JPS6285305A - Operation controlling system for unmanned carrying truck - Google Patents
Operation controlling system for unmanned carrying truckInfo
- Publication number
- JPS6285305A JPS6285305A JP60224722A JP22472285A JPS6285305A JP S6285305 A JPS6285305 A JP S6285305A JP 60224722 A JP60224722 A JP 60224722A JP 22472285 A JP22472285 A JP 22472285A JP S6285305 A JPS6285305 A JP S6285305A
- Authority
- JP
- Japan
- Prior art keywords
- carrying
- transport
- work station
- time
- float
- 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
Links
- 238000004519 manufacturing process Methods 0.000 claims description 13
- 238000000034 method Methods 0.000 abstract description 18
- 239000000284 extract Substances 0.000 abstract 1
- 238000011143 downstream manufacturing Methods 0.000 description 18
- 238000011144 upstream manufacturing Methods 0.000 description 12
- 238000004364 calculation method Methods 0.000 description 6
- 238000000605 extraction Methods 0.000 description 5
- 241000282412 Homo Species 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
Landscapes
- General Factory Administration (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
Description
【発明の詳細な説明】
〔発明の利用分野〕
本発明はＦ Ａ （Ｆａｃｔｏｒｙ Ａｕｔｏｍａｔｉ
ｏｎ）システム。[Detailed Description of the Invention] [Field of Application of the Invention] The present invention is directed to FA (Factory Automation)
on) system.
特に人間が介在する作業ステーション、あるいは自動化
されているか外乱（設備異常等）の多い作業ステーショ
ンを含むことにより、冬物に対する処理時間を前もって
決めておけないシステムにおいて１作業ステーション群
全体としての稼動率を向上させるための無人搬送車の運
行制御方式に関する。In particular, in systems where the processing time for winter items cannot be determined in advance due to work stations that require human intervention, or work stations that are automated or that are subject to many disturbances (equipment abnormalities, etc.), the operating rate of one work station group as a whole can be improved. This invention relates to an operation control method for automatic guided vehicles to improve the performance of automated guided vehicles.
本発明の理解を容易にするため、まず、第１図に示す１
代表的な工程レイアウトをもとに、物の流れを説明する
。In order to facilitate understanding of the present invention, first, 1 shown in FIG.
Explain the flow of goods based on a typical process layout.
製品は、複数の工程を経て完成される。工程間の搬送は
、レイアウト等の変更に柔軟に対応できるように、無人
搬送車１０１で実施される場合が多い。上流工程の作業
ステーション１０２で処理された物（パレット１０３に
搭載）は、上流工程ライン１０４へ払い出される。その
パレット１０３は、次の処理を下流工程の作業ステーシ
ョン１０５で受けるため、搬送−１０１により、下流工
程のライン１０６に搬送される。どの下流工程ライン１
０６へ搬送されるかは、上流工程ライン翫により決まる
対象と、パレット上の物の種類により決まる対象がある
が、両者の違いは本発明に無関係なことと、説明の簡単
化のために、本発明の説明では、前者の対象を前提とす
る。A product is completed through multiple steps. Transportation between processes is often carried out by the automatic guided vehicle 101 so as to be able to flexibly respond to changes in layout and the like. Items processed at the upstream process work station 102 (mounted on pallets 103) are delivered to the upstream process line 104. The pallet 103 is transported to a downstream process line 106 by a transport 101 in order to receive the next processing at a downstream process work station 105. Which downstream process line 1
06 is determined by the upstream process line and the type of object on the pallet, but the difference between the two is irrelevant to the present invention, and for the sake of simplifying the explanation, The description of the present invention assumes the former target.
さて、搬送の目的は１作業ステーション群全体としての
稼動率を向上させるように、物をタイムリーに搬送する
ことである。この実現のためには、物切れで作業ステー
ションが無作業になる危険度を評価する方法がポイント
である。その危険度が求まれば、危険度の高い作業ステ
ーションに優先的に物を搬送するように、搬送車に作業
を割付ければよい。Now, the purpose of transport is to transport objects in a timely manner so as to improve the operating efficiency of one work station group as a whole. In order to achieve this, a key point is to evaluate the degree of risk that work stations will become idle due to running out of supplies. Once the degree of risk is determined, tasks can be assigned to transport vehicles so that objects are transported preferentially to work stations with a high degree of risk.
