JPH10225830A - Automated guided vehicle and part carrying method by automated guided vehicle and manufacture of product - Google Patents

Abstract

PROBLEM TO BE SOLVED: To carry a part according to a changed layout by self-guiding it according to information related to a desired carrying passage of an inputted automated guided vehicle while detecting a recognizing body group arranged by being two-dimensionally divided on a floor from a carrying source of the part by detecting bodies arranged on the automated guided vehicle. SOLUTION: An automated guided vehicle 901 has plural wheels 1501 and 1502 controlled on driving by a control device 801 to travel along a desired carrying passage. The automated guided vehicle 901 travels on a selected desired carrying passage by controlling driving of the wheels 1501 and 1502 by the control device 801 according to selected desires carrying passage data while recognizing recognizing bodies regularly and two-dimensionally juxtaposed on a floor up to a carrying destination of a part from a carrying source of the part by detecting bodies 902, 903, 904 and 905.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic guided vehicle used in a production line such as an assembly line for home electric appliances and the like in which works continuously conveyed on a conveyor are assembled by production facilities such as workers and automatic machines. The present invention relates to a method of transporting parts by the automatic guided vehicle and a method of manufacturing products such as assembling home electric appliances.

[0002]

2. Description of the Related Art In an assembly line for home electric appliances and the like, an assembly line in which production equipment such as an operator and an automatic machine assembles a work continuously conveyed on a conveyor is an unmanned transfer of parts necessary for assembling the product. The layout of the conveyors and automatic machines on the floor in the factory building, which is necessary for creating a route for transporting by car, etc., is grasped from the layout drawing. The transport route is examined based on the positional relationship of the production equipment such as the AGV, and based on the results of the examination, wiring work such as guidance lines and reflective tapes for AGVs and other automated vehicles, and instructions for transport to the automated guided vehicles are performed. Was.

[0003]

However, in an assembly line composed of a conveyor for home electric appliances and the like, an automatic machine and an operator as described above, a layout change of the assembly line occurs due to a change in a work position due to a work improvement. Each time it is necessary to recognize the position of a production facility such as a conveyor or an automatic machine on the floor inside a factory building, which is necessary for changing the route of an automatic guided vehicle or the like. In addition, wiring work such as a guide wire and a reflection tape of the automatic guided vehicle must be performed every time the layout is changed, and furthermore, there is a problem that much man-hours are required such as an instruction to transfer to the automatic guided vehicle. When changing the route of an unmanned guided vehicle or the like, as a method of not performing wiring work such as a guide wire or a reflective tape, for example, a method of operating an unmanned self-propelled vehicle (Japanese Patent Laid-Open No. 61-196307) may be used on a floor. It is known to provide passive marker elements in an array.
However, in this method, the position of the equipment data required for generating the transport route is not considered.

[0004] An object of the present invention is to solve the above problems.
Even if there is a layout change in a manufacturing line such as an assembly line, unmanned transport that enables parts to be transported in accordance with this changed layout without rewiring the wiring of the automatic guided vehicle and reflective tape etc. It is an object of the present invention to provide a method of transporting parts by a car and an automatic guided vehicle. Another object of the present invention is to provide a conveyor or automatic machine on a floor in a factory building necessary for changing a route of an automatic guided vehicle or the like even if a layout is changed in a manufacturing line such as an assembly line. An object of the present invention is to provide an automatic guided vehicle and a method of transporting parts by an automatic guided vehicle, which can transport components in accordance with the changed layout without recognizing a position of a production facility. Another object of the present invention is to provide a method for manufacturing a production line such as an assembly line.
It is an object of the present invention to provide a method of manufacturing a product in which parts can be transported according to the changed layout so that the product can be manufactured efficiently.

[0005]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention comprises a manufacturing line in a method of transferring parts by an unmanned transport vehicle in which components are transported by traveling of an unmanned transport vehicle on which the components are mounted. Information on a desired transfer route of the automatic guided vehicle determined according to the layout of the equipment group is input to the automatic guided vehicle, and a group of recognized objects that are two-dimensionally partitioned and installed on the floor from the component transport source are unmanned. Automatically guiding the automatic guided vehicle to the destination of the component while self-guided according to the input information on the desired transported route of the automatic guided vehicle while detecting the detection object provided on the guided vehicle, This is a method of transporting parts by car. Also, the present invention provides a method of transporting parts by an automatic guided vehicle that transports components by traveling of an unmanned transport vehicle with components mounted thereon,
The layout information of the equipment group constituting the production line is detected by the layout recognition unit, and information on a desired transfer path of the automatic guided vehicle determined according to the detected layout information of the equipment group is input to the automatic guided vehicle, From the part source,
While detecting a group of recognized objects two-dimensionally partitioned on the floor with a detector mounted on the automatic guided vehicle, self-guided according to the input information on a desired transport path of the automatic guided vehicle, and A method of transporting parts by an unmanned transport vehicle, characterized in that the unmanned transport vehicle travels to the destination.

