JPH06230824A - Method and device for allocating work to unmanned carrier - Google Patents

Method and device for allocating work to unmanned carrier

Info

Publication number
JPH06230824A
JPH06230824A JP5015104A JP1510493A JPH06230824A JP H06230824 A JPH06230824 A JP H06230824A JP 5015104 A JP5015104 A JP 5015104A JP 1510493 A JP1510493 A JP 1510493A JP H06230824 A JPH06230824 A JP H06230824A
Authority
JP
Japan
Prior art keywords
transport
request
carrying
station
list
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP5015104A
Other languages
Japanese (ja)
Inventor
Yuzuru Tsukibayashi
讓 築林
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
NEC Corp
Original Assignee
NEC Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by NEC Corp filed Critical NEC Corp
Priority to JP5015104A priority Critical patent/JPH06230824A/en
Publication of JPH06230824A publication Critical patent/JPH06230824A/en
Pending legal-status Critical Current

Links

Abstract

PURPOSE:To make it possible to allocate plural carrying work to the same unmanned carrier when the carrier is allowed to travel on one carrying route. CONSTITUTION:A composite table storing means 6 for storing a composite table prepared by allowing a carrying request already completed of work allocation to correspond to a carrying request setting up stations far from a station specified by the carrying request as a carrying source and a carrying destination is provided in a work allocating device 3 for an unmanned carrier. A carrying request receiving means 4 receives carrying requests from plural stations, a list preparing means 5 prepares a carrying list for these carrying requests arranged in the arrival order and a carrying command control part 7 allocates works to an empty unmanned carrier based upon the initial carrying request generated fast. While referring to the storing part 6, the control part 7 searches another allowavle carrying request, and when another corresponding carrying request exists, allocates the work of the carrying request to the same unmanned carrier.

Description

【発明の詳細な説明】Detailed Description of the Invention

【0001】[0001]

【産業上の利用分野】本発明は無人搬送車への作業割付
方法とその装置に関し、特に少ない無人搬送車の台数で
所要の品物の搬送を実現する無人搬送車への作業割付方
法とその装置に関する。
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for allocating work to an automatic guided vehicle, and particularly to a method and an apparatus for allocating a work to an automated guided vehicle for carrying required items with a small number of guided vehicles. Regarding

【0002】[0002]

【従来の技術】従来のこの種の無人搬送車への作業割付
方法とその装置は、たとえば、特開昭62−5413号
公報にあるように、荷物を運搬するための複数の搬送車
と、この搬送車が移動するための専用軌道と、この搬送
車への制御指令を発生するための中央制御装置とで自動
搬送システムを構成し、前述の各搬送車ごとに、前述の
軌道に沿って配置された荷物の積込みと積卸のための複
数のステーションから発せられる荷物についての搬送要
求に従い、前述の搬送要求で指定されている積込ステー
ションで荷物(以後物品と称する)を積込み、この搬送
要求で指定されたステーションで物品の積卸を行うよう
に、中央制御装置から搬送車の一つに対して指令を与
え、指令を与えられた搬送車は、この指令に従って、指
定された搬送元のステーションで物品を積込み、指定さ
れた搬送先のステーションまで物品を搬送し積卸を行わ
せている。
2. Description of the Related Art A conventional work allocating method and apparatus for an unmanned guided vehicle of this type is, for example, as disclosed in Japanese Patent Laid-Open No. 62-5413, a plurality of guided vehicles for carrying luggage, An automatic transport system is configured with a dedicated track for moving this transport vehicle and a central control unit for generating a control command to this transport vehicle. According to the transportation request for the loaded cargoes from multiple stations for loading and unloading, the cargo is loaded at the loading station specified in the above-mentioned transportation request, and this transportation is performed. The central control unit issues a command to one of the transport vehicles to load and unload the goods at the station specified by the request, and the transport vehicle to which the command is given, the transport source specified in accordance with this command. Su Loading the articles in Shon, and to perform the transporting articles unloading until the designated transport destination station.

