TW202116591A - Automatic transport system and method for automatically transporting - Google Patents

Abstract

One object of the present invention is to easily transport, carry out, and carry in a heavy object, and the present invention provides an automatic transport system comprising a control device which is configured to control a transport carriage which carries out, and carries in a heavy object, and the transport carriage which is configured to automatically transport, and automatically carry in/out the heavy object by sliding the heavy object between a mount portion which is configured to mount the heavy object and a carry in/out destination of the heavy object based on a control instruction from the control device.

Description

Automatic conveying system and automatic conveying method

The invention relates to an automatic conveying system and an automatic conveying method.

For example, a cylinder cabinet is widely used as a device for supplying various gases (for example, refer to Patent Document 1 below). In the gas cylinder cabinet, the doors are opened and closed, and a pair of gas cylinders (gas containers) are stored in a side-by-side storage space. In the gas cylinder cabinet, during the supply of gas from any one of the gas cylinders, any other gas cylinder is replaced, so that the gas can be supplied without interruption.

However, in the above-mentioned gas cylinder replacement operation, the gas cylinder is transported using the gas cylinder transport trolley, and the gas cylinder is transported between the gas cylinder transport trolley and the gas cylinder cabinet. And move in (replace).

However, the replacement operation of such a gas cylinder must be carried out by the operator lifting the gas cylinder which is a heavy object, which is extremely dangerous and requires heavy physical labor. Furthermore, the replacement operation of the gas cylinder requires the removal and loading of the gas cylinder in the narrow storage space of the gas cylinder cabinet, so the workability is also poor.

Therefore, in the invention described in Patent Document 1 below, in order to facilitate the replacement operation of the gas cylinder, the following proposal is proposed: an adapter for transport is installed in the gas cylinder to facilitate Through this transfer adapter, the gas cylinder is carried out and loaded between the gas cylinder transport trolley and the gas cylinder cabinet.

[Prior Technical Literature]

[Patent Literature]

Patent Document 1: Japanese Patent Application Publication No. 2001-106086

However, when installing the above-mentioned transport adapter to the gas cylinder, it is necessary to install the transport adapter on all the gas cylinders. In this case, the cost will become extremely high. In addition, even when the above-mentioned transport adapter is installed in the gas cylinder, the operation of carrying out and loading the gas cylinder between the trolley for transporting the gas cylinder and the gas cylinder cabinet will require manpower. .

In view of the above situation, the object of the present invention is to provide an automatic conveying system and an automatic conveying method that can easily carry out the conveying, unloading, and loading of heavy objects.

In order to achieve the above object, the present invention provides the following automatic conveying system and automatic conveying method.

(1) An automatic conveying system comprising: a control device that controls the actions of a conveyance trolley for conveying, unloading, and loading heavy objects; and a conveying trolley that conveys the aforementioned heavy objects in accordance with the control instructions of the aforementioned control device, and Between the placing portion on which the weight is placed and the destination of the weight, while the weight is slid, the weight is automatically carried in and out.

(2) The automatic transport system according to (1), wherein the transport trolley is used to transport gas cylinders as the weight; the automatic transport system includes a gas cylinder cabinet for storing the gas cylinders; and the transport trolley is The carrying out and carrying in of the gas cylinder is carried out between it and the gas cylinder cabinet.

(3) The automatic transport system described in (2) is equipped with a gas cylinder stocker, which is classified according to the type of gas and stores gas cylinders whose residual capacity does not reach the threshold limit and For the gas cylinders that have been filled with gas, the aforementioned transport trolley is based on the instructions of the aforementioned control device to remove the aforementioned gas cylinders whose residual capacity does not reach the threshold value from the aforementioned gas cylinder cabinet and move them into the aforementioned gas cylinder storage, and The gas cylinder filled with the gas is carried out from the gas cylinder storage and carried into the gas cylinder cabinet.

(4) The automatic transport system as described in any one of (1) to (3), wherein the transport trolley system memorizes a plurality of travel path information from the current position of its own device to the destination, and the aforementioned control The device transmits identification information for identifying the route to the destination selected by the user to the transport trolley, and the transport trolley travels to the destination based on the information of the travel path identified based on the identification information.

(5) The automatic conveying system according to any one of (1) to (3), wherein the control device asks the user whether the conveying, unloading, and loading can be performed. In the case of an instruction in the meaning of the above, the instruction to execute any one of the aforementioned transport, carry-out, and carry-in is carried out for the aforementioned transport trolley.

(6) An automatic conveying method that controls the actions of the conveyance trolley for conveying, unloading and loading heavy objects, and according to the control instructions, conveys the aforementioned heavy objects, and in between the loading part where the aforementioned heavy objects are placed and the aforementioned heavy objects Between the loading and unloading destinations, while the weight is slid, the loading and unloading of the weight is automatically performed.

With the automatic conveying system and the automatic conveying method of the present invention, the conveying, unloading, and loading of heavy objects can be easily performed.

1: Automatic transport system

2. 2-1 to 2-2: Trolley for transporting gas cylinders

3.3-1 to 3-6: gas cylinder cabinet

3a: Door leaf

4: free roll

4a, 15a: roll

4b, 15b: frame

10.10A: Transport vehicles

11: Placement Department

12: Car body

13, 13a: wheels

13b: drive wheels

14: recess

15: Sliding support mechanism

16a: Emergency stop button

16b: display machine

16c: Operation switch

16d: antenna

20: Robot for moving in and out

21: Keep the organization

21a: Arm

22: Sliding drive mechanism

22a: Sliding shaft

24: Control Department

25: Memory Department

26: Marching Control Department

30, 30-1 to 30-4: gas cylinder storage

31-1, 31-2: area

40: Operation terminal (control device)

41, 51: Ministry of Communications

42, 52: Operation Department

43, 55: Control Department

44, 54: Display

45: Path Information Memory Department

50: Management device (control device)

53: Management Information Memory Department

241: Communication Control Department

242: Moving in and out control department

251, 252: Path form

B: Gas cylinder (weight)

Be: Replace the target gas cylinder

Bf: Move into the target gas cylinder

Fig. 1 is a side view showing the structure of an automatic conveying system according to an embodiment of the present invention.

Figure 2 is a plan view showing the state of carrying out or carrying in gas cylinders between the gas bottle transport trolley and the gas cylinder cabinet included in the automatic transport system shown in Figure 1.

Figure 3 is a perspective view showing the appearance of the trolley for transporting gas cylinders.

Figure 4 is a perspective view of the trolley for transporting gas cylinders shown in Figure 3.

Figure 5 is a side view of the trolley for transporting gas cylinders shown in Figure 3.

Figure 6 is a plan view of the trolley for transporting gas cylinders shown in Figure 3.

Figure 7 is a bottom view of the trolley for transporting gas cylinders shown in Figure 3.

Figure 8 is a front view of the trolley for transporting gas cylinders shown in Figure 3.

Figure 9 is a rear view of the trolley for transporting gas cylinders shown in Figure 3.

Fig. 10 is a perspective view illustrating the operation of a robot for carrying in and out of the trolley for transporting gas cylinders shown in Fig. 3.

Figure 11 is a perspective view showing the appearance of another trolley for transporting gas cylinders to which the present invention is applied.

Figure 12 is a diagram showing another application example of the automatic transport system.

Figure 13 is a schematic block diagram showing the functional structure of the operating terminal of this embodiment.

Figure 14 is a schematic block diagram showing the functional structure of the management device of this embodiment.

Figure 15 is a schematic block diagram showing the internal functional structure of the gas cylinder transport trolley of this embodiment.

Figure 16 is a diagram showing an example of the route form.

Figure 17 is a sequence diagram showing the flow of empty bottle removal processing in the automatic transport system.

Figure 18 is a sequence diagram showing the flow of the empty bottle unloading process in the automatic conveying system.

Figure 19 is a sequence diagram showing the flow of the empty bottle unloading process in the automatic conveying system.

Figure 20 is a schematic diagram showing an example of information about the replacement cylinder.

Figure 21 is a sequence diagram showing the flow of the bottle filling and loading process in the automatic transport system.

Figure 22 is a sequence diagram showing the flow of the bottle filling and loading process in the automatic transport system.

Figure 23 is a sequence diagram showing the flow of the bottle filling and loading process in the automatic transport system.

The following describes one embodiment of the present invention with reference to the drawings.

(Automatic transport system)

First, for example, the automatic conveying system 1 shown in FIG. 1 and FIG. 2 will be described as an embodiment of the present invention.

In addition, Fig. 1 is a side view showing the configuration of the automatic conveying system 1. Fig. 2 is a plan view showing a state where the gas cylinder B is transported out or in between the gas cylinder transport trolley 2 and the gas cylinder cabinet 3 included in the automatic transport system 1.

The automatic transport system 1 shown in Figures 1 and 2 is used as a system for automatically transporting the gas cylinder B that is a heavy object, and is used to supply the gas filled in the gas cylinder B to a semiconductor manufacturing device Of the equipment.

Specifically, this automatic transport system 1 is provided with: a trolley 2 for transporting gas cylinders, which transports the gas cylinder B in a self-propelled manner; and a gas cylinder cabinet 3, which becomes the destination of the gas cylinder B to be carried in and out.

The gas cylinder cabinet 3 is installed on the floor F as a device for supplying the gas filled in the gas cylinder B to the semiconductor manufacturing device. The gas cylinder cabinet 3 is formed in a substantially rectangular parallelepiped shape as a whole, and has a pair of left and right door panels 3a on the front side.

In the gas cylinder cabinet 3, a pair of gas cylinders B is stored in a storage space S inside the door leaf 3a in a state side by side in the width direction. In addition, in the gas cylinder cabinet 3, while any gas cylinder B is being supplied with gas, any other gas cylinder B is replaced, so that the gas can be supplied without interruption.

In addition, at the bottom of the storage space S, a pair of free rollers 4 on which a pair of gas cylinders B are respectively placed are provided. The free roller 4 includes a plurality of rollers 4a arranged side by side in the front-rear direction of the storage space S, and a frame 4b that rotatably supports the plurality of rollers 4a. Thereby, the gas cylinder B placed on the free roller 4 can be slid in the front-rear direction of the storage space S via the plurality of rollers 4a in a state where the gas cylinder B is placed upright.