According to the present invention, there is provided a method of transporting parts by an unmanned transport vehicle that transports components by traveling the unmanned transport vehicle on which the components are mounted. Based on the input, from the source of the component to the destination of the component, a group of recognition objects standardized on the floor and arranged two-dimensionally on the floor is detected by the detection object installed on the automatic guided vehicle. A method of transporting parts by an automatic guided vehicle, wherein the automatic guided vehicle travels by selecting a desired transport route from among a large number of transport routes formed by the group of recognition bodies and self-guided. .

Further, according to the present invention, in an automatic guided vehicle for transporting parts, a group of recognized objects two-dimensionally partitioned and installed on a floor from a source of parts to a destination of parts is detected by a detector. An automatic guided vehicle characterized by comprising control means for causing the vehicle to travel in a self-guided manner in accordance with information on a desired transport route determined according to the input layout of the equipment constituting the production line. Further, according to the present invention, in an automatic guided vehicle for transporting parts, the parts from the source of the parts to the destination of the parts are standardized on the floor based on the input information of the source of the parts and the destination of the parts. Control means for selecting a desired transport path from among a number of transport paths formed by the recognizer group and detecting and self-guiding while traveling by the detector while detecting the recognizer group arranged in a three-dimensional manner. An automatic guided vehicle characterized by the above.

The present invention also relates to a method of manufacturing a product using a facility group constituting a production line, wherein information on a desired transport route of an automatic guided vehicle determined according to the layout of the facility group constituting the production line is provided. The automatic guided vehicle is input to the automatic guided vehicle, and the input unmanned transfer is performed while detecting a group of recognized objects, which are two-dimensionally partitioned on the floor, from a source of the parts with a detection object installed on the automatic guided vehicle. A product manufacturing method characterized by self-guided in accordance with information on a desired transport route of a vehicle, traveling an unmanned transport vehicle to a destination of a component, and transporting a component for manufacturing the product. Further, the present invention provides a method of manufacturing a product using a facility group constituting a production line, wherein a layout recognition unit detects layout information of the facility group constituting the production line, and the layout information of the detected facility group. Information about the desired transport route of the automatic guided vehicle determined according to the automatic guided vehicle is input to the automatic guided vehicle, and a group of recognized objects that are two-dimensionally partitioned and installed on the floor are installed on the automatic guided vehicle from the parts transport source. While detecting the detected object, the self-guided vehicle according to the input information on the desired transport path of the automatic guided vehicle is guided to the destination of the component, and the automatic guided vehicle is transported to transport the parts for manufacturing the product. A method for manufacturing a product.

The present invention also relates to a method of manufacturing a product using a group of equipment constituting a manufacturing line, and a method of transferring parts by an unmanned transport vehicle that transports components by running an unmanned transport vehicle on which the components are mounted. Information of the transfer source and the destination of the parts are input to the automatic guided vehicle, and based on the input, the parts from the source of the parts to the destination of the parts are standardized and two-dimensionally arranged on the floor on the floor. While detecting the group of recognized objects, the detection object installed in the automatic guided vehicle detects the desired transport path from among a number of transport paths formed by the group of recognized objects, and self-guides the automatic guided vehicle to guide the automatic guided vehicle. A method for manufacturing a product, comprising: transporting a part for manufacturing the product by running the product. As described above, according to the above-described configuration, even if the layout is changed in a manufacturing line such as an assembly line, a conveyor or an automatic machine on the floor in a factory building necessary for changing a route of an automatic guided vehicle or the like is required. Parts can be transported in accordance with this changed layout without recognizing the position of production equipment such as machines and without rewiring wiring such as guide lines and reflection tapes of automatic guided vehicles. Further, according to the configuration, even if there is a layout change in a manufacturing line such as an assembly line, it is possible to transport components in accordance with the changed layout,
As a result, home electric appliances and the like can be manufactured efficiently.

