JP7075627B2 - Transport system - Google Patents

Description

The present invention relates to a transport system.

Conventionally, there has been known a transport system in which an article is placed on a transfer device provided in an automatic guided vehicle and the article is transferred from one place to another.

According to Patent Document 1, the automatic guided vehicle travels on a traveling guide line, stops at a station provided along the traveling guide line, and has a transfer device on the transport vehicle side of the automatic guided vehicle. The one that performs the transfer work of the article with the ground side transfer device of the station is described. The transport vehicle side transfer device and the ground side transfer device are each provided with an article detection sensor for detecting the presence or absence of an article. Then, when the automatic guided vehicle arrives at the station, communication is performed between the automatic guided vehicle and the station by communication means based on the detection result of each article detection sensor, and the automatic guided vehicle side transfer device and the ground side transfer device are used. The drive of the vehicle is controlled to transfer the article between the transfer vehicle side transfer device and the ground side transfer device.

However, since it is necessary to provide each article detection sensor on both the transport vehicle side transfer device and the ground side transfer device, the cost increases.

In order to solve the above problems, the present invention comprises a traveling device for transporting and transferring articles, a detecting means provided in the traveling device for detecting the presence or absence of articles in the traveling device, and the traveling device. A transport system provided with a station for transferring articles between them, a transfer means provided at the station for transferring the articles, and a traveling device and a communication means capable of communicating with the station. Therefore, the detection means are provided on both sides of the traveling device in the transfer direction of the article, and the transfer means is driven based on the detection result of one of the two detection means. Is controlled, and the article is transferred between the traveling device and the station.

As described above, according to the present invention, there is an excellent effect that the goods can be automatically transported while reducing the cost.

The block diagram of the automatic transfer system which concerns on embodiment. Schematic diagram of the automatic guided vehicle according to the embodiment. Top view of the roller conveyor provided in the transfer device. Course layout where automatic guided vehicles run. A flowchart showing an example of control performed by an automatic guided vehicle. The flowchart which shows an example of the control performed by the AGV server PC. A flowchart showing an example of control performed in a parts warehouse. Flowchart showing an example of control performed on the line

Hereinafter, embodiments will be described with reference to the drawings. FIG. 2 is a schematic configuration diagram of an automatic guided vehicle (AGV) 100 as an automatic traveling device according to an embodiment of the present invention. The automatic guided vehicle 100 automatically travels along a traveling guide line 1 previously attached on a road surface (floor surface) which is a traveling surface. In the present embodiment, the case where the traveling guide line 1 is a black vinyl tape having a predetermined width attached to the yellow-green road surface will be described, but it may be any as long as it can be photographed and identified by a photographing device described later. , The material, color, forming method, etc. of the traveling guide line 1 are not limited to specific ones.

The front wheel 107 of the automatic guided vehicle 100 is a caster in which the wheels freely rotate around the axle and the axle support frame can rotate around the vertical axis. The rear wheel 108 is a drive wheel that is rotationally driven by a drive motor 106 as a drive source. The drive motor 106 can be controlled by the PC 101 via the motor control unit. The automatic guided vehicle 100 has a battery storage case 102, and a battery (storage battery) as a power source for supplying power to the drive motor 106 is contained in the battery storage case 102. Further, an imaging device 104 as an imaging means for photographing the road surface immediately before the automatic guided vehicle 100 is installed with the anti-road surface angle of the field of view center line set to a predetermined angle (for example, 35 degrees). Further, the lighting device 105 illuminates the position where the visual field center line of the photographing device 104 intersects the road surface. The light source of the illuminating device 105 is, for example, a fluorescent lamp. The photographing device 104 includes a USB camera and a polarizing lens. The polarized lens is mounted in front of the lens of the USB camera, blocks the surface reflected light (reflection) of the road surface and the traveling guide line 1, and suppresses halation and highlighting of the shooting screen.

The automatic guided vehicle 100 is provided with a PC (personal computer) 101, which is a computer device. The USB camera of the photographing device 104 is connected to the USB port of the PC 101. As the PC 101, for example, a commercially available notebook personal computer, tablet personal computer, or the like can be used. The PC 101 on the automatic guided vehicle 100 has a built-in control program for controlling operations such as automatic running and automatic stopping of the automatic guided vehicle 100, and the control program is read and executed. For example, it is possible to execute various controls for the automatic guided vehicle 100 to follow the travel guide line 1 on the road surface. Further, as shown in FIG. 2, a transfer device 110 is installed on the automatic guided vehicle (AGV) 100.

