JP6327014B2 - Equipment management system - Google Patents

Description

  The present invention relates to an equipment management system.

  Patent Document 1 discloses a component supply method that uses a transport cart that mounts a component box containing a supply component at a component mounting station in a picking field, and transports the component box to a component supply station on an assembly stage along a guide path. Yes, with the component box mounting shelf of the component mounting station straddling the taxiway and being inclined downward toward the traveling direction of the transport carriage, and the component box supply shelf of the component supply station straddling the taxiway , And set the transport shelf of the transport cart to a height that can pass below the component mounting shelf of the component mounting station and the component supply shelf of the component supply station, and raise the component box by projecting upward from the transport shelf A push-up member is provided, and the push-up member is raised when the transfer shelf of the transfer carriage passes below the component-loading shelf of the component-loading station. Raise the component box supplied on the component box mounting shelf, transfer it from the component mounting shelf to the transport shelf, and raise the push-up member when passing below the component supply shelf of the component supply station, A component supply method is described in which a component box on a transfer shelf of a transfer cart is raised and transferred from the transfer shelf to a component supply shelf of a component supply station.

JP2009-227424

  An object of the present invention is to provide a facility management system in which route information indicating a route that avoids a facility that does not need to pass is acquired.

  The invention according to claim 1 is a plurality of equipment related to manufacturing arranged along a passage, and a transport vehicle passing through the plurality of equipment while moving along the passage, each of the plurality of equipment Detection means for detecting the image, imaging means for imaging the equipment detected when passing through each of the plurality of equipment, and a transport vehicle including a display means for displaying the route based on the generated route information, An acquisition unit that acquires a plurality of images captured by the imaging unit, a specifying unit that specifies at least one facility that passes next based on the plurality of acquired images, and a route that passes through the specified facility are shown. And a control device including a generation unit that generates route information.

  According to a second aspect of the present invention, the specifying unit of the control device compares an image captured for each of the plurality of facilities with a predetermined image for the facility, and the facility satisfies a predetermined requirement. The equipment management system according to claim 1, wherein the equipment management system is specified as equipment to be passed next time.

  The invention according to claim 3 is the equipment management system according to claim 1 or 2, wherein the generation means of the control device generates route information indicating a route passing through the specified facility with the shortest route. It is.

  According to a fourth aspect of the present invention, from the first aspect, the plurality of facilities includes at least one of a component arranging unit that arranges components used for manufacturing and a discarding unit that discards waste generated in the manufacturing process. It is an equipment management system given in any 1 paragraph to Claim 3.

According to a fifth aspect of the present invention, when the plurality of facilities include a component placement unit, the specifying unit of the control device passes the component placement unit in which a predetermined number of components are not placed next time. It is an equipment management system according to claim 4 specified as equipment.

According to a sixth aspect of the present invention, when the plurality of facilities include a disposal unit, the specifying unit of the control device passes the disposal unit whose volume ratio occupied by the waste is equal to or greater than a predetermined volume ratio next time. The facility management system according to claim 4 or 5, wherein the facility management system is specified as a facility to be operated.

  The invention according to claim 7 further includes a wide-angle imaging device that continuously images a range including the plurality of facilities, and the control device indicates occurrence of an abnormality based on the plurality of acquired images. A detection unit that detects an image; and a storage unit that stores image information. When an image indicating the occurrence of an abnormality is detected by the detection unit, the image is continuously captured by the wide-angle imaging device related to the image. The facility management system according to claim 1, wherein an image is stored in the storage unit.

  According to the first aspect of the present invention, route information indicating a route for avoiding equipment that does not need to pass is acquired.

  According to the second aspect of the present invention, the facility to be passed next time is specified based on the captured image and a predetermined requirement.

  According to the third aspect of the present invention, route information indicating a route that passes through the specified facility with the shortest route is acquired.

  According to the invention described in claim 4, there is provided an equipment management system for managing equipment including at least one of a parts placement part for placing parts used for manufacturing and a waste part for discarding waste generated in the manufacturing process. Is done.

  According to the fifth aspect of the present invention, a component placement unit in which a predetermined number of components are not placed is specified as the facility to be passed next time.

  According to the sixth aspect of the present invention, a waste unit having a volume ratio occupied by the waste equal to or larger than a predetermined volume ratio is specified as equipment to be passed next time.

  According to the seventh aspect of the present invention, when an image indicating the occurrence of abnormality is detected, a continuous image associated with the image is stored.