【0003】図6は従来のこの種の作業割付方法を適用
した作業割付装置の一例のブロック図である。図6に示
す様に搬送要求は発生した順番に搬送要求バッファ4A
に溜められる。搬送指示コントロール部7Aは仕事の割
り当てられていない無人搬送車11〜13の内の一つに
対してレコード番号の若い順番(搬送要求を受けつけた
順)に、FROMデータ(搬送元ステーション)とTO
データ(搬送先ステーション)を一組にし、レコード一
組ずつの搬送指示を各無人搬送車に対して指示を行う。
図5は本発明および従来のこの種の作業割付装置が使用
する自動搬送システムの一例を示すブロック図である。
図6に示されているバッファ4Aに複数の搬送要求が溜
っている場合には、搬送指示コントロール部6Aは無人
搬送車11に対してはレコード1(ステーション1から
ステーション3への搬送)、無人搬送車12に対しては
レコード2(ステーション2からステーション3への搬
送)、無人搬送車13に対してはレコード3(ステーシ
ョン7からステーション8への搬送)指示が割付けられ
る。
FIG. 6 is a block diagram of an example of a work allocating device to which a conventional work allocating method of this type is applied. As shown in FIG. 6, the transport request buffer 4A is provided in the order in which the transport requests are generated.
Stored in. The transport instruction control unit 7A uses the FROM data (transport source station) and the TO data in ascending order of record numbers (transport request receiving order) for one of the unmanned guided vehicles 11 to 13 to which no work is assigned.
One set of data (conveyance destination station) is set, and a conveyance instruction for each record is given to each automated guided vehicle.
FIG. 5 is a block diagram showing an example of an automatic carrying system used by the present invention and a conventional work allocating device of this type.
When a plurality of transport requests are stored in the buffer 4A shown in FIG. 6, the transport instruction control unit 6A records the unmanned transport vehicle 11 as record 1 (transport from station 1 to station 3), unattended. Record 2 (transport from station 2 to station 3) is assigned to the transport vehicle 12, and record 3 (transport from station 7 to station 8) is assigned to the unmanned transport vehicle 13.

【0004】[0004]

【発明が解決しようとする課題】上述した従来の無人搬
送車への作業割付方法とその装置は、複数のステーショ
ンから出力された複数の搬送要求があるときでも、1台
の無人搬送車に対しては一つの搬送要求、すなわち、指
定された一つのステーションで物品を積み込み、指定さ
れた他の一つのステーションでその物品の積卸しを行わ
せており、このような物品の積卸しを行ったステーショ
ンより遠方のステーションから、それより遠方のステー
ションまでの物品の搬送要求が存在している場合でも、
このような搬送要求については、別の無人搬送車に対し
て作業割付(物品の搬送指示)を行っているため、個々
の無人搬送車は無駄な走行を行うことになるという欠点
を有している。
SUMMARY OF THE INVENTION The above-described conventional work allocation method and apparatus for an automated guided vehicle are provided for one automated guided vehicle even when there are a plurality of transportation requests output from a plurality of stations. One transfer request, that is, the article is loaded at one designated station, and the article is loaded and unloaded at another designated station. Even if there is a request to transfer goods from a station far from the station to a station farther from it,
Regarding such a transportation request, since the work assignment (instruction of transportation of the article) is made to another unmanned guided vehicle, each unmanned guided vehicle has a disadvantage that the unmanned guided vehicle travels wastefully. There is.

【0005】本発明の目的は、1台の無人搬送車に対し
て搬送する物品が搬送中に重複しない場合には一つの搬
送経路上の異ったステーションに対しての複数の搬送要
求について作業割付することの可能な無人搬送車への作
業割付方法とその装置を提供することにある。
It is an object of the present invention to work on a plurality of transport requests to different stations on one transport route when articles to be transported to one automated guided vehicle do not overlap during transport. An object of the present invention is to provide an operation allocating method and apparatus for an unmanned guided vehicle that can be allocated.

【0006】[0006]

【課題を解決するための手段】本発明の無人搬送車への
作業割付方法は、予め定められた経路上の複数個所に散
在する複数のステーション間で前記ステーションからの
物品の搬送要求に基づいて物品の搬送を前記経路上を運
行する複数の搬送車に割り付ける無人搬送車への作業割
付方法において、前記搬送要求の入力順にそれぞれの搬
送要求の搬送元と搬送先とを対応づけた搬送リストを作
成し、各時点で、前記搬送リスト中の最も早期の搬送要
求について空いている搬送車にその割付けを行い、前記
搬送リスト中から前記割付けを行った積卸ステーション
より遠方のステーションで積込と積卸を要求する搬送要
求を検索し、該当する搬送要求が搬送リスト中に存在す
れば、前記割付けを行った搬送車に割り付け、以後割付
けを行った積込元と積卸先のステーションとがすでに割
付けを行ったステーションより遠方にある搬送要求につ
いて前記同一の搬送車に割付ける処理とから構成されて
いる。
A method for allocating work to an automated guided vehicle according to the present invention is based on a request for carrying an article from a plurality of stations scattered at a plurality of locations on a predetermined route. In the work allocation method for an unmanned carrier that allocates the carriage of articles to a plurality of carriers traveling on the route, a carrier list in which the carrier source and the carrier destination of each carrier request are associated in the input order of the carrier request Created, and at each time point, assign to the vacant transport vehicle for the earliest transport request in the transport list, and load at a station farther from the unloading station from the transport list Search for a transport request that requests loading and unloading, and if the relevant transport request exists in the transport list, it is assigned to the transport vehicle that has been assigned, and the loading source that performed the assignment thereafter. The transport request is from station and unloading destination station has already been assigned to far is composed of a process to allocate the same carrier vehicle.