FIG. 4 is an explanatory diagram showing an example of an operation route configured by pasting a traveling guide line 1 on a road surface in a simplified manner. In this example, the address 10 is set as the starting point, and the traveling direction of the automatic guided vehicle (AGV) 100 is set to the right side in the figure. Further, in this example, with respect to the traveling direction, addresses are set at loading points, unloading points, and the like in member transportation. At the points where these addresses are determined, an address mark having a predetermined shape is previously attached to the right side of the automatic guided vehicle in the traveling direction of the automatic guided vehicle 1. This address mark is detected by using the USB camera of the photographing apparatus 104 and read into the PC 101. In addition, a code sign indicating an identification code representing the address in the operation schedule described later may be provided in association with the address mark. The traveling guide line 1, the address mark, the code sign, etc. on the road surface can be attached, for example, by attaching a commercially available black vinyl tape having a width of 19 [mm]. The operation route in FIG. 4 makes it possible to simultaneously operate a plurality of automatic guided vehicles 100 (in this embodiment, two automatic guided vehicles: AGV001 and AGV002) having the same structure and the same function.

FIG. 3 is a top view of the roller conveyor 130 provided in the transfer device 110. The transfer device 110 has a plurality of rollers 131a, 131b, 131c, 131d, 131e, 131f in which both ends in the axial direction are rotatably supported on support plates 121, 122 paired in the traveling direction of the automatic guided vehicle. It is provided with a roller conveyor 130 composed of. Pulleys 132a, 132b, 132c, 132d, 132e, 132f, 133a, 133b, 133c, 133d, 133e, 133f around which drive transmission belts 134 and 135 are hung are provided at both ends in the axial direction of each roller 131. There is. Of the plurality of rollers 131, the roller 131a located at the right end with respect to the traveling direction of the automatic guided vehicle can be rotationally driven by the transfer motor 136. Then, by rotationally driving the roller 131a, the other rollers 131b, 131c, 131d, 131e, 131f can be rotated via the pulleys 132, 133 and the drive transmission belts 134, 135. The transfer motor 136 can be controlled by the PC 101 of the automatic guided vehicle 100 via the motor control unit, and can be rotated forward and reverse. When the transfer motor 136 is rotated in the normal direction, the roller conveyor 130 is driven so that the members move from right to left with respect to the traveling direction of the automatic guided vehicle (roller conveyor normal rotation direction). When the transfer motor 136 is reversed, the roller conveyor 130 is driven so that the member moves from left to right with respect to the traveling direction of the automatic guided vehicle (roller conveyor reverse direction).

For example, when the member warehouse or line is located on the left side with respect to the traveling direction of the automatic guided vehicle, when the member or the like is transferred from the transfer device 110 of the automatic guided vehicle 100 to the member warehouse or line (when the member is supplied), the member warehouse or line is moved. Rotate the mounting motor 136 in the normal direction. Further, when the member or the like is transferred from the member warehouse or the line to the transfer device 110 of the automatic guided vehicle 100 (at the time of collecting the member), the transfer motor 136 is reversed. On the other hand, when the member warehouse or line is located on the right side with respect to the traveling direction of the automatic guided vehicle, when the member or the like is transferred from the transfer device 110 of the automatic guided vehicle 100 to the member warehouse or line (when the member is supplied), the member warehouse or line is transferred. Reverse the mounting motor 136. Further, when the member or the like is transferred from the member warehouse or the line to the transfer device 110 of the automatic guided vehicle 100 (at the time of collecting the member), the transfer motor 136 is rotated in the normal direction.

Further, the transfer device 110 is provided with a first photoelectric sensor 111 and a second photoelectric sensor 112 as member presence / absence detecting means for detecting the presence / absence of a member on the roller conveyor 130. The first photoelectric sensor 111 is arranged at the right end with respect to the traveling direction of the automatic guided vehicle, and the second photoelectric sensor 112 is arranged at the left end with respect to the traveling direction of the automatic guided vehicle. Then, when there is a member at the facing position of each photoelectric sensor on the roller conveyor 130, each photoelectric sensor is turned ON, and when there is no member at the facing position, each photoelectric sensor is turned OFF. Further, the detection result of each photoelectric sensor is transmitted to the PC 101 as a member presence / absence detection signal.