It is the schematic which shows an example of a structure of the equipment management system which concerns on embodiment of this invention. It is a block diagram which shows an example of the electrical constitution of the terminal device mounted in a conveyance vehicle. It is a block diagram which shows an example of the electric constitution of a control apparatus. It is the schematic which shows an example of a structure of the display part of a terminal device, and an operation part. It is a schematic diagram which shows an example of a passage object setting screen. It is the schematic which shows an example of the return path which passes all the installations. (A) And (B) is the schematic which shows an example of the return path which passes the installation which needs to pass. It is a flowchart which shows an example of the procedure of "terminal operation processing." It is a flowchart which shows an example of the procedure of "outbound imaging processing." It is a flowchart which shows an example of the procedure of a "return path display process." It is a flowchart which shows an example of the procedure of a "return way alerting | reporting process." It is a mimetic diagram showing an example of a return way information screen. It is a flowchart which shows an example of the procedure of a "return path search process." (A) is a figure which shows an example of the captured image of a discard part, (B) is a figure which shows an example of the reference | standard image of a discard part. (A) is a figure which shows an example of the captured image of a component arrangement | positioning part, (B) is a figure which shows an example of the reference | standard image of a component arrangement | positioning part . It is a flowchart which shows an example of the procedure of "abnormality detection processing."

  Hereinafter, an example of an embodiment of the present invention will be described in detail with reference to the drawings.

<Configuration of equipment management system>
(Overall view)
An overall configuration of an equipment management system according to an embodiment of the present invention will be described.
FIG. 1 is a schematic diagram showing an example of the configuration of a facility management system 100 according to an embodiment of the present invention. As shown in FIG. 1, the facility management system 100 according to the present embodiment moves a plurality of facilities 14 and passages 12 related to manufacturing arranged along the passages 12 around the plurality of production lines 10 and the passages 12. However, a transport vehicle 20 that passes through the plurality of facilities 14, a control device 30 that controls the entire system, and a wide-angle imaging device 40 that continuously captures a range including the plurality of facilities 14 are provided. The wide-angle imaging device 40 is attached to a ceiling S in the room where a plurality of facilities 14 are arranged by a support member 42.

In the illustrated example, the facility management system 100 includes three production lines 10 ₁ , 10 ₂ , and 10 ₃ . Around these production lines 10 ₁ , 10 ₂ , 10 ₃ , a passage 12 having a width through which the transport vehicle 20 can pass is provided. In the facility management system 100, ten facilities 14 ₁ to 14 ₁₀ are disposed along the passage 12. In the passage 12, IC tags 16 ₁ to 16 ₁₀ are installed corresponding to the facilities 14 ₁ to 14 ₁₀ , respectively.

In the illustrated example, each of the facilities 14 ₁ , 14 ₄ , 14 ₆ , 14 ₇ , and 14 ₉ includes a component placement unit 14P that places a component 28 used for manufacturing. The component placement unit 14P is, for example, a three-stage shelf. In addition, each of the facilities 14 ₂ , 14 ₃ , 14 ₅ , 14 ₈ , and 14 ₁₀ includes a disposal unit 14D that discards the waste G generated in the manufacturing process. The discard unit 14D is, for example, a rectangular parallelepiped container.

In addition, when it is not necessary to distinguish each of the production lines 10 ₁ , 10 ₂ , 10 ₃ , these are collectively referred to as “production line 10”. When there is no need to distinguish each of the facilities 14 ₁ to 14 ₁₀ and when there is no need to distinguish between the component placement unit 14P and the disposal unit 14D, these are collectively referred to as “equipment 14”. When it is not necessary to distinguish each of the IC tags 16 ₁ to 16 ₁₀ , they are collectively referred to as “IC tag 16”.

  In the present embodiment, the operator A pushes the conveyance vehicle 20 loaded with the component 28 and moves through the passage 12 while passing through each of the plurality of facilities 14, and inserts the component 28 into each of the plurality of component placement portions 14 </ b> P. Supply. The transport vehicle 20 is provided with a container 29 into which the waste G is stored. When the operator A passes through each of the plurality of facilities 14, the operator A collects the waste G from each of the plurality of disposal units 14D.

  In addition, the transport vehicle 20 is based on a detection unit 22 that detects each of the plurality of facilities 14, an imaging unit 24 that images the facilities 14 that are detected when passing through each of the plurality of facilities 14, and the generated route information. A display unit 26 for displaying a route and an operation unit 27 for receiving an operation of the operator A. The detection unit 22 detects the corresponding equipment 14 by the IC tag 16 installed in the passage 12. When the detection unit 22 detects the facility 14, the imaging unit 24 captures the detected facility 14. The operator A operates the operation unit 27 to display a route to be passed next time on the display unit 26. In the present embodiment, when the operator A reciprocates the passage 12 while pushing the transport vehicle 20, a route indicating the return route is displayed on the display unit 26.