【0007】また、第2の発明の無人搬送車への作業割
付装置は、予め定められた経路上の複数個所に散在する
複数のステーション間で前記ステーションからの物品の
搬送要求に基づいて物品の搬送を前記経路上を運行する
複数の搬送車に割り付ける無人搬送車への作業割付装置
において、搬送元と搬送先とを指定した搬送要求をその
入力順に受付ける搬送要求受付手段と、前記搬送要求受
付手段が受け付けた搬送要求を基にその搬送要求別に入
力順に搬送元と搬送先とを対応づけた搬送リストを生成
し記憶するリスト作成手段と、前記経路上ですでに割付
を行った搬送元ステーションと搬送先ステーションより
成る搬送要求に対してこの搬送要求より遠方に位置して
おり同一の無人搬送車が搬送可能である搬送元ステーシ
ョンと搬送先ステーションとを有する搬送要求とを対応
させた複合テーブルを予め記憶している複合テーブル記
憶部と、前記搬送リストが生成されると、その時点で最
も早期に要求された搬送要求に対する作業を前記無人搬
送車の内で空である無人搬送車に割り付けた上で、前記
複合テーブルと前記搬送リストとを参照し該当する搬送
要求が前記搬送リストに存在すれば、この搬送要求につ
いても前記同一の無人搬送車に割り付ける搬送指示コン
トロール部とを備えて構成されている。
Further, the work allocating device for the automatic guided vehicle according to the second aspect of the invention is arranged between a plurality of stations scattered at a plurality of predetermined routes on the basis of a request to convey the article from the station. In a work allocating device for an unmanned carrier that allocates a carrier to a plurality of carriers traveling on the route, a carrier request accepting unit that accepts a carrier request specifying a carrier source and a carrier destination in the order of input, and the carrier request acceptor. Based on the transport request received by the means, a list creating means for generating and storing a transport list in which the transport source and the transport destination are associated in the input order for each transport request, and the transport source station that has already been assigned on the route. And the transfer destination station, the transfer source station and the transfer destination station that are located farther than the transfer request and can carry the same automated guided vehicle And a composite table storage unit that stores in advance a composite table that associates a transport request with a transport request, and when the transport list is generated, the unattended work for the transport request requested earliest at that time is performed. If a corresponding transport request exists in the transport list by referring to the composite table and the transport list after allocating to an empty unmanned transport vehicle in the transport vehicle, the same unmanned transport request is also applied to this transport request. And a transport instruction control unit to be assigned to the transport vehicle.

【0008】[0008]

【実施例】次に、本発明の実施例について図面を参照し
て説明する。
Embodiments of the present invention will now be described with reference to the drawings.

【0009】図1は本発明の無人搬送車への作業割付方
法を適用した無人搬送車への作業割付装置の一実施例を
示すブロック図であり、図2は本発明の無人搬送車への
作業割付方法の説明のための流れ図である。
FIG. 1 is a block diagram showing an embodiment of a work allocating device for an automatic guided vehicle to which the method for allocating a work to an automatic guided vehicle according to the present invention is applied, and FIG. 7 is a flowchart for explaining a work allocation method.

【0010】また、図3は、図1に示されているリスト
作成手段5の生成する搬送要求リストの内容を示す説明
図であり、図4は、図1に示されている複合テーブル記
憶部6が記憶する複合テーブルの内容を示す説明図であ
る。
FIG. 3 is an explanatory view showing the contents of the transport request list generated by the list creating means 5 shown in FIG. 1, and FIG. 4 is a composite table storage unit shown in FIG. 6 is an explanatory diagram showing the contents of a composite table stored in FIG.

