mounting pallet on which the products carried out from the production lines A to C are mounted. A storage station 9 for storing empty pallets on which production materials are unloaded is provided. Reference numeral 7 denotes a transport route along which the automatic guided vehicles 4x to 4z move. The unmanned transport vehicles 4x to 4z move along the transport route 7, and perform the work of supplying the empty pallets and the work of collecting the mounted pallets.
【０００４】次に、図４を参照し、この無人搬送システ
ムのシステム構成を説明する。５は無人搬送車コントロ
ーラである。この無人搬送車コントローラ５は、通信装
置６ａ〜６ｅを介して無人搬送車４ｘ〜４ｚに上記供給
作業や回収作業などの搬送作業を割り付ける。１１は搬
送コンピュータである。この搬送コンピュータ１１は、
生産ラインＡ〜Ｃからの要求に応じ、無人搬送車コント
ローラ５に上記搬送作業の割付指示信号を出力する。す
なわち、各々の生産ラインＡ〜Ｃでは製品が完成する
と、製品を載せるために空パレットの供給要求を搬送コ
ンピュータ１１に出力し、供給された空パレットに所定
数の製品を載せると、この製品を載せた実装パレットの
回収要求を搬送コンピュータ１１に出力する。あるい
は、各々の生産ラインＡ〜Ｃでは製品を載せた実装パレ
ットが回収されると、生産材料を載せ実装パレットの供
給要求を搬送コンピュータ１１に出力し、生産材料を載
せた実装パレットが供給されると、生産材料を積み降ろ
した空パレットの回収要求を搬送コンピュータ１１に出
力する。搬送コンピュータ１１は、生産ラインＡ〜Ｃか
ら発生するこれら搬送要求に応じて、無人搬送車コント
ローラ５および自動倉庫８を制御し、無人搬送車４ｘ〜
４ｚに上記搬送作業を行わせている。Next, a system configuration of the unmanned transport system will be described with reference to FIG. Reference numeral 5 denotes an automatic guided vehicle controller. The automatic guided vehicle controller 5 assigns the transfer operations such as the supply operation and the collection operation to the automatic guided vehicles 4x to 4z via the communication devices 6a to 6e. Reference numeral 11 denotes a transport computer. This transport computer 11
In response to a request from the production lines A to C, the transfer instruction signal for the transfer operation is output to the automatic guided vehicle controller 5. That is, when a product is completed in each of the production lines A to C, a supply request of an empty pallet is output to the transport computer 11 to load the product, and when a predetermined number of products are loaded on the supplied empty pallet, the product is loaded. A request to collect the mounted pallets is output to the transport computer 11. Alternatively, when the mounting pallets on which the products are mounted are collected in the respective production lines A to C, a supply request of the mounting pallets on which the manufacturing materials are mounted is output to the transport computer 11, and the mounting pallets on which the manufacturing materials are mounted are supplied. Then, a request to collect the empty pallets on which the production materials have been unloaded is output to the transport computer 11. The transfer computer 11 controls the automatic guided vehicle controller 5 and the automatic warehouse 8 in response to these transfer requests generated from the production lines A to C, and controls the automatic guided vehicles 4x to 4x.
4z performs the above-described transport operation.