  In addition, although the example which arrange | positions the IC tag 16 in the channel | path 12 was demonstrated above, the equipment 14 should just be detected at the timing of imaging, and the kind and installation method of a label | marker are not necessarily limited to this. For example, the IC tag 16 may be attached to the facility 14, or a label other than the IC tag 16 such as a barcode may be used. However, according to the IC tag 16 having the IC chip and the small antenna, the identification information of each of the plurality of facilities 14 is stored in the IC chip. Further, since the recorded identification information is transmitted wirelessly, a reading device used for a bar code or the like is also unnecessary. Therefore, the use of the IC tag 16 makes it easy to identify each facility 14.

(Terminal device)
Next, the terminal device 20A mounted on the transport vehicle 20 will be described.
FIG. 2 is a block diagram showing an example of an electrical configuration of the terminal device 20A mounted on the transport vehicle 20. In the present embodiment, a terminal device 20A composed of a computer and peripheral devices is mounted on the transport vehicle 20. Each of the detection unit 22, the imaging unit 24, the display unit 26, and the operation unit 27 described above is a peripheral device of the terminal device 20A. As shown in FIG. 2, the terminal device 20A includes a communication unit 23 and a notification unit 25 as peripheral devices. The communication unit 23 is an interface for communicating with the control device 30 via a wired or wireless communication line. The notification unit 25 is a device for notifying the operator A of various types of information with images and sounds. For example, a notification screen may be displayed on the display unit 26 for notification, or a notification sound may be generated for notification.

  The terminal device 20A includes a control unit 21. The control unit 21 includes a CPU (Central Processing Unit) 21A, a ROM (Read Only Memory) 21B storing various programs, a RAM (Random Access Memory) 21C, a nonvolatile memory 21D storing various information, and an input. An output interface (I / O) 21E is provided. Each of the CPU 21A, ROM 21B, RAM 21C, nonvolatile memory 21D, and I / O 21E is connected via a bus 21F. The CPU 21A reads the program stored in the ROM 21B and executes the program using the RAM 21C as a work area.

  The detection unit 22, the imaging unit 24, the display unit 26, and the operation unit 27 provided in the transport vehicle 20 are connected to the I / O 21 </ b> E of the control unit 21. Each unit of the communication unit 23 and the notification unit 25 is connected to the I / O 21E of the control unit 21. The control unit 21 exchanges information with each of the detection unit 22, the imaging unit 24, the display unit 26, the operation unit 27, the communication unit 23, and the notification unit 25, and controls these units.

Here, display and operation by the terminal device 20A will be described.
FIG. 4 is a schematic diagram illustrating an example of the configuration of the display unit 26 and the operation unit 27 of the terminal device 20A. The display unit 26 is a touch panel that displays various screens and selects a function by a contact operation on the function selection screen. In the illustrated example, a path 50 indicating the forward path is displayed. In the present embodiment, the operator A reciprocates in the passage 12 while pushing the transport vehicle 20 to supply the component 28 and collect the waste G. In the outward path, the vehicle departs from the start point O and passes through each of the plurality of facilities 14 to reach the end point E. That is, the route 50 indicating the forward route is set in advance so as to pass through each of the plurality of facilities 14. And when passing the installation 14, each of the some installation 14 is imaged.

  The operation unit 27 includes a plurality of function selection units and an instruction unit. In the illustrated example, a “facility imaging” button 27A, an “information transmission” button 27B, a “return display” button 27C, and a “return notification” button 27D are provided as function selection units. A “start” button 27E is provided as an instruction unit. When the button is pressed to select any one of facility imaging, information transmission, return route display, and return route notification and start is selected, the selected function is executed.

  When the return path display button 27C is pressed, a setting screen for setting a passage target is displayed. As the equipment 14 to be passed, there are a component placement unit 14P and a disposal unit 14D. Although it passes through each of the plurality of facilities 14 in the forward path, it may be set so as to pass through at least one of the component placement unit 14P and the disposal unit 14D in the return path. FIG. 5 is a schematic diagram showing an example of the passage target setting screen 70. The passage target setting screen 70 includes a plurality of target selection units 72 and an instruction unit 74.

In the illustrated example, as a target selection unit, a “part placement unit” selection button 72 ₁ for only the component placement unit 14P as a return pass target, and a “discard unit” selection button 72 for only the discard unit 14D as a return pass target. _2, and both the component placement portion 14P and waste portions 14D and backward pass target "both" selection button 72 ₃ are provided. Further, as an instruction section, "back" button 74 ₁ and the "setting end" button 74 ₂ is provided. Component placement unit, discarding unit, and if both Select either pressing the "setting end" button 74 _2, setting the passing object is completed. When the start is instructed after setting, the selected “return display” function is executed. On the other hand, if you press the "back" button 74 _1, the choice of passing the subject is released.