In addition, the gas cylinder cabinet 3 is additionally provided with, for example, piping connected to the gas cylinder B, or housed for controlling the opening and closing of the door leaf 3a, the opening and closing of the valve, the monitoring of pressure, and the monitoring of air leakage. A box (box) contains a box for piping (none of which is shown) etc. which are connected to the piping of a semiconductor manufacturing apparatus etc.. In addition, the control box is equipped with a communication unit (not shown) to communicate with the upper device. The communication unit will open and close the door leaf 3a, valve opening and closing information, pressure monitoring results, and air leakage monitoring. The result and information about the remaining capacity of the gas cylinder B are sent to the upper device.

(Trolley for transporting gas cylinders)

Next, the trolley 2 for transporting the gas cylinder will be described with reference to FIGS. 3 to 10.

In addition, FIG. 3 is a perspective view showing the external appearance of the trolley 2 for transporting gas cylinders. Fig. 4 is a perspective view of the trolley 2 for transporting gas cylinders. Fig. 5 is a side view of the trolley 2 for transporting gas cylinders. Fig. 6 is a plan view of the trolley 2 for transporting gas cylinders. Fig. 7 is a bottom view of the trolley 2 for transporting gas cylinders. Fig. 8 is a front view of the trolley 2 for transporting gas cylinders. Fig. 9 is a rear view of the trolley 2 for transporting gas cylinders. FIG. 10 is a perspective view explaining the operation of the loading/unloading robot 20 included in the gas cylinder transportation trolley 2.

As shown in Figures 3 to 9, the gas cylinder transport trolley 2 of this embodiment is equipped with: a transport vehicle 10 for transporting the gas cylinder B in a self-propelled manner; and a robot 20 for loading and unloading. The system automatically carries out the unloading and unloading of the gas cylinder B.

The transport vehicle 10 is an unmanned transport vehicle called AGV (Automated Guided Vehicle), and is a person who transports the gas cylinder B by automatic operation. Specifically, this transport vehicle 10 has: a vehicle body 12 provided with a placing portion 11 on which a gas cylinder B is placed; and a plurality of (six in this embodiment) wheels 13, which are free to travel地supports the vehicle body 12.

The vehicle body 12 is wider than the cylinder B, the front-rear direction is longer than the width direction, the height is about 1/2 of the cylinder B, and the whole is formed into a substantially rectangular parallelepiped shape. The mounting portion 11 is located on the back side of the vehicle body 12. That is, the front surface of the vehicle body 12 is the side opposite to the side on which the placing portion 11 is seated. The trolley 2 for transporting the gas cylinder is formed to operate backward when the gas cylinder B is carried in or out of the gas cylinder cabinet 3 or the gas cylinder storage. Therefore, in FIG. 1, the back side of the trolley 2 for gas cylinder conveyance is shown in the structure which faces the gas cylinder cabinet 3. As shown in FIG. The trolley 2 for transporting gas cylinders moves forward when moving. A recessed portion 14 is provided on the back of the vehicle body 12 so that a part of the side surface of the vehicle body 12 is notched in the vertical direction. The placing portion 11 is provided inside the recess 14.

In the mounting portion 11, a sliding support mechanism 15 is provided, and the sliding support mechanism 15 supports the gas cylinder B in a slidable manner in the front-rear direction. The sliding support mechanism 15 has: a plurality of rollers 15a, which are composed of free rollers, and are arranged side by side in the front-rear direction of the placing portion 11: and a frame 15b, A plurality of rollers 15a are rotatably supported. With this, the gas cylinder B placed on the sliding support mechanism 15 can be slid in the front-rear direction of the placement portion 11 via the plurality of rollers 15a in a state where the cylinder B is placed upright.

In addition, about the sliding support mechanism 15, it is not necessarily limited to what is comprised with such a free roller, For example, a belt conveyor etc. can also be used.

In addition, the transport vehicle 10 may also have a structure with a height adjustment mechanism that adjusts the height of the free roller 4 provided on the side of the gas cylinder cabinet 3 to adjust the free roller 4 provided on the side of the mounting portion 11 as described above. (Sliding support mechanism 15) height.

Furthermore, in the transport vehicle 10, in addition to such a height adjustment mechanism, a free roller (sliding support mechanism 15) provided on the side of the placing portion 11 may be provided with a position in the front and rear directions and the front, back, left, and right positions. The structure of the mechanism such as the inclination.

In addition, the vehicle body 12 may additionally be provided with an emergency stop button 16a for stopping the transport vehicle 10 in an emergency, a display device 16b for performing various displays, operation switches 16c for performing various operations, and an antenna 16d for communicating with the outside. Wait.

A plurality of wheels 13 are rotatably mounted on the lower surface of the vehicle body 12. Among them, at the four corners of the vehicle body 12, four caster wheels 13a are rotatably installed. On the other hand, in the center of the vehicle body 12, two drive wheels 13b that are rotationally driven via a rotational drive mechanism (not shown) such as a motor are provided side by side in the width direction.

The transport vehicle 10 is formed to be able to control the traveling and steering of the transport vehicle 10 by switching the distribution of the driving force transmitted to the two driving wheels 13b. In addition, the transportation vehicle 10 is not particularly limited to an induction method for transporting the gas cylinder B by automatic operation, and a conventionally known induction method may be adopted.

In addition, in the transport vehicle 10, for example, position detectors such as photoelectric sensors, magnetic sensors, limit switches, etc. can be installed, or the trolley 2 for transporting gas cylinders can be installed to communicate with the outside. Communicator, etc.

The loading/unloading robot 20 is a person who is installed on the upper part of the transportation vehicle 10 and automatically performs the loading/unloading and loading of the gas cylinder B into the mounting section 11. Specifically, the loading/unloading robot 20 has: a holding mechanism 21 for holding the gas cylinder B; and a sliding drive mechanism 22 for moving the gas cylinder B held by the holding mechanism 21 in the front-rear direction of the vehicle body 12 Sliding drive.

The holding mechanism 21 has a pair of arm portions 21a that grip the trunk portion of the gas cylinder B. The pair of arm portions 21a have a shape bent into an arc shape with each other, and the base end side is rotatably supported via a hinge.

In the holding mechanism 21, while rotating the pair of arm portions 21a in opposite directions to each other, the body portion of the gas cylinder B is gripped from both sides between the pair of arm portions 21a. In addition, in the holding mechanism 21, in order to hold the upper side and the lower side of the gas cylinder B, two pairs of arm portions 21a are provided side by side in the vertical direction. Thereby, the gas cylinder B in the upright state can be maintained in a stable state.

In addition, the holding mechanism 21 is not necessarily limited to such a configuration in which a pair of arm portions 21a grip the body of the gas cylinder B, and may be, for example, a configuration in which the gas cylinder B is adsorbed and held.

The sliding drive mechanism 22 is a device that slidably drives the sliding shaft 22a connected to the holding mechanism 21 in the front-rear direction. Regarding the driving of the sliding shaft 22a, it may be driven by a motor or the like, or may be driven by an air cylinder, a hydraulic cylinder, or the like.

As shown in FIG. 10, in the loading/unloading robot 20, the gas cylinder B in the upright state is held by the holding mechanism 21, and the sliding drive mechanism 22 is slid and driven in the front-rear direction of the vehicle body 12. Thereby, the gas cylinder B can be slid through the sliding support mechanism 15 provided in the placing portion 11 at the same time, and On the other hand, between the placing portion 11 and the free roller 4 on the side of the gas cylinder cabinet 3, the gas cylinder B is automatically carried out and carried in.

Next, it will be explained that the gas cylinder B (hereinafter referred to as the "replacement gas cylinder Be") with less residual capacity is removed from the gas cylinder cabinet 3, and the gas cylinder B filled with gas (hereinafter referred to as " The moving-in target gas cylinder Bf") In the situation of moving into the gas cylinder cabinet 3, the situation of the automatic conveying system 1 described above is applied. The so-called replacement gas cylinder refers to a gas cylinder that is not filled with enough gas to be supplied.

Fig. 12 is a diagram showing another application example of the automatic conveying system 1. The automatic transport system 1 includes: a plurality of gas cylinder transport trolleys 2-1, 2-2, a plurality of gas cylinder cabinets 3, a plurality of gas cylinder storages 30-1 to 30-4, an operation terminal 40 and management装置50。 Device 50. The number of the gas cylinder transport trolleys 2-1, 2-2, the gas cylinder cabinet 3, and the gas cylinder storage devices 30-1 to 30-4 is not particularly limited. In the following description, when the gas cylinder transport trolleys 2-1 and 2-2 are not particularly distinguished, it is described as the gas cylinder transport trolley 2. In addition, in the following description, when the gas cylinder storages 30-1 to 30-4 are not particularly distinguished, they are described as the gas cylinder storage 30.

The gas cylinder transport trolley 2, the gas cylinder cabinet 3, and the gas cylinder storage 30 are installed on the floor in the factory. The gas cylinder transport trolley 2, the gas cylinder cabinet 3, the gas cylinder storage 30, the operation terminal 40, and the management device 50 are connected in a communicable manner. The trolleys 2-1 and 2-2 for transporting gas cylinders are located in the predetermined areas 31-1 and 31-2, respectively. The area 31-1 is a storage place where the gas cylinder transport trolley 2-1 is located at the beginning and the end of the process. The area 31-2 is a storage place where the gas cylinder transport trolley 2-2 is located at the beginning and the end of the treatment.