【0011】図1に示した無人搬送車への作業割付装置
3は、すでに説明した図5の自動搬送システムにおい
て、指令ステーション2に設置され、予め定められてい
る搬送経路8に沿って配置されているステーション21
〜28からの搬送要求を入力とし、無人搬送車11〜1
3の内で指令ステーション2に近い空いている無人搬送
車に対して特定のステーションから他の特定のステーシ
ョンに対して物品の搬送を指令(以後作業割付と称す
る)を行う。
The work allocating device 3 for the automatic guided vehicle shown in FIG. 1 is installed in the command station 2 in the automatic transportation system of FIG. 5 already described, and is arranged along a predetermined transportation route 8. Station 21
28 to 28 as an input and the automatic guided vehicles 11 to 1 are input.
Among the three, an instruction is given to the unmanned guided vehicle vacant near the instruction station 2 to convey the article from a specific station to another specific station (hereinafter referred to as work allocation).

【0012】それぞれの無人搬送車11〜13には、上
述の作業割付を図示されていない記憶部に記憶し、その
作業割付で指示されているステーションから他の指定さ
れたステーションへの物品の搬送を行う。指定された搬
送を終了した無人搬送車は図5に示されている経路71
に進入し、指令ステーション2の近傍で、次の作業割付
が指定されるまで待機する。
In each of the automatic guided vehicles 11 to 13, the above-mentioned work allocation is stored in a storage unit (not shown), and the articles are transferred from the station designated by the work allocation to another designated station. I do. The automated guided vehicle that has completed the designated transportation is route 71 shown in FIG.
And waits until the next work assignment is designated near the command station 2.

【0013】図1に示されている無人搬送車への作業割
付装置3は、ステーション21〜28の内の何れかから
発せられる搬送要求を入力として受付ける搬送要求受付
手段4と、搬送要求受付手段4が受け付けて出力する搬
送要求を基に、後述する搬送リストを作成し記憶するリ
スト作成手段5と、後述する複合テーブルを予め記憶し
ている複合テーブル記憶部6と、搬送リストがリスト作
成手段5で生成され、出力されると、この搬送リストに
より後述する作業割付を無人搬送車11〜13に対して
行う搬送指示コントロール部7とを備えている。
The work allocating device 3 for an unmanned guided vehicle shown in FIG. 1 has a carrying request receiving means 4 for receiving as a input a carrying request issued from any of the stations 21 to 28, and a carrying request receiving means. 4, a list creating means 5 for creating and storing a carry list, which will be described later, based on a carry request received and outputted by the recording medium 4, a composite table storage section 6 for previously storing a composite table, which will be described later, and a carry list for creating the list. When it is generated and output in step 5, the transport list is provided with a transport instruction control unit 7 for performing work allocation, which will be described later, to the unmanned transport vehicles 11 to 13.

【0014】リスト作成手段5は、搬送要求を搬送要求
受付手段4より受け取ると、たとえば、図3にその一例
が示されているように、搬送要求の受付け順に、搬送要
求中で指定されている、搬送すべき物品を積込むステー
ション(搬送元)と、搬送した物品を積卸すべきステー
ション(搬送先)とを対応させ、搬送要求ごとに、受取
った順でリスト番号(NO)を付した搬送リストを作成
し記憶する。
Upon receipt of the transport request from the transport request accepting means 4, the list creating means 5 is designated in the transport request in the order in which the transport requests are received, as shown in an example in FIG. , A station in which the articles to be transported (transportation source) and a station in which the transported articles are to be unloaded (transportation destination) are associated, and transportation is performed with a list number (NO) in the order received for each transportation request. Create and remember the list.

【0015】また、複合テーブル記憶部6には、予め、
以下に説明する情報を記憶させておく。
Further, the composite table storage unit 6 is previously stored in the composite table storage unit 6.
The information described below is stored.