FIG. 1 is a configuration diagram of an automatic transfer system according to the present embodiment. The member warehouse 300 is composed of a first member warehouse 300A, a second member warehouse 300B, and a third member warehouse 300C, and is a member storage place for storing members used by the line 400. A block for stocking different members for each of the belt conveyors 310A, 310B, 310C, which are transfer devices provided in the member warehouses 300A, 300B, and 300C. It is assumed that the members are supplied to the member warehouse 300 by a person and the members in the member warehouse 300 are not emptied. The line 400 is composed of a first line 400A, a second line 400B, a third line 400C, and a fourth line 400D, and is a block for processing a member received from an automatic guided vehicle 100 to make a product. Each line 400A, 400B, 400C, 400D is provided with belt conveyors 410A, 410B, 410C, 410D, which are transfer devices for transferring members and the like to and from the automatic guided vehicle 100. The automatic guided vehicle 100 is responsible for supplying the members received from the member warehouse 300 to the line 400. It also has the role of collecting the empty box containing the member from the line 400 and transporting it to the member warehouse 300.

The AGV side transport system has a first automatic guided vehicle (AGV001) 100A and a second automatic guided vehicle (AGV002) 100B as the automatic guided vehicle 100, and includes the first automatic guided vehicle 100A and the second automatic guided vehicle 100B. It is equipped with an AGV server PC150 for centralized management. The PC 101 and the AGV server PC 150 provided on the first automatic guided vehicle 100A and the second automatic guided vehicle 100B can communicate with each other by a wireless LAN (IEEE802.11). The automatic transfer control device 200 is communicably connected to the AGV server PC 150 by a serial IF. Further, the automatic transfer control device 200 is also connected to the member warehouse controller 320 provided in the member warehouse 300 so as to be communicable by serial IF, and is connected to the line controller 420 provided in the line 400 so as to be communicable by LAN. ing. The automatic transfer control device 200 has a role of connecting information between the member warehouse controller 320 and the line controller 420 and the AGV server PC 150. The information transmitted from the AGV server PC 150 to the automatic transfer control device 200 includes an arrival signal of the automatic guided vehicle 100 to the member warehouse 300 or the line 400, information on the presence or absence of members on the roller conveyor 130 of the automatic guided vehicle 100, and unmanned transfer. It is the running information of the car 100 and the like. The information transmitted from the member warehouse controller 320 of the member warehouse 300 and the line controller 420 of the line 400 to the automatic transfer control device 200 includes a member supply signal, an empty box collection signal, and operation information of the member warehouse 300 and the line 400. And so on.

FIG. 4 is a course layout in which the automatic guided vehicle 100 travels. If the automatic guided vehicle 100 is on standby at address 10 and the destination is 1, the automatic guided vehicle 100 starts from address 10 and receives parts from the first member warehouse 300A at address 11 and supplies parts to the first line 400A at address 13. Collect the empty box from the second line 400B at address 14.

Table 1 shows an example of the operation schedule of the first automatic guided vehicle 100A. Table 2 shows an example of the operation schedule of the second automatic guided vehicle 100B. Table 3 shows the parameters and meanings of the actions represented in alphabets in Tables 1 and 2.

Table 4 shows an arrival signal definition table of the first automatic guided vehicle 100A, and is set by the AGV server PC150 side based on the address information from the first automatic guided vehicle 100A.

Table 5 shows a control signal definition table of the first automatic guided vehicle 100A, and is set by the line 400 side with respect to the first automatic guided vehicle 100A.

Table 6 shows the arrival signal definition table of the second automatic guided vehicle 100B, and is set by the AGV server PC150 side based on the address information from the second automatic guided vehicle 100B.

Table 7 shows a control signal definition table of the second automatic guided vehicle 100B, and is set by the line 400 side with respect to the second automatic guided vehicle 100B.

Hereinafter, automatic transfer of members using the first automatic guided vehicle 100A will be described. Regarding the automatic transfer of members using the second automatic guided vehicle 100B, the above-mentioned operation schedule, arrival signal definition table, and control signal definition table are replaced with those corresponding to the first automatic guided vehicle 100A. Since the one corresponding to the automatic guided vehicle 100B may be used, the description thereof will be omitted.