The gas cylinder transport trolley 2-1 is, for example, a trolley that transports the replacement gas cylinder Be from the gas cylinder cabinet 3 and transports the replacement gas cylinder Be into the gas cylinder storage 30. The gas cylinder transport trolley 2-2 is, for example, a trolley for carrying in the object gas cylinder Bf from the gas cylinder storage 30 and transporting the object gas cylinder Bf into the gas cylinder cabinet 3. The trolleys 2-1 and 2-2 for transporting gas cylinders are connected to the operation terminal via the antenna 16d. 40 and the management device 50 communicate with each other. In addition, the trolley 2 for transporting gas cylinders can also perform the processing of the trolley 2-1 for transporting gas cylinders and the trolley 2-2 for transporting gas cylinders by one. For example, the gas cylinder transport trolley 2 moves the replacement gas cylinder Be from the gas cylinder cabinet 3, and the replacement gas cylinder Be into the gas cylinder storage 30, and the object gas cylinder Bf is transferred from the gas storage tank. The bottle storage 30 is carried out, and the carried-in target gas cylinder Bf is carried into the gas cylinder cabinet 3.

The gas cylinder storage 30 is set according to the type of gas, and one gas cylinder storage 30 is used to store a plurality of gas cylinders B. In the example shown in Fig. 12, the cylinder Bf to be moved in is stored in the cylinder storages 30-1 and 30-2, and the replacement object is stored in the cylinders 30-3 and 30-4. Gas cylinder Be. The gas cylinder storage 30 is an opening and closing door leaf, and a plurality of gas cylinders B are stored in a parallel state in the storage space inside the cylinder storage device 30.

In addition, at the bottom of the storage space, free rollers for individual placement of gas cylinders B are provided. The free roller system has: a plurality of rollers arranged side by side in the front and rear directions of the storage space; and a frame that supports the plurality of rollers rotatably. Thereby, the gas cylinder B placed on the free roller can be slid in the forward and backward direction of the storage space via the plurality of rollers in a state where the gas cylinder B is placed upright.

The gas cylinder storage 30 is additionally provided with, for example, a sensor for detecting the empty state of the storage space, a control box for controlling the opening and closing of the door leaf, and a communication unit (not shown) for communicating with the management device 50. The information on the opening and closing state of the door leaf or the vacancy information of the storage space, etc. are transmitted to the management device 50 through the communication unit.

The operation terminal 40 is a terminal carried by an operator who moves in the factory. The operation terminal 40 receives an operation instruction of the gas cylinder transport trolley 2 and instructions of carrying in and out of the gas cylinder B (Be, Bf) by the input of the operator. The operation terminal 40 transmits the received instructions through the management device It is set at 50 and transferred to the trolley 2 for transporting gas cylinders. The operation terminal 40 is configured using a portable information processing device such as a tablet terminal, a smartphone, and a mobile phone.

The management device 50 is a device that manages the automatic transfer system 1. The management device 50 transmits the information of the replacement gas cylinder Be to the operation terminal 40 according to a request from the operation terminal 40. In addition, the management device 50 receives various information from the gas cylinder cabinet 3 (for example, information on the opening and closing of the door leaf 3a, information on the opening and closing of the valve, monitoring results of pressure, monitoring results of air leakage, and information on the remaining capacity of the gas cylinder B) . In addition, the management device 50 receives various information (for example, information on the opening and closing of the door leaf, information on the vacancy of the storage space) from the gas cylinder storage 30. The management device 50 controls the travel of the gas cylinder transport trolley 2 in accordance with a request from the operation terminal 40. The management device 50 is constructed using an information processing device such as a personal computer.

FIG. 13 is a schematic block diagram showing the functional structure of the operation terminal 40 of this embodiment. The operating terminal 40 is equipped with a CPU (Central Processing Unit) or a memory (memory) or an auxiliary memory device connected by a bus, and executes an operating program. The operation terminal 40 functions as a device including a communication unit 41, an operation unit 42, a control unit 43, a display unit 44, and a route information storage unit 45 by executing an operation program. In addition, all or part of each function of the operating terminal 40 can also use ASIC (Application Specific Integrated Circuit) or PLD (Programmable Logic Device) or FPGA (Field Programmable Gate Array). Programmable gate array) and other hardware (hardware) to achieve. In addition, the operating program can also be recorded on a recording medium that can be read by a computer. The so-called recording media that can be read by a computer are, for example, flexible disks, optical disks, ROM (Read Only Memory), CD-ROM (Compact Disc Read Only Memory) Such as portable media, harddisks built into the computer system and other memory devices. In addition, operating programs can also be sent and received via electrical communication lines.

The communication unit 41 communicates with other devices. For example, the communication unit 41 communicates with the management device 50.

The operation unit 42 is configured using an existing input device such as a keyboard, a pointing device (mouse, tablet, etc.), a touch panel, and keys. The operation unit 42 is operated by the user when inputting a user's instruction into the operation terminal 40. For example, the operation unit 42 accepts a traveling instruction of the gas cylinder transport trolley 2 and an instruction to carry out and carry in the gas cylinder B performed by the gas cylinder transport trolley 2.

The control unit 43 controls the operation of the operation terminal 40. For example, the control unit 43 causes the information transmitted from the management device 50 to be displayed on the display unit 44. In addition, the control unit 43 controls the communication unit 41 and transmits the user's instruction input via the operation unit 42 to the management device 50.

The display unit 44 is an image display device such as a liquid crystal display or an organic EL (Electro Luminescence) display. The display unit 44 displays, for example, information transmitted from the management device 50. The display unit 44 may also be an interface for connecting the image display device to the operation terminal 40. At this time, the display unit 44 generates an image signal for displaying information, and outputs the image signal to an image display device connected to itself.

The route information storage unit 45 stores a route instruction sheet in which the position, destination, and route number of the gas cylinder transport trolley 2 have been associated with each other. The position of the gas cylinder transport trolley 2 is the position of the gas cylinder transport trolley 2 at the time of display instruction input. For example, at the beginning of the process, the position of the gas cylinder transport trolley 2 is the storage place, and when the transport has been carried out or carried in, the position of the gas cylinder transport trolley 2 is the place where the carry-out or carry-in has been carried out. The destination is the destination to which the trolley 2 for transporting gas cylinders goes. For example, when the gas cylinder Be is to be carried out, the destination is the gas cylinder cabinet 3 in which the gas cylinder Be is stored. The path number is used to indicate the path from the position of the gas cylinder transport trolley 2 to the destination Number. The path information storage unit 45 is formed by using a storage device such as a magnetic hard disk device or a semiconductor storage device.

Fig. 14 is a schematic block diagram showing the functional structure of the management device 50 in this embodiment. The management device 50 is provided with a CPU or a memory or an auxiliary memory device connected by a bus for executing management programs. The management device 50 functions as a device including a communication unit 51, an operation unit 52, a management information storage unit 53, a display unit 54 and a control unit 55 by the execution of a management program. In addition, all or part of the functions of the management device 50 may also be implemented using hardware such as ASIC, PLD, or FPGA. In addition, the management program can be recorded on a recording medium that can be read by a computer. The so-called recording media that can be read by a computer are portable media such as floppy disks, optical disks, ROMs, and CD-ROMs, and memory devices such as hard disks built into computer systems. In addition, the management program can also be sent and received via electrical communication lines.

The communication unit 51 communicates with other devices. For example, the communication unit 51 communicates with the gas cylinder transport trolley 2, the gas cylinder cabinet 3, the gas cylinder storage 30, and the operation terminal 40.

The operation unit 52 is configured using an existing input device such as a keyboard, a pointing device (a mouse, a tablet, etc.), a touch panel, and keys. The operation unit 52 is operated by the user when inputting the user's instruction into the management device 50. For example, the operation part 52 receives the travel instruction of the gas cylinder transport trolley 2 and the instructions of the gas cylinder B for carrying out and carrying in by the gas cylinder transport trolley 2.

The management information storage unit 53 stores information on the gas cylinder transport trolley 2, the gas cylinder cabinet 3, and the gas cylinder storage 30 managed by the management device 50. For example, the management information storage unit 53 stores at least information on the state of the gas cylinder transport trolley 2 (whether it is in operation, in which operation, in which position, etc.). The position information of the gas cylinder transport trolley 2 can be obtained from the gas cylinder transport trolley 2. For example, the management information storage unit 53 stores the identification information of the gas cylinder cabinet 3, the gas type of each gas cylinder B contained in the gas cylinder cabinet 3, the information about the residual capacity of each gas cylinder B, and the information about the gas cylinder cabinet 3 information and display of opening and closing Information of the replacement cylinder Be (L (left) or R/right)). For example, the management information storage unit 53 stores at least the identification information of the gas cylinder storage 30, the gas type of each gas cylinder B contained in the gas cylinder storage 30, and the information about the opening and closing of the gas cylinder storage 30 And storage space information.

The display unit 54 is an image display device such as a liquid crystal display or an organic EL display. The display unit 54 displays, for example, the information stored in the management information storage unit 53. The display portion 54 may also be an interface for connecting the image display device to the management device 50. At this time, the display unit 54 generates an image signal for displaying information, and outputs the image signal to an image display device connected to itself.

The control unit 55 controls the operation of the management device 50. For example, the control unit 55 controls the communication unit 41 and transmits information based on a request from the operation terminal 40 to the operation terminal 40. In addition, for example, the control unit 55 controls the communication unit 41 and transmits an instruction from the operation terminal 40 to the target device.

Fig. 15 is a schematic block diagram showing the internal functional structure of the gas cylinder transport trolley 2 in this embodiment. As described above, the gas cylinder transport trolley 2 includes a transport vehicle 10 and a robot 20 for carrying in and out.

The robot 20 for carrying in and out includes a control unit 24. The control unit 24 is composed of, for example, a PLC (programmable logic controller). The control unit 24 functions as the communication control unit 241 and the carry-in control unit 242 by executing programs.

The communication control unit 241 controls communication with other devices. For example, the communication control unit 241 outputs the instruction to the carry-in control unit 242 or the transport vehicle 10 in accordance with the content of the instruction received via the antenna 16d. For example, the communication control unit 241 outputs the instruction to the carry-out control unit 242 when an instruction to carry out or carry in the gas cylinder B is included in the instruction received via the antenna 16d. For example, when the communication control unit 241 includes the instruction received via the antenna 16d to make the gas cylinder When an instruction to move the transport trolley 2 or to connect the gas cylinder transport trolley 2 to the gas cylinder cabinet 3 or the gas cylinder storage 30, the instruction is output to the transport vehicle 10. Here, the so-called connecting the gas cylinder transport trolley 2 to the gas cylinder cabinet 3 or the gas cylinder storage 30 means that the gas cylinder transport trolley 2 and the gas cylinders can be moved out or loaded into the gas cylinder B. The cabinet 3 or the gas cylinder storage 30 is docked.