【0016】すなわち、搬送指示コントロール部が、あ
る作業割付を行い、この作業割付において、図5で示さ
れている搬送経路8に沿ったステーションの内で、たと
えば、ステーション21を搬送元として指定し、さら
に、ステーション22を搬送先として指定した搬送要求
についての作業割付に対して、ステーション22より遠
方のステーション23からステーション28までのステ
ーションの内の何れかのステーションを搬送元とし、ま
た、この搬送元のステーションより遠方のステーション
を搬送先とする搬送元と搬送先とするステーションの可
能な組合せをすべて前述のすでに作業割付を行った搬送
要求に対応づけたものを複合テーブルとして複合テーブ
ル記憶部6内に記憶させておく。
That is, the transfer instruction control unit performs a certain work allocation, and in this work allocation, among the stations along the transfer route 8 shown in FIG. 5, for example, the station 21 is designated as the transfer source. Further, with respect to the work allocation for the transfer request in which the station 22 is designated as the transfer destination, any one of the stations from the station 23 to the station 28 far from the station 22 is set as the transfer source, and the transfer is performed. The composite table storage unit 6 is a composite table in which all possible combinations of the transfer source and the transfer destination station whose destination is a station farther than the original station are associated with the transfer request that has already been assigned work as described above. Keep it inside.

【0017】たとえば、図4に示すように、ある作業割
付として、割当てた搬送要求を決定済割付とし、その内
容がステーション21を搬送元とし、ステーション22
が搬送先であるとすれば、このような決定済割当に対応
させて、これらの決定済割当中に含まれるステーション
より遠方にあるステーションを搬送元とし、さらにこれ
より遠方にあるステーションを搬送先とする搬送要求に
ついてのすべての組合せを前述の決定済割当に対応づけ
る。
For example, as shown in FIG. 4, as a certain work assignment, the assigned transport request is a determined assignment, the contents of which are the station 21 as the transport source and the station 22.
Is the transport destination, the station farther than the stations included in these determined assignments is the transport source, and the station farther from this is the transport destination, corresponding to such determined assignments. All the combinations of the transport requests to be associated with the above-mentioned determined allocation.

【0018】すなわち、ある、ステーション23を搬送
元とし、ステーション24を搬送先とするものを重複可
能割付の一つとして対応させる。以下同様にして、搬送
元がステーション21であり、搬送先がステーション2
2である決定済割付に対応づけて、重複可能割付とし
て、ステーション27を搬送元とし、ステーション28
を搬送先とする搬送要求を重複可能性割付として対応づ
けておく。
That is, a certain station 23 as a transport source and a station 24 as a transport destination correspond to one of the duplication possible allocations. Similarly, the transfer source is the station 21 and the transfer destination is the station 2
Corresponding to the determined allocation which is 2, the station 27 is set as the transport source and the station 28 is set as the overlapping allocation.
The transport request having the transport destination as the destination is associated as a duplication possibility assignment.

【0019】図4には決定済割付として一つの搬送要求
について示してあるが、決定済割付部には、ステーショ
ン21から28までのステーション間で可能な搬送要求
について列挙しておき、これらそれぞれの決定済割付に
対して上述のような、重複可能割付の組合せを対応させ
ておく。
FIG. 4 shows one transfer request as the determined allocation, but the determined allocation section lists the transfer requests that can be made between the stations 21 to 28, and the respective transfer requests are listed. The above-mentioned combination of possible overlapping allocations is associated with the determined allocation.

【0020】以下に図1に示した無人搬送車への作業割
付装置3についての動作を図2に示した流れ図に基いて
説明する。
The operation of the work allocating device 3 for the automatic guided vehicle shown in FIG. 1 will be described below with reference to the flow chart shown in FIG.

【0021】ステーション21〜28の内で、自ステー
ションから他のステーションへ物品の搬送が必要になる
と、指令ステーション2に置かれている無人搬送車への
作業割付装置3に対して、図示されていない信号線を介
して搬送すべき物品を積込むステーション(搬送元)
と、搬送した物品を積卸すべきステーション(搬送先)
とを指定した搬送要求が搬送を必要とするステーション
から出力され、搬送要求受付手段4でこの搬送要求をス
テップ(以下Sと略称する)1で受付ける。
When it is necessary to convey an article from one of the stations 21 to 28 to another station, the work allocating device 3 for the automatic guided vehicle placed at the command station 2 is illustrated. Station (transportation source) for loading articles to be transported via a non-signal line
And the station where the transported goods should be loaded / unloaded (transportation destination)
A transport request designating "and" is output from a station requiring transport, and the transport request accepting means 4 accepts the transport request in step (hereinafter abbreviated as S) 1.

【0022】搬送要求受付手段4は、上述した搬送要求
を受取ると、この搬送要求をリスト作成手段5に出力す
る。
Upon receipt of the above-mentioned transport request, the transport request accepting means 4 outputs this transport request to the list creating means 5.