(Control device)
Next, the control device 30 that controls the entire system will be described.
FIG. 3 is a block diagram illustrating an example of an electrical configuration of the control device 30. The control device 30 includes a control unit 32, a display unit 34, an operation unit 36, and a communication unit 38. The control unit 32 is a computer and includes a CPU 32A, a ROM 32B, a RAM 32C, a nonvolatile memory 32D, and an I / O 32E. Each of the CPU 32A, ROM 32B, RAM 32C, nonvolatile memory 32D, and I / O 32E is connected via a bus 32F. The CPU 32A reads the program stored in the ROM 32B and executes the program using the RAM 32C as a work area.

  Each unit of the display unit 34, the operation unit 36, and the communication unit 38 is connected to the I / O 32 E of the control unit 32. The control unit 32 exchanges information with each unit of the display unit 34, the operation unit 36, and the communication unit 38, and controls these units. The communication unit 38 is an interface for communicating with the terminal device 20A and the imaging device 40 via a wired or wireless communication line. As will be described later, the image information of the image of the facility 14 captured by the imaging unit 24 of the transport vehicle 20 is transmitted to the control device 30. Further, route information indicating the return route generated by the control device 30 is transmitted to the terminal device 20A. Furthermore, image information of images continuously captured by the wide-angle imaging device 40 is transmitted to the control device 30.

<Return route search>
Next, return route search will be described.
In the present embodiment, the operator A reciprocates in the passage 12 while pushing the transport vehicle 20 to supply the component 28 and collect the waste G. In the forward path, each of the plurality of facilities 14 is imaged through each of the plurality of facilities 14. As will be described later, the control device 30 identifies equipment that needs to pass on the return path based on images of the plurality of facilities 14 captured on the forward path. For example, the component placement unit 14P that does not need to supply the component 28 and the discard unit 14D that does not need to collect the waste G need not pass through. Then, a return route is searched so as to pass through the specified equipment 14, and a route indicating the return route is presented to the operator A via the terminal device 20A. The operator A does not need to stop at the facility 14 that does not need to pass by moving according to the presented route.

FIG. 6 is a schematic diagram showing an example of a return path passing through all the facilities 14. As shown in FIG. 6, the end point of the forward path is set as the start point O of the return path, and the start point of the forward path is set as the end point E of the return path. When passing through the whole of the equipment 14, starting the starting point of O, change direction proceeds to the right along the production line 10 _3. Next, change direction advances the passage between the manufacturing line ₁₀₃ and the manufacturing line 10 ₂ to the left. Next, change direction proceeds to right the passage between the production line 10 ₂ and the production line 10 _1. Then, reaching the end point E proceeds to the left along the production line 10 _1. In this case, the path 52 indicating the return path is the reverse path of the path indicating the forward path.

7A and 7B are schematic views showing an example of a return path that passes through the facility 14 that needs to pass. In this example, the equipment 14 that needs to pass is blacked out and distinguished from the other equipment 14 by “facility 14A”. In the example shown in FIG. 7 (A), equipment 14A that need to be passed, while being disposed along a passage between the manufacturing line ₁₀₃ and the manufacturing line 10 _2, the production line 10 ₂ and the production line 10 ₁ It is arranged along the passage between.

In the illustrated example, starting the starting point of O, change direction proceeds into the production line 10 _2. Next, change direction proceeds to right the passage between the manufacturing line ₁₀₃ and the manufacturing line 10 _2. Then, reaching the end point E to change direction advances the passage between the production line 10 ₂ and the production line 10 ₁ and to the left. As a result, the path 54A indicating the return path is shorter by two passages between the production lines than when passing through all the facilities 14 shown in FIG.

In the example shown in FIG. 7 (B), equipment 14A that needs to go through it is disposed along a passage between the production line 10 ₂ and the production line 10 _1. In the illustrated example, starting the starting point of O, change direction proceeds into the production line 10 _1. Then, reaching the end point E to change direction proceeds to right the passage between the production line 10 ₂ and the production line 10 _1. The end point E here is a position different from the start point of the forward path. In this case, the path 54B indicating the return path is shorter by three passages between the production lines than when passing through all the facilities 14 shown in FIG.

  As described above, if the facility 14A that needs to pass on the return path is identified based on the images of the plurality of facilities 14 imaged on the forward path, and the route indicating the return path that passes the identified facility 14A is searched, A shorter path is found than when passing through the facility 14. When there are a plurality of routes, the shortest route may be presented to the operator A.

<Operation of equipment management system>
Next, the operation of the facility management system 100 will be described.
As described above, the operation of the facility management system 100 is executed on the terminal device 20A side and the control device 30 side.