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described with reference to the drawings. FIG. 16 shows a production line such as a general assembly line for producing a work 1702 including a conveyor 301, a production facility 302, an unmanned transport vehicle 901 which is an AGV (Automated Guided Vehicle), a component supply conveyor 1704, and the like. It is. Reference numeral 1702 denotes an operator. In a production line such as an assembly line, when a layout is changed by changing a work position due to work improvement, an AGV is used according to the position of a conveyor 301, a production facility 302, or the like on a floor in a factory building. It is necessary to change the transfer route of the automatic guided vehicle 901. FIG.
1 is a functional configuration diagram showing an embodiment of a component transfer instruction device in an automatic guided vehicle according to the present invention. As shown in FIG. 1, a component transfer instruction device in an automatic guided vehicle according to the present invention includes a mouse 101 and a keyboard for inputting and editing layout information of a manufacturing line such as an assembly line and a component transfer destination and a transfer source. Input unit 10 constituted by 102 and the like
3 and a display unit 105 such as a display 104 for displaying layout information and editing results of the manufacturing line of the assembly line.
And an operation unit 106 including a CPU or the like for calculating a transport route, a storage unit 107 for storing an editing result and an operation result performed by the operation unit 106, and an operation result and a storage unit for performing the operation performed by the operation unit 106 And an output unit 108 for outputting the contents stored in the storage unit 107.

Next, the structure of the floor on which the assembly line is arranged will be described with reference to FIG. In order to transport parts to a production line such as an assembly line using an AGV, which is an AGV according to the present invention, for example, the AGV is mounted on a floor in a factory building where a production line such as an assembly line is installed. As shown in (a), for example, recognition bodies 202, 203, 204, and 205 such as reflection tapes that can recognize an AGV or other unmanned transport vehicle at four places within a plane 201 having standardized side lengths a and b, for example. Are set as intervals c ₁ and c ₂ . Further, as shown in FIG. 2B, for example, a recognition body 206 such as a cross-shaped reflective tape which can recognize an automatic guided vehicle such as an AGV is installed in a plane 201 having a standardized side length a and b. Is also good. In this case, it is possible to identify a vertical line or a horizontal line by making the width of the recognizer 206 different between the vertical and horizontal lines. Also, as shown in FIG. 2C, for example, a plurality of lines are formed in a cross shape in which an automatic guided vehicle such as an AGV can be recognized in a plane 201 having a standardized side length a and b. A recognition body 207 such as a reflective tape may be provided. In this case, it is possible to identify a vertical line or a horizontal line by changing the number of vertical lines and horizontal lines.

FIG. 3 shows a part of a plurality of floor surfaces 201 provided with standardized recognition bodies 202, 203, 204, and 205 such as reflective tapes shown in FIG. 2A. Conveyor 3 is placed on the floor composed of the plurality of floor surfaces 201.
01 and the production equipment 302 are arranged to form a production line. FIG. 4 is a conceptual diagram of a production line composed of the conveyor 301 and the production equipment 302 arranged as described above. Here, by adding the section number 401 to each floor unit 201, the presence / absence 501 of the facility corresponding to the section number 401 as shown in FIG. 5 is set to "1" when there is a facility and "0" when there is no facility. Equipment data files can be created. Therefore, the equipment data file is input from the input unit 103 such as the keyboard 102 to the parts transfer instruction device of the automatic guided vehicle, and then the parts transfer source and parts corresponding to the manufacturing line as shown in FIG. Is input from the input unit 103 such as the keyboard 102, the arithmetic unit 106 uses the route generation algorithm stored in the main storage unit 107 or the like to input the transfer data 603 regarding the transfer destination of the destination. A transport path 604 from a section 601 to a section 602 is automatically generated. In such a production line, when the layout is changed due to the change of the work position due to the work improvement, the equipment data file and the transfer data relating to the part transfer source and the part transfer destination are unattended so as to correspond to the layout change. Transport route data 604 suitable for layout change by updating the component transport instruction device in the transport vehicle
Can be automatically generated and selected. Since the equipment data file has been input, the operation unit 106
Can automatically generate transfer data relating to a component transfer source and a component transfer destination based on a facility data file. This is because there is a correspondence between the equipment, the source of the parts and the destination of the parts. Therefore, it is not always necessary to input the transfer data relating to the component transfer source and the component transfer destination to the component transfer instruction device in the automatic guided vehicle.