【0023】リスト作成手段5は、この搬送要求を搬送
要求受付手段4より受け取り、たとえば、すでに説明し
た図3に示す搬送リストを受け付け順に作成し(S
2)、一時記憶する。
The list creating means 5 receives the carry request from the carry request accepting means 4, and creates the carry list shown in FIG.
2) Temporarily store.

【0024】搬送指示コントロール部7は、予め定めら
れている周期で、リスト作成手段5の記憶している搬送
リストを検索し、搬送リストが存在すれば、無人搬送車
11〜13の内で空車があるとき(S3)、空車である
無人搬送車に対して、搬送リスト中で、その時点で最も
早期に搬送リスト内に作成された搬送要求についての作
業割付を行う(S4)。
The transportation instruction control unit 7 searches the transportation list stored in the list creating means 5 at a predetermined cycle, and if there is a transportation list, the unmanned transportation vehicles 11 to 13 are emptied. When there is (S3), an unmanned guided vehicle that is an empty vehicle is assigned work for the transport request created in the transport list at the earliest point in the transport list (S4).

【0025】次いで、搬送指示コントロール部7は、搬
送リスト中に、他の搬送要求があるか否かを調べる(S
5)。ここで、他の搬送要求が存在しなければ、作業割
付を行った、搬送要求を、リスト作成手段5の中から消
去し、作業割付を行った無人運搬車を起動させる(S
7)。
Next, the transportation instruction control unit 7 checks whether or not there is another transportation request in the transportation list (S).
5). Here, if there is no other transport request, the transport request for which work assignment has been performed is deleted from the list creating means 5 and the unmanned guided vehicle for which work assignment has been started (S).
7).

【0026】もし、他の搬送要求が存在していれば、複
合テーブル記憶部7を参照して、すでに作業割付を行っ
た搬送要求に該当する決定済割付に対応する重複可能割
付中に上述の他の搬送要求の内容が一致するものがある
か否かを調べる(S8)、該当する搬送要求であれば、
直前に作業割付を行ったと同一の無人搬送車(11〜1
3の内の一つ)に対して該当搬送要求についての作業割
付を行う(S9)。つづいて、先述のステップ5に戻
る。
If another transport request exists, the composite table storage unit 7 is referred to, and the above-mentioned process is performed during the duplication possible assignment corresponding to the determined assignment corresponding to the transport request which has already been assigned work. It is checked whether or not there is a match in the content of other transport requests (S8).
The same automated guided vehicle (11-11
The work allocation for the corresponding transport request is performed for one of the above (3) (S9). Then, the process returns to step 5 described above.

【0027】もし、ステップ8において、前述の他の搬
送要求の内容が複合テーブル内の重複可能割付中の搬送
元と搬送先とに一致するものがないときには、搬送指示
コントロール部7は、先述したステップ6にその処理を
移す。
If it is determined in step 8 that the contents of the above-described other transport request do not match the transport source and the transport destination in the composite table, the transport instruction control unit 7 has already described. The process is transferred to step 6.

【0028】以上の説明で明らかなように、複数の搬送
要求があり、これらの搬送要求の内のいくつかが、図5
に示されている搬送経路上でまず一つのステーションで
物品の積込みを行い、続いてそれより遠方のステーショ
ンで前述の物品の積卸しを行う搬送要求と、これらのス
テーションよりさらに遠方で物品の積込みを行い、それ
より遠方でその積卸しを行う搬送要求がある場合には、
同一の無人搬送車に対して、これら複数の搬送要求につ
いての作業割付を行うことができる。
As is clear from the above description, there are a plurality of transport requests, and some of these transport requests are shown in FIG.
On the transport route shown in Fig. 1, first, loading of articles is performed at one station, and then the above-mentioned loading and unloading of articles is performed at a station farther from that station, and loading of articles further from these stations. , And if there is a transport request to carry out the unloading at a distance,
It is possible to perform work assignment for a plurality of transfer requests for the same automated guided vehicle.

【0029】なお、図5に示した無人搬送車は3台であ
るが、無人搬送車の台数は、任意でよく、さらに、ステ
ーション21〜28も図示されているように8個所に制
約されることはなく、任意の個所に設置できることは明
らかである。
Although the number of unmanned guided vehicles shown in FIG. 5 is three, the number of unmanned guided vehicles may be arbitrary, and the stations 21 to 28 are also limited to eight as shown in the drawing. It is obvious that it can be installed at any place.

