JPH03213255A - Collecting method for material handling information and operation plant - Google Patents

Abstract

PURPOSE:To dispense with any terminal equipment by detecting whether a freight to be conveyed exists or not through an unmanned conveyor car in travel, pairing this result with a station address, and transmitting it to a host computer. CONSTITUTION:When an unmanned conveyor car 10 detects a mark 22 of an address with an optical sensor 14, it is so judged whether the mark is in the position of a conveyor 35 for recovery use indicated by a host computer or not. If it is a passage address, a light emitter-receiver 17 is lighted after a specified distance L is traveled, and if this light emitter-receiver 17 receives light, this address recognizes that there is an empty pallet 39, thereby reading the address with this empty pallet 39, and such a data as having this address and the empty pallet is transmitted to the host computer with a radio 19. After the unmanned conveyor car 10 has traveled as far as the specified distance since the optical sensor 14 has detected an arc 22, light projection of the light emitter-receiver 17 takes place. This specified distance is found out through the pulse of a pulse encoder.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a method for collecting cargo handling information for an automatic guided vehicle and a processing factory using the same.

[Conventional technology]

Generally, an automatic guided vehicle transports a load from a certain point (hereinafter referred to as a station) to a certain point by circulating through a plurality of points. One load may be transported during one circulation, or multiple loads may be transported during one circulation. At the station where the automatic guided vehicle stops, when there is a request to carry out a load or to bring in a load, the host computer that manages the automatic guided vehicle and the load records the type of load, the content of the request, the number, etc. need to be notified. For this reason, each station is equipped with a terminal device and connected to the host computer.

The automated guided vehicle uses induction wires, tape,
It is equipped with a detector for detecting a magnetic tape or the like, a detector for detecting a stop position, a steering device for steering using this detector, etc., and travels along the guide line toward the target position. The unmanned guided vehicle is equipped with an optical receiver and receives information such as the start of travel and destination position, and operates automatically. Furthermore, the automatic guided vehicle has an input terminal that allows input of destination, travel route, etc. each time.

Such unmanned guided vehicles and their systems were developed in Japanese Patent Application Laid-open No. 1983
-65109, Japanese Patent Application Laid-Open No. 62-49409,
JP-A-62-50912, JP-A-62-2801
No. 05 and Japanese Unexamined Patent Publication No. 62-259903.

[Problem to be solved by the invention]

The presence or absence of cargo at each station, requests, etc. are all reported to the host computer by wire.

Since the automatic guided vehicle is trackless, it is easy to change the position of each stage and the position of the travel route. This makes it possible to easily respond to changes in production lines, production lines, etc.

However, since a wire is required between the station and the host computer, it is not easy to change this point.In addition, workers are required to request automatic guided vehicles at the station, which is cumbersome. , poor work efficiency.

An object of the present invention is to eliminate the need for wires for connecting stations and host computers.

[Means to solve the problem]

A feature of the present invention is that the automatic guided vehicle detects whether or not there is a load to be transported to the outside at a station along the way of the automatic guided vehicle that transports the load, and The aim is to collect cargo handling information by sending the station address as a pair to a host computer that manages the automatic guided vehicle.

[For production]

For example, in a system where pallets with loads (including packets) are supplied to a work site using an automatic guided vehicle, the work site that receives the pallets takes out only the loads and processes them (including operations), while the remaining empty pallets are will be returned to the empty pallet collection location using an automated guided vehicle. When a worker supplies an empty pallet to a return station, a running automatic guided vehicle detects the presence or absence of an empty pallet on this station, and notifies the host computer of the presence or absence and the address of this station as a pair. The host computer transports the empty pallet of this stage son to the unmanned transport vehicle that runs later. In this way, the presence or absence of an empty pallet can be detected and collected by an automatic guided vehicle running for cargo handling, so that the notification terminal can be removed from the station.

[Example] The present invention will be explained with reference to the example shown in FIGS. 1 to 4. In this embodiment, for example, a loaded pallet (bucket) is supplied by an automated guided vehicle from an automated warehouse storing parts and raw materials to a production factory that performs assembly and processing, and an empty pallet is This relates to a system for collecting objects at a predetermined location using an automated guided vehicle.