FIG. 7 shows the automatically generated transfer route data 60.
4 is shown. Here, as shown in FIG. 1, a transfer function to a control device 801 for controlling the driving by controlling the driving of the wheels 910 based on the signals detected by the detectors 902 to 905 is output to the output unit 108 of the component transport instruction device. Fig. 7
It is possible to transfer the transfer route data 604 to the control device 801 in the unmanned transport vehicle 901 such as an AGV, and to input the transfer route data 604 to the control device 801 in the unmanned transport vehicle 901 such as an AGV. Become. Note that it is also possible to realize the component transfer instruction function in a management device that manages a production line without installing the component transfer instruction device in an automatic guided vehicle. in this case,
The transport route data 604 and the like obtained by the management device are recorded or stored in a recording or storage medium, and the recording or storage medium is set in the unmanned transport vehicle 901 to transfer the transport route data to the control device 801 of the unmanned transport vehicle 901. 604 can be input. It is also possible to input the transfer route data 604 and the like obtained by the management device to the control device 801 of the automatic guided vehicle 901 by wireless. As described above, the transfer route data 604 is stored in the storage device (memory) in the control device 801 of the automatic guided vehicle 901.

Next, a description will be given of traveling control for an unmanned transport vehicle such as an AGV according to the transport route data 604 by the control device 801. FIG. 8 shows a back surface of an automatic guided vehicle 901 such as an AGV. An automatic guided vehicle 901 such as an AGV
Recognition bodies 202, 203, 204 described in FIG.
A detection body 902 such as a photoelectric sensor for recognizing 205;
903, 904, 905 are provided at intervals c. The automatic guided vehicle 901 has a plurality of wheels 1 driven and controlled by the control device 801 to travel along a desired transport path.
501 and 1502 are provided. The automatic guided vehicle 901 is
Recognition bodies 202 and 20 regularly arranged two-dimensionally on the floor as shown in FIG. 3 from the part source to the part destination.
3, 204 and 205 are detected objects 902, 903, 904,
By controlling the driving of the wheels 1501 and 1502 by the control device 801 in accordance with the selected desired transfer route data 604 shown in FIG. 7 while recognizing at 905, the vehicle can travel on the selected desired transfer route. At this time,
The size d of the automatic guided vehicle 901 such as an AGV may be within the shorter side (a if a <b) out of the lengths a and b of one side of the surface shown in FIG.

An embodiment of a track correction control method by the control device 801 when the automatic guided vehicle 901 moves between sections will be described with reference to FIGS. 8 and 9. FIG. When the automatic guided vehicle 901 runs, as shown in FIG.
Detectors 903, 904, 9 out of 03, 904, 905
05 recognizes the recognition body 202 first,
01 stops the rotation of the wheel 1501 based on the signal indicating that the recognition object obtained from the detection objects 903, 904, and 905 has been detected and the signal indicating that the recognition object obtained from the detection object 902 has not been detected. By rotating only the wheels 1502 until a detection signal for recognizing the recognition body 203 is obtained, the traveling direction can be corrected and controlled. Also,
In the automatic guided vehicle 901, the actual traveling trajectory is shifted from the planned traveling trajectory as shown in FIG.
If the detection object 903 cannot recognize the recognition object among 3, 904, and 905, the control device 801 causes the detection objects 902, 9
04, 905, and a signal indicating that the recognized object is not detected, which is obtained from the detected object 903, based on the signal indicating that the recognized object has not been detected. , 1502, the orbital deviation can be corrected and controlled.