【0030】[0030]

【発明の効果】以上説明したように、本発明の無人搬送
車への作業割付方法とその装置は、一台の無人搬送車に
対して、複数の搬送要求についての作業割付を可能にす
ることができるので、従来のように、複数の無人搬送車
にそれぞれ作業割付を行う必要があった搬送要求の内の
前記実施例に示された複合テーブルの内容に合致する搬
送要求については、一台の無人搬送車に作業割付を可能
とし、従来と同数の無人搬送車を用いて、従来よりも短
時間で必要な物品の搬送を可能とするという効果を有し
ている。
As described above, the method and apparatus for allocating work to an automated guided vehicle of the present invention enable work allocation for a plurality of transport requests for one automated guided vehicle. Therefore, as in the prior art, among the transport requests that need to be assigned to a plurality of unmanned guided vehicles, the transport request that matches the contents of the composite table shown in the above embodiment is It is possible to allocate work to the unmanned guided vehicles described above, and to use the same number of unmanned guided vehicles as the conventional one to carry necessary articles in a shorter time than the conventional one.

【図面の簡単な説明】[Brief description of drawings]

【図1】本発明の無人搬送車への作業割付方法を適用し
た装置の一実施例を示すブロック図である。
FIG. 1 is a block diagram showing an embodiment of an apparatus to which an operation allocating method for an automated guided vehicle according to the present invention is applied.

【図2】図1に示した装置の動作を説明する流れ図であ
る。
FIG. 2 is a flowchart illustrating the operation of the device shown in FIG.

【図3】図1に示されているリスト作成手段で作成され
る搬送リストの内容の説明図である。
FIG. 3 is an explanatory diagram of contents of a transportation list created by a list creating means shown in FIG.

【図4】図1に示されている複合テーブルの内容の説明
図である。
FIG. 4 is an explanatory diagram of contents of a composite table shown in FIG.

【図5】本発明の対象とする無人搬送システムの一例を
示す説明図である。
FIG. 5 is an explanatory diagram showing an example of an unmanned transport system to which the present invention is directed.

【図6】従来のこの種の作業割付装置の一例を示すブロ
ック図である。
FIG. 6 is a block diagram showing an example of a conventional work allocation device of this type.

【符号の説明】[Explanation of symbols]

3 無人搬送車への作業割付装置 4 搬送要求受付手段 5 リスト作成手段 6 複合テーブル記憶部 7 搬送指示コントロール部 11〜13 無人搬送車 21〜28 ステーション 3 Work assignment device for unmanned guided vehicle 4 Transport request receiving means 5 List creating means 6 Composite table storage section 7 Transport instruction control section 11-13 Automated guided vehicle 21-28 station

Claims (2)