In FIG. 1, 10 is an automatic guided vehicle, which has an optical sensor 14 at the bottom of a traveling body 13 that runs and steers,
The vehicle automatically travels by reading tape n and mark n on the ground. This mark n indicates an address. The automatic guided vehicle 10 detects the number of marks n from the home position HP and recognizes the address. If the detected address is the target address, the automatic guided vehicle 10 enters a stopping operation and can stop at a position where it can exchange pareto slips with a conveyance device such as a conveyor (9) of the station. The automatic guided vehicle 10 has a conveyor mechanism on the upper surface for conveying pallets.

Such an automatic guided vehicle 10 is known.

The automatic guided vehicle 10 has a light emitter/receiver 17 installed on the surface on the other side of the conveyor.

A light emitter/receiver 1 is installed at the bottom of the conveyor. The light emitter/receiver 31 is installed at the same height as the light emitter/receiver 17 of the automatic guided vehicle 10, and transmission and reception can be made between the two light emitter/receivers 17 and 37.

Conveyor A is a conveyor for supplying empty pallets (hereinafter referred to as empty pallets) 3!1 to the automatic guided vehicle. Therefore, when an empty pallet is placed on the emitter/receiver #
The presence of empty pallets can be notified by lighting.

Empty pallets to be transported to the automatic guided vehicle 10 are conveyor I.
Upon reaching the end of , conveyor I stops. This stop signal enables the light emitter/receiver y to emit light towards the road side indicating the presence of an empty pallet.

The light emitter/receiver 17 is a set of a light emitter and a light receiver. The same applies to the light emitter and receiver. At the position where transmission and reception are possible, the light emitter and light receiver of the light emitter/receiver 17 face the light receiver and the light emitter of the light emitter/receiver γ, respectively.

Such a light emitter/receiver is known.

When the automatic guided vehicle 10 is located in front of the conveyor and is in a position where transmission and reception can be performed between the two light emitters and receivers 17 and 37, the light emitter and receiver 17 emits light, and when the light receiver of the two light receivers receives light, the conveyor If there is an empty pallet blade, the emitter/receiver r emits light. Light emitter/receiver for unmanned guided vehicle lO! 7 receives this light. As a result, the automatic conveyance vehicle 10 recognizes that there is an empty pallet machine on the side of the conveyor.

Moji, Conveyor Ani Sora Pareb The transmitted and received light fl137 does not emit light.

Note that the lighting of the light emitter/receiver 17 of the automatic guided vehicle 10 is performed only at a certain address of the conveyor on which an empty pallet for collection can be placed. I remember the address of this conveyor.

In FIG. 4, when the optical sensor 14 of the automatic guided vehicle 10 detects the address mark 2, it is determined whether the address is at that position of the collection conveyor (step 81).

Next, if the address is where the automatic guided vehicle is about to stop to collect an empty pallet, there is no need to check whether there is an empty pallet (step 82). If it is a passing address, after traveling a predetermined distance (step 83),
The light emitter/receiver 17 is turned on (step S5). If the light emitter/receiver 17 receives light within a predetermined time, it is recognized that there is an empty pallet at this address (step 87; if there is no S3, then 9. 811). If the light emitter/receiver does not emit light within a predetermined time, it is assumed that there is no empty pallet on the conveyor. Since only light received within a predetermined period of time is treated as valid, recognition due to ambient light can be prevented.

When the presence of an empty pallet is recognized, the address (i.e. station number) of the conveyor where this empty pallet is located is determined.
and the text with this address and the presence of an empty palette.
The evening time is transmitted using the wireless communication device 18. (Step 51
3) The distance from the time when the optical sensor 14 detects the mark n in front of the conveyor to the light emitter/receiver 17.37 is known. Therefore, after the automatic guided vehicle 10 has traveled a predetermined distance after the optical sensor 14 detects the mark n, the light emitting/receiving device 17 emits light. The traveling distance is determined by counting pulses from a pulse encoder connected to the traveling wheels. In order to stop the automatic guided vehicle 10 at the target stage (conveyor position), the pulse encoder is installed to determine the distance from detecting the mark n to stopping.

After detecting the mark 2, the automatic guided vehicle 10 enters a stopping operation and stops so that the load can be transferred to and from the conveyor I and the like. The automatic guided vehicle 10 recognizes the address by counting the number of marks n with the optical sensor 14.