<Processing on terminal side>
First, processing executed on the terminal device 20A side will be described.
FIG. 8 is a flowchart illustrating an example of the procedure of “terminal operation processing”. A program for executing “terminal operation processing” is stored in the ROM 21B in the control unit 21 of the terminal device 20A, and is read and executed by the CPU 21A. The “terminal operation process” is started when the operator A operates the display unit 26 and the operation unit 27 of the terminal device 20A to select a function and instruct execution of the selected function. Here, any one of the functions of facility imaging, information transmission, return route display, and return route notification is selected.

  First, in step 100, it is determined whether facility imaging has been instructed. If facility imaging is instructed here, the process proceeds to step 108, where the “outward imaging process” described later is executed, and the processing routine is terminated. On the other hand, if execution of another function is instructed, the process proceeds to step 102, where it is determined whether or not information transmission is instructed. If information transmission is instructed here, the process proceeds to step 110.

  In step 110, image information representing the images of the plurality of facilities 14 taken on the forward path is transmitted to the control device 30, and the processing routine is terminated. Note that image information representing the image of the facility 14 imaged by the imaging unit 24 is temporarily stored in the nonvolatile memory 21D. The CPU 21A reads out the image information stored in the nonvolatile memory 21D and transmits it to the control device 30 via the communication unit 23. On the other hand, if execution of another function is instructed, the process proceeds to step 104.

  Next, in step 104, it is determined whether or not a return path display has been instructed. If the return path display is instructed here, the process proceeds to step 112, where a “return path display process” described later is executed, and the process routine is terminated. On the other hand, if execution of another function is instructed, the process proceeds to step 106, and it is determined in step 106 whether or not return route notification is instructed. Here, if the return route notification is instructed, the process proceeds to step 114.

  In step 114, a “return path notification process” to be described later is executed and the processing routine is terminated. On the other hand, when the return route notification is not instructed, it is considered that the return route display on the terminal device 20A is not completed, and therefore the determination in step 106 is repeated until the return route notification is instructed. There may be no facility 14A that needs to pass on the return path. In this case, no return trip notification is necessary. Therefore, it is good also as a procedure which complete | finishes a processing routine, when predetermined time passes.

(Outbound imaging process)
Next, “outbound imaging processing” will be described.
This “outward imaging process” is executed as a subroutine of “terminal operation process”. In the present embodiment, the operator A passes through each of the plurality of facilities 14 on the forward path while pushing the transport vehicle 20. At that time, the operator A instructs “facility imaging” via the display unit 26 and the operation unit 27 of the terminal device 20 </ b> A so as to image each of the plurality of facilities 14.

  FIG. 9 is a flowchart showing an example of the procedure of “outward imaging process”. As shown in FIG. 9, when the “outward imaging process” is started, it is first determined in step 200 whether or not the IC tag 16 has been detected by the detection unit 22. This determination is repeated until the IC tag 16 is detected. When the IC tag 16 is detected, the process proceeds to the next step 202, where identification information is acquired from the IC tag 16.

  Subsequently, in step 204, the imaging unit 24 is instructed to image the facility 14. The imaging unit 24 images the facility 14 corresponding to the detected IC tag 16 at a predetermined timing. Next, in step 206, image information of the facility 14 imaged from the imaging unit 24 is acquired. Next, in step 208, the acquired image information is associated with the identification information acquired from the IC tag 16 and stored in the nonvolatile memory 21D. The image information of the facility 14 is stored in association with the identification information of the facility 14.

  Next, in step 210, it is determined whether or not all the facilities 14 have been imaged. If all the facilities 14 have been imaged, the processing routine is terminated. For example, the total number of facilities 14 is set as a threshold, the number of times of imaging is counted, and it is determined that imaging of all facilities 14 is completed when the count value reaches the threshold. On the other hand, when the imaging of all the facilities 14 has not been completed, the process returns to Step 200 and the procedure from Step 200 to Step 208 is repeated to image each of the plurality of facilities 14.

(Return display processing)
Next, the “return path display process” will be described.
This “return display processing” is executed as a subroutine of “terminal operation processing”. In the present embodiment, when the movement of the forward path is finished, the operator A transmits image information representing the images of the plurality of facilities 14 captured on the forward path to the control device 30 and instructs the return path display. Further, as will be described later, the control device 30 generates route information indicating a route passing on the return path based on the image information of the plurality of facilities 14 captured on the forward path. Hereinafter, route information indicating a route passing on the return route is referred to as “route information indicating the return route”.

  FIG. 10 is a flowchart showing an example of the procedure of “return path display processing”. As shown in FIG. 10, first, in step 300, route information indicating a return route is requested to the control device 30. The control unit 21 of the terminal device 20 </ b> A transmits a request to the control device 30 via the communication unit 23. Next, in step 302, it is determined whether route information indicating a return route has been acquired. The determination is repeated until the requested route information is acquired.