The carry-out control unit 242 controls the operations of the holding mechanism 21 and the sliding drive mechanism 22 in accordance with the input instructions. More specifically, the carry-out control unit 242 controls the holding mechanism 21 to hold the gas cylinder B in accordance with the input instruction. The carry-out control unit 242 controls the slide drive mechanism 22 in accordance with the input instruction, and slides and drives the slide shaft 22a in the front-rear direction.

The transportation vehicle 10 includes a memory unit 25 and a traveling control unit 26.

The storage unit 25 is a storage path list 251. The storage unit 25 is formed by using a storage device such as a magnetic hard disk device or a semiconductor storage device.

The path form 251 is to register information about the path traveled by the trolley 2 for transporting gas cylinders. Here, Fig. 16 is used to illustrate the specific structure of the path form 251. Figure 16 is a diagram showing an example of the route list 252. As shown in FIG. 16, in the route form 252, route information is registered in a manner of establishing a corresponding relationship with the route number. The route number is an identification number used to uniquely identify the route. The route is information showing the movement path of the gas cylinder transport trolley 2 when it travels on the floor of the factory. The route includes, for example, a movement path for moving from the storage place of the gas cylinder transport trolley 2 to the specific gas cylinder storage 30, and for moving from the position of the gas cylinder storage 30 to the specific gas cylinder cabinet 3 Path, used to move from the position of the gas cylinder cabinet 3 to the storage place, used to move from the storage place of the gas cylinder transport trolley 2 to the specific gas cylinder cabinet 3, and used to move from the gas cylinder cabinet 3 The position of to go to the specific movement path of the gas cylinder storage 30. In addition, the movement path also includes information showing how many meters to advance in a straight line, and where to turn left or right. In addition, the path form 252 is used for the transport table for gas cylinders. The car 2-1 and the trolley 2-2 for transporting gas cylinders are different. This is because the purpose or installation location of the gas cylinder transport trolley 2-1 and the gas cylinder transport trolley 2-2 are different.

As described above, in the path form 252, all the movement paths assumed for the gas cylinder transport trolley 2 to travel have been registered. Therefore, the gas cylinder transport trolley 2 can travel along the movement path shown by the route corresponding to the path number of the path table 252 to reach the destination position.

Return to Figure 15 to continue the description of the trolley 2 for transporting gas cylinders.

The traveling control unit 26 controls the rotation of the wheels 13 in accordance with the input instruction, thereby controlling the traveling of the gas cylinder transport trolley 2.

Figs. 17 to 19 are sequence diagrams showing the flow of the empty bottle unloading process in the automatic conveying system 1. The so-called empty bottle unloading process refers to the process of unloading the replacement gas cylinder Be from the gas cylinder cabinet 3.

The gas cylinder cabinet 3 detects that the remaining amount is reduced below the threshold value by supplying gas from the gas cylinder B (step S101). The gas cylinder cabinet 3 will contain the identification information of the gas cylinder cabinet 3, the type of gas that has been filled in the gas cylinder B, and the replacement instructions showing the information of the replacement gas cylinder Be (L (left) or R (right)) The information is transmitted to the management device 50 (step S102).

The communication unit 51 of the management device 50 receives the replacement instruction information transmitted from the gas cylinder cabinet 3. The communication unit 51 outputs the received replacement instruction information to the control unit 55. The control unit 55 accumulates the replacement instruction information received via the communication unit 51 in the management information storage unit 53 (step S103).

The operation terminal 40 accesses the management device 50 in accordance with the operation of the operator (step S104). The control unit 55 of the management device 50 refers to the management information storage unit 53 to obtain information on the replacement gas cylinder Be (step S105). The control unit 55 controls the communication unit 51, and changes the obtained The information of the replacement gas cylinder obtained by mapping the information of the replacement gas cylinder Be to the map information of the area (area) is transmitted to the operation terminal 40 (step S106).

The communication unit 41 of the operation terminal 40 receives the replacement gas cylinder information transmitted from the management device 50. The communication unit 41 outputs the received replacement cylinder information to the control unit 43. When the information of the replacement gas cylinder is obtained, the control unit 43 displays a message asking the user whether to start the unloading of the replacement gas cylinder Be on the display unit 44 (step S107). When the user inputs an instruction to start the removal of the replacement gas cylinder Be, the control unit 43 displays the replacement gas cylinder information on the display unit 44 to select the replacement gas cylinder Be at the place of removal (step S108).

Figure 20 is a schematic diagram showing an example of the information of the replacement cylinder.

As shown in Figure 20, set the column of gas cylinder cabinets 3 from the left to gas cylinder cabinets 3-1, 3-2, 3-3, 3-4, 3-5, and 3-6. Figure 20 shows the first compartment in the cylinder cabinet 3-1, the second compartment in the gas cylinder cabinet 3-2, and the second compartment in the gas cylinder cabinet 3-4, with replacement objects Gas cylinder Be. The user can select the replacement gas cylinder Be of the place of export in the displayed area.

Here, suppose that the first compartment of the gas cylinder cabinet 3-1 is selected. At this time, the control unit 43 refers to the path information storage unit 45, and obtains the current position and destination of the trolley 2-1 for transporting gas cylinders (the case of Fig. 20 is in the row of the gas cylinder cabinet 3-1 The position of the replacement gas cylinder Be in the first grid) establishes the corresponding path number. Furthermore, the control part 43 controls the communication part 41, and transmits the carrying-out instruction which contains the acquired path number to the management apparatus 50 (step S109). The communication unit 51 of the management device 50 receives the unloading instruction transmitted from the operation terminal 40. After that, the communication unit 51 transmits the received unloading instruction to the gas cylinder transport trolley 2-1 (step S110).

The antenna 16d of the gas cylinder transport trolley 2-1 receives the unloading instruction received from the management device 50. Since the received instruction is information about unloading, the communication control unit 241 outputs the unloading instruction to the traveling control unit 26 (step S111).

The operator operates the gas cylinder cabinet 3 that is the replacement target of the gas cylinder B and opens the door leaf 3a. The gas cylinder cabinet 3 opens the door 3a in accordance with the operation of the operator (step S112). After opening the door leaf 3a, the operator removes the holder of the gas cylinder B, the head of the gas cylinder, and the pipes.

The traveling control unit 26 moves the gas cylinder transport trolley 2-1 to the position of the replacement gas cylinder Be of the gas cylinder cabinet 3 of the transport place in accordance with the unloading instruction and the route table 251 (step S113). Specifically, the travel control unit 26 refers to the route table 251 to obtain information on the route corresponding to the route number included in the unloading instruction. Furthermore, the traveling control unit 26 controls the wheels 13 based on the information of the route, thereby moving the gas cylinder transport trolley 2-1 to the position of the replacement gas cylinder Be of the gas cylinder cabinet 3 at the place of removal.

The traveling control unit 26 notifies the control unit 24 that the movement has been completed when the gas cylinder transport trolley 2-1 is moved to the position of the replacement gas cylinder Be of the gas cylinder cabinet 3 of the export destination. The communication control unit 241 transmits the movement completion information indicating that the movement has been completed to the management device 50 (step S114).

The communication unit 51 of the management device 50 receives the movement completion information transmitted from the gas cylinder transport trolley 2-1. The communication unit 51 transmits the received movement completion information to the operation terminal 40 (step S115).

The communication unit 41 of the operation terminal 40 receives the movement completion information transmitted from the management device 50. Based on the movement completion information received via the communication unit 41, the control unit 43 inquires the user whether or not to connect the gas cylinder transport trolley 2-1 to the gas cylinder cabinet 3 (step S116). Specifically, the control unit 43 displays on the screen of the display unit 44 a display such as "Do you want to connect the gas cylinder transport trolley 2-1 to the gas cylinder cabinet 3", and asks the user whether Connect the gas cylinder transport trolley 2-1 to the gas cylinder cabinet 3.

The user operates the operation unit 42 to input answers to the query displayed on the screen of the display unit 44. When an instruction to not connect the gas cylinder transport trolley 2-1 to the gas cylinder cabinet 3 is input, the operation terminal 40 ends the process. Here, it is assumed that an instruction to connect the gas cylinder transport trolley 2-1 to the gas cylinder cabinet 3 has been input by the user. At this time, the control unit 43 controls the communication unit 41 to transmit a connection instruction including an instruction to connect the gas cylinder transport trolley 2-1 to the gas cylinder cabinet 3 to the management device 50 (step S117). The communication unit 51 of the management device 50 receives the connection instruction transmitted from the operation terminal 40. After that, the communication unit 51 transmits the received connection instruction to the gas cylinder transport trolley 2-1 (step S118).

The antenna 16d of the gas cylinder transport trolley 2-1 receives the connection instruction transmitted from the management device 50. Since the received instruction is information about the connection, the communication control unit 241 outputs the connection instruction to the travel control unit 26 (step S119). The traveling control unit 26 controls the wheels 13 to connect the gas cylinder transport trolley 2-1 and the gas cylinder cabinet 3 (step S120).

The gas cylinder cabinet 3 is confirmed by a sensor or the like that it is correctly connected to the gas cylinder transport trolley 2-1 (step S121). When it has been correctly connected to the gas cylinder transport trolley 2-1, the gas cylinder cabinet 3 transmits the connection completion information indicating that the connection has been completed to the management device 50 (step S122). On the other hand, when it is not correctly connected to the gas cylinder transport trolley 2-1, the gas cylinder cabinet 3 transmits an error message indicating that the connection is not completed to the management device 50. Here, it is assumed that the gas cylinder cabinet 3 and the gas cylinder transport trolley 2-1 are correctly connected.

The communication unit 51 of the management device 50 receives the connection completion information transmitted from the gas cylinder cabinet 3. The communication unit 51 transmits the received connection completion information to the operation terminal 40 (step S123).