The starting point of the first automatic guided vehicle 100A is the address 10 shown in FIG. First, the information of the address 10 detected by using the photographing device 104 of the first automatic guided vehicle 100A is notified from the PC 101 to the AGV server PC 150. Upon receiving the information of the address 10, the AGV server PC150 receives the information of the address 10, the address "1000-0", the address "1000-1", the address "1000-2" of the automatic transfer control device 200 shown in the arrival signal definition table of Table 4. Turn off the address "1000-3".

The line controller 420 monitors the operation information of the first line 400A, and when it is determined that the members in the first member warehouse 300A need to be supplied to the first line 400A, the address "2000" of the automatic transfer control device 200 is determined. -0 "is turned ON. As a result, it is possible to issue a request to start traveling of the automatic guided vehicle 100 to the "destination 1" for automatically transporting the members from the first member warehouse 300A to the first line 400A at an appropriate timing.

The AGV server PC 150 periodically monitors the automatic transfer control device 200, and if the address "2000-0" is ON, it transmits a travel start request to the "destination 1" to the first automatic guided vehicle 100A. .. As a result, the first automatic guided vehicle 100A selects the operation route of "destination 1" from the operation schedule of the first automatic guided vehicle 100A shown in Table 1 and starts traveling.

When the first automatic guided vehicle 100A traveling on the travel guide line 1 from the address 10 reads the first address by the photographing device 104, the address defined first in the operation route of "destination 1" in the operation schedule is selected. It is recognized as the address 11. Since the selection result is "11: NA, 11: NCO: 1,11: NZ", first, "11: NA" is executed. That is, it is interpreted that the transfer has started, and the first automatic guided vehicle 100A stops at address 11. Further, the information of the address 11 is notified from the PC 101 to the AGV server PC 150.

The AGV server PC 150 determines that the arrival notification is necessary because the address 11 is a transfer command, and turns on the address "1000-0" of the automatic transfer control device 200.

The member warehouse controller installed in the first member warehouse 300A installed at address 11 sets the belt conveyor 310A of the first member warehouse 300A in the member carry-out direction when the address "1000-0" of the automatic transfer control device 200 is ON. Rotate.

After executing "11: NA" from the operation schedule in Table 1, since the same address 11 is defined next time, "11: NCO: 1" is continuously executed. That is, the roller conveyor motor of the automatic guided vehicle 100 is reversed, and when the first photoelectric sensor 111 is turned from OFF to ON, the reverse operation of the roller conveyor motor is stopped.

After executing "11: NCO: 1" from the operation schedule in Table 1, since the same address 11 is defined next time, "11: NZ" is continuously executed. That is, since the transfer is completed, the traveling of the first automatic guided vehicle 100A is started, and the address "1000-0" of the automatic guided vehicle 200 is turned off. The member warehouse controller monitors the address "1000-4" of the automatic transfer control device 200, and when the first photoelectric sensor 111 is turned on, the rotation of the belt conveyor 310A of the first member warehouse 300A is stopped.

As a result, the roller conveyor 130 of the automatic guided vehicle 100 and the belt conveyor 310A of the first member warehouse 300A operate in synchronization with each other via the automatic guided vehicle 200, and the members in the first member warehouse 300A become the automatic guided vehicle 100. Handed over.

From the operation schedule in Table 1, after executing "11: NZ", the first automatic guided vehicle 100A traveling on the travel guide line 1 from the address 11 reads the next address by the photographing device 104, and then the operation is scheduled. The address defined next to the address 11 in the table is selected and recognized as the address 12. Since the selection result at the address 12 is "12:-", only the notification of the information of the address 12 is executed from the PC 101 to the AGV server PC 150, and nothing else is executed. The AGV server PC 150 determines that the arrival notification is unnecessary because the address 12 is not a transfer command, does not control the automatic guided vehicle 200, and the first automatic guided vehicle 100A passes through the address 12.

