JP3379403B2 - Automatic guided vehicle route indicating device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a route instruction device for an automatic guided vehicle that conveys parts while traveling unmanned on a designated route.

[0002]

2. Description of the Related Art As a parts transfer system using an unmanned transfer vehicle that runs unattended along a track laid on the floor, a specific operation (straight turn, left turn, right turn, stop) such as a branch point or a work place is performed. Address cards such as magnetic cards that store address data at locations (also called station cards)
There is a device in which the data is pasted, detected by a predetermined sensor, and the operation data is read out from the memory assigned to each address and executed. For example, taking an assembly process as an example, an automated guided vehicle is mainly driven while traveling on a designated route,
When one of the plural component mounting positions is stopped and the components are stacked, the operation of transporting the plural components to the plural component mounting work positions is repeated.

[0003]

However, in the conventional system, the routes of all the automated guided vehicles to be used are predetermined, and the automated guided vehicle has one route.
The route data dedicated to each unit was stored, and the route data was changed manually.

That is, since the route of the automated guided vehicle is fixed for each vehicle, for example, the location (transport source) or the location of the component to be mounted on the automated guided vehicle is changed according to the layout change of the parts storage space or the work place. When changing the destination (conveyance destination) to carry the parts, or simply changing the route of the automated guided vehicle, rewrite the route data of the automated guided vehicle with the operation panel or data memory card each time. Therefore, the more the number of unmanned guided vehicles increases, the more time and effort it takes to rewrite the route data, which is complicated.

Further, since the route of the automatic guided vehicle is fixed for each one, if a plurality of routes are required, it is necessary to provide at least fixed route automatic guided vehicles for the number of routes. In addition, if the order of parts supply according to the production plan and the order of the route of the automated guided vehicle do not match, it is necessary to make some adjustments, such as issuing an empty instruction to the automated guided vehicle. There was also a problem.

The present invention has been made in view of the above-mentioned problems in the route instruction of the automatic guided vehicle, and provides a route instruction device for the automatic guided vehicle capable of changing the route data without manpower. With the goal.

[0007]

[0008]

In order to solve the problem] was to achieve the above purpose
Therefore, the invention according to claim 1 is to move a designated part from a predetermined unloading position where the part is placed to a predetermined unloading position where the part is used while unmanned traveling on a designated route. In a route instruction device for an unmanned guided vehicle to be transported, component loading position data storage means for storing the data relating to the loading position of the component for each component can be corrected, and data relating to the unloading position of the component for each component are stored. A component unloading position data storage means that can be correctably stored, and a route selection that stores data relating to a specific operation at each branch or stop point on a plurality of preset routes in relation to the loading position and unloading position of the component. Data storage means and contents of the component loading position data storage means, the component unloading position data storage means, and the route selection data storage means when a component is designated. Zui it, and having a a path data generating means for generating data relating to the route to be unmanned corresponding to the component.

[0009] According to the configuration of the present invention, component arrival position data storage means, and modifiable storage of data relating to the arrival position of the part (part arrival position data) for each component, the component and unloading position data storage means, parts The data regarding the unloading position of the component (component unloading position data) is stored so that it can be corrected, and the route selection data storage means has a plurality of preset plurality of data in relation to the loading position and the unloading position of the component. Specific action at each branch and stop point on the route (straight ahead,
It stores data regarding left turn, right turn, and stop) (route selection data). The route data creation means can be corrected to the component loading position data storage means when a part is designated.
The component arrival position data stored, based on the component and unloading position data correction in the storage means capable the stored parts and unloading position data, and route selecting data storage means routing data stored in the , Data about the route to be run unmanned corresponding to the specified parts, specifically each branch required to select the route to be run unmanned, specific actions at stop points (straight, left turn, right turn) , Stop) combination is created. That is, every time a component to be conveyed is designated, route data for unmanned traveling is automatically created based on preset data.

According to a third aspect of the present invention, in the route instruction device for an automatic guided vehicle according to the second aspect, the route data created by the route data creating means is a predetermined communication point, and each time, It is characterized in that it is received by an automatic guided vehicle and updated and stored in a predetermined memory.

According to the structure of the present invention, each time the automatic guided vehicle arrives at a predetermined communication point, next new route data is written in the memory.

According to a fourth aspect of the present invention, in the route instruction device for the automatic guided vehicle according to the third aspect, the automatic guided device is mounted on the automatic guided vehicle based on the received route data. It is characterized in that, while reading the position on the route by a predetermined position reading means, the vehicle travels on the designated route by itself.

According to a fifth aspect of the present invention, in the route instruction device for an automated guided vehicle according to the second aspect, the instruction of the parts to be conveyed is created based on the production instruction data from the higher order production instruction device. It is characterized in that it is performed based on the supply permutation data of the parts.