The communication unit 41 of the operation terminal 40 receives the connection completion information transmitted from the management device 50. Based on the connection completion information received via the communication unit 41, the control unit 43 asks the user whether to The bottle cabinet 3 carries out the replacement target gas cylinder Be (step S124). Specifically, the control unit 43 displays on the screen of the display unit 44 a display such as "Do you want to remove the replacement gas cylinder Be from the gas cylinder cabinet 3", and asks the user whether to remove the gas cylinder The tank 3 moves out the replacement gas cylinder Be.

The user operates the operation unit 42 to input answers to the query displayed on the screen of the display unit 44. When an instruction to not carry out the replacement target gas cylinder Be from the gas cylinder cabinet 3 is input, the operation terminal 40 ends the process. Here, it is assumed that an instruction indicating that the gas cylinder Be to be replaced is to be removed from the gas cylinder cabinet 3 has been input by the user. At this time, the control unit 43 controls the communication unit 41 to transmit the unloading instruction including the instruction to unload the replacement gas cylinder Be from the gas cylinder cabinet 3 to the management device 50 (step S125). The communication unit 51 of the management device 50 receives the unloading instruction transmitted from the operation terminal 40. After that, the communication unit 51 transmits the received unloading instruction to the gas cylinder transport trolley 2-1 (step S126).

The antenna 16d of the gas cylinder transport trolley 2-1 receives the unloading instruction transmitted from the management device 50. Since the received instruction is information about export, the communication control unit 241 outputs the export instruction to the export/import control unit 242. The carry-out control unit 242 controls the holding mechanism 21 and the slide drive mechanism 22 to carry out the replacement gas cylinder Be (step S127). When carrying out of the replacement gas cylinder Be is completed, the carry-out control unit 242 notifies the communication control unit 241 that the carry-out of the replacement gas cylinder Be has been completed. The communication control unit 241 transmits the unloading completion information indicating that the unloading of the replacement gas cylinder Be has been completed to the management device 50 (step S128). The unloading of the replacement gas cylinder Be has been completed, and it can also be determined by, for example, that the replacement gas cylinder Be has been placed on the mounting portion 11.

The communication unit 51 of the management device 50 receives the carry-out completion information transmitted from the gas cylinder transport trolley 2-1. The communication unit 51 transmits the received unloading completion information to the operation terminal 40 (step S129).

The communication unit 41 of the operation terminal 40 receives the unloading completion information transmitted from the management device 50. Based on the unloading completion information received via the communication section 41, the control unit 43 inquires the user whether or not to move the unloaded replacement gas cylinder Be to the gas cylinder storage 30 (step S130). Specifically, the control unit 43 displays on the screen of the display unit 44 a display such as "Do you want to move the moved-out replacement gas cylinder Be to the gas cylinder storage 30" to inquire the user Does the person want to move the moved-out gas cylinder Be to the gas cylinder storage 30?

The user operates the operation unit 42 to input answers to the query displayed on the screen of the display unit 44. When an instruction to not move the moved-out replacement gas cylinder Be to the gas cylinder storage 30 is input, the operation terminal 40 ends the process. Here, it is assumed that the user has input an instruction to move the replacement gas cylinder Be after being carried out to the gas cylinder storage 30. At this time, the control unit 43 controls the communication unit 41 and requests the management device 50 for a list of the gas cylinder storage 30 having a space for storing the replacement gas cylinder Be. Through this process, a list of the gas cylinder storage 30 having a space for placing the replacement gas cylinder Be can be obtained from the management device 50. The control unit 43 displays the list obtained from the management device 50 on the screen of the display unit 44 to select the gas cylinder storage 30 of the loading destination of the replacement gas cylinder Be after being carried out.

Here, it is assumed that the user has selected the gas cylinder storage 30 (for example, the gas cylinder storage 30-3) of the import destination of the replacement gas cylinder Be after being carried out. At this time, the control unit 43 refers to the path information storage unit 45, and obtains the path corresponding to the current position of the gas cylinder transport trolley 2-1 and the selected gas cylinder storage 30-3 belonging to the destination. Numbering. Here, the current position of the gas cylinder transport trolley 2-1 is the position of the replacement gas cylinder Be accommodated in the first compartment of the gas cylinder cabinet 3-1. Furthermore, the control unit 43 controls the communication unit 41 to transmit a movement instruction including the acquired path number to the management device 50 (step S131). The communication unit 51 of the management device 50 receives the data transmitted from the operation terminal 40 Move instructions. After that, the communication unit 51 transmits the received movement instruction to the gas cylinder transport trolley 2-1 (step S132).

The antenna 16d of the gas cylinder transport trolley 2-1 receives the movement instruction transmitted from the management device 50. Since the received movement instruction is information about movement, the communication control unit 241 outputs the movement instruction to the travel control unit 26 (step S133).

The traveling control unit 26 moves the gas cylinder transport trolley 2-1 to the position of the gas cylinder storage 30-3 of the carry-in destination in accordance with the movement instruction and the route table 251 (step S134). Specifically, the travel control unit 26 refers to the route table 251 to obtain information on the route corresponding to the route number included in the movement instruction. Furthermore, the travel control unit 26 controls the wheels 13 to move to the position of the gas cylinder storage 30-3 of the loading destination by the information of the route.

The traveling control unit 26 notifies the control unit 24 that the movement has been completed when the gas cylinder transport trolley 2-1 is moved to the position of the gas cylinder storage 30-3 of the carry-in destination. The communication control unit 241 transmits the movement completion information indicating that the movement has been completed to the management device 50 (step S135).

The communication unit 51 of the management device 50 receives the movement completion information transmitted from the gas cylinder transport trolley 2-1. The communication unit 51 transmits the received movement completion information to the operation terminal 40 (step S136).

The operator operates the gas cylinder cabinet 3 that has completed the replacement of the gas cylinder B and closes the door leaf 3a. The gas cylinder cabinet 3 closes the door 3a in accordance with the operation of the operator (step S137).

The operator operates the gas cylinder storage 30-3, which is the destination of the replacement gas cylinder Be, and opens the door. The gas cylinder storage 30-3 opens the door according to the operation of the operator (step S138).

The communication unit 41 of the operation terminal 40 receives the movement completion information transmitted from the management device 50. Based on the movement completion information received via the communication unit 41, the control unit 43 inquires the user whether or not to connect the gas cylinder transport trolley 2-1 to the gas cylinder storage 30-3 (step S139). Specifically, control The control unit 43 displays on the screen of the display unit 44 a display such as "Do you want to connect the gas cylinder transport trolley 2-1 to the gas cylinder storage 30-3", and asks the user whether Connect the gas cylinder transport trolley 2-1 to the gas cylinder storage 30-3.

The user operates the operation unit 42 to input answers to the query displayed on the screen of the display unit 44. When an instruction to not connect the gas cylinder transport trolley 2-1 to the gas cylinder storage 30-3 is input, the operation terminal 40 ends the process. Here, it is assumed that an instruction to connect the gas cylinder transport trolley 2-1 to the gas cylinder storage 30-3 has been input by the user. At this time, the control unit 43 controls the communication unit 41, and transmits a connection instruction including an instruction to connect the gas cylinder transport trolley 2-1 to the gas cylinder storage 30-3 to the management device 50 (step S140). The communication unit 51 of the management device 50 receives the connection instruction transmitted from the operation terminal 40. After that, the communication unit 51 transmits the received connection instruction to the gas cylinder transport trolley 2-1 (step S141).

The antenna 16d of the gas cylinder transport trolley 2-1 receives the connection instruction transmitted from the management device 50. Since the received connection instruction is information about connection, the communication control unit 241 outputs the connection instruction to the travel control unit 26 (step S142). The traveling control unit 26 controls the wheels 13 and connects the gas cylinder transport trolley 2-1 and the gas cylinder storage 30-3 (step S143).

The gas cylinder storage 30-3 uses a sensor or the like to confirm whether or not it is correctly connected to the gas cylinder transport trolley 2-1 (step S144). When it is correctly connected to the gas cylinder transport trolley 2-1, the gas cylinder storage 30-3 transmits connection completion information indicating that the connection is completed to the management device 50 (step S145). On the other hand, when it is not properly connected to the gas cylinder transport trolley 2-1, the gas cylinder storage 30-3 transmits an error message indicating that the connection is not completed to the management device 50. Here, it is assumed that the gas cylinder storage 30-3 and the gas cylinder transport trolley 2-1 are correctly connected.

The communication unit 51 of the management device 50 receives the connection completion information transmitted from the gas cylinder storage 30-3. The communication unit 51 transmits the received connection completion information to the operation terminal 40 (step S146).

The communication unit 41 of the operation terminal 40 receives the connection completion information transmitted from the management device 50. Based on the connection completion information received via the communication unit 41, the control unit 43 inquires the user whether or not to carry the replacement gas cylinder Be into the gas cylinder storage 30-3 (step S147). Specifically, the control unit 43 displays on the screen of the display unit 44 a display such as "Do you want to carry the replacement gas cylinder Be into the gas cylinder storage 30-3", and asks the user whether The gas cylinder Be to be replaced is to be moved into the gas cylinder storage 30-3.

The user operates the operation unit 42 to input answers to the query displayed on the screen of the display unit 44. When the instruction not to carry the replacement gas cylinder Be into the gas cylinder storage 30-3 has been input, the operation terminal 40 ends the process. Here, it is assumed that an instruction indicating that the replacement gas cylinder Be is to be carried into the gas cylinder storage 30-3 has been input by the user. At this time, the control unit 43 controls the communication unit 41, and transmits to the management device 50 a carry-in instruction including an instruction to carry the replacement gas cylinder Be into the gas cylinder storage 30-3 (step S148). The communication unit 51 of the management device 50 receives the carry-in instruction transmitted from the operation terminal 40. After that, the communication unit 51 transmits the received carry-in instruction to the gas cylinder transport trolley 2-1 (step S149).