From the operation schedule in Table 1, after executing "12:-", the first automatic guided vehicle 100A traveling on the travel guide line 1 from the address 12 reads the next address by the photographing device 104, and then the operation is scheduled. The address defined next to the address 12 is selected in the table, and the address 13 is recognized. Since the selection result at the address 13 is "13: NA, 13: NCS: 2,13: NZ", first, "13: NA" is executed. That is, the first automatic guided vehicle 100A stops at the address 13 by interpreting it as the start of relocation. Further, the information of the address 13 is notified from the PC 101 to the AGV server PC 150. The AGV server PC 150 determines that the arrival notification is necessary because the address 13 is a transfer command, and turns on the address "1000-2" of the automatic transfer control device 200.

When the address "1000-2" of the automatic transfer control device 200 is ON, the line controller 420 carries in the member from the first automatic guided vehicle 100A to the belt conveyor 410A, which is the transfer device of the first line 400A. Rotate to.

After executing "13: NA" from the operation schedule in Table 1, since the same address 13 is defined next time, "13: NCS: 2" is continuously executed. That is, the roller conveyor motor of the automatic guided vehicle 100 is rotated in the normal direction, and when the second photoelectric sensor 112 is turned from ON to OFF, the normal rotation operation of the roller conveyor motor is stopped.

After executing "13: NCS: 2" from the operation schedule in Table 1, since the same address 13 is defined next time, "13: NZ" is continuously executed. That is, since the transfer is completed, the traveling of the first automatic guided vehicle 100A is started, and the address "1000-2" of the automatic guided vehicle 200 is turned off. The line controller 420 monitors the address "1000-5" of the automatic transfer control device 200, and when the second photoelectric sensor 112 is turned off, the rotation of the belt conveyor 410A of the first line 400A is stopped.

As described above, the roller conveyor 130 of the automatic guided vehicle 100 and the belt conveyor 410A of the first line 400A operate in synchronization with each other via the automatic guided vehicle 200, and the members of the automatic guided vehicle 100 are supplied to the first line 400A. Ru.

From the operation schedule in Table 1, after executing "13: NZ", the first automatic guided vehicle 100A traveling on the travel guide line 1 from the address 13 reads the next address by the photographing device 104, and then the operation is scheduled. The address defined next to the address 13 in the table is selected and recognized as the address 14. Since the selection result at the address 14 is "14: NA, 14: NCO: 1,14: NZ", first, "14: NA" is executed. That is, it is interpreted that the transfer has started, and the first automatic guided vehicle 100A stops at the address 14. Further, the information of the address 14 is notified from the PC 101 to the AGV server PC 150. The AGV server PC 150 determines that the arrival notification is necessary because the address 14 is a transfer command, and turns on the address "1000-3" of the automatic transfer control device 200.

When the address "1000-3" of the automatic transfer control device 200 is ON, the line controller 420 carries out the member from the belt conveyor 410B, which is the transfer device of the second line 400B, to the first automatic guided vehicle 100A. Rotate to.

After executing "14: NA" from the operation schedule in Table 1, since the same address 14 is defined next time, "14: NCO: 1" is continuously executed. That is, the roller conveyor motor of the automatic guided vehicle 100 is reversed, and when the first photoelectric sensor 111 is turned from OFF to ON, the reverse operation of the roller conveyor motor is stopped.

After executing "14: NCO: 1" from the operation schedule in Table 1, since the same address 14 is defined next time, "14: NZ" is continuously executed. That is, since the transfer is completed, the traveling of the first automatic guided vehicle 100A is started, and the address "1000-3" of the automatic guided vehicle 200 is turned off. The line controller 420 monitors the address "1000-4" of the automatic transfer control device 200, and when the first photoelectric sensor 111 is turned on, the rotation of the belt conveyor 410B of the second line 400B is stopped.

As a result, the roller conveyor 130 of the automatic guided vehicle 100 and the belt conveyor 410B of the second line 400B operate in synchronization with each other via the automatic guided vehicle 200, and the empty box on the second line 400B is replaced by the first unmanned guided vehicle 100A. Can be collected by.

Here, in the above-mentioned processing at the address 14, the following processing can also be executed. First, "14: NA" is executed, and the first automatic guided vehicle 100A is stopped at the address 14 by interpreting it as the start of transfer. Further, the information of the address 14 is notified from the PC 101 to the AGV server PC 150. From the arrival signal definition table of the first automatic guided vehicle 100A shown in Table 4, the AGV server PC150 determines that the arrival notification is necessary because the address 14 is a transfer command, and turns on the address "1000-3" of the automatic guided vehicle 200. To.