前述の危険度を評価する方法とし、特願昭５８−１１２
７２３号では、下流工程ライン１０６上のパレットに関
し、その作業ステーションでの処理時間を総和し１作業
ステーションが無作業になる時刻を計算している。なお
、各パレットに対する。各作業ステーションでの処理時
間データは、前もって定数として与えておく。As a method for evaluating the above-mentioned degree of risk, a patent application was filed in 1986-112.
In No. 723, regarding pallets on the downstream process line 106, the time at which one work station becomes idle is calculated by summing up the processing times at the work stations. In addition, for each pallet. Processing time data at each work station is given in advance as a constant.
この方法は、処理時間がばら、つかず、常に一定となる
対象には、有効である。しかし、電子部品組立て等に見
られるように、人間が介在せざるを得ない作業ステーシ
ョンや、自動化されているが。This method is effective for objects for which the processing time does not vary and is always constant. However, as seen in electronic component assembly, there are some work stations that require human intervention, and some that are automated.
外乱（設備異常等）の多い作業ステーションを含むシス
テムでは、同種の物を処理するにしても、その処理時間
はばらつき、前述の方法は有効ではない。In a system including work stations with many disturbances (facility abnormalities, etc.), the processing time varies even when processing the same type of material, and the above-described method is not effective.
なお、前述の問題を解決する方法として、工程間に多量
の中間庄原を持つことが考えられるが。It should be noted that one possible way to solve the above-mentioned problem is to have a large number of intermediate layers between processes.
中間在庫の大巾削減が叫ばれている現状では、その方法
は、適切でない。This method is not appropriate in the current situation where there is a strong demand for a drastic reduction in intermediate inventory.
本発明の目的は、作業ステーション群全体としての稼動
率を向上するように、各作業ステーションへタイムリー
に物を搬送できる。搬送車の運行制御方式を提供するこ
とにある。An object of the present invention is to transport objects to each work station in a timely manner so as to improve the operating rate of the work station group as a whole. The purpose of the present invention is to provide a transportation control system for transport vehicles.
上記目的を達成するため、本発明では、作業ステーショ
ンでの生産ピッチ（各パレットの処理時間に相当）の実
績値を測定する手段を設け、その実績値をもとに、次に
予想される生産ピッチを推定し、それをもとに、各作業
ステーションが無作業になる危険度を評価する。なお、
次に予想される生産ピッチの推定には、過去の生産ピッ
チ実績値のうちいくつかの新しいデータを利用するが、
その具体的な利用方法として、それらのデータの平均値
を利用するか、新しいデータはど、利用の度合を高くす
るか、データ間に特別な重みをつけるかは、制御対象の
特徴により決定する。In order to achieve the above object, the present invention provides means for measuring the actual value of the production pitch (corresponding to the processing time of each pallet) at the work station, and based on the actual value, the next expected production The pitch is estimated, and based on that, the risk of each work station being idle is evaluated. In addition,
Next, to estimate the expected production pitch, we will use some new data from past actual production pitch values.
As for the specific usage method, whether to use the average value of those data, whether to use new data, increase the degree of use, or give special weight between data is determined depending on the characteristics of the controlled object. .
以下、本発明の一実施例を、第２図〜第８図により説明
する。An embodiment of the present invention will be described below with reference to FIGS. 2 to 8.
第２図は１本発明による搬送制御システムのブロック構
成を示す。本システムは大きく分けて３ブロツクからな
る。第１のブロックは、ライン制御装置２０１であり、
上流工程ライン１０４、下流工程ライン１０６の制御を
行う、第２のブロックは、搬送車走行制御袋Ｍ２Ｏ２で
あり、搬送元、搬送先、その搬送に使用する搬送車魚が
与えられると、その搬送を実施するための操舵制御、走
行制御を行う。第３のブロックは、本発明にががねる搬
送車運行制御装置２０３であり、ライン状態、搬送車状
態に基づき、作業ステーション全体の稼動率の向上をは
かる搬送指令（搬送元、搬送先。FIG. 2 shows a block configuration of a conveyance control system according to the present invention. This system is roughly divided into three blocks. The first block is a line control device 201,
The second block that controls the upstream process line 104 and the downstream process line 106 is a transport vehicle travel control bag M2O2. Performs steering control and travel control to carry out. The third block is a conveyance vehicle operation control device 203, which is based on the present invention, and is a conveyance command (transfer source, conveyance destination) that improves the operating rate of the entire work station based on the line state and the conveyance vehicle state.