FIG. 3 shows the overall configuration of the control system of the automatic guided vehicle. Control equipment! ! 11 obtains signals from an optical sensor 14, a pulse encoder 11b, a wireless communication device 19, etc., and controls a traveling motor 11C1 and a steering motor 11d to travel toward a target position. Stop. Then, the motor 151 for the conveyor 15 is driven to transfer the pallet. Also, control equipment! 11 is a light emitter/receiver 17
The light emitter 17a is driven, and the presence or absence of the pallet and its address are output to the wireless communication device 19 through detection by the light receiver 17b.

FIG. 1 shows the overall layout of the route, stations, etc. for the automatic guided vehicle 10. As shown in FIG. (Main) is an automated warehouse that stores a large number of pallets containing parts (hereinafter referred to as actual pallets). The host computer specifies a pallet containing the necessary parts for an assembler for $60, and delivers the pallet to the delivery conveyor 51. The delivery conveyor 51 is the conveyor 15 of the automatic guided vehicle IO.
It is located at the height of The position of this delivery conveyor 51 is herein referred to as a home position. The pallets delivered to the delivery conveyor 51 are transported to the assembly factory ω by the automatic guided vehicle 10.

There are a plurality of entrances between the assembly factories into which actual pallets transported by automatic guided vehicles 10 from between the automated warehouses enter.

This inlet is conveyor 618-61e. Conveyors 35a to 35e are installed to the side of this conveyor 61 for carrying out empty pallets. Conveyor 35a~
A light emitter/receiver 37 is installed at 35e.

This conveyor is installed at the empty pallet collection station, and is installed at the same height as conveyor 15.

The automatic guided vehicle 10 that has left the home position 1 returns to the home position via each conveyor in the assembly factory and the conveyor 6 at the collection site, as shown in the figure.

Address marks 22a to 22n are installed at each station along the travel route (installation position of each conveyor, etc.). The marks 221 to 22n will be referred to as addresses below.

Conveyor for carrying out empty pallets after parts are taken out from actual pallets delivered to the assembly factory = 35
It will be posted on e.

In this embodiment, two unmanned guided vehicles 10 (101 and 10
2) circulates on the road. The running direction is 22a~2
2n, 22m.

Kiku is a host computer that controls the automated warehouses and the automated guided vehicles 101 and 102. The upper computer system is based on the production plan.
Commands the automated warehouse to unload actual pallets.

In addition, the phrase after the upper calculation is based on the production plan, and
101 and 102 are instructed to convey the actual pallet (conveyor 35). Further, the central control unit [40 instructs the automatic guided vehicles 101 and 102 to collect empty pallets.

Now, the automatic guided vehicle 101, which has received the loaded pallet from the conveyor 51 at the home position 1 (P), receives a destination address command from the host computer via the wireless communication device 41.19, and starts traveling. As the destination address, two sets of destination addresses can be specified.
, 22d, 22f, ηh.

22j) and the return address 22m.

Another set is commanded when there are empty pallets to collect. In this case, the recovered light (address 22C122e22
2g, 22I, 22) and the address at where the conveyor 61 of the collection location is located. If there are no empty pallets for collection at the time of departure, the latter set of destination addresses is not specified. In this case, the command is issued whenever an empty pallet for collection occurs.

Now, assume that address 22f is designated as the conveyor 61c to which actual pallets are transported, and address 221 is designated as the conveyor that collects empty pallets 9. It is also assumed that there are empty pallets on the conveyors 35a, 35c, and 35d. Therefore, it is possible to project and receive light n37 at this conveyor position.

The automatic guided vehicle 10 travels to the address 22f and stops at the conveyor 61. Then, the stacked actual pallets are conveyed to the conveyor 61c. When this is finished,
Start traveling towards address 221.

Then, it stops at the conveyor 35d and receives the empty pallet blade from the conveyor 35d. When I put an empty palette on it, the address is 221! Start running towards. Also, conveyor 3
5d (address 22i), the wireless communication device 19 transmits that the empty pallet has been taken out. Then, the conveyor stops at the residence and carries out the empty pallet 6.

Next, the vehicle travels toward the home position 22a.

During this travel, the automatic guided vehicle 101 executes the N4 diagram. That is, address 22 c + 22 e #
At 22g +22k, the light emitter/receiver 17 is turned on.

The presence of empty pallets at addresses Z2c and 22g is transmitted via the wireless communication device 19.

When this is received via the wireless communication device 41, the higher-level computation check writes the existence information of the empty pallet into the memory in correspondence with the collection address. Igl! lt indicates the structure of the memory, and the presence or absence of an empty pallet and a flag can be written in correspondence to the address (conveyor 35). Table 1 shows that the automatic guided vehicle 101 has respective addresses 22c, 22e, and 2.
This is the state immediately before reaching 2g, 22i, and 22k.