Even if the address "1000-3" of the automatic transfer control device 200 is ON, the line controller 420 is second when the address "2000-2" is ON from the control signal table of the first automatic guided vehicle 100A shown in Table 5. Do not rotate the belt conveyor 410B of the line 400B.

After executing "14: NA" from the operation schedule in Table 1, "14: NCO: 1" is defined at the same address 14 next time, but the address "2000-2" is ON as described above. At that time, "14: NCO: 1" is not executed. After that, since the same address 14 is defined next time, "14: NZ" is continuously executed. That is, since the transfer is completed, the automatic guided vehicle 100A starts running, and the address "1000-3" of the automatic guided vehicle 200 is turned off from the arrival signal definition table of the first automatic guided vehicle 100A shown in Table 4. do.

As described above, the operation information of the belt conveyor 410B of the second line 400B can be collected via the automatic transfer control device 200, and the carry-in operation from the automatic guided vehicle 100 to the second line 400B can be skipped.

Further, as the traveling information sent from the automatic guided vehicle 100 to the automatic guided vehicle 200, there is error information such as a course out or a hard error, and the line controller 420 suspends the work when there is error information, and when the error information disappears. The work is to be resumed.

Next, an example of control carried out by the automatic guided vehicle 100, the AGV server PC150, the member warehouse 300, and the line 400 in the automatic transfer system according to the present embodiment will be shown.

FIG. 5 is a flowchart showing an example of control performed by the automatic guided vehicle 100. First, the automatic guided vehicle 100 starts traveling (S1), and when the address mark is detected by the photographing device 104 (Yes in S2), a signal related to the photoelectric sensor information and the traveling information is transmitted to the AGV server PC 150 (S3). If the transfer command is given from the transmitted signal (Yes in S4), "NA" is executed from the operation schedule (Yes in S5), the automatic guided vehicle 100 is stopped at that address, and the address information is displayed. It is transmitted to the AGV server PC150 (S6). After that, "NCO" is executed from the operation schedule, and if the transportability control signal is not prohibited (No in S8), the roller conveyor 130 is reversed (S9), and when the first photoelectric sensor 111 is turned on (in S10). Yes), stop the roller conveyor 130. After that, "NCS" is executed from the operation schedule (S11), and if the transportability control signal is not prohibited (No in S12), the roller conveyor 130 is rotated forward (S13), and the second photoelectric sensor 112 is turned off. Then (Yes in S14), stop the roller conveyor 130. After that, "NZ" is executed from the operation schedule, and since the transfer is completed, the automatic guided vehicle 100 starts running.

FIG. 6 is a flowchart showing an example of control performed by the AGV server PC150. First, it is determined whether or not the signal related to the address information and the transfer command has been received (S1). When the address information and the signal related to the transfer command are received (Yes in S1), the address information is set in the automatic transfer control device 200 (S2). On the other hand, if the address information and the signal related to the transfer command have not been received (No in S1), it is determined whether the signal related to the photoelectric sensor information has been received (S3). When the signal related to the photoelectric sensor information is received (Yes in S3), the photoelectric sensor information is set in the automatic transfer control device 200 (S4). On the other hand, when the signal related to the photoelectric sensor information is not received (No in S3), it is determined whether the signal related to the error information is received (S5). When the signal related to the error information is received (Yes in S5), the error information is set in the automatic transfer control device 200 (S6). If the signal related to the error information has not been received (No in S5), it is determined again whether the signal related to the address information and the transfer command has been received, and thereafter, the same processing as described above is repeatedly executed.

FIG. 7 is a flowchart showing an example of control performed in the member warehouse 300. First, if there is no member in the member warehouse 300 (No in S1), the member-less information is set in the member warehouse controller 320 (S2). Further, it is determined whether or not the member warehouse 300 can afford to collect the member (S3). If there is no room to collect the member (No in S3), the non-collectible information is set in the member warehouse controller 320 (S4). If an error (abnormality) occurs (Yes in S5), the error information is set in the member warehouse controller 320. Next, if there is a request for rotation of the belt conveyor 310 (Yes in S7), the rotation of the designated belt conveyor 310 is started (S8). Then, if there is a request to stop the belt conveyor 310 (Yes in S9), the rotation of the designated belt conveyor 310 is stopped (S10).