使用搬送車Ｎｕ）を決定し、それを搬送車走行制御装置
１２０２へ送信する。The transport vehicle Nu) to be used is determined and transmitted to the transport vehicle travel control device 1202.
次に、搬送車運行制御装置２０３の内容を説明する。ラ
イン状態管理部２０４は、ライン制御袋５！２０１から
の信号をもとに、大きく、３つのライン状態を把握する
。１つは、上流工程ライン状態テーブル２０５の内容で
あり、詳細を第３図に示す、これは、どの上流工程ライ
ンに搬出可能なパレットがあるかを調べるためのもので
あり、ありとは、正常、積荷パレット数≠０、搬送割付
未済の場合である。第２は、下流工程ライン状態テーブ
ル２０６の内容であり、詳細を第４図に示す。Next, the contents of the guided vehicle operation control device 203 will be explained. The line status management unit 204 roughly grasps three line statuses based on signals from the line control bag 5!201. One is the contents of the upstream process line status table 205, the details of which are shown in FIG. 3. This is for checking which upstream process line has a pallet that can be carried out. This is a case where the status is normal, the number of loaded pallets≠0, and the transportation allocation has not been completed. The second is the contents of the downstream process line status table 206, details of which are shown in FIG.
これは、パレット搬入可能な下流工程ラインを調べるた
めのものであり、搬入可能とし、正常、搬入エリア有、
搬入割付未済である。第３は、生産ピッチ関連情報テー
ブル２０７の内容であり、詳細を第５図に示す、これに
は、下流工程ライン毎に、ラインからのパレット最新払
い出し時刻、生産ピッチの実績値（ｎ個分の最新データ
）とが格納され、これらをもとに、次の生産ピッチＴ′
が推定される。This is to check the downstream process line where pallets can be carried in, and whether it is possible to carry in, normal, has a carry-in area, or
Delivery allocation has not yet been completed. The third is the content of the production pitch related information table 207, details of which are shown in FIG. the latest data) are stored, and based on these, the next production pitch T'
is estimated.
搬送候補抽出・搬入余裕時間算出部２０８は。The transportation candidate extraction/delivery allowance time calculation unit 208 is.
本発明の核であり、前述のライン状態テーブル２０５．
２０６及び２０７と、上流工程ライン上のパレットに対
する搬送先（下流工程ラインＨａ）とその搬送時間を格
納した工程経路・搬送時間テーブル２０９（第６図参照
）をもとに、搬送が可能な搬送候補を抽出し、それに対
し、Ｗ＆送先へのパレット搬入余裕時間ＴＶを算出する
。この処理フローについては、後で説明する。なお、算
出結果は、搬送候補・搬入余裕時間格納テーブル２１０
（第７図参照）に書き込まれる。The above-mentioned line status table 205. which is the core of the present invention.
206 and 207, and the process route/transport time table 209 (see Figure 6) that stores the transport destination (downstream process line Ha) for pallets on the upstream process line and the transport time (see Fig. 6). Candidates are extracted, and the allowance time TV for carrying the pallet to the W& destination is calculated. This processing flow will be explained later. Note that the calculation results are stored in the transportation candidate/delivery allowance time storage table 210.
(See Figure 7).
搬送候補とその搬送先へのパレット搬入余裕時間が求ま
ってしまえが、その余裕時間の少ない搬送候補はど優先
度が高いものととらえ、その優先度の順に、最も早くア
クセス可能な空き搬送車を割付け、その結果を搬送車走
行制御装［２０２へ送信すればよい。この部分について
は、処理が簡単で、公知例もあり、本発明の主張点では
ないため、以下に簡単に説明する。Once the transport candidates and the spare time for pallet delivery to their transport destination have been determined, the transport candidates with the shortest spare time are considered to have the highest priority, and the empty transport vehicles that can be accessed the earliest are selected in order of priority. It is only necessary to make the assignment and send the result to the transport vehicle traveling control device [202]. Since this part is easy to process and there are known examples, it is not the point of the present invention, so it will be briefly explained below.