The antenna 16d of the gas cylinder transport trolley 2-1 receives the carry-in instruction transmitted from the management device 50. Since the received carry-in instruction is information about carry-in, the communication control unit 241 outputs the carry-in instruction to the carry-out control unit 242. The carry-out control unit 242 controls the holding mechanism 21 and the sliding drive mechanism 22, and carries the replacement gas cylinder Be into the gas cylinder storage 30-3 (step S150). When the loading of the replacement gas cylinder Be has been completed, the loading/unloading control unit 242 informs the communication control unit 241 that the replacement has been completed. Import of the replacement gas cylinder Be. The communication control unit 241 transmits the loading completion information indicating that the loading of the replacement gas cylinder Be has been completed to the management device 50 (step S151).

The communication unit 51 of the management device 50 receives the carry-in completion information transmitted from the gas cylinder transport trolley 2-1. The communication unit 51 transmits the received carry-in completion information to the operation terminal 40 (step S152).

The communication unit 41 of the operation terminal 40 receives the carry-in completion information transmitted from the management device 50. The control unit 43 asks the user whether or not to end the operation based on the carry-in completion information received via the communication unit 41 (step S153). Specifically, the control unit 43 displays on the screen of the display unit 44 a display such as "Do you want to return the gas cylinder transport trolley 2-1 to the storage position" to ask the user whether to end the operation .

The user operates the operation unit 42 to input answers to the query displayed on the screen of the display unit 44. When an instruction not to end the work is input, the operator operates the operation terminal 40 to continue the work one after another. Here, it is assumed that the user has input the movement instruction to end the operation, that is, to return the gas cylinder transport trolley 2-1 to the storage position. At this time, the control unit 43 refers to the path information storage unit 45 to obtain the path number that has been associated with the current position of the gas cylinder transport trolley 2-1 and the storage location (area 31-1) belonging to the destination. Furthermore, the control unit 43 controls the communication unit 41 and transmits a movement instruction including the acquired path number to the management device 50 (step S154). The communication unit 51 of the management device 50 receives the movement instruction transmitted from the operation terminal 40. After that, the communication unit 51 transmits the received movement instruction to the gas cylinder transport trolley 2-1 (step S155).

The antenna 16d of the gas cylinder transport trolley 2-1 receives the movement instruction transmitted from the management device 50. Since the received movement instruction is information about movement, the communication control unit 241 outputs the movement instruction to the travel control unit 26 (step S156).

The traveling control unit 26 moves the gas cylinder transport trolley 2-1 to the storage position (area 31-1) in accordance with the movement instruction and the route form 251 (step S157). Specifically, the travel control unit 26 refers to the route table 251 to obtain information on the route corresponding to the route number included in the movement instruction. Furthermore, the traveling control unit 26 controls the wheels 13 based on the information of the route to move the gas cylinder transport trolley 2-1 to the storage position (area 31-1).

Figures 21 to 23 are sequence diagrams showing the flow of the bottle filling and loading process in the automatic transport system 1. The so-called bottle-filled carry-in process refers to the process of carrying the gas cylinder Bf to be carried in into the gas cylinder cabinet 3.

The gas cylinder cabinet 3 detects that the residual capacity is reduced below the threshold by supplying gas from the gas cylinder B. In addition, the gas cylinder cabinet 3 detects that the gas cylinder B is being replaced (step S201). The gas cylinder cabinet 3 will contain the identification information of the gas cylinder cabinet 3, the type of gas that has been filled in the gas cylinder B, and the information of the replacement gas cylinder Be (L (left) or R (right)) or replacement The replacement instruction information of the gas cylinder B is sent to the management device 50 (step S202).

The communication unit 51 of the management device 50 receives the replacement instruction information transmitted from the gas cylinder cabinet 3. The communication unit 51 outputs the received replacement instruction information to the control unit 55. The control unit 55 accumulates the replacement instruction information received via the communication unit 51 in the management information storage unit 53 (step S203).

The operation terminal 40 accesses the management device 50 in accordance with the operation of the operator (step S204). The control unit 55 of the management device 50 refers to the management information storage unit 53, and obtains the information of the gas cylinder B to be carried in (step S205). The control unit 55 controls the communication unit 51 to map the acquired information of the gas cylinder B that needs to be imported to the map information of the area, and transmits it to the operation terminal 40 (step S206).

The communication unit 41 of the operation terminal 40 receives the carried-in gas cylinder information transmitted from the management device 50. The communication unit 41 outputs the received gas cylinder information to the control unit 43. When the information about the loaded gas cylinder is obtained, the control unit 43 will ask the user whether to start loading the target gas cylinder Bf. The message of carrying in is displayed on the display part 44 (step S207). When the user inputs an instruction to start the loading of the object gas cylinder Bf, the control unit 43 displays the information of the imported gas cylinder on the display unit 44 and selects it as the destination of the object gas cylinder Bf. The gas cylinder storage 30 (step S208).

The control unit 43 refers to the path information storage unit 45, and obtains the current position of the gas cylinder transport trolley 2-2 and the selected gas cylinder storage 30 (for example, the gas cylinder storage 30) belonging to the destination. -1) The path number with which the corresponding relationship is established. Furthermore, the control part 43 controls the communication part 41, and transmits the carry-out instruction which contains the acquired path number to the management apparatus 50 (step S209). The communication unit 51 of the management device 50 receives the unloading instruction transmitted from the operation terminal 40. After that, the communication unit 51 transmits the received unloading instruction to the gas cylinder transport trolley 2-2 (step S210).

The antenna 16d of the gas cylinder transport trolley 2-2 receives the unloading instruction transmitted from the management device 50. Since the received unloading instruction is information about unloading, the communication control unit 241 outputs the unloading instruction to the traveling control unit 26 (step S211).

The operator operates the gas cylinder storage 30 which is the source of extraction and opens the door leaf. The gas cylinder storage 30 opens the door according to the operation of the operator (step S112).

The traveling control unit 26 moves the gas cylinder transport trolley 2-2 to the position of the gas cylinder storage 30 of the export destination in accordance with the unloading instruction and the route table 251 (step S213). Specifically, the travel control unit 26 refers to the route table 251 to obtain information on the route corresponding to the route number included in the unloading instruction. In addition, the traveling control unit 26 controls the wheels 13 based on the information of the route to move the gas cylinder transport trolley 2-2 to the position of the gas cylinder storage 30 at the place of export.

When the gas cylinder transport trolley 2-1 is moved to the position of the gas cylinder storage 30 at the place of export, the traveling control unit 26 notifies the control unit 24 that the movement has been completed. The communication control unit 241 transmits the movement completion information indicating that the movement has been completed to the management device 50 (step S214).

The communication unit 51 of the management device 50 receives the movement completion information transmitted from the gas cylinder transport trolley 2-2. The communication unit 51 transmits the received movement completion information to the operation terminal 40 (step S215).

The communication unit 41 of the operation terminal 40 receives the movement completion information transmitted from the management device 50. Based on the movement completion information received via the communication unit 41, the control unit 43 inquires the user whether or not to connect the gas cylinder transport trolley 2-2 to the gas cylinder storage 30 (step S216). Specifically, the control unit 43 displays on the screen of the display unit 44 a display such as "Do you want to connect the gas cylinder transport trolley 2-2 to the gas cylinder storage 30" on the screen of the display unit 44, and inquire the user Whether or not to connect the gas cylinder transport trolley 2-2 to the gas cylinder storage 30.

The user operates the operation unit 42 to input answers to the query displayed on the screen of the display unit 44. When an instruction to not connect the gas cylinder transport trolley 2-2 to the gas cylinder storage 30 is input, the operation terminal 40 ends the process. Here, it is assumed that an instruction to connect the gas cylinder transport trolley 2-2 to the gas cylinder storage 30 has been input by the user. At this time, the control unit 43 controls the communication unit 41, and transmits a connection instruction including the intention to connect the gas cylinder transport trolley 2-2 to the gas cylinder storage 30 to the management device 50 (step S217). The communication unit 51 of the management device 50 receives the connection instruction transmitted from the operation terminal 40. After that, the communication unit 51 transmits the received connection instruction to the gas cylinder transport trolley 2-2 (step S218).

The antenna 16d of the gas cylinder transport trolley 2-2 receives the connection instruction received from the management device 50. Since the received connection instruction is information about connection, the communication control unit 241 outputs the connection instruction to the travel control unit 26 (step S219). The traveling control unit 26 controls the wheels 13, and connects the gas cylinder transport trolley 2-2 and the gas cylinder storage 30 (step S220).

The gas cylinder storage 30 is confirmed by a sensor or the like that it is correctly connected to the gas cylinder transport trolley 2-2 (step S221). When it is correctly connected with the gas cylinder transport trolley 2-2, the gas cylinder is stored The device 30 transmits connection completion information indicating that the connection has been completed to the management device 50 (step S222). On the other hand, when it is not properly connected to the gas cylinder transport trolley 2-2, the gas cylinder storage 30 transmits an error message indicating that the connection is not completed to the management device 50. Here, it is assumed that the gas cylinder storage 30 and the gas cylinder transport trolley 2-2 are correctly connected.

The communication unit 51 of the management device 50 receives the connection completion information transmitted from the gas cylinder storage 30. The communication unit 51 transmits the received connection completion information to the operation terminal 40 (step S223).

The communication unit 41 of the operation terminal 40 receives the connection completion information transmitted from the management device 50. Based on the connection completion information received via the communication unit 41, the control unit 43 inquires the user whether or not to carry out the gas cylinder B from the gas cylinder storage 30 (step S224). Specifically, the control unit 43 displays on the screen of the display unit 44 a display such as "Do you want to remove the gas cylinder B from the gas cylinder storage 30?" The bottle storage 30 carries out the carried-in target gas cylinder Bf.

The user operates the operation unit 42 to input answers to the query displayed on the screen of the display unit 44. When the instruction not to carry out the carry-in target gas cylinder Bf from the gas cylinder storage 30 is input, the operation terminal 40 ends the processing. Here, it is assumed that an instruction indicating that the target gas cylinder Bf is to be carried out from the gas cylinder storage 30 has been input by the user. At this time, the control part 43 controls the communication part 41, and transmits the unloading instruction|indication including the instruction|indication which intends to unload and carry-in the target gas cylinder Bf from the cylinder storage 30 to the management apparatus 50 (step S225). The communication unit 51 of the management device 50 receives the unloading instruction transmitted from the operation terminal 40. After that, the communication unit 51 transmits the received unloading instruction to the gas cylinder transport trolley 2-2 (step S226).