Now, since it has been received that there is an empty pallet blade at the position of Atref and 22e, write 1" for each. If you write 'Present', the flag @1" will be set. A flag has already been set at address 22g. Therefore, this writing is not performed.At address 225, empty/f red 9 is written to automatic guided vehicle 10.
Since it was carried out at 1, the data of the empty pallet becomes "0" and the flag is set to 10".

1st!2 If the automatic guided vehicle 101 starts from the address 22a,
The following automatic guided vehicle 102 stops at the address 221, and similarly to the above, transports the actual pallet, collects the empty pallet 3, and obtains information on the presence of dropped empty pallets.

As described above, the information on the occurrence of an empty pallet is transmitted only when the empty pallet is placed on the conveyor. Therefore, there is no need for the worker to notify information about the occurrence of empty pallets, which improves work efficiency.

In addition, there is no need to install a terminal device at that position on each conveyor, and the cost can be reduced.

In addition, the unmanned carrier IO is equipped with a wireless communication device 19 to notify the occurrence of empty pallets and give instructions for empty pallet collection, so empty pallets can be collected in real time and the length of the conveyor for empty pallets can be adjusted. It can be made shorter.

The type of empty pallet is different from the empty pallet, and since there is substantially one type, the empty pallet can be unconditionally transported to one collection location (conveyor 65) by the automatic guided vehicle.

In addition, if there are many automated guided vehicles that are thrown into one running route, it is necessary to install multiple conveyors along the running route, but even in that case, there is essentially only one collection location. be.

Further, if there are a plurality of types of empty pallets, and the generation address of the empty pallet is different for each of the 11 types, it is possible to set a collection location for each type of empty pallet.

Empty pallets can be carried out unilaterally from the automated warehouse based on the production plan, so a terminal device for requesting actual pallets is not necessarily required in the production factory.

Although the above embodiment was a production factory, it may also be a workshop where a large number of pallets containing goods are divided into smaller pieces.

Further, although the above embodiment deals with the collection of empty pallets, it can also be used to issue transport commands for actual pallets.

For example, a pallet carrying one or more loads (e.g. products) produced at a production factory (the products themselves can also be used) is transferred to an automated warehouse for products (e.g. between automated warehouses or a collection site).
It can also be used when supplying to an automatic warehouse installed at 66). Conveyors A1-35e are for product conveyors. In an automated warehouse, it is necessary to manage each type of cargo on a pallet, so the S type of the cargo is displayed on the surface of the pallet or the cargo using barcodes, etc., and a barcode reader is installed at the entrance of the automated warehouse for products. , which enables the management of automated warehouses for products. In addition, the unmanned transport vehicle #1 transports pallets containing materials from the automated warehouses to the production factory (capital).

It is also possible to transport this product pallet, collect the empty pallet in the above embodiment, and transport the material pallet using an automatic guided vehicle. In this case a conveyor for each pallet is required.

For example, it can also be used when a semi-finished product is transported from a first stage to a second station in a processing factory using an ape carrier. However, in this case it is 4! J1
Since the type of cargo carried out from the station and the station of the light ejection are unknown, the light emitted from the light emitted from the above station is as follows: It is necessary that the station and the light output station are substantially a pair. If there are multiple stage weights for the carry-out light and there is a carry-out light station, the automatic guided vehicle detects that there is a load that can be carried out at the carry-out light station, and there is no load at the carry-out light station. Detect things.

If the wireless communication device 19 is not provided, the automatic guided vehicle is provided with a memory for storing information on the occurrence of empty pallets, and an optical transmission device for serially transmitting and receiving data in this memory in a home positron or the like.

As a means for detecting the presence or absence of a load on the conveyor, an ultrasonic sensor may be installed facing the pallet (load) for detection.

The wireless communication device 19 may be configured to notify when there is no cargo as information on the presence or absence of cargo.

〔Effect of the invention〕

According to the present invention, since the presence or absence of a load to be transported can be collected by the movement of an unmanned vehicle, a terminal device can be made unnecessary.