搬送車状態管理部２１１は、搬送車走行制御装置２０２
からの信号をもとに、各搬送車が作業待ちか作業中か、
また、どの位置にいるかを把握する。その状態は、搬送
車状態テーブル２１２に格納される。この内容と、前述
した搬送候補・搬入余裕時間格納テーブル２１０の内容
をもとに、搬送車への作業割付・制御指令部２１３が、
前述したように、搬送車へ作業割付を行い、その結果を
搬送車走行制御装［２０２へ送信する。The guided vehicle state management unit 211 is connected to the guided vehicle running control device 202.
Based on the signals from the
Also, know where you are. The state is stored in the transport vehicle state table 212. Based on this content and the content of the transport candidate/delivery allowance time storage table 210 described above, the work assignment/control command unit 213 to the transport vehicle
As described above, work is assigned to the guided vehicles, and the results are transmitted to the guided vehicle travel control device [202].
次に、搬送候補抽出・搬入余裕時間算定部２０８におけ
る処理を第８図により説明する。Next, the processing in the transportation candidate extraction/carrying allowance time calculation section 208 will be explained with reference to FIG.
まず、搬送候補・搬入余裕時間格納テーブル２１０の初
期化（ゼロクリア）を行う（ボックス８０１）。次に、
以下に示すように、搬送候補の抽出を行う（ボックス８
０２）。上流工程ライン状態テーブル２０５（詳細は第
３図）をもとに、搬出可能な上流工程ラインを求める。First, the transport candidate/delivery allowance time storage table 210 is initialized (zero cleared) (box 801). next,
Transport candidates are extracted as shown below (box 8
02). Based on the upstream process line status table 205 (details are shown in FIG. 3), an upstream process line that can be carried out is determined.
このライン翫をＸとする。このラインＸ上のパレットの
搬送先を、工程経路・搬送時間テーブル２０９（詳細は
第６図）から調べ、その下流工程ラインＮαをｙとする
。次に、下流工程ライン状態テーブル２０７（詳細は第
４図）をもとに、該当の下流工程ラインｙが搬入可能か
を調べる。搬入可能ならば、搬送元である上流工程ライ
ンＷａｘから、搬送先である下流工程ラインＮａｙへの
搬送は、搬送候補である。Let this line be X. The destination of the pallet on this line X is checked from the process route/transport time table 209 (details are shown in FIG. 6), and the downstream process line Nα is set as y. Next, based on the downstream process line status table 207 (details are shown in FIG. 4), it is checked whether the corresponding downstream process line y can be loaded. If it is possible to carry it in, the transport from the upstream process line Wax, which is the transport source, to the downstream process line Nay, which is the transport destination, is a transport candidate.
次に、搬送候補があれば（ボックス８０３）、搬入゛余
裕計算をしていない搬送候補を１つ取出す。Next, if there is a transportation candidate (box 803), one transportation candidate for which the carry-in allowance has not been calculated is taken out.
その搬送候補を（搬送元Ｘ“、搬送先ｙ”）とする（ボ
ックス８０４）。The transport candidate is defined as (transport source X", transport destination y") (box 804).
次に、以下の計算式にて、下流工程ラインＮＱｙ”に対
する、次の生産ピッチＴ′を推定する（ボックス８０５
）。Next, the next production pitch T' for the downstream process line NQy'' is estimated using the following formula (box 805
).
Ｔ’ ＝Σ ｗｉＸＴｔ
但し、
上記のＴＩは、生産ピッチ関連情報テーブル（第５図）
に格納されている０通常１作業効率は急激には変化しな
いため、Ｔ′の推定に、新しい生産ピッチ実績値はど、
利用する価値がある（ ｖ ｔ＞ＷＪ ｆｏｒ ｉ ＜
ｊ ） ｅ
次に、以下の計算式により、下流工程ライン島ｙ４′−
へのパレット搬入余裕時間Ｔｙを計算する（ボックス８
０６）。T' = Σ wiXTt However, the above TI is based on the production pitch related information table (Figure 5)
Since the work efficiency stored in 0 normally 1 does not change rapidly, the new production pitch actual value is used for estimating T'.
It's worth using ( v t > WJ for i <
j) e Next, the downstream process line island y4'-
Calculate the pallet loading time Ty (box 8).
06).