  If the route information is acquired, in step 304, the route passing through the return path is displayed on the display unit 26 of the terminal device 20A based on the acquired route information, and the processing routine is terminated. For example, the route shown in FIGS. 7A and 7B is displayed on the display unit 26. That is, the route that passes through the return path searched by the control device 30 is presented to the operator A by the terminal device 20A. Note that route information indicating the return route is stored in the nonvolatile memory 21D.

(Return route notification process)
Next, the “return path notification process” will be described.
This “return route notification process” is executed as a subroutine of “terminal operation process”. In the present embodiment, the operator A sees the route passing on the return path displayed on the display unit 26 of the terminal device 20A, and starts moving on the return path. At this time, the operator A recognizes the facility 14A that needs to pass through by notifying the operator A whether or not the facility 14A needs to pass through. Hereinafter, facilities that need to pass may be referred to as “passing targets”. This return path notification process facilitates the supply of the component 28 to the component placement unit 14P, which is the passage target, and the collection of the waste G from the disposal unit 14D, which is the passage target.

  FIG. 11 is a flowchart illustrating an example of the procedure of “return path notification processing”. First, in step 400, it is determined whether or not the IC tag 16 is detected by the detection unit 22. This determination is repeated until the IC tag 16 is detected. When the IC tag 16 is detected, the process proceeds to the next step 402 where identification information is acquired from the IC tag 16.

  Subsequently, in step 404, it is determined whether or not the detected equipment 14 is a passage target. The route information indicating the return route also includes an identification number of the facility 14A (passing target 14A) that needs to pass. Therefore, the acquired identification number is compared with the identification number of the passage target, and when the identification numbers match, it is determined as the passage target 14A. If it is the passage target 14A, the process proceeds to the next step 406, where the notification is given to the notification unit 25 of the terminal device 20A. If it is determined in step 404 that the subject is not the passage target 14A, the process proceeds to step 408 without instructing the notification unit 25 to notify.

  Here, an example in which a notification screen is displayed on the display unit 26 for notification will be described. For example, the notification unit 25 includes a position sensor and the like, and generates position information of the transport vehicle 20 and position information of the passage target 14A and reflects the position information on the return path. FIG. 12 is a schematic diagram showing an example of a return route notification screen. The return path notification screen includes a current position 56 of the transport vehicle 20, a passing target 14A, an arrow 58 indicating a traveling direction, and the like. In this example, the nearest passing object 14A is displayed blinking. For example, the operator A recognizes the facility 14 </ b> A that needs to pass by displaying the return notification screen shown in FIG. 12 on the display unit 26.

  Next, in step 408, it is determined whether or not all of the passage objects 14A have been passed. If all of the passage objects 14A have been passed, the processing routine is terminated. For example, the total number of identification numbers of the passing object 14A is set as a threshold, the number of times that the identification number is matched is counted, and it is determined that all the passing objects 14A have passed when the count value reaches the threshold. On the other hand, when the passage of all the passage objects 14A is not completed, the process returns to step 400, and the procedure from step 400 to step 408 is repeated to perform the return path movement.

<Control device side processing>
Next, processing executed on the control device 30 side will be described. On the control device 30 side, a “return route search process” for searching for a route passing on the return path and an “abnormality detection process” for detecting occurrence of an abnormality in a range including the plurality of facilities 14 are executed. A program for executing the “return path search process” and the “abnormality detection process” is stored in the ROM 32B of the control device 30, and is read and executed by the CPU 32A.

(Return search processing)
First, the “return path search process” will be described.
FIG. 13 is a flowchart illustrating an example of the procedure of “return path search processing”. As shown in FIG. 13, first, in step 600, a passage requirement is acquired. Here, the “passing requirement” is a requirement for determining that the facility 14A needs to pass on the return path. In the present embodiment, any one of the component placement unit, the disposal unit, and both is set as a passing target, so that the “equipment type” is included in the passing requirement.

  Further, the “determination criteria” for determining whether or not the facility 14A needs to pass on the return path is included in the passage requirements. Specifically, there are a determination criterion when determining that the waste unit 14D needs to collect the waste G, and a determination criterion when determining that the component placement unit 14P needs to supply the component 28. Here, an example of a determination criterion in the case where determination is performed by comparing the captured image of each unit with the reference image is shown.

  FIG. 14A is a diagram illustrating an example of a captured image of the discard unit 14D, and FIG. 14B is a diagram illustrating an example of a reference image of the discard unit 14D. In this example, the discard unit 14D is a black rectangular parallelepiped container, and includes a transparent window 14W extending in the height direction from the bottom surface to the top surface on the front surface. If the waste unit 14D shown in FIG. 14B uses the empty image as the reference image, the volume ratio of the waste G in the captured image shown in FIG. 14A is calculated from the ratio of the waste G occupying the transparent window 14W. Desired.