[0014]

As described above, according to the first aspect of the invention, the route data to be automatically traveled is automatically created every time a component to be conveyed is designated, so that the route data can be changed without human intervention. For example, when the data is changed due to the layout change of the parts storage space or the work place, it is possible to memorize the component loading position data and the parts that can be corrected.
Since only the item unloading position data needs to be changed, the number of man-hours for the work is significantly reduced.

According to the invention described in claims 3 and 4, in addition to the effect of the invention described in claim 2, each time the automatic guided vehicle arrives at a predetermined communication point, a new route is stored in the memory. Since the data is written, it is possible to drive the same automated guided vehicle on different routes each time it makes one lap, and it is possible to minimize the number of automated guided vehicles used and make any adjustments. Therefore, it is possible to cope with the supply permutation of the parts without increasing the efficiency.

According to the invention of claim 5, in addition to the effect of claim 2, the parts are instructed based on the supply permutation data of the parts created based on the production instruction data. It is possible to efficiently supply parts that match the production plan.

[0017]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a schematic diagram showing a structural example of a parts conveying system to which the present invention is applied. This component transfer system is provided, for example, in a component assembly process, has a loop-shaped track 1 laid on the floor, and along this track 1 a component mounting area 2 and a component mounting work area 3 Are provided respectively. Automated guided vehicles V1 to V6
Transports the instructed component from the component mounting area 2 to the component mounting work area 3 while self-propelled along the track 1.

The component mounting area 2 is an area for temporarily storing the components carried in from the outside and mounting (loading) them on the automatic guided vehicle V, and from one or a plurality of component mounting positions (loading positions). It is configured. Here, for example,
The case where there are five component mounting positions P1, P2, P3, P4 and P5 is illustrated. Each component mounting position Pi (i = 1 to 1
In 5), one kind or several kinds of parts are placed according to the layout of the parts mounting area 2 and the like.

The component mounting work area 3 is a region where the components transported from the component mounting area 2 are unloaded (unloaded) from the automatic guided vehicle V and a predetermined mounting work is performed, and one or a plurality of components are mounted. It is composed of a mounting work position (unloading position). Here, for example, six component mounting work positions Q
The case where there are 1, Q2, Q3, Q4, Q5, and Q6 is illustrated. At each component mounting work position Qj (j = 1 to 6),
One or several kinds of parts are supplied depending on the contents of the parts mounting work.

The track 1 is provided with a branch point for selecting and switching a route along which the automated guided vehicle V travels, and a stop point for stopping the automated guided vehicle V for work. For example, in the example of FIG. 1, the branch points provided in the component mounting area 2 are m1, m2, m3, m4,
m5, m7, m9, m11, m13, the stopping points are m6, m8, m10, m12, m14, and the branch point provided in the parts mounting work area 3 is n1.
, N2, n3, n4, n5, n6, n8, n10, n1
2, n14, n16, and the stop points are n7, n9
, N11, n13, n15, n17. Each stop point corresponds to each work position Pi, Qj in the component mounting area 2 and the component mounting work area 3. The route of the automatic guided vehicle V is set by designating the required operation at each branch point, that is, whether to go straight, turn left, or turn right.

Although not shown, at the branch point and the stop point described above, an address card such as a magnetic card in which address data which is position data (corresponding to an address on the route) for identifying the point is stored ( Station card) is attached. This address card is read by a predetermined sensor provided in the automatic guided vehicle V.

The automated guided vehicle V has a drive unit and an automatic control unit (not shown), and has a function of self-propelled on the designated route when route data is given.

In the present embodiment, the route data given to the automatic guided vehicle V is given and rewritten by communication at a predetermined communication point. That is, the automatic guided vehicle V receives the next new route data and rewrites its memory each time it reaches the communication point. A data rewriting station 4 for that purpose is installed on the line side on the entrance side of the component mounting area 2. The position of the data rewriting station 4 serves as the communication point, and also serves as the self-propelled start position (start position) of the automated guided vehicle V having the rewritten route data.

FIG. 2 is a block diagram showing an example of the configuration of a route instruction device for an automated guided vehicle according to the present invention. This device
As shown in the figure, the production instruction apparatus 10 of the higher rank is roughly classified.
And a personal computer 20 installed at the data rewriting station
And a sequencer (automatic control device) 30 mounted on the automatic guided vehicle V.

The production instruction device 10 is composed of, for example, a production management computer, and has a function of transmitting the produced production instruction data to the subordinate personal computer 20. An example of the production instruction data is as shown in FIG. 3, for example. Here, the required parts are designated for each series of production numbers to which serial numbers are added. Each part is made up of one kind or a plurality of kinds according to the specifications. For example, the component 1 is composed of three types of components A, B and C, the component 4 is comprised of one type of component K, and the component 5 is comprised of two types of components L and M. Note that the communication between the production instruction device 10 and the personal computer 20 may be a wireless system using radio waves or a wired system using a communication cable.