【０００５】ところで、このような無人搬送システムで
は、生産するものが切り替わる時や生産作業の開始ある
いは終了時などの非定常時には、空パレットの供給要求
のみあるいは実装パレットの回収要求のみが発生するこ
とがある。しかし、生産ラインＡ〜Ｃが通常の生産作業
を行う定常時には、各々の生産ラインＡ〜Ｃで製品が完
成すると、製品を載せた実装パレットの回収要求がまず
発生し、同一生産ラインから引き続いて製品を載せるた
めに空パレットの供給要求が発生する。あるいは、各々
の生産ラインＡ〜Ｃでは製品を載せた実装パレットが回
収されると、生産材料を載せた実装パレットの供給要求
がまず発生し、同一生産ラインから引き続いて生産材料
を積み降ろした空パレットの回収要求が発生する。すな
わち、生産ラインＡ〜Ｃが定常状態にある場合には、製
品を載せた実装パレットあるいは生産材料を積み降ろし
た空パレットの回収作業に引き続いて、製品を載せる空
パレットあるいは生産材料を載せた実装パレットの供給
作業が発生する場合が多い。したがって、上記無人搬送
システムの効率を考えると、無人搬送車４ｘ〜４ｚの一
周動作（自動倉庫８→生産ラインＡ〜Ｃ→自動倉庫８）
の間に、製品を載せた実装パレットあるいは生産材料を
積み降ろした空パレットの回収作業と製品を載せる空パ
レットあるいは生産材料を載せた実装パレットの供給作
業という２作業を行うこと（以下、一周２作業という）
が好ましい。このような理由から、生産ラインＡ〜Ｃが
上記定常状態にあるとき、搬送コンピュータ１１は、無
人搬送車４ｘ〜４ｚに上述した一周２作業を行わせるた
めに、以下のような搬送作業の割付制御を行っている。By the way, in such an unmanned transport system, only a request to supply an empty pallet or a request to collect a mounted pallet occurs when the production is switched or when the production operation is unsteady, such as at the start or end of a production operation. There is. However, in a normal state where the production lines A to C perform a normal production operation, when a product is completed in each of the production lines A to C, a request for collecting a mounting pallet on which the product is placed is first generated, and the same production line continues. A request to supply an empty pallet occurs to load the product. Alternatively, when the mounting pallets on which the products are mounted are collected in the respective production lines A to C, a supply request of the mounting pallets on which the production materials are mounted first occurs, and the empty pallets on which the production materials are successively unloaded from the same production line. A pallet collection request is issued. That is, when the production lines A to C are in a steady state, following the recovery work of the mounting pallet on which the product is loaded or the empty pallet on which the production material is unloaded, the mounting on which the empty pallet or the production material is loaded with the product is mounted. Pallet supply operations often occur. Therefore, considering the efficiency of the automatic guided vehicle system, one round operation of the automatic guided vehicles 4x to 4z (automatic warehouse 8 → production line A to C → automatic warehouse 8)
In the meantime, two operations of collecting a mounting pallet on which a product is mounted or an empty pallet on which production material is unloaded and supplying an empty pallet on which a product is mounted or a mounting pallet on which a production material is mounted are performed (hereinafter referred to as 2 rounds). Work)
Is preferred. For these reasons, when the production lines A to C are in the above-mentioned steady state, the transport computer 11 allocates the following transport work in order to cause the automatic guided vehicles 4x to 4z to perform the above-mentioned two rounds. Control.
【０００６】図１および図４を参照して、生産ラインＡ
〜Ｃが定常状態にあるときの搬送作業の割付制御方法に
ついて説明する。例えば、最初に生産ラインＡで製品が
パレットに載せられると、製品を載せた実装パレットの
回収要求が、搬送コンピュータ１１へ送られる。搬送コ
ンピュータ１１は、この時点では製品を載せた実装パレ
ットの回収の搬送指示を行わず、生産ラインＡ〜Ｃのい
ずれかのラインで製品を載せる空パレットあるいは生産
材料を載せた実装パレットの供給要求が発生するのを待
つ。そして、例えば生産ラインＡで製品を載せる空パレ
ットの供給要求が発生すると、搬送コンピュータ１１
は、生産ラインＡからの製品を載せた実装パレットの回
収作業と新たに発生した生産ラインＡへの製品を載せる
空パレットの供給作業とを、一対の搬送作業として組み
合わせる（以下、この処理をペアリングという）。そし
て、搬送コンピュータ１１は、このペアリングされた一
対の搬送作業を搬送作業割付指示信号として無人搬送車
コントローラ５に出力する。無人搬送車コントローラ５
は、この搬送作業割付指示信号に従って、無人搬送車４
ｘに生産ラインＡへの製品を載せる空パレットの供給作
業を最初に割り付ける。この生産ラインＡへの供給作業
を割り付けられた無人搬送車４ｘは、出庫ステーション
１０から供給ステーション２ａまで製品を載せる空パレ
ットの供給作業を行う。続いて無人搬送車コントローラ
５は、前記供給作業を終えた無人搬送車４ｘに生産ライ
ンＡからの製品を載せた実装パレットの回収作業を割り
付ける。そして、無人搬送車４ｘは、回収ステーション
３ａから入庫ステーション９まで製品を載せた実装パレ
ットの回収作業を行う。こうして無人搬送車４ｘは、図
示するように一周動作をする間に供給作業と回収作業と
いう２つの搬送作業を完了する。このことは、最初に生
産ラインＡで生産材料の載せられていた空パレットの回
収要求が、搬送コンピュータ１１へ送られる場合につい