FIG. 8 is a flowchart showing an example of the control performed on the line 400. First, if there is no member in the line 400 (No in S1), the information without the member is set in the line controller 420 (S2). If there is an empty box on the line 400 (Yes in S3), the information on the empty box is set in the line controller 420 (S4). Next, if there is a request for forward rotation of the belt conveyor 410 (Yes in S5), the designated belt conveyor 410 is rotated forward (S6). On the contrary, if there is a request to reverse the belt conveyor 410 (Yes in S7), the designated belt conveyor 410 is reversed (S8). On the other hand, if there is neither a forward rotation request nor a reverse rotation request of the belt conveyor 410 and the line 400 is in the stopped state (Yes in S9), the line stop information is set in the line controller 420 (S10). When returning from the line stop state (Yes in S11), the line return information is set in the line controller 420 (S12).

What has been described above is an example, and has a unique effect in each of the following aspects.
(Aspect A)
An automatic guided vehicle such as an automatic guided vehicle 100, which has a transfer vehicle-side transfer means such as a transfer device 110 for performing an article transfer operation and travels on a travel guide line such as a travel guide line 1, and the transfer vehicle. A member warehouse 300 or a line 400 provided along the traveling guide line having ground-side transfer means such as belt conveyors 310 and 410 for transferring articles to and from the vehicle-side transfer means. The station, the article presence / absence detection means such as the first photoelectric sensor 111 and the second photoelectric sensor 112, which are provided on the transfer vehicle side transfer means and detect the presence / absence of the article on the transfer vehicle side transfer means, and the automatic guided vehicle. A transfer vehicle side transfer drive control means such as a motor control unit 103 that controls the drive of the transfer vehicle side transfer means, and a member provided in the station that controls the drive of the ground side transfer means. An automatic transfer system including at least a ground-side transfer drive control means such as a warehouse controller 320 and a line controller 420, and a communication means such as an automatic guided vehicle 200 capable of communicating with the automatic guided vehicle and the station. Based on the detection result of the article presence / absence detecting means, the automatic guided vehicle side transfer drive control means controls the drive of the automatic guided vehicle side transfer means, and the communication means is the arrival information of the automatic guided vehicle to the station. And the information regarding the presence or absence of the article of the transfer vehicle side transfer vehicle is received from the automatic guided vehicle, and the drive control information for the ground side transfer drive control means to perform drive control of the ground side transfer means. Is transmitted to the station.
According to this, it is possible to control the drive of the ground-side transfer means without providing the article presence / absence detecting means in the station. Therefore, the number of article presence / absence detecting means can be reduced, and the cost can be reduced. Can be automatically transported.
(Aspect B)
In (Aspect), the communication means receives the operation information of the station while the automatic guided vehicle is traveling, and transmits the information regarding whether or not the article can be transported to the automatic guided vehicle to the automatic guided vehicle. According to this, as described in the above-described embodiment, when the article cannot be supplied to the station, the automatic transfer of the article from the automatic guided vehicle can be skipped. Therefore, it is possible to realize the optimum automatic transportation of articles according to the situation of the station.
(Aspect C)
In (Aspect A) or (Aspect B), as the station, an article supply station such as a member warehouse 300 for supplying articles to the automatic guided vehicle, a line 400 to which articles are transferred from the automated guided vehicle, and the like. It has the article transfer station, and the communication means receives the operation information of the article transfer station, and determines that it is necessary to transport the article of the article supply station to the article transfer station. In this case, the automatic guided vehicle is transmitted with the travel start request information to the article supply station. According to this, it is possible to automatically transport the article at an appropriate timing.
(Aspect D)
In any one of (Aspect A) to (Aspect C), the vehicle has a plurality of automatic guided vehicles, and has a relay communication means such as an AGV server PC 150 that relays communication between the communication means and each automatic guided vehicle. .. According to this, it is possible to automatically transport articles by using a plurality of automatic guided vehicles with a simple configuration.
(Aspect E)
In (Aspect A) to (Aspect D), a plurality of the stations are provided along the traveling guide line, and the communication means can transmit information regarding the article transportation to the automatic guided vehicle, and the article. As information on transportation, among the plurality of stations, information on the position of the article supply station for supplying the article to the automatic guided vehicle and information on the position of the article transfer station on which the article is transferred from the automatic guided vehicle. And are included. According to this, the transfer operation of the article can be executed at an appropriate position.
(Aspect F)
In (Aspect E), the article is housed in a case, and the information regarding the article transportation includes information regarding the position of the collection station for causing the automatic guided vehicle to collect the case among the plurality of stations. Is done. According to this, the empty case can be recovered by an automatic guided vehicle.
(Aspect G)
In any one of (Aspect A) to (Aspect F), the communication means can receive the traveling information of the automatic guided vehicle from the automatic guided vehicle, and is transferred from the automatic guided vehicle side transfer means to the ground side. Information on the supply of articles to the means can be received from the station, and transfer operation control information for controlling operations related to article transportation can be transmitted to the automatic guided vehicle. According to this, the automatic guided vehicle and the station can communicate with each other via a communication means, and the automatic transfer of goods between the automatic guided vehicle and the station can be realized with a simple configuration.