Ｔｙ＝（ｔ＋Ｔ’ ）−（ｔｏ＋Ｔｕ）但し。Ty=(t+T')-(to+Tu) However.
間（工程経路・搬送時間テーブル・・・第６図）
上式の第１カツコ内は、下流工程ライン勲ｙ４１に接続
する作業ステーションが無作業になると推定される時刻
を示す。第２カツコ内は、上流工程ラインＮＱｘ”上の
パレットを、下流工程ラインＮａｙ”へ最早で搬入でき
る時刻を示す、したがって、両者の差は、下流工程ライ
ン島へのパレット搬入余裕時間を意味する。(Process route/transport time table...FIG. 6) The first bracket in the above formula indicates the time when the work station connected to the downstream process line y41 is estimated to be idle. The inside of the second bracket indicates the time at which the pallet on the upstream process line NQx" can be delivered to the downstream process line Nay" at the earliest. Therefore, the difference between the two means the extra time for delivering the pallet to the downstream process line island. .
以下の処理が全ての搬送候補に対して完了していなけれ
ば（ボックス８０７）、ボックス８０４へ戻る。完了し
ていれば、終了する。If the following processing has not been completed for all transport candidates (box 807), the process returns to box 804. If completed, exit.
以上述べたように、本実施例を用いれば、同一作業に対
し、その処理時間がばらつく作業ステーションであって
も、第２図に示した搬送候補抽出・搬入余裕時間算定部
２０８が第８図に示した処理フローに基づき、各作業ス
テーションに対し。As described above, if this embodiment is used, even if the processing time for the same work varies at work stations, the transportation candidate extraction/delivery allowance time calculation unit 208 shown in FIG. for each work station based on the processing flow shown in .
無作業発生までの余裕時間を推定するため（新たにパレ
ットを搬入しないとしたら）、その余裕時間の少ないス
テーションへの搬送を優先することにより、作業ステー
ション群全体としての稼動率の向上が実現する。また、
本発明では、搬送候補抽出・搬入余裕時間算定部２０８
により、各パレットに対する処理時間を生産ピッチとし
て自動把握するため、従来のように、その時間を人間が
前もって設定する必要がないという効果も持つ。In order to estimate the slack time until no work occurs (assuming no new pallets are brought in), priority is given to transport to stations with less slack time, thereby improving the operating rate of the entire work station group. . Also,
In the present invention, the transportation candidate extraction/carrying allowance time calculation unit 208
Since the processing time for each pallet is automatically determined as the production pitch, there is no need for humans to set the time in advance as in the past.
本発明によれば、作業効率がばらつく作業ステーション
であっても、そこでの無作業発生の危険度を適確に把握
できるため、その危険度の高い作業ステーションへの優
先搬送により、ステーション群全体としての稼動率の向
上が実現する。また。According to the present invention, even if there are work stations where work efficiency varies, the risk of non-work occurring at that station can be accurately grasped, so priority transfer to the work station with a high risk can improve the overall efficiency of the station group. This will result in an improvement in the operating rate. Also.
本発明では、各パレットに対する処理時間を自動把握す
る手段を持つため、従来のように、その時間を前もって
人間が設定する必要がなく、対象の特性が変更された作
業ステーションでの作業時間が頻繁に変化するような場
合にでも、良好な搬送制御を行うことができる。Since the present invention has a means for automatically determining the processing time for each pallet, there is no need for humans to set the time in advance as in the past, and the work time at the work station is frequently changed when the characteristics of the object are changed. Good conveyance control can be performed even in cases where the
第１図はＦＡシステムの代表的な工程レイアウト図、第
２図は本発明による搬送制御システムのブロック構成図
、第３図は上流工程ライン状態テーブル、第４図は下流
工程ライン状態テーブル、第５図は生産ピッチ関連情報
テーブル、第６図は工程経路・搬送時間テーブル、第７
図は搬送候補・搬入余裕時間テーブル、第８図は搬送候
補抽出・搬入余裕時間算定部の処理手順を示すフローチ
ャートである。Fig. 1 is a typical process layout diagram of an FA system, Fig. 2 is a block diagram of a conveyance control system according to the present invention, Fig. 3 is an upstream process line status table, Fig. 4 is a downstream process line status table, Figure 5 is the production pitch related information table, Figure 6 is the process route/transport time table, and Figure 7 is the production pitch related information table.