ても同様である。Referring to FIGS. 1 and 4, production line A
A description will be given of a method of controlling the assignment of the transport operation when the control signals. For example, when a product is first placed on a pallet in the production line A, a request for collecting the mounted pallet on which the product is placed is sent to the transport computer 11. At this time, the transport computer 11 does not issue a transport instruction for collecting the mounting pallet on which the product is mounted, and supplies the empty pallet on which the product is mounted or the mounting pallet on which the production material is mounted on any of the production lines A to C. Wait for that to happen. When, for example, a request for supplying an empty pallet on which a product is to be placed is made on the production line A, the transport computer 11
Combines the operation of collecting a mounting pallet loaded with products from the production line A with the operation of supplying an empty pallet newly loaded with products to the production line A as a pair of transporting operations (hereinafter, this process is referred to as a pairing operation). Ring). Then, the transport computer 11 outputs the paired paired transport operation to the automatic guided vehicle controller 5 as a transport operation assignment instruction signal. Automatic guided vehicle controller 5
According to the transfer operation assignment instruction signal, the automatic guided vehicle 4
First, the work of supplying an empty pallet for placing the product on the production line A is assigned to x. The automatic guided vehicle 4x to which the supply operation to the production line A is allocated performs the operation of supplying an empty pallet on which products are loaded from the unloading station 10 to the supply station 2a. Subsequently, the automatic guided vehicle controller 5 assigns the collection operation of the mounting pallet on which the product from the production line A is mounted to the automatic guided vehicle 4x that has completed the supply operation. Then, the automatic guided vehicle 4x performs the work of collecting the mounted pallets on which the products are placed from the collection station 3a to the storage station 9. In this way, the automatic guided vehicle 4x completes two transport operations, a supply operation and a recovery operation, while making one round operation as shown in the figure. The same applies to a case where a request for collecting an empty pallet on which a production material is initially placed on the production line A is sent to the transport computer 11.
【０００７】[0007]
【発明が解決しようとする課題】ところで、上述した従
来の無人搬送車の作業割付制御方法では、無人搬送車の
一周動作で上述の供給作業と回収作業を行うことができ
るが、これらの２作業のペアリングを行うために搬送コ
ンピュータが負う負担が大きく、システム全体の効率を
考えると決して好ましいものではなかった。また、搬送
コンピュータの制御プログラムが複雑となり、その開発
に時間とコストが掛かるという問題点もあった。In the above-described conventional method for controlling the operation of an automatic guided vehicle, the above-described supply operation and recovery operation can be performed by one operation of the automatic guided vehicle. The burden imposed on the transport computer to perform the pairing was large, and was not preferable in view of the efficiency of the entire system. In addition, there is a problem that the control program of the transport computer becomes complicated, and it takes time and cost to develop the control program.
【０００８】本発明は上記の問題点を解決するためにな
されたもので、作業割付のための搬送コンピュータの負
担が少なくて済み、無人搬送システム全体の効率を改善
することができる無人搬送車の作業割付制御方法の提供
を目的とする。SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and a load on a transfer computer for work allocation can be reduced, and the efficiency of the automatic transfer system can be improved as a whole. It is intended to provide a work assignment control method.