As described above, the personal computer 20 is installed in the data rewriting station 4, and has a work organization database 21, a parts storage location database 22, a route address database 23, a supply permutation data creating section 24,
It is composed of a route data creation unit 25 and a route data transmission unit 26. The component loading position data storage means is the component placement location database 22, the component unloading position data storage means is the work organization database 21, the route selection data storage means is the route address database 23, and the route data creation means is the route data creation unit 25. Are configured respectively.

As described above, the work organization database 21 functions as a component unloading position data storage means, and stores preset work organization data. The work organization data is data indicating which part is to be mounted at which work position in the part mounting work area 3, that is, which part is to be transported as a destination (conveyance destination) to which part mounting work position. For example, as shown in FIG. 4, it is set for each part (number) in the form of a list. The organization number shown in the figure corresponds to the number j of the component mounting work position Qj in the component mounting work area 3.

As described above, the component storage location database 22 functions as a component loading position data storage means, and stores preset component storage location data. The component placement location data is data indicating which component is placed at which component placement position in the component placement area 2, and, for example, as shown in FIG. ) Is set for each.
The component storage location number shown in the figure corresponds to the number i of the component mounting position Pi in the component mounting area 2.

The route address database 23 functions as route selection data storage means as described above, and stores preset route address data. The route address data is data indicating at which point to turn and stop at which work position to stop at. For example, as shown in FIG.
Drop-off location (component mounting position Pi and component mounting work position Q
Specific actions (straight turn, left turn, right turn, stop) at the route address are set for each j) in the form of a list.

The supply permutation data creating unit 24 generates the supply permutation data for each transport (supply) unit based on the production instruction data given from the production instruction device 10 and the work organization data stored in the work organization database 21. Has the function of creating. The supply permutation data is permutation of the data of the parts and the transport destinations in transport units.

The route data creating section 25, as described above,
It functions as a route data creating means, and outputs the supply permutation data creating unit 24 (parts of the next carrying unit and data of the carrying destination) and the contents of the parts placing place database 22 and the route address database 24 (parts placing place data). , Route address data) and the next unmanned guided vehicle V
Has a function of creating data of a route to be traveled. The route data created here is data indicating the content of the specific operation at the related point, that is, at which point the vehicle should bend and stop.

The route data transmitting unit 26 has a function of transmitting the route data created by the route data creating unit 25 to the unmanned guided vehicles V sequentially waiting for an instruction in a carrier unit by radio waves.

On the other hand, the sequencer 30 of the automated guided vehicle V is
A route data receiving unit 31 for receiving instruction route data transmitted from (the route data transmitting unit 26 of) the personal computer 20;
The route data memory 32 that stores the instructed route data, the route control ladder unit 33 that performs route control based on the instructed route data, and the output (control signal) of the route control ladder unit 33 that guides the automated guided vehicle V And an operation control ladder unit 34 for controlling the actual operation of the. Motor control and steering control of the automatic guided vehicle V are performed by the operation control ladder unit 34.

Further, in the automatic guided vehicle V, an address card reading sensor 4 for reading an address card installed at each point.
0 is provided, and the read result is the sequencer 30.
It is adapted to be input to the route control ladder unit 33 therein. As a result, the automated guided vehicle V will travel on the instructed route while reading the position on the route by the address card reading sensor 40 according to the received instruction route data.

FIG. 7 shows the personal computer 2 configured as described above.
It is a flow chart which shows operation of 0.

When the personal computer 20 receives the production instruction data from the production instruction device 10 (S1), the supply permutation data creating section 24 receives the production instruction data (see FIG. 3).
Based on the work organization data stored in the work organization database 21 (see FIG. 4), supply permutation data for each transport (supply) unit is created (S2).

Next, in the route data creating section 25, first,
After obtaining the placement location of each component to be transported from the output of the supply permutation data creation unit 24 (component permutation of transport unit) and the component storage location data (see FIG. 5) stored in the component storage location database 22 (S3), the output (conveyance destination) of the supply permutation data creating unit 24 is added to this, and the route address data (see FIG. 6) stored in the route address database 24 is referred to. The route data to be traveled, that is, the data indicating at which point the vehicle should turn and stop at which point is created (S4).

The generated route data is transmitted to the automatic guided vehicle V via the route data transmission unit 26 every time the automatic guided vehicle V arrives at the data rewriting station 4 which is a communication point (S5). (S6).

FIG. 8 is a flowchart showing the operation of the sequencer 30 of the automatic guided vehicle V configured as described above.