  Here, for example, when the volume ratio of the waste G is 50% or more, a determination criterion is set such that the waste G needs to be collected. A reaching line having a volume ratio of 50% is illustrated by a dotted line. For example, in the captured image shown in FIG. 14A, since the volume ratio of the waste G is 40%, it is determined that it is not the waste unit 14D that needs to collect the waste G.

  FIG. 15A is a diagram illustrating an example of a captured image of the component placement unit 14P, and FIG. 15B is a diagram illustrating an example of a reference image of the component placement unit 14P. In this example, the component placement unit 14P is a three-stage shelf, and three cylindrical parts 28 are arranged on each stage, and nine parts 28 are arranged in total. The component placement unit 14P is imaged so that the bottom surface of the component 28 is captured. If an image full of nine parts 28 shown in FIG. 15B is used as a reference image, the quantity of parts 28 can be obtained for the captured image shown in FIG.

  Here, for example, when the number of the components 28 is 7 or less, a determination criterion is set that the component placement unit 14P needs to supply the components 28. In the image full of the components 28 shown in FIG. 15B, the number of the components 28 is nine, and the area ratio of the bottom surface of the components 28 is 100%. In the captured image shown in FIG. 15A, since the area ratio of the bottom surface of the component 28 is 67% and the number of the components 28 is 6, the component placement unit 14P needs to collect the components 28. It is determined.

  Returning to the description of FIG. 13, in the next step 602, image information representing images of the plurality of facilities 14 captured on the forward path is acquired. The image information is transmitted from the terminal device 20A to the control device 30 in accordance with an information transmission instruction from the operator A, and stored in the nonvolatile memory 32D of the control unit 32. The CPU 32A reads out the image information from the nonvolatile memory 32D. Next, in step 604, one facility 14 is selected. Subsequently, in step 606, the captured image of the selected equipment is compared with a reference image corresponding to the equipment. In step 608, the feature amount is calculated. The “feature amount” in the present embodiment is “the waste volume ratio” or “the number of parts” as described above.

  Next, in step 610, it is determined whether or not the passage requirement is satisfied. For example, when the “equipment type” is limited to the component placement unit and the “judgment criterion” is 7 or less components 28, it is determined that the component placement unit 14P needs to supply the component 28. And If these passage requirements are satisfied, the selected equipment is determined as “passing target” in step 612. On the other hand, when these passage requirements are not satisfied, in step 614, the selected equipment is determined as “non-passing target”.

  Next, in step 616, it is determined whether there is a next facility that has not yet been selected. If there is a next facility, the process returns to step 604 and steps 604 to 616 are repeated. As a result, the “passing target” is specified. On the other hand, if there is no next facility, the process proceeds to step 618, where a route passing on the return route is searched based on the identified “passing target”, and route information indicating the shortest route is generated. In subsequent step 620, the generated route information is stored in the nonvolatile memory 32D of the control unit 32, and the processing routine is ended. The route information indicating the return route is transmitted to the terminal device 20A in response to a request from the terminal device 20A.

  In this example, the “determination criterion” is described using the “waste volume ratio” and “part quantity” as feature quantities, but the “waste filling ratio”, “part filling ratio”, “ The “judgment criterion” may be provided based on other feature amounts such as “void ratio of waste part” and “shortage of parts”.

(Abnormality detection processing)
Next, the “abnormality detection process” will be described.
FIG. 16 is a flowchart illustrating an example of the procedure of “abnormality detection processing”.
The wide-angle imaging device 40 continuously images the range including the plurality of facilities 14. However, a large storage capacity is required to save all moving images captured by the wide-angle imaging device 40. Therefore, only when moving image information including an image indicating the occurrence of an abnormality is stored in the nonvolatile memory 32D only when an abnormality is found in the images (still images) of the plurality of facilities 14 taken on the outward path. . A moving image including an image indicating the occurrence of an abnormality is useful for investigating the cause of the occurrence of the abnormality.

  First, in step 500, one image is selected from a plurality of equipment images captured on the outward path, and features of the selected image are extracted. Next, in step 502, features of the reference image corresponding to the selected image are extracted. Next, in step 504, the feature extracted from the selected image is compared with the feature extracted from the reference image. Next, in step 506, it is determined whether or not the features match. If the features do not match, it is determined in step 508 that the image indicates the occurrence of an abnormality (abnormal image), and the process proceeds to the next step 510. If the features match, step 508 is skipped and processing proceeds to the next step 510.