【０００９】[0009]
【課題を解決するための手段】本発明による無人搬送車
の作業割付制御方法は、生産材料を載せたパレットまた
は生産物を載せるパレットを生産ラインに供給する供給
作業と生産材料を積み降ろしたパレットまたは生産物を
載せたパレットを生産ラインから回収する回収作業を行
う無人搬送車の制御方法であって、生産ラインのいずれ
かで生産物の回収作業が要求された場合、搬送コンピュ
ータが、割付待ち許容時間と回収作業を要求した生産ラ
インの指定とを含んだ搬送作業割付指示信号を無人搬送
車コントローラに与え、無人搬送車コントローラは搬送
作業割付指示信号を受信してから計時を行い、該計時時
間が割付待ち許容時間以内の期間は、回収作業を要求し
た生産ラインにパレットを供給する供給ステーション
で、パレットの供給作業を終え待機中の無人搬送車に限
り回収作業の割付を行い、該回収作業の割付が行われる
ことなく計時時間が割付待ち許容時間を越えた場合に
は、待機中の全ての無人搬送車を回収作業の割付対象と
することを特徴とする。SUMMARY OF THE INVENTION According to the present invention, there is provided a method for controlling the work allocation of an automatic guided vehicle, comprising: supplying a pallet on which a production material is placed or a pallet on which a product is placed to a production line; and a pallet on which the production material is unloaded. Alternatively, in a method of controlling an automatic guided vehicle that performs a collection operation of collecting a pallet on which products are placed from a production line, and when a collection operation of the product is requested in any of the production lines, the transfer computer waits for the allocation. A transfer work assignment instruction signal including the allowable time and the designation of the production line that requested the collection work is given to the automatic guided vehicle controller, and the automatic guided vehicle controller measures the time after receiving the transfer work assignment instruction signal. During the period of time within the permissible waiting time for allocation, the pallet supply station supplies pallets to the production line that requested the collection work. The collection work is assigned only to the unmanned guided vehicles that have completed the work and are on standby, and if the timed time exceeds the permissible allocation waiting time without the collection work being allocated, all unmanned guided vehicles on standby Are to be allocated to the collection work.
【００１０】[0010]
【作用】本発明による無人搬送車の作業割付制御方法で
は、割付待ち許容時間と前記被搬送物の回収作業を要求
した生産ラインの指定とを含んだ搬送作業割付指示信号
を無人搬送車コントローラに与えることにより、搬送コ
ンピュータは、上述するような搬送作業のペアリングを
行う必要がない。一方、無人搬送車コントローラは、計
時時間が割付待ち許容時間以内の期間は、実装パレット
の回収作業を要求した生産ラインの供給ステーションで
空パレットの供給作業を終え待機中の無人搬送車に限
り、実装パレットの回収作業の割付を行うことができ
る。また、無人搬送車コントローラは、実装パレットの
回収作業の割付が行われることなく計時時間が割付待ち
許容時間を越えた場合には、待機中の全ての無人搬送車
に実装パレットの回収作業を割付けることができる。In the method of controlling the operation of an automatic guided vehicle according to the present invention, a transfer operation allocation instruction signal including an allowable waiting time for allocation and a designation of a production line which has requested the collection operation of the transported object is sent to the automatic guided vehicle controller. By providing, the transfer computer does not need to perform pairing of the transfer operation as described above. On the other hand, the automatic guided vehicle controller, during the period of time that is within the permissible waiting time for allocation, only supplies the empty pallets at the supply station of the production line that requested the collection of mounted pallets The collection work of the mounting pallets can be assigned. In addition, the automatic guided vehicle controller assigns the collection work of the mounting pallets to all waiting automatic guided vehicles if the time exceeds the allowable waiting time for allocation without the allocation of the collection work of the mounted pallets. Can be attached.
【００１１】[0011]
【実施例】図１〜図３を参照して、本発明による一実施
例について説明する。なお、本発明のハードウェアの構
成は従来例と同様であるので、その説明を省略し、以
下、実施例に係わる無人搬送車の割付制御方法について
のみ説明する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment according to the present invention will be described with reference to FIGS. Since the configuration of the hardware of the present invention is the same as that of the conventional example, the description is omitted, and only the method of controlling the automatic guided vehicle allocation according to the embodiment will be described below.