When the sequencer 30 receives the route instruction data from the personal computer 20 via the route data receiver 31 at the data rewriting station 4 (communication point) (S11), it receives the received route data and stores it in the route data memory. It is stored in 32 (S12), and unmanned traveling is started via the route control ladder unit 33 and the operation control ladder unit 34 (S13).

When an address card is detected by the address card reading sensor 40 during unmanned traveling (S14), the address card reading sensor 40 is detected by the route control ladder unit 33.
The address data of the point read by is received (S15), and the operation data (straight turn, left turn, right turn, or stop) corresponding to the received address data is read from the route data memory 32 (S16), and the operation control ladder unit 34 The read operation data is executed via (S
17).

The above operation is carried out until the instructed parts are completely transferred from the parts mounting area 2 to the parts mounting work area 3 and the automatic guided vehicle V arrives at a predetermined standby position (S).
18) Repeated.

Therefore, according to the present embodiment, the route data (the operation data for each address) for the unmanned traveling is automatically created every time the parts to be conveyed are designated, so that the route data can be obtained without human intervention. Since it is possible to change the data, and only the data on the personal computer 20 needs to be corrected when the data is changed due to the layout change of the parts storage space or the work place, the man-hour of the work is greatly reduced.

Also, every time the automated guided vehicle V makes one turn on the track 1, route data (operation data for each address) is given by communication based on the parts to be carried next, so that when multiple routes are required. One unmanned guided vehicle V can travel on different routes without human intervention without having several types of fixed guided unmanned guided vehicles, that is, the same unmanned guided vehicle V can be used for each round.
Can be run on another route, and the number of unmanned guided vehicles V to be used can be minimized. Therefore, it is possible to supply the parts each time without preparing the parts inventory on the line side (synchronous supply).

Further, since the route can be changed for each lap, it becomes possible to cope with the parts supply sequence based on the production plan without making any adjustments such as issuing an empty instruction, and the efficiency of transportation is improved. To do.

[Brief description of drawings]

FIG. 1 is a schematic diagram showing a configuration example of a parts transfer system to which the present invention is applied.

FIG. 2 is a block diagram showing a configuration example of a route instruction device for an automated guided vehicle according to the present invention.

FIG. 3 is a diagram showing an example of production instruction data.

FIG. 4 is a diagram showing an example of work organization data.

FIG. 5 is a diagram showing an example of component storage location data.

FIG. 6 is a diagram showing an example of route address data.

FIG. 7 is a flowchart showing the operation of a personal computer.

FIG. 8 is a flowchart showing the operation of the sequencer of the automated guided vehicle.

[Explanation of symbols]

10 ... Production instructing device 20 ... PC 21 ... Work organization database (parts unloading position data storage means) 22 ... Parts placement database (parts loading position data storage means) 23 ... Route address database (route selection data storage means) 25 ... Route data creating unit (route data creating means) 30 ... Automated guided vehicle sequencer 32 ... Route data memory 33 ... Route control ladder unit 34 ... Operation control ladder unit 40 ... Address card reading sensor

─────────────────────────────────────────────────── --- Continuation of the front page (56) References JP 62-177604 (JP, A) JP 63-177208 (JP, A) JP 1-134608 (JP, A) JP 56- 23114 (JP, A) JP 63-36410 (JP, A) JP 2-306311 (JP, A) JP 6-149365 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) G05D 1/02

Claims (4)

(57) [Claims] 1. An automated guided vehicle for transporting an instructed part from a predetermined loading position where the part is placed to a predetermined unloading position where the part is used while traveling unmanned on a specified route. in routing device, and the component arrival position data storage means for modifying capable <br/> storing data relating to the arrival position of the component for each component, to be correct the data relating to and unloading position of the component in each part <br/> Part unloading position data storage means for storing, and route selection data storage for storing data relating to a specific operation at each branch or stop point on a plurality of preset routes in relation to the loading position and unloading position of the component Means, when a component is designated, based on the contents of the component loading position data storage means, the component unloading position data storage means, and the route selection data storage means, Automatic guided vehicle routing apparatus characterized by comprising: a path data generating means for generating data relating to the route to be unmanned corresponding to the part, the Route data created by the method according to claim 2, wherein the path data generating means, a predetermined communication points, each time, to claim 1, characterized in that received in the automated guided vehicle is updated and stored in a predetermined memory An unmanned guided vehicle route indicating device. 3. The automatic guided vehicle, based on the received route data, reads the position on the route by a predetermined position reading means by an on-board automatic control device and runs on the designated route by itself. The route instruction device for an automatic guided vehicle according to claim 2 , wherein: Parts of instructions wherein to be conveyed, according to claim 1, characterized in that it is performed based on the supplied permutation data of the part created based on the production instruction data from the production instruction device A route instruction device for automated guided vehicles.