In particular, the transfer route of the automatic guided vehicle 901 is changed in accordance with the change in the layout of the production line.
As a result, for example, as shown in FIG. 6, the transfer route of the automatic guided vehicle 901 is selected and set. That is, the section number (0, 0) is the source of the component, and the section number (1, 3)
Is the destination of the parts. The transport route of the automatic guided vehicle 901 is changed from the section number (0, 0) to the section number (0, 0).
1), the section number (0, 2), the section number (0, 3), and then up to the section number (1, 3). In this transport route, since the section number (0, 0) to the section number (0, 3) only go straight, the recognition body 20 installed in each section
After the detectors 902 to 905 have detected the wheels 2 and 203, the control device 801 issues a straight ahead command to output the wheels 1501 and 1502.
Can be driven straight at a constant speed. The displacement in the traveling direction and the displacement in the trajectory are eliminated by performing correction control while the detectors 902 to 905 detect the recognizers 202 and 203 installed in each section as shown in FIGS. Can be. In the transport route, in the section number (0, 3), the traveling direction of the automatic guided vehicle 901 needs to be changed by 90 °. Therefore, the control device 801 detects the detection objects 902 to 90
5 is the recognition object 202, 2 which is installed in the section number (0, 3).
03 is detected, the wheels 1501 and 1502 are rotated in reverse at equal speed to each other to detect the objects 902-9.
If 05 detects the recognition bodies 204 and 205, the wheel 1
Unmanned guided vehicle 9 by stopping 501 and 1502
01 can be changed by 90 °. Next, the control device 801 issues a straight traveling command to output the wheels 1501, 1502.
When the detectors 902 to 905 detect the recognizers 204 and 205 installed in the section numbers (1, 3), the wheels 1501 and
By stopping 1502, it is possible to control the traveling of the automatic guided vehicle 901 to the destination of the parts. It should be noted that the control device 801 adds a function of controlling the drive so that the rotation speed of the outer wheel is increased at a fixed rate with respect to the rotation speed of the inner wheel, so that the circular orbit can be run. . Thus, the control device 80
1, by adding a control function for enabling arcuate track traveling, for example, the section number (0, 2) and the section number (1, 3) can be connected by an arc track, and the automatic guided vehicle 901 The traveling direction can be changed by 90 ° by smooth traveling.

When the recognition bodies are configured as shown in FIGS. 2B and 2C, the detection bodies 911 to 914 installed on the automatic guided vehicle 901 are installed at four places as shown in FIG. The control device 801 can control the traveling of the automatic guided vehicle 901 along the selected and set transfer route in the same manner as the recognition object shown in FIG.
For example, when the transfer route of the automatic guided vehicle 901 is selected and set as shown in FIG. 6, the section number (0, 0) is the part transfer source, the section number (1, 3) is the part transfer destination,
The transport route of the automatic guided vehicle 901 is from the section number (0, 0) to the section number (0, 1), the section number (0, 2), the section number (0, 3), and then to the section number (1, 3). ).
In this transport route, the section number (0, 0) to the section number (0, 3) only travels straight, and FIG.
Since the recognition bodies 206 and 207 shown in (c) are formed so as to be connected between the sections, when the automatic guided vehicle 901 is moved straight, the control device 801 controls the vertical direction of the recognition bodies 206 and 207 detected by the detection bodies 911 and 912. If the wheels 1501 and 1502 are drive-controlled to follow the line, the automatic guided vehicle 901 can travel straight. In the transport route, in the section number (0, 3), the traveling direction of the automatic guided vehicle 901 needs to be changed by 90 °. Therefore, the control device 801 sets the recognition object 20 in which the detection objects 1003 and 1004 are installed at the section number (0, 3).
If a horizontal line of 6, 207 is detected,
When the detectors 911 and 912 detect the horizontal lines of the recognizers 206 and 207 by rotating them at the same speed in reverse with respect to each of the robots 1 and 1502, the wheels 1501 and 1502 are stopped to stop the automatic guided vehicle 901. 9 direction
0 ° can be changed. Next, the control device 801 controls the recognition object 206 detected by the detection objects 911 and 912,
Wheels 1501 and 1502 so as to follow the horizontal line of 207
Is controlled to drive the automatic guided vehicle 901 straight ahead,
When the detection bodies 913 and 914 detect the vertical lines of the recognition bodies 206 and 207 installed at the section number (1, 3), the wheels 1501 and 1502 are stopped,
It is possible to control the traveling of the automatic guided vehicle 901 to the destination of the parts. It should be noted that the control device 801 adds a function of controlling the drive so that the rotation speed of the outer wheel is increased at a fixed rate with respect to the rotation speed of the inner wheel, so that the circular orbit can be run. . As described above, in the control device 801, by adding a control function for enabling the circular orbital traveling, the recognition bodies 206 and 207 can be detected within the section number (0, 3), for example.
By taking an arc trajectory so as to exist between 3 and 914, the traveling direction can be changed by 90 ° with respect to the automatic guided vehicle 901 by smooth traveling.