【００１２】まず例えば生産ラインＡから搬送コンピュ
ータ１１に製品を載せた実装パレットの回収要求が送ら
れると、搬送コンピュータ１１は、以下の情報を含んだ
搬送作業割付指示信号を無人搬送車コントローラ５に出
力する。ａ．割付待ち許容時間ｂ．生産ラインＡが回収
作業を要求をしていることを明示する情報ここで、割付
待ち許容時間とは、無人搬送車コントローラ５が搬送作
業割付指示信号を受信してから無人搬送車４ｘ〜４ｚに
回収作業を割付けるまでの許容時間である。無人搬送車
コントローラ５は、割付待ち許容時間（≠０）の搬送作
業割付指示信号を受信すると、割付待ち許容時間の計時
を開始し、搬送作業の割付を以下のように行う。First, for example, when a request for collecting a mounting pallet on which a product is loaded is sent from the production line A to the transfer computer 11, the transfer computer 11 sends a transfer operation assignment instruction signal including the following information to the automatic guided vehicle controller 5: Output. a. Assignable waiting time b. Information indicating that the production line A is requesting a collection operation. Here, the allowable waiting time for allocation refers to the automatic guided vehicles 4x to 4z after the automatic guided vehicle controller 5 receives the transfer operation allocation instruction signal. This is the allowable time until the collection work is assigned. When the automatic guided vehicle controller 5 receives the transfer work assignment instruction signal for the allowable waiting time for the assignment (# 0), it starts counting the allowable wait time for the assignment and performs the assignment of the transfer work as follows.
【００１３】（１）割付待ち許容時間の計時が終了する
までの期間 図１を参照して、この場合の搬送作業の割付動作を説明
する。この割付待ち許容時間の計時が終了するまでの期
間、無人搬送車コントローラ５は、製品を載せた実装パ
レットの回収要求をした生産ラインＡの供給ステーショ
ン２ａに無人搬送車が滞在している場合に限り、その無
人搬送車に生産ラインＡからの製品を載せた実装パレッ
トの回収作業を割り付る。すなわち、次の通りである。
先に説明したように生産ラインＡが定常状態にあると
き、生産ラインＡは、製品を載せた実装パレットの回収
要求に引き続き製品を載せる空パレットあるいは生産材
料を載せた実装パレットの供給要求を発生することが多
い。仮に上記生産ラインＡからの回収作業を要求する搬
送作業割付指示が出される前に、生産ラインＡから供給
要求が発生していたとすると、搬送コンピュータ１１
は、その時点でこの供給要求に対応した搬送作業割付指
示信号を無人搬送車コントローラ５に出力し、無人搬送
車コントローラ５は、その後生産ラインＡへの上記供給
作業を待機中の例えば無人搬送車４ｘに割り付ける。こ
の結果、無人搬送車４ｘは、自動倉庫８の供給ステーシ
ョン１０から生産ラインＡの供給ステーション２ａに空
パレットを搬送する。そして、この無人搬送車４ｘが上
記計時時間が終了するまでの期間に、供給ステーション
２ａに到着し、生産ラインＡへの空パレットの供給作業
を終えたとすると、無人搬送車コントローラ５は、その
時点で無人搬送車４ｘに、先に発生した生産ラインＡか
らの実装パレットの回収作業を割り付ける。そして、無
人搬送車４ｘは、生産ラインＡの回収ステーション３ａ
から自動倉庫８の入庫ステーション９までの実装パレッ
トの回収作業を行う。こうすることにより、無人搬送車
４ｘは、自動倉庫８→生産ラインＡ→自動倉庫８という
一周動作中に、空パレットの供給作業と実装パレットの
回収作業という２つの搬送作業を行う。(1) Period Until Timing of Allowable Assignment Waiting Time Ends With reference to FIG. 1, the assignment operation of the transport work in this case will be described. Until the timing of the permissible allocation waiting time ends, the automatic guided vehicle controller 5 determines whether the automatic guided vehicle is staying at the supply station 2a of the production line A that has requested the collection of the mounting pallet on which the product is mounted. As far as possible, the collection work of the mounting pallet on which the product from the production line A is placed on the automatic guided vehicle is allocated. That is, it is as follows.
As described above, when the production line A is in the steady state, the production line A generates a supply request of an empty pallet on which a product is mounted or a supply request of a mounting pallet on which a product is mounted, following a collection request of the mounting pallet on which the product is mounted. Often do. If a supply request is issued from the production line A before a transfer work assignment instruction requesting a collection work from the production line A is issued, the transfer computer 11
Outputs a transfer operation assignment instruction signal corresponding to the supply request to the automatic guided vehicle controller 5 at that time, and the automatic guided vehicle controller 5 then waits for the supply operation to the production line A, for example, the automatic guided vehicle Assign to 4x. As a result, the automatic guided vehicle 4x conveys the empty pallets from the supply station 10 of the automatic warehouse 8 to the supply station 2a of the production line A. Then, assuming that the automatic guided vehicle 4x arrives at the supply station 2a and completes the supply operation of the empty pallet to the production line A during a period until the time counting ends, the automatic guided vehicle controller 5 Then, the collection work of the mounting pallets from the production line A, which has occurred earlier, is assigned to the automatic guided vehicle 4x. The automatic guided vehicle 4x is connected to the collection station 3a of the production line A.