The antenna 16d of the gas cylinder transport trolley 2-2 receives the unloading instruction transmitted from the management device 50. Since the received move-out instruction is information about move-out, the communication control unit 241 will The carry-out instruction is output to the carry-out control unit 242. The carry-in control unit 242 controls the holding mechanism 21 and the slide drive mechanism 22 to carry out the carry-in target gas cylinder Bf from the gas cylinder storage 30 (step S227). When the carry-in target gas cylinder Bf has been carried out, the carry-in control unit 242 notifies the communication control unit 241 that the carry-in object gas bottle Bf has been carried out. The communication control unit 241 transmits the unloading completion information indicating that the unloading of the loaded-in target gas cylinder Bf has been completed to the management device 50 (step S228). The carrying out of the carrying-in target gas cylinder Bf has been completed, and it can also be judged by, for example, that the carrying-in target gas cylinder Bf has been placed in the placing portion 11.

The communication unit 51 of the management device 50 receives the carry-out completion information transmitted from the gas cylinder transport trolley 2-2. The communication unit 51 transmits the received unloading completion information to the operation terminal 40 (step S229).

The communication unit 41 of the operation terminal 40 receives the unloading completion information transmitted from the management device 50. The control unit 43 asks the user whether or not to move the carried-in target gas cylinder Bf to the gas cylinder cabinet 3 based on the carry-out completion information received via the communication unit 41 (step S230). Specifically, the control unit 43 displays on the screen of the display unit 44 a display such as "Do you want to move the carried-in target gas cylinder Bf that has been carried out to the gas cylinder cabinet 3", and asks the user whether Move the carried-in target gas cylinder Bf to the gas cylinder cabinet 3.

The user operates the operation unit 42 to input answers to the query displayed on the screen of the display unit 44. When the instruction not to move the carry-in target gas cylinder Bf to the gas cylinder cabinet 3 is input, the operation terminal 40 ends the process. Here, it is assumed that an instruction to move the carried-in target gas cylinder Bf to the gas cylinder cabinet 3 has been input by the user. At this time, the control unit 43 controls the communication unit 41, and the management device 50 is required to have a list of the gas cylinder cabinets 3 in which the space to be loaded into the gas cylinder Bf is placed. Through this process, it is possible to obtain from the management device 50 the gas cylinder cabinet 3 with the space for the gas cylinder Bf to be carried in. List. The control unit 43 displays the list obtained from the management device 50 on the screen of the display unit 44 to select the gas cylinder cabinet 3 of the carry-in destination of the carried-in target gas cylinder Bf.

Here, it is assumed that the user has selected the gas cylinder cabinet 3 of the carry-in destination of the carried-in target gas cylinder Bf. At this time, the control unit 43 refers to the route information storage unit 45 to obtain the route number that has been associated with the current position of the gas cylinder transport trolley 2-2 and the selected gas cylinder cabinet 3 belonging to the destination. Furthermore, the control unit 43 controls the communication unit 41 and transmits a movement instruction including the acquired path number to the management device 50 (step S231). The communication unit 51 of the management device 50 receives the movement instruction transmitted from the operation terminal 40. After that, the communication unit 51 transmits the received movement instruction to the gas cylinder transport trolley 2-2 (step S232).

The antenna 16d of the gas cylinder transport trolley 2-2 receives the movement instruction transmitted from the management device 50. Since the received movement instruction is information about movement, the communication control unit 241 outputs the movement instruction to the travel control unit 26 (step S233).

The traveling control unit 26 moves the gas cylinder transport trolley 2-2 to the position of the gas cylinder cabinet 3 of the carry-in destination in accordance with the movement instruction and the route form 251 (step S234). Specifically, the travel control unit 26 refers to the route table 251 to obtain information on the route corresponding to the route number included in the movement instruction. Furthermore, the travel control unit 26 controls the wheels 13 to move to the position of the gas cylinder cabinet 3 to be carried in by the information of the route.

When the gas cylinder transport trolley 2-2 is moved to the position of the gas cylinder cabinet 3 of the carry-in destination, the traveling control unit 26 notifies the control unit 24 that the movement has been completed. The communication control unit 241 transmits the movement completion information indicating that the movement has been completed to the management device 50 (step S235).

The communication unit 51 of the management device 50 receives the movement completion information transmitted from the gas cylinder transport trolley 2-2. The communication unit 51 transmits the received movement completion information to the operation terminal 40 (step S236).

The operator operates the cylinder storage 30 that has been moved out of the cylinder Bf to be moved in, and closes the door leaf. The gas cylinder storage 30 closes the door according to the operation of the operator (step S237).

The operator operates the gas cylinder cabinet 3 that is the destination of the gas cylinder Bf to be carried in, and opens the door 3a. The gas cylinder cabinet 3 opens the door 3a in accordance with the operation of the operator (step S238).

The communication unit 41 of the operation terminal 40 receives the movement completion information transmitted from the management device 50. Based on the movement completion information received via the communication unit 41, the control unit 43 inquires the user whether or not to connect the gas cylinder transport trolley 2-2 to the gas cylinder cabinet 3 (step S239). Specifically, the control unit 43 displays on the screen of the display unit 44 a display such as "Do you want to connect the gas cylinder transport trolley 2-2 to the gas cylinder cabinet 3", and asks the user whether Connect the gas cylinder transport trolley 2-2 to the gas cylinder cabinet 3.

The user operates the operation unit 42 to input answers to the query displayed on the screen of the display unit 44. When an instruction to not connect the gas cylinder transport trolley 2-2 to the gas cylinder cabinet 3 is input, the operation terminal 40 ends the process. Here, it is assumed that an instruction to connect the gas cylinder transport trolley 2-2 to the gas cylinder cabinet 3 has been input by the user. At this time, the control unit 43 controls the communication unit 41, and transmits a connection instruction indicating that the gas cylinder transport trolley 2-2 is to be connected to the gas cylinder cabinet 3 to the management device 50 (step S240). The communication unit 51 of the management device 50 receives the connection instruction transmitted from the operation terminal 40. After that, the communication unit 51 transmits the received connection instruction to the gas cylinder transport trolley 2-2 (step S242).

The antenna 16d of the gas cylinder transport trolley 2-2 receives the connection instruction transmitted from the management device 50. Since the received connection instruction is information about connection, the communication control unit 241 will The connection instruction is output to the travel control unit 26 (step S242). The traveling control unit 26 controls the wheels 13 to connect the gas cylinder transport trolley 2-2 and the gas cylinder cabinet 3 (step S243).

The gas cylinder cabinet 3 is confirmed by a sensor or the like that it is correctly connected to the gas cylinder transport trolley 2-2 (step S244). When the gas cylinder cabinet 3 is correctly connected to the gas cylinder transport trolley 2-2, connection completion information indicating that the connection has been completed is transmitted to the management device 50 (step S245). On the other hand, when it is not properly connected to the gas cylinder transport trolley 2-1, the gas cylinder storage 30 transmits an error message indicating that the connection is not completed to the management device 50. Here, it is assumed that the gas cylinder cabinet 3 and the gas cylinder transport trolley 2-2 are correctly connected.

The communication unit 51 of the management device 50 receives the connection completion information transmitted from the gas cylinder cabinet 3. The communication unit 51 transmits the received connection completion information to the operation terminal 40 (step S246).

The communication unit 41 of the operation terminal 40 receives the connection completion information transmitted from the management device 50. Based on the connection completion information received via the communication unit 41, the control unit 43 inquires the user whether or not to carry the object gas cylinder Bf into the gas cylinder cabinet 3 (step S247). Specifically, the control unit 43 displays on the screen of the display unit 44 a display such as "Do you want to carry in the object gas cylinder Bf into the gas cylinder cabinet 3", and asks the user whether or not to carry the object in. Move the gas cylinder Bf into the gas cylinder cabinet 3.

The user operates the operation unit 42 to input answers to the query displayed on the screen of the display unit 44. When an instruction to not carry the carry-in target gas cylinder Bf into the gas cylinder cabinet 3 is input, the operation terminal 40 ends the processing. Here, it is assumed that the user has input an instruction to carry in the carry-in target gas cylinder Bf into the gas cylinder cabinet 3. At this time, the control unit 43 controls the communication unit 41, and transmits the carry-in instruction including the instruction to carry the gas cylinder B into the gas cylinder cabinet 3 to the management device 50 (step S248). The communication unit 51 of the management device 50 receives the carry-in instruction transmitted from the operation terminal 40. After that, the communication unit 51 transmits the received carry-in instruction to the gas cylinder transport trolley 2-2 (step S249).

The antenna 16d of the gas cylinder transport trolley 2-2 receives the carry-in instruction transmitted from the management device 50. Since the received carry-in instruction is information about carry-in, the communication control unit 241 outputs the carry-in instruction to the carry-out control unit 242. The carry-in control unit 242 controls the holding mechanism 21 and the sliding drive mechanism 22, and carries the carry-in target gas cylinder Bf into the gas cylinder cabinet 3 (step S250). When the carry-in of the carry-in target gas cylinder Bf is completed, the carry-in control unit 242 notifies the communication control unit 241 that the carry-in of the carry-in object gas cylinder Bf has been completed. The communication control unit 241 transmits the loading completion information indicating that the loading of the loading target gas cylinder Bf has been completed to the management device 50 (step S251).

The communication unit 51 of the management device 50 receives the carry-in completion information transmitted from the gas cylinder transport trolley 2-2. The communication unit 51 transmits the received carry-in completion information to the operation terminal 40 (step S252).