[Brief explanation of drawings]

FIG. 1 is an overall layout diagram of a system using an automatic guided vehicle according to an embodiment of the present invention, FIG. 2 is a perspective view showing the relationship between an automatic guided vehicle and a stage system according to an embodiment of the present invention, FIG. 3 is a configuration diagram of the control device of the automatic guided vehicle, and FIG. 184 is a flowchart for carrying out the grapes from the automatic guided vehicle. 10, 101, 102...Automated guided vehicle,
17.37... Light emitter/receiver, 19.41... Track radio communication device, (9)... Track/driving path, n. 22j to 22n...address mark, 3s,
3s1~AC...Recovery conveyor, containers/pieces/empty pallets, father...Automated warehouse, 51...Delivery conveyor, ω...piece processing factory, 611-61 a...
...Supply conveyor, 6...Empty pallet storage area'; itt diagram Figure 4

Claims (1)

[Scope of Claims] 1. The automatic guided vehicle detects whether or not there is a load to be transported toward the outside at a station along the way of the automatic guided vehicle that transports the load, and detects this while the automatic guided vehicle is traveling. A method for collecting cargo handling information, characterized by transmitting the result and the address of this station as a pair to a host computer that manages the automatic guided vehicle. 2. The cargo handling information collecting method according to claim 1, wherein the target station for detecting whether or not there is a cargo is a specific station. 3. The cargo handling information collecting method according to claim 2, wherein the specific station is a station for carrying out cargo. 4. In the method for collecting cargo handling information according to the first aspect, if it is detected whether or not the cargo to be transported exists, transmitting the detection result and the address of this station as a pair by radio; A method for collecting cargo handling information characterized by: 5. A circulation route with multiple stations for transferring loads to and from an automated guided vehicle, and a sensor for detecting the presence or absence of a load at a predetermined station while traveling, which is loaded with loads. It consists of an automatic guided vehicle having a notification means for notifying the outside as a pair of the presence or absence of a load and the address of its station, and a host computer that notifies the automatic guided vehicle based on the information obtained by the notification means. production factory. 6. The processing factory according to claim 5, wherein the predetermined station is a station for carrying out a load. 7. In the processing factory according to claim 5, the sensor is configured to over-reliance the first signal directed toward the predetermined station at the predetermined station, and to detect the presence or absence of a load based on a response signal from the station side. A processing factory characterized by: 8. The processing factory according to claim 7, wherein the sensor includes a light emitter and a light receiver, and the predetermined station includes a light receiver that receives light emitted from the light emitter of the sensor;
A processing factory characterized in that it is provided with a light projector that outputs to the automatic guided vehicle side whether or not replacement is required based on the received light. 9. A first station that supplies pallets with loads to the automatic guided vehicle, a plurality of second stations that receive pallets with loads from the automatic guided vehicle, and a plurality of third stations that supplies empty pallets to the automatic guided vehicle. a circulation path for an automated guided vehicle having a station and a fourth station for receiving empty pallets from the automated guided vehicle; an automated guided vehicle having a sensor that detects the presence or absence of an empty pallet, and a notification means that notifies a host computer of the detected presence or absence of an empty pallet and the address of its third station as a pair; A processing factory consisting of a high-level computer that performs 10. The processing factory according to claim 9, wherein the first station is connected to a warehouse storing pallets with loads, and the second station and the third station are connected to a warehouse where pallets with loads are stored. A processing factory is characterized in that it is connected to a workshop where processed goods are processed. 11. A warehouse that stores unprocessed loads, supplies the unprocessed loads to the first station, stores the loads supplied to the second station, and stores the loads supplied from the third station. a workshop for processing and supplying the processed material to a plurality of fourth stations; a work place for transporting a load from the first station to the third station; and transporting the load from the fourth station to the second station; a sensor for determining the presence or absence of a load at the fourth station while traveling;
A processing factory comprising: an automated guided vehicle that notifies a host computer of the presence or absence of the requested load and the fourth address as a pair; and an automated guided vehicle that issues a transportation command to the automated guided vehicle. 12. A traveling body that can travel on a circulation route and stop at a station on the circulation route; A transfer means installed on the traveling body to transfer a load at a station based on a command; and a means for determining the presence or absence of a load at a station. An automated guided vehicle consisting of a sensor that detects a load, and a notification means that reports the presence or absence of a load and the address of its station to the outside as a pair. 13. The automatic guided vehicle according to claim 12, wherein the notification means is a wireless communication device. 14. The automatic guided vehicle according to claim 12, wherein the wireless communication device performs transmission and reception, and upon reception, the automatic guided vehicle stops at a commanded station and receives a load. .