The collection work of the mounting pallets from to the automatic warehouse 8 to the storage station 9 is performed. In this way, the automatic guided vehicle 4x performs two transport operations of supplying empty pallets and recovering mounted pallets during one round operation of the automatic warehouse 8 → the production line A → the automatic warehouse 8.
【００１４】（２）割付待ち許容時間の計時を終えた場
合 図２を参照して搬送作業の割付動作を説明する。この場
合、無人搬送車コントローラ５は、待機中の全ての無人
搬送車を、生産ラインＡからの回収作業の割り付け対象
とする。例えば、無人搬送車コントローラ５は、生産ラ
インＡに一番近い生産ラインＢで待機中の無人搬送車４
ｙに生産ラインＡからの回収作業を割り付ける。そし
て、無人搬送車４ｘは、生産ラインＡの回収ステーショ
ン３ａから自動倉庫８の入庫ステーション９までの実装
パレットの回収作業を行う。この結果、無人搬送車４ｙ
は、待機する前に行った生産ラインＢへの空パレットの
供給作業と併せて、自動倉庫８→生産ラインＢ→生産ラ
インＡ→自動倉庫８という一周動作中に、空パレットの
供給作業と実装パレットの回収作業という２つの搬送作
業を行う。(2) The case where the counting of the allowable waiting time for allocation has been completed. The allocation operation of the transport work will be described with reference to FIG. In this case, the automatic guided vehicle controller 5 assigns all waiting automatic guided vehicles to the collection operation from the production line A. For example, the automatic guided vehicle controller 5 controls the automatic guided vehicle 4 waiting on the production line B closest to the production line A.
The collection operation from the production line A is assigned to y. Then, the automatic guided vehicle 4x performs a collection operation of the mounted pallets from the collection station 3a of the production line A to the entry station 9 of the automatic warehouse 8. As a result, the automatic guided vehicle 4y
Is the operation of supplying empty pallets to the production line B before waiting, and the operation of supplying empty pallets during the one-round operation of the automatic warehouse 8 → the production line B → the production line A → the automatic warehouse 8. The pallet collection operation is performed.
【００１５】ところで、上記のように割付待ち許容時間
の計時を終えたとき、図３に示すように無人搬送車４ｚ
のみが待機中の場合、無人搬送車コントローラ５は、生
産ラインＡで発生した製品を載せた実装パレットの回収
作業を無人搬送車４ｚに割り付ける。そして、無人搬送
車４ｚは、製品を載せる空パレットの供給作業を行わず
に回収ステーション３ａに移動する。続いて無人搬送車
４ｚは、実装パレットを回収ステーション３ａから入庫
ステーション９まで搬送する。この場合、無人搬送車４
ｚは、上述した一周２作業を行わないことになる。By the way, when the timing of the allowable waiting time for the allocation is completed as described above, as shown in FIG.
When only the standby state is on standby, the automatic guided vehicle controller 5 allocates the collection operation of the mounting pallet on which the products generated on the production line A are mounted to the automatic guided vehicle 4z. Then, the automatic guided vehicle 4z moves to the collection station 3a without performing the work of supplying an empty pallet on which the product is placed. Subsequently, the automatic guided vehicle 4z transports the mounting pallet from the collection station 3a to the storage station 9. In this case, the automatic guided vehicle 4
z does not perform the above-mentioned two round operations.