1 Automated guided vehicle 100 A 1st automatic guided vehicle 100B 2nd automatic guided vehicle 102 Battery storage case 104 Imaging device 105 Lighting device 106 Drive motor 107 Front wheel 108 Rear wheel 110 Transfer device 111 First photoelectric sensor 112 Second Photoelectric sensor 121 Support plate 122 Support plate 130 Roller conveyor 131 Roller 132 Pulley 133 Pulley 134 Drive transmission belt 135 Drive transmission belt 136 Transfer motor 150 AGV server PC
200 Automatic transfer control device 300 Parts warehouse 300A First parts warehouse 300C Third parts warehouse 300B Second parts warehouse 310A Belt conveyor 310B Belt conveyor 310C Belt conveyor 320 Parts warehouse controller 400 line 400A First line 400B Second line 400C Third line 400D 4th line 410A Belt conveyor 410B Belt conveyor 410C Belt conveyor 410D Belt conveyor 420 Line controller

Japanese Unexamined Patent Publication No. 9-267905

Claims (7)

A traveling device that transports and transfers goods,
A detection means provided in the traveling device to detect the presence or absence of an article in the traveling device,
A station for transferring articles to and from the traveling device,
A transfer means provided at the station for transferring the article, and
A transport system including the traveling device and a communication means capable of communicating with the station.
The detection means are provided on both sides of the traveling device in the transfer direction of the article.
The drive of the transfer means is controlled based on the detection result of one of the two detection means, and the article is transferred between the traveling device and the station. Transport system. In the transport system according to claim 1,
When transferring an article from the traveling device to the station
The transfer means is a transport system characterized in that the drive is stopped when the detection means on the station side of the two detection means is OFF. In the transport system according to claim 1 or 2.
The station has an article supply station for supplying articles to the traveling device and an article transfer station on which articles are transferred from the traveling device.
When the communication means receives the operation information of the article transfer station and determines that it is necessary to transport the article of the article supply station to the article transfer station, the traveling device is sent to the article supply station. A transport system characterized by transmitting information on a travel start request. In the transport system according to any one of claims 1 to 3.
It has a plurality of the traveling devices and has
A transport system comprising a relay communication means for relaying communication between the communication means and each traveling device. In the transport system according to any one of claims 1 to 4.
A plurality of the stations are provided along the traveling guide line on which the traveling device travels.
The communication means can transmit information regarding article transportation to the traveling device, and as information regarding the article transportation, information regarding the position of an article supply station for supplying articles to the traveling device among a plurality of the stations, and information regarding the position of the article supply station for supplying the article to the traveling device. A transport system comprising information about the location of an article transfer station on which articles are transferred from the traveling device. In the transport system according to claim 5,
The article is stored in a case
The transport system, characterized in that the information regarding the transport of goods includes information regarding the position of the recovery station for causing the traveling device to collect the case among the plurality of stations. In the transport system according to any one of claims 1 to 6.
The communication means is
The traveling information of the traveling device can be received from the traveling device, and the traveling information can be received.
Information on the supply of goods from the traveling device to the transfer means can be received from the station.
A transport system characterized in that transport operation control information for controlling operations related to article transport can be transmitted to the traveling device.

Images