Next, the processing procedure up to component transport when the layout of the assembly line is changed will be described with reference to FIG. First, the equipment data file shown in FIG. 5 is input through the input unit 103 shown in FIG. 1 (step 1801). Next, the transport data 603 shown in FIG.
(Step 1802). Next, the operation unit 106 shown in FIG. 1 automatically generates the transport route data shown in FIG. 7 (step 1803). Next, in step 1801, the transfer data 603 input by the input unit 103, the transfer route data automatically generated in the processing step 1803, and the equipment data input in the processing step 1801 are transferred to the control device 801 (step 1804).
FIG. 18 shows the data format transferred to the control device 801 in step 1804. This data format ends with the transfer destination, the transfer source, the transfer step, and the equipment data from the start. Next, the automatic guided vehicle 901 travels based on the data transferred in the processing step 1804 (step 1805). Next, another embodiment in which the above-described equipment data file shown in FIG. 5 is input to the component transfer instruction device will be described. First, Figure 1
2, the object recognition unit 1002 is connected to the calculation unit 106 via the interface unit 1001. When the component transfer instruction device is mounted on the automatic guided vehicle 901, the object recognition unit 1002 and the interface unit 1001 may be connected by wireless or the like. FIG. 13 shows a specific hardware configuration including the object recognition unit 1002. The object recognizing unit 1002 for detecting the presence or absence of an object includes a plurality of, for example, proximity switches 1101. Proximity switch 110
Reference numeral 1 denotes a switch for detecting that an object has approached or a switch or sensor for sensing pressure, such as a photoelectric switch, an ultrasonic switch, a limit switch, a pressure switch, etc. A sensor may be used.

A concrete floor 20 in a factory building for obtaining an equipment data file by the object recognition unit 1002
1 will be described with reference to FIG. 14. Each floor unit 201 shown in FIG. 14 is provided with at least one or more object recognition elements, for example, proximity switches 1101, and each proximity switch 1101 has its origin 1201 at (0, 0), for example. (1, 0), (2,
0)... (N, 0), proximity switch 1101 in the vertical direction
A partition number 401 is individually assigned as (0, 1), (0, 2)... (0, m), and a diagram corresponding to each proximity switch 1101 corresponding to the partition number 401 as shown in FIG. When the I / O address 1301 of the interface as shown in FIG. 15 is input to the input unit 103 using the keyboard 102 or the like, the arithmetic unit 106 outputs “1” when the conveyor 301 and the production facility 302 are in the floor unit 201. When there is no facility, a process of creating a map 1202 with “0” can be performed. That is, the facility data file input 1801 described with reference to FIG. 17 can be automated. Next, based on the map 1202, for example, the equipment layout screen display 1203 can be displayed on the screen of the display unit 105, so that the actual layout can be grasped on the screen without actually measuring the layout. Every time a layout change occurs, it leads to a reduction in the number of steps for recognizing the position of the conveyor 301 and the production equipment 302 on the floor inside the factory building, which is necessary for changing the route of the automatic guided vehicle and the like, and inputs layout information of the manufacturing line. Need not be performed. In addition, the position configuration of the production line is determined, and it is possible to perform the transfer instruction and the parts transfer of the automatic guided vehicle such as the AGV only by specifying the transfer source and the transfer destination of the parts. here,
By installing a plurality of proximity switches 1101, which are object recognition elements, for example, on each floor unit 201, the distance from the origin 1201 of the conveyor 301 or the production equipment 302 can also be calculated.

As described above, the object recognition unit 10
With 02, it is possible to easily recognize the position of the equipment on the floor in the factory building in the production line including the conveyor and the automatic machine for home electric appliances and the like.

If the object recognizing unit 1002 is installed at an arbitrary position in the factory building to detect the position of the traveling automatic guided vehicle, for example, the direction of the traveling direction is changed as shown in FIG. It is possible to reliably detect that the automatic guided vehicle 901 has reached the position indicated by the section number (0, 3), and to make the automatic guided vehicle 901 surely travel along the selected and set transport path. it can. The object recognition unit for recognizing the position of the equipment on the floor in the factory building and the position recognition of the automatic guided vehicle described above may be installed not only on the floor but also on the ceiling in the factory building. . In addition, even if the object recognition unit 1002 is not installed at an arbitrary position in the factory building, the detection object 90
The number of recognizers installed for each section in 2 to 905 or 1003 and 1004 is multiplied by the controller 801 so that the position of the automatic guided vehicle 901 in the unit of the section (for example, as shown in FIG. The automatic guided vehicle 901 at the position indicated by the section number (0, 3) that changes the direction of
Has been reached) can be detected. Next, FIG.
Next, another embodiment will be described. FIG. 17 shows a seat 1 installed in a venue such as a movie theater or a concert hall.
By providing the proximity sensor 1101 in the 401, the vacant seat status corresponding to the seat 1401 of the venue can be displayed on the screen by the display function 105 like the screen 1402, so that applications such as easy recognition of the vacant seat position are possible. .