【００１６】このような無人搬送車の作業割付制御方法
では、回収作業に適当な割付待ち許容時間を指定するこ
とにより、最大限その割付待ち許容時間内の時間的損失
を払うのみにより、無人搬送車による一周２作業を概略
実現することができる。また、ペアリングを搬送コンピ
ュータが行わなくても済むため、作業割付のための搬送
コンピュータの負担が軽減され、無人搬送システム全体
の効率を改善することができる。また、前記ペアリング
処理を搬送コンピュータは行わなくても良いため、搬送
コンピュータの制御プログラムが簡単化でき、その開発
に時間とコストが掛からない。In such a method for controlling the operation of the automatic guided vehicle, the appropriate time for the waiting for the allocation is specified for the collection operation, so that only the maximum time loss within the allowable time for the allocation can be paid. Two rounds of work by car can be realized. Further, since the transfer computer does not need to perform the pairing, the load on the transfer computer for work assignment is reduced, and the efficiency of the entire unmanned transfer system can be improved. In addition, since the transfer computer does not need to perform the pairing process, the control program for the transfer computer can be simplified, and the development thereof does not require much time and cost.
【００１７】また、従来の無人搬送車の作業割付制御方
法では、供給作業中の無人搬送車がトラブル等で供給ス
テーションに到着できない場合、この１つの供給作業の
トラブルが、後から発生する搬送作業に与える影響が大
きかった。しかし、このような場合において、本実施例
による無人搬送車の作業割付制御方法では、割付待ち許
容時間の計時を終えると、待機中の全ての無人搬送車を
回収作業の割付対象とすることができるので、１つの供
給作業のトラブルが他の搬送作業に及ぼす影響が少な
い。In the conventional method for controlling the operation of an unmanned guided vehicle, if the unmanned guided vehicle during the supply operation cannot arrive at the supply station due to a trouble or the like, the trouble of the one supply operation may occur in the transfer operation which occurs later. Had a significant effect on However, in such a case, in the method of controlling the operation of the automatic guided vehicle according to the present embodiment, when the counting of the allowable waiting time for the allocation is completed, all the unmanned guided vehicles in the standby state may be allocated to the collection operation. Since it is possible, the trouble of one supply operation has little effect on other transport operations.
【００１８】[0018]
【発明の効果】本発明による無人搬送車の作業割付制御
方法では、搬送コンピュータは、搬送作業のペアリング
処理を行う必要がない。このため、作業割付のための搬
送コンピュータの負担が軽減され、無人搬送システム全
体の効率が改善される。また、搬送作業のペアリング処
理を行う必要がないため、搬送コンピュータの制御プロ
グラムが簡単化でき、その開発に時間とコストが掛から
ない。According to the work allocation control method of the automatic guided vehicle according to the present invention, the transfer computer does not need to perform the pairing process of the transfer operation. For this reason, the burden on the transfer computer for work assignment is reduced, and the efficiency of the entire unmanned transfer system is improved. Further, since it is not necessary to perform the pairing process of the transfer operation, the control program of the transfer computer can be simplified, and the development of the transfer computer does not require much time and cost.
【図１】本発明の割付許容時間内における搬送作業割付
図、および従来例を示す搬送作業割付図である。FIG. 1 is a diagram illustrating a transfer work allocation within a permissible allocation time according to the present invention, and a transfer work allocation diagram illustrating a conventional example.
【図２】本発明の割付許容時間を越えたときの一例を示
す搬送作業割付図である。FIG. 2 is a transfer work assignment diagram showing an example when the assignment allowance time of the present invention is exceeded.
【図３】本発明の割付許容時間を越えたときの一例を示
す搬送作業割付図である。FIG. 3 is a transfer work assignment diagram showing an example when the assignment allowance time of the present invention is exceeded.
【図４】本発明および従来の無人搬送システムの一例を
示すシステム構成図である。FIG. 4 is a system configuration diagram showing an example of the present invention and a conventional unmanned transport system.