  Here, the “image feature” is a property effective for pattern identification and classification in pattern recognition, and is, for example, the contour of the component placement unit 14P or the discard unit 14D. Specifically, the positional relationship of the four corners when the disposal unit 14D shown in FIG. When the positional relationship of the four corners changes, the occurrence of an abnormality such as a fall or movement of the discard unit 14D is predicted.

  Next, in step 510, it is determined whether there is a next image that has not yet been selected. If there is a next image, the process returns to step 500 and steps 500 to 510 are repeated. On the other hand, if there is no next image, the process proceeds to step 512, where it is determined whether or not an abnormal image is detected. If an abnormal image is detected, the process proceeds to step 514, where a moving image including the abnormal image is stored in the nonvolatile memory 32D in step 514, and the processing routine ends. If an abnormal image is not detected, step 514 for saving the moving image is skipped and the processing routine is terminated.

<Other variations>
The configuration of the facility management system described in the above embodiment is an example, and it goes without saying that the configuration may be changed without departing from the gist of the present invention. For example, the example in which the operation of the equipment management system is executed on the terminal device side and the control device side has been described, but the processing executed by the control unit on the control device side may be executed by the control unit on the terminal device side. Good.

  In the present embodiment, the example in which the facility management system includes one terminal device has been described. However, a plurality of terminal devices may be provided. For example, each of the plurality of transport vehicles may include a terminal device, and each of the plurality of transport vehicles may move independently.

  In this embodiment, an example in which various programs are stored in the ROM in advance and various data is stored in the nonvolatile memory has been described. However, the control program and various data are stored in other storage devices. It may be acquired from the outside via a communication part.

  Various drives may be connected to each control unit of the control device or the terminal device. Various drives are devices that read data from or write data to computer-readable portable recording media such as flexible disks, magneto-optical disks, CD-ROMs, DVD-ROMs, and USB memories. is there. When various types of drives are provided, the program may be recorded on a portable recording medium, and the program recorded on the recording medium may be read and executed by a corresponding drive.

DESCRIPTION OF SYMBOLS 10 Production line 12 Passage 14 Equipment 14A Passage target equipment 14P Parts placement part 14D Disposal part 14W Transparent window 16 IC tag 20 Carrier 20A Terminal device 21 Control part 22 Detection part 23 Communication part 24 Imaging part 25 Notification part 26 Display part 27 Operation unit 28 Component 29 Container 30 Control device 32 Control unit 34 Display unit 37 Operation unit 38 Communication unit 40 Wide-angle imaging device 50 Path 52 Path 54A Path 54B Path 56 Current position 58 Arrow 70 Passing target setting screen 72 Target selection section 74 Instruction section 100 Equipment management system O Start point E End point G Waste

Claims (7)

A plurality of manufacturing-related equipment arranged along the passageway;
A transporting vehicle that passes through the plurality of facilities while moving along the passage, and that detects detection means for detecting each of the plurality of facilities, and imaging that detects the facilities detected when passing through each of the plurality of facilities. Means, and a transport vehicle provided with display means for displaying a route based on the generated route information;
An acquisition unit that acquires a plurality of images captured by the imaging unit, a specification unit that specifies at least one facility that passes next based on the plurality of acquired images, and a route that passes through the specified facility A control device comprising a generating means for generating the route information shown;
Equipment management system.   The specifying unit of the control device compares an image captured for each of the plurality of facilities with a predetermined image for the facility, and identifies the facility that satisfies a predetermined requirement as a facility that passes next time. The facility management system according to claim 1.   The facility management system according to claim 1 or 2, wherein the generation unit of the control device generates route information indicating a route that passes the identified facility through the shortest route.   4. The apparatus according to claim 1, wherein the plurality of facilities includes at least one of a component placement unit that places components used for manufacturing and a waste unit that discards waste generated in the manufacturing process. 5. Equipment management system described in 1. When the plurality of facilities include a component placement unit,
The equipment management system according to claim 4, wherein the specifying unit of the control device specifies a parts placement unit in which a predetermined number of parts are not placed as equipment to be passed next time. When the plurality of facilities include a disposal unit,
The equipment management system according to claim 4 or 5, wherein the specifying unit of the control device specifies a waste unit having a volume ratio occupied by the waste equal to or greater than a predetermined volume ratio as equipment to be passed next time. Furthermore, a wide-angle imaging device for continuously imaging a range including the plurality of facilities,
The control device includes detection means for detecting an image indicating occurrence of abnormality based on the plurality of acquired images, and storage means for storing image information, and an image indicating occurrence of abnormality by the detection means is provided. The equipment management system according to any one of claims 1 to 6, wherein, when detected, a continuous image captured by the wide-angle imaging device related to the image is stored in the storage unit.