The figure is a transport candidate/carry-in allowance time table, and FIG. 8 is a flowchart showing the processing procedure of the transport candidate extraction/carry-in allowance time calculation section.
Claims (1)
送を行う搬送車群からなるシステムにおいて、作業ステ
ーションでの生産ピッチの実績値を測定する手段を設け
、測定された実績値をもとに、次に予想される生産ピッ
チを推定し、推定されたピッチと現在処理中の物の作業
着手時刻にもとづき、物を搬入しなければ作業ステーシ
ョンが無作業になると予想される時刻を計算し、計算さ
れた時刻と物の搬入が可能な最早時刻との差が少ない物
ほど優先的に搬送することを特徴とする無人搬送車の運
行制御方式。In a system consisting of multiple work stations and a group of transport vehicles that transport objects between the stations, a means is provided to measure the actual value of the production pitch at the work station, and based on the measured actual value, the following Based on the estimated pitch and the start time of the item currently being processed, calculate the time when the work station is expected to be idle unless items are brought in. An automatic guided vehicle operation control system characterized by preferentially transporting objects for which there is a smaller difference between the time at which the object was placed and the earliest time at which the object can be transported.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60224722A JPS6285305A (en) | 1985-10-11 | 1985-10-11 | Operation controlling system for unmanned carrying truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60224722A JPS6285305A (en) | 1985-10-11 | 1985-10-11 | Operation controlling system for unmanned carrying truck |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6285305A true JPS6285305A (en) | 1987-04-18 |
Family
ID=16818221
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60224722A Pending JPS6285305A (en) | 1985-10-11 | 1985-10-11 | Operation controlling system for unmanned carrying truck |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6285305A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003005139A1 (en) * | 2001-07-03 | 2003-01-16 | Toyota Jidosha Kabushiki Kaisha | System for assisting planning of work allocation utilizing visual display screen |
| WO2003005140A1 (en) * | 2001-07-03 | 2003-01-16 | Toyota Jidosha Kabushiki Kaisha | Computer calculating working time group from using part group |
| JP2003099112A (en) * | 2001-09-21 | 2003-04-04 | Dainippon Screen Mfg Co Ltd | Method for preparing and executing schedule of substrate treating apparatus and its program |
| JP2005324278A (en) * | 2004-05-13 | 2005-11-24 | Honda Motor Co Ltd | Robot control device |
| JP2018169652A (en) * | 2017-03-29 | 2018-11-01 | 日本電気株式会社 | Work support apparatus, work support method, and work support program |
| WO2022133636A1 (en) * | 2020-12-21 | 2022-06-30 | 深圳元戎启行科技有限公司 | Unmanned container truck dispatching method and apparatus, and computer device and storage medium |
-
1985
- 1985-10-11 JP JP60224722A patent/JPS6285305A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003005139A1 (en) * | 2001-07-03 | 2003-01-16 | Toyota Jidosha Kabushiki Kaisha | System for assisting planning of work allocation utilizing visual display screen |
| WO2003005140A1 (en) * | 2001-07-03 | 2003-01-16 | Toyota Jidosha Kabushiki Kaisha | Computer calculating working time group from using part group |
| CN100373276C (en) * | 2001-07-03 | 2008-03-05 | 丰田自动车株式会社 | System for assisting planning of work allocation utilizing visual display screen |
| CN100382084C (en) * | 2001-07-03 | 2008-04-16 | 丰田自动车株式会社 | Computer for calculating working time group from use component group |
| JP2003099112A (en) * | 2001-09-21 | 2003-04-04 | Dainippon Screen Mfg Co Ltd | Method for preparing and executing schedule of substrate treating apparatus and its program |
| JP2005324278A (en) * | 2004-05-13 | 2005-11-24 | Honda Motor Co Ltd | Robot control device |
| US7765028B2 (en) | 2004-05-13 | 2010-07-27 | Honda Motor Co., Ltd. | Robot control apparatus |
| JP2018169652A (en) * | 2017-03-29 | 2018-11-01 | 日本電気株式会社 | Work support apparatus, work support method, and work support program |
| WO2022133636A1 (en) * | 2020-12-21 | 2022-06-30 | 深圳元戎启行科技有限公司 | Unmanned container truck dispatching method and apparatus, and computer device and storage medium |
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