Ａ〜Ｃ 生産ライン ２ａ〜２ｃ 供給ステーション ４ｘ〜４ｚ 無人搬送車 ５ 無人搬送車コントローラ １１ 搬送コンピュータ A to C Production line 2a to 2c Supply station 4x to 4z Automated guided vehicle 5 Automatic guided vehicle controller 11 Transport computer
───────────────────────────────────────────────────── フロントページの続き (56)参考文献 特開 昭63−217406（ＪＰ，Ａ) 特開 昭63−255711（ＪＰ，Ａ) 特開 昭62−85305（ＪＰ，Ａ) 特開 昭63−120061（ＪＰ，Ａ) 特開 平１−182161（ＪＰ，Ａ) 特開 平２−77808（ＪＰ，Ａ) 特開 平５−127744（ＪＰ，Ａ) 特開 平５−94212（ＪＰ，Ａ) 実開 昭64−39508（ＪＰ，Ｕ) (58)調査した分野(Int.Cl.7，ＤＢ名) G05D 1/02 ──────────────────────────────────────────────────続 き Continuation of front page (56) References JP-A-63-217406 (JP, A) JP-A-63-255711 (JP, A) JP-A-62-85305 (JP, A) JP-A-63-85305 JP-A-1-182161 (JP, A) JP-A-2-77808 (JP, A) JP-A-5-127744 (JP, A) JP-A-5-94212 (JP, A) (Japanese) Shokai 64-39508 (JP, U) (58) Field surveyed (Int. Cl. 7 , DB name) G05D 1/02
Claims (1)
を載せるパレットを生産ラインに供給する供給作業と生
産材料を積み降ろしたパレットまたは生産物を載せたパ
レットを生産ラインから回収する回収作業を行う無人搬
送車の制御方法であって、 生産ラインのいずれかでパレットの回収作業が要求され
た場合、搬送コンピュータが、割付待ち許容時間と回収
作業を要求した生産ラインの指定とを含んだ搬送作業割
付指示信号を無人搬送車コントローラに与え、 無人搬送車コントローラは搬送作業割付指示信号を受信
してから計時を行い、該計時時間が割付待ち許容時間以
内の期間は、回収作業を要求した生産ラインにパレット
を供給する供給ステーションで、パレットの供給作業を
終え待機中の無人搬送車に限り回収作業の割付を行い、 該回収作業の割付が行われることなく計時時間が割付待
ち許容時間を越えた場合には、待機中の全ての無人搬送
車を回収作業の割付対象とすることを特徴とする無人搬
送車の作業割付制御方法。1. A supply operation for supplying a pallet on which a production material is loaded or a pallet on which a product is placed to a production line, and a collection operation for collecting a pallet on which a production material is unloaded or a pallet on which a product is loaded from the production line. A method of controlling an automated guided vehicle, wherein when a pallet collection operation is requested on any of the production lines, the conveyance computer includes a transfer work including the allowable waiting time for allocation and the designation of the production line that requested the collection operation. An assignment instruction signal is given to the automatic guided vehicle controller, and the automatic guided vehicle controller measures the time after receiving the transfer operation assignment instruction signal. At the supply station that supplies pallets to the pallets, the pallet supply operation is completed and the collection work is assigned only to the unmanned guided vehicles that are on standby. If the clocking time exceeds the permissible allocation waiting time without the collection work being assigned, all unmanned guided vehicles on standby are to be allocated for collection work. Assignment control method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP06387194A JP3303513B2 (en) | 1994-03-31 | 1994-03-31 | Operation allocation control method for automatic guided vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP06387194A JP3303513B2 (en) | 1994-03-31 | 1994-03-31 | Operation allocation control method for automatic guided vehicles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH07271437A JPH07271437A (en) | 1995-10-20 |
| JP3303513B2 true JP3303513B2 (en) | 2002-07-22 |
Family
ID=13241800
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP06387194A Expired - Fee Related JP3303513B2 (en) | 1994-03-31 | 1994-03-31 | Operation allocation control method for automatic guided vehicles |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3303513B2 (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8215004B2 (en) | 2007-07-30 | 2012-07-10 | Sintokogio, Ltd. | Fabrication line |
| EP2323086A1 (en) * | 2009-10-09 | 2011-05-18 | Müller Martini Holding AG | Method and device for manufacturing and loading printed product containers |
| CN104229421B (en) * | 2014-06-18 | 2016-07-13 | 深圳市宏钺智能科技有限公司 | A kind of active and standby hopper automatic seamless is plugged into method |
| CN106006084B (en) * | 2016-07-04 | 2023-03-24 | 杭州国辰机器人科技有限公司 | Method and system for storing and transporting animal carcasses |
| CN108891830B (en) * | 2018-06-05 | 2020-03-24 | 广州市远能物流自动化设备科技有限公司 | Dispatching control method of automatic guided transport vehicle and automatic guided transport vehicle |
-
1994
- 1994-03-31 JP JP06387194A patent/JP3303513B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH07271437A (en) | 1995-10-20 |
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