【特許請求の範囲】[Claims] 【請求項1】 予め定められた経路上の複数個所に散在
する複数のステーション間で前記ステーションからの物
品の搬送要求に基づいて物品の搬送を前記経路上を運行
する複数の搬送車に割り付ける無人搬送車への作業割付
方法において、前記搬送要求の入力順にそれぞれの搬送
要求の搬送元と搬送先とを対応づけた搬送リストを作成
し、各時点で、前記搬送リスト中の最も早期の搬送要求
について空いている搬送車にその割付けを行い、前記搬
送リスト中から前記割付けを行った積卸ステーションよ
り遠方のステーションで積込と積卸を要求する搬送要求
を検索し、該当する搬送要求が搬送リスト中に存在すれ
ば、前記割付けを行った搬送車に割り付け、以後割付け
を行った積込元と積卸先のステーションとがすでに割付
けを行ったステーションより遠方にある搬送要求につい
て前記同一の搬送車に割付けることを特徴とする無人搬
送車への作業割付方法。
1. An unmanned vehicle, which is assigned to a plurality of transport vehicles operating on the route based on a transport request of the article from the stations among a plurality of stations scattered at a plurality of locations on a predetermined route. In the work allocation method for the transport vehicle, a transport list is created in which the transport source and the transport destination of each transport request are associated in the input order of the transport request, and at each time point, the earliest transport request in the transport list is created. Allocating to a vacant transport vehicle, search for a transport request requesting loading and unloading from a station farther from the unloading station assigned in the transport list, and the relevant transport request is transported. If it exists in the list, it will be assigned to the transport vehicle that has been assigned, and the station that has been assigned by the loading source and loading / unloading station that has been assigned after that A method for allocating work to unmanned guided vehicles, characterized by allocating to the same guided vehicle the transportation requests farther than the vehicle.
【請求項2】 予め定められた経路上の複数個所に散在
する複数のステーション間で前記ステーションからの物
品の搬送要求に基づいて物品の搬送を前記経路上を運行
する複数の搬送車に割り付ける無人搬送車への作業割付
装置において、搬送元と搬送先とを指定した搬送要求を
その入力順に受付ける搬送要求受付手段と、前記搬送要
求受付手段が受け付けた搬送要求を基にその搬送要求別
に入力順に搬送元と搬送先とを対応づけた搬送リストを
生成し記憶するリスト作成手段と、前記経路上ですでに
割付を行った搬送元ステーションと搬送先ステーション
より成る搬送要求に対してこの搬送要求より遠方に位置
しており同一の無人搬送車が搬送可能である搬送元ステ
ーションと搬送先ステーションとを有する搬送要求とを
対応させた複合テーブルを予め記憶している複合テーブ
ル記憶部と、前記搬送リストが生成されると、その時点
で最も早期に要求された搬送要求に対する作業を前記無
人搬送車の内で空である無人搬送車に割り付けた上で、
前記複合テーブルと前記搬送リストとを参照し該当する
搬送要求が前記搬送リストに存在すれば、この搬送要求
についても前記同一の無人搬送車に割り付ける搬送指示
コントロール部とを備えることを特徴とする無人搬送車
への作業割付装置
2. An unmanned vehicle, among a plurality of stations scattered at a plurality of locations on a predetermined route, allocating the transportation of the articles to a plurality of transportation vehicles operating on the route based on a transportation request of the articles from the stations. In the work allocating device for a transport vehicle, a transport request accepting unit that accepts a transport request designating a transport source and a transport destination in the input order, and an input sequence for each transport request based on the transport request received by the transport request accepting unit. A list creating means for generating and storing a transfer list in which the transfer source and the transfer destination are associated with each other, and a transfer request including a transfer source station and a transfer destination station that have already been assigned on the route. A composite table that corresponds to a transport request having a transport source station and a transport destination station that are located at a distant location and can transport the same automated guided vehicle. When the transport list is generated and the transport table is stored in advance, the work corresponding to the transport request requested earliest at that time is performed by the empty automated guided vehicle among the automated guided vehicles. After allocating,
If there is a corresponding transportation request in the transportation list by referring to the composite table and the transportation list, the unmanned vehicle is also provided with a transportation instruction control unit that allocates the transportation request to the same automated guided vehicle. Device for assigning work to transport vehicles
JP5015104A 1993-02-02 1993-02-02 Method and device for allocating work to unmanned carrier Pending JPH06230824A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP5015104A JPH06230824A (en) 1993-02-02 1993-02-02 Method and device for allocating work to unmanned carrier

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP5015104A JPH06230824A (en) 1993-02-02 1993-02-02 Method and device for allocating work to unmanned carrier

Publications (1)

Publication Number Publication Date
JPH06230824A true JPH06230824A (en) 1994-08-19

Family

ID=11879537

Family Applications (1)

Application Number Title Priority Date Filing Date
JP5015104A Pending JPH06230824A (en) 1993-02-02 1993-02-02 Method and device for allocating work to unmanned carrier

Country Status (1)

Country Link
JP (1) JPH06230824A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003182567A (en) * 2001-12-14 2003-07-03 Daifuku Co Ltd Article carrying facilities
KR100648307B1 (en) * 1999-11-04 2006-11-23 삼성전자주식회사 Method for controlling a system of automatic guided vehicles

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63143102A (en) * 1986-12-05 1988-06-15 Hitachi Ltd Control system for work allotment to unmanned conveying vehicle
JPH01182161A (en) * 1988-01-12 1989-07-20 Fuji Electric Co Ltd Conveyance truck device
JPH03156383A (en) * 1989-11-14 1991-07-04 Fujitsu Ltd Self-propelling vehicle feed apparatus

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63143102A (en) * 1986-12-05 1988-06-15 Hitachi Ltd Control system for work allotment to unmanned conveying vehicle
JPH01182161A (en) * 1988-01-12 1989-07-20 Fuji Electric Co Ltd Conveyance truck device
JPH03156383A (en) * 1989-11-14 1991-07-04 Fujitsu Ltd Self-propelling vehicle feed apparatus

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100648307B1 (en) * 1999-11-04 2006-11-23 삼성전자주식회사 Method for controlling a system of automatic guided vehicles
JP2003182567A (en) * 2001-12-14 2003-07-03 Daifuku Co Ltd Article carrying facilities

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