[0022]

According to the present invention, even if there is a change in layout or a change in the position for distributing parts in a manufacturing line such as an assembly line, it is necessary to change the route of an automatic guided vehicle or the like on a floor in a factory building. Thus, it is possible to convey parts in accordance with the changed layout without recognizing the position of a production facility such as a conveyor or an automatic machine. Further, according to the present invention, even if there is a layout change or a change in a part serving position in a manufacturing line such as an assembly line, the change is performed without rewiring the wiring of the automatic guided vehicle or the reflection tape. There is an effect that components can be transported according to the layout. According to the present invention,
Even if there is a layout change in a manufacturing line such as an assembly line, parts can be transported according to the changed layout, and as a result, there is an effect that home electric appliances and the like can be manufactured efficiently.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram showing an embodiment of a component transfer instruction device according to the present invention.

FIG. 2 is a diagram showing a recognition unit of a partition unit two-dimensionally arranged on a floor on which an assembly line according to the present invention is installed.

FIG. 3 is a diagram for explaining a configuration of an assembly line according to the present invention.

FIG. 4 is a conceptual diagram showing an assembly line according to the present invention.

FIG. 5 is a diagram for explaining an equipment data file according to the present invention.

FIG. 6 is a diagram illustrating a method for generating transfer route data of an automatic guided vehicle according to the present invention.

FIG. 7 is a diagram showing a format of transfer route data of the automatic guided vehicle according to the present invention.

FIG. 8 is a diagram showing one embodiment of the back surface of the automatic guided vehicle according to the present invention.

FIG. 9 is a diagram for explaining a method of correcting and controlling a deviation in the traveling direction of the automatic guided vehicle by the control device in the automatic guided vehicle according to the present invention.

FIG. 10 is a diagram for explaining a method of correcting and controlling the track deviation of the automatic guided vehicle by the control device in the automatic guided vehicle according to the present invention.

FIG. 11 is a diagram showing another embodiment of the back surface of the automatic guided vehicle according to the present invention.

FIG. 12 is a schematic configuration diagram showing another embodiment of the component transfer instruction device according to the present invention.

13 is a diagram showing a specific hardware configuration including the object recognition unit shown in FIG.

FIG. 14 is a diagram for explaining a method of recognizing the position of the facility by the object recognition unit shown in FIGS. 12 and 13.

FIG. 15 is a diagram showing a relationship between a section number and an I / O address for creating a facility data file according to the present invention.

FIG. 16 shows a conveyor, a production facility, and an AGV according to the present invention.
FIG. 1 is a diagram illustrating a manufacturing line such as a general assembly line for producing a work including an unmanned transport vehicle (Automated Guided Vehicle) and a component supply conveyor or the like.

FIG. 17 is a diagram illustrating a processing procedure up to component transport when a layout of an assembly line is changed according to the present invention.

FIG. 18 is a diagram showing a data format to be transferred to the control device of the automatic guided vehicle according to the present invention.

FIG. 19 is a diagram illustrating another embodiment of the present invention.

[Explanation of symbols]

101: mouse, 102: keyboard, 103: input unit, 104: display, 105: display unit,
106: arithmetic unit, 107: storage unit, 108: output unit, 201: in-plane (unit of partition), 202, 203,
206, 207: recognition body, 301: conveyor, 30
2 Production equipment, 401 Partition number, 501 Presence / absence of equipment, 601, 602 Partition, 604 Transport route (transport route data), 801 Control device, 901
Automatic guided vehicles such as AGV, 902 to 905, 911 to 9
14 ... Detector, 1001 ... Interface part, 1
002: object recognition unit 1101: proximity switch, 1
201 ... origin, 1301 ... I / O address, 120
2. Map, 1203 ... Equipment layout screen display

Claims (8)