The communication unit 41 of the operation terminal 40 receives the carry-in completion information transmitted from the management device 50. The control unit 43 asks the user whether or not to end the work based on the carry-in completion information received via the communication unit 41 (step S253). Specifically, the control unit 43 displays on the screen of the display unit 44 a display such as "Do you want to return the gas cylinder transport trolley 2-2 to the storage position" to ask the user whether to end the operation .

The user operates the operation unit 42 to input answers to the query displayed on the screen of the display unit 44. When an instruction not to end the work is input, the operator operates the operation terminal 40 to continue the work one after another. Here, it is assumed that the user has input an instruction to end the operation, that is, to return the gas cylinder transport trolley 2-2 to the home position. At this time, the control unit 43 refers to the path information storage unit 45 to obtain a path number that has been associated with the current position of the gas cylinder transport trolley 2-2 and the storage location (area 31-2) belonging to the destination. Furthermore, the control unit 43 controls the communication unit 41 and transmits a movement instruction including the acquired path number to the management device 50 (step Step S254). The communication unit 51 of the management device 50 receives the movement instruction transmitted from the operation terminal 40. After that, the communication unit 51 transmits the received movement instruction to the gas cylinder transport trolley 2-2 (step S255).

The antenna 16d of the gas cylinder transport trolley 2-2 receives the movement instruction transmitted from the management device 50. Since the received movement instruction is information about movement, the communication control unit 241 outputs the movement instruction to the travel control unit 26 (step S256).

The traveling control unit 26 moves the gas cylinder transport trolley 2-2 to the storage position (area 31-2) in accordance with the movement instruction and the route form 251 (step S257). Specifically, the travel control unit 26 refers to the route table 251 to obtain information on the route corresponding to the route number included in the movement instruction. Furthermore, the traveling control unit 26 controls the wheels 13 based on the information of the route to move the gas cylinder transport trolley 2-2 to the storage position (area 31-2).

The automatic transport system 1 constructed as described above is provided with: a control device (operation terminal 40, management device 50) that controls the operation of the transport trolley (the gas cylinder transport trolley 2); and the transport trolley, which is based on The control of the control device instructs to carry heavy objects (for example, gas cylinder B), and between the loading portion 11 where the weight is placed and the destination of the weight, while sliding the weight, the weight is automatically carried out Moving out and moving in. Thereby, the transportation trolley automatically performs the transportation, unloading, and loading of heavy objects in accordance with the instructions of the control device. Therefore, the user only needs to operate the control device to transfer the instruction to the transport trolley, and there is no need to transport the heavy objects to the export place or the import destination. Therefore, it is possible to easily carry out the conveyance, carry-out, and carry-in of heavy objects.

In the automatic transport system 1, the transport trolley transports gas cylinders as heavy objects, and the automatic transport system 1 includes a gas cylinder cabinet for storing and storing gas cylinders. Furthermore, the transport trolley is connected to the gas cylinder cabinet to carry out and carry in the gas cylinders. When storing gas cylinders in a limited space such as a gas cylinder cabinet, there are also situations where it takes time to move in and out manually because of the space. By using the transport trolley, even In this kind of restricted environment, the gas cylinder can also be moved in and out automatically. Furthermore, the user only needs to perform the work after the import. Therefore, the time required for moving in and moving out can be reduced.

The automatic conveying system 1 is equipped with a gas cylinder storage device, which distinguishes and stores gas cylinders whose residual amount does not reach the threshold value and gas cylinders filled with gas according to the type of gas. The transport trolley is based on the instructions of the control device to remove the gas cylinders whose residual capacity does not reach the threshold value from the gas cylinder cabinet and move them into the gas cylinder storage, and remove the gas cylinders filled with gas from the gas cylinder storage Move out and move into the gas cylinder cabinet. In this way, in the automatic transport system 1, the transport trolley carries out the gas cylinders with insufficient remaining capacity from the gas cylinder cabinet having the insufficient remaining capacity gas cylinders. Furthermore, the transport trolley is to transport the gas cylinders filled with gas from the gas cylinder storage and into the gas cylinder cabinet. In this way, in the automatic transport system 1, the gas cylinders in the gas cylinder cabinet can be replaced, and the gas cylinders can be removed from the gas cylinder storage that holds the filled gas cylinders. Therefore, a series of processing up to the replacement of the gas cylinder can be automatically performed. Therefore, it is possible to easily carry out the conveyance, carry-out, and carry-in of heavy objects.

The transport trolley memorizes a plurality of information about the travel path from the current position of the device to the destination, and the control device transmits the identification information identifying the route to the destination selected by the user to the transport trolley. The trolley travels to the destination based on the information of the travel path identified by the identification information. Therefore, there is no need for an operator to transport the transport trolley to the destination. Therefore, the burden on the operator can be reduced.

The control device asks operators and other users whether they can carry out transport, carry out, and carry in. When the user gives an instruction to carry out, it sends an instruction to carry out any one of transport, carry out and carry in to the transport trolley. In this way, the user's confirmation is sure to be performed when moving out and moving in. Therefore, the conveying, unloading, and unloading of heavy objects are not automatically performed without the user's knowledge. Therefore, it is possible to reduce accidents that may occur due to automatic conveyance, unloading, and unloading of heavy objects.

<Modifications>

At the bottom of the storage space S of the gas cylinder cabinet 3, a load cell (not shown), the roller 4a, and the frame 4b can also be integrated and installed. In the case of liquefied gas, if it is a method of measuring the contents by "pressure", it will be unstable and lack accuracy. For this point, when the dynamometer is integrated, accurate and stable measurement can be performed. Therefore, in the case of the gas cylinder B filled with liquefied gas, it is preferable to integrate the dynamometer (not shown), the roller 4a and the frame 4b at the bottom of the gas cylinder cabinet 3 to be integrated. The operation terminal 40 and the gas cylinder transport trolley 2 may be configured to communicate directly without going through the management device 50. The operation terminal 40 and the gas cylinder cabinet 3 may be configured to communicate directly without passing through the management device 50. The operation terminal 40 and the gas cylinder storage 30 may be configured to communicate directly without passing through the management device 50.

In the above embodiment, although the operation of the operation terminal 40 by the operator is shown to control the transportation, unloading, and loading by the trolley 2 for transporting gas cylinders, it may also be configured by the operator The management device 50 is operated to control transport, transport, and transport by the trolley 2 for transporting gas cylinders. At this time, the management device 50 includes a path information storage unit 45 similarly to the operation terminal 40.

The path information storage unit 45 may also be provided outside the operation terminal 40. For example, the path information storage unit 45 may also be provided in the management device 50. In this case, the operation terminal 40 may not have the path information storage unit 45. In addition, an instruction signal is issued from the device storing the path information storage unit 45 to the gas cylinder transport trolley 2. Here is an example. Assume that the user selects the replacement gas cylinder Be of the place of export in the area displayed on the operation terminal 40. At this time, the control unit 43 controls the communication unit 41 to transmit the instruction information destined for the selected replacement gas cylinder Be to the management device 50. The communication unit 41 transmits instruction information destined for the replacement target gas cylinder Be to the management device 50 under the control of the control unit 43. The communication unit 51 of the management device 50 receives the instruction information transmitted from the operation terminal 40. The control unit 55 refers to the path information storage unit 45, and obtains from the current position of the gas cylinder transport trolley 2 to the information contained in the instruction information The route number until the target gas cylinder Be is replaced. After that, the communication unit 51 transmits an instruction including the acquired path number to the gas cylinder transport trolley 2.

In summary, although the embodiment of the present invention has been described in detail with reference to the drawings, the specific configuration is not limited to the embodiment, and includes designs that do not depart from the scope of the gist of the present invention.

1: Automatic transport system

2-1 to 2-2: Trolley for transporting gas cylinders

3: gas cylinder cabinet

30-1 to 30-4: gas cylinder storage

31-1, 31-2: area

40: Operation terminal (control device)

50: Management device (control device)

B: Gas cylinder (weight)

Be: Replace the target gas cylinder

Bf: Move into the target gas cylinder

Claims (6)

An automatic conveying system with: The control device is to control the movement of the transport trolley for transporting, unloading and loading heavy objects; and The transport trolley transports the weight in accordance with the control instructions of the control device, and automatically slides the weight between the loading part where the weight is placed and the destination of the weight. The aforementioned heavy objects are carried out and carried in. The automatic transport system described in item 1 of the scope of patent application, wherein the aforementioned transport trolley is used to transport the gas cylinder as the aforementioned weight; The aforementioned automatic transport system is equipped with a gas cylinder cabinet for storing the aforementioned gas cylinders; The transport trolley is used to carry out and carry in the gas cylinder between it and the gas cylinder cabinet. For example, the automatic transport system described in item 2 of the scope of patent application is equipped with a gas cylinder storage, which is classified according to the gas type and stores gas cylinders whose residual volume has not reached the threshold value and has been filled with Gas cylinders; The aforementioned transport trolley is based on the instructions of the aforementioned control device to carry out the aforementioned gas cylinders whose residual capacity does not reach the threshold limit from the aforementioned gas cylinder cabinet and into the aforementioned gas cylinder storage, and the aforementioned gas cylinders are filled Carry out from the aforementioned gas cylinder storage and into the aforementioned gas cylinder cabinet. The automatic transport system described in any one of items 1 to 3 of the scope of patent application, wherein the aforementioned transport trolley memorizes a plurality of information about the travel path from the current position of the device to the destination; The aforementioned control device transmits the identification information used to identify the route to the destination selected by the user to the aforementioned transport trolley; The aforementioned transportation trolley travels to the aforementioned destination based on the information of the travel path identified by the aforementioned identification information. For example, the automatic conveying system described in any one of items 1 to 3 in the scope of the patent application, wherein the aforementioned control device asks the user whether the aforementioned conveying, unloading, and loading can be performed, and when the aforementioned user has issued an order to be executed In the case of an intentional instruction, the instruction to execute any one of the aforementioned transportation, unloading, and loading for the transfer of the aforementioned transport trolley. An automatic transport method that controls the actions of the transport trolley for transporting, unloading and loading heavy objects; According to the control instructions, the weight is transported, and the weight is automatically moved out and in while sliding the weight between the placement part where the weight is placed and the destination of the weight. .

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