[Claims] 1. A method of transporting parts by an automatic guided vehicle that transports parts by traveling of the automatic guided vehicle on which the parts are mounted, wherein a desired transport path of the automatic guided vehicle determined according to a layout of a facility group constituting a production line. Is input to the automatic guided vehicle, and from the source of the parts, the input object is detected while detecting a group of recognized objects that are two-dimensionally partitioned on the floor and installed on the floor with a detection object installed on the automatic guided vehicle. A self-guided self-guided vehicle according to information on a desired conveyance path of the automatic guided vehicle, and the automatic guided vehicle travels to the destination of the component. 2. A method for transporting parts by an automatic guided vehicle that transports parts by traveling of the automatic guided vehicle on which the parts are mounted, wherein a layout recognition unit detects layout information of a group of equipment constituting a production line. Information relating to a desired transfer route of the automatic guided vehicle determined according to the layout information of the installed equipment group is input to the automatic guided vehicle, and a recognition object group which is two-dimensionally partitioned and installed on the floor from a part source. While detecting with a detection object installed in the automatic guided vehicle, self-guided according to the input information on the desired transport path of the automatic guided vehicle, and travels the automatic guided vehicle to the destination of the parts. A method of transporting parts by automated guided vehicles. 3. A method of transporting parts by an automatic guided vehicle that transports parts by traveling of the automatic guided vehicle on which the parts are mounted, wherein information of a source of the parts and a destination of the parts is input to the automatic guided vehicle. Based on the input, from the source of the component to the destination of the component, a group of recognized objects standardized on the floor and arranged two-dimensionally are detected by the detection object installed on the automatic guided vehicle, and A method of transporting parts by an automatic guided vehicle, wherein the automatic guided vehicle travels by selecting a desired transport path from among a large number of transport paths formed by a group of recognition bodies and self-guided. 4. An automatic guided vehicle for transporting parts, from a source of parts to a destination of parts, which is input while detecting a group of recognized objects two-dimensionally partitioned on the floor on a floor. An automatic guided vehicle characterized by comprising control means for self-guiding and traveling in accordance with information on a desired transport path determined according to a layout of a group of equipment constituting a production line. 5. An automatic guided vehicle for transporting parts, wherein the parts from the parts transportation source to the parts transportation destination are standardized on the floor based on the input information of the parts transportation source and the parts transportation destination. Control means for selecting a desired transport path from among a number of transport paths formed by the recognizer group and detecting and self-guiding while traveling by the detector while detecting the recognizer group arranged in a three-dimensional manner. An automatic guided vehicle characterized by the following. 6. A method of manufacturing a product using a group of equipment constituting a production line, wherein information on a desired transport path of an automatic guided vehicle determined according to a layout of the group of equipment constituting the production line is provided by the unmanned transport. While inputting to a car and detecting a group of recognized objects two-dimensionally partitioned on the floor from a source of parts by a detection object installed in the automatic guided vehicle, A self-guided vehicle that travels to the destination of the component according to the information on the transport route of the product and transports the component for manufacturing the product. 7. A method for manufacturing a product using a facility group forming a production line, wherein layout information of the facility group configuring the manufacturing line is detected by a layout recognition unit, and the layout information of the detected facility group is detected. Information about the desired transport route of the automatic guided vehicle determined according to the automatic guided vehicle is input to the automatic guided vehicle, and a group of recognized objects that are two-dimensionally partitioned and installed on the floor are installed on the automatic guided vehicle from the parts transport source. While detecting the detected object, the self-guided vehicle according to the input information on the desired transport path of the automatic guided vehicle is guided to the destination of the component, and the automatic guided vehicle is transported to transport the parts for manufacturing the product. A method for manufacturing a product, comprising: 8. A method of manufacturing a product using a group of equipment constituting a manufacturing line, wherein a method of transferring parts by an unmanned transport vehicle that transports components by running an unmanned transport vehicle on which the components are mounted is provided. And information on the destination of the parts are input to the automatic guided vehicle. Based on the input, the recognition objects standardized on the floor and arranged two-dimensionally from the source of the parts to the destination of the parts based on the input. While the group detected by the detection object installed in the automatic guided vehicle is selected, a desired transport path is selected from among a large number of transport paths formed by the recognition object group, and the self-guided traveling of the automatic guided vehicle is performed. A method for manufacturing a product, comprising transporting parts for manufacturing the product.