WO2022097360A1 - Conveyance work system, work management device, conveyance robot control device, and control method for conveyance work system - Google Patents

Conveyance work system, work management device, conveyance robot control device, and control method for conveyance work system Download PDF

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Publication number
WO2022097360A1
WO2022097360A1 PCT/JP2021/032728 JP2021032728W WO2022097360A1 WO 2022097360 A1 WO2022097360 A1 WO 2022097360A1 JP 2021032728 W JP2021032728 W JP 2021032728W WO 2022097360 A1 WO2022097360 A1 WO 2022097360A1
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WIPO (PCT)
Prior art keywords
work
transfer
transfer robot
robots
control device
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PCT/JP2021/032728
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French (fr)
Japanese (ja)
Inventor
尚 前園
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パナソニックＩｐマネジメント株式会社
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Priority to JP2022560655A priority Critical patent/JPWO2022097360A1/ja
Publication of WO2022097360A1 publication Critical patent/WO2022097360A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • This disclosure relates to a transport work system, etc.
  • Patent Document 1 discloses a component mounting system including a self-propelled component replenishment device that transports components stored in the component storage device to a component mounting line, and a management computer that controls the self-propelled component replenishment device. ..
  • the work management device is a transfer operation by the plurality of transfer robots. It is not possible to efficiently give work instructions to a plurality of transport robots, and it is not possible to efficiently transport articles.
  • the present disclosure provides a transport work system or the like capable of efficiently transporting goods.
  • the transport work system includes a plurality of transport robots that execute a task of transporting articles, a transfer robot control device that controls the plurality of transfer robots, and a work that can communicate with the transfer robot control device.
  • a request transmission unit including a management device, wherein the work management device transmits a request for transmitting a response including information of at least one transfer robot among the plurality of transfer robots to the transfer robot control device. And, based on the information of the at least one transfer robot included in the answer, the operation for causing the transfer robot control device to execute the work by any of the at least one transfer robots.
  • the transfer robot control device has a work instruction unit for transmitting instructions, and the transfer robot control device has a request response unit for transmitting the answer to the work management device in response to the request transmitted from the request transmission unit, and the work. It has a work command unit that causes any of the at least one transfer robots to perform the work based on the work instructions transmitted from the instruction unit.
  • the work management device is a work management device capable of communicating with a transfer robot control device that controls a plurality of transfer robots that execute a work of transporting articles, with respect to the transfer robot control device.
  • the request transmission unit for transmitting a request including information of at least one transfer robot among the plurality of transfer robots, and the information of the at least one transfer robot included in the answer.
  • the transfer robot control device is provided with a work instruction unit for transmitting a work instruction for causing any transfer robot of the at least one transfer robot to execute the work.
  • the transfer robot control device is a transfer robot control device that controls a plurality of transfer robots that execute work for transporting articles
  • the work management device that can communicate with the transfer robot control device is
  • a request transmission unit for transmitting a request for transmitting a response including information of at least one transfer robot among the plurality of transfer robots to the transfer robot control device, and at least one transfer included in the answer.
  • the transfer robot control device has a work instruction unit for transmitting a work instruction for causing the transfer robot of at least one of the transfer robots to execute the work.
  • the request response unit In response to the request transmitted from the request transmission unit, the request response unit that transmits the response to the work management device, and the at least one transfer robot based on the work instruction transmitted from the work instruction unit. It is provided with a work command unit that causes any of the transfer robots to perform the above work.
  • the control method of the transfer system can communicate with a plurality of transfer robots that execute the work of transporting articles, a transfer robot control device that controls the plurality of transfer robots, and the transfer robot control device.
  • a method for controlling a transfer work system including a work management device, wherein the work management device includes information on at least one transfer robot among the plurality of transfer robots to the transfer robot control device. Is transmitted, and based on the information of the at least one transfer robot included in the answer, the transfer robot control device is referred to the transfer robot of the at least one transfer robot.
  • the work instruction for executing the work is transmitted, the transfer robot control device sends the answer to the work management device in response to the request sent from the work management device, and the work management device sends the answer. Based on the transmitted work instruction, one of the at least one transfer robots is made to perform the work.
  • a recording medium such as a system, method, integrated circuit, computer program or computer-readable CD-ROM, and the system, method, integrated circuit, computer program. And may be realized by any combination of recording media. Further, the recording medium may be a non-temporary recording medium.
  • the transport work system, etc. disclosed in this disclosure can efficiently transport goods.
  • FIG. 1 is a diagram showing an example of a configuration of a transport work system according to an embodiment.
  • FIG. 2 is a block diagram showing an example of the functional configuration of the transport work system of FIG.
  • FIG. 3 is a flowchart showing an example of the operation of the transfer work system of FIG.
  • FIG. 4 is a flowchart showing another example of the operation of the transfer work system of FIG.
  • the transfer work system includes a plurality of transfer robots for executing the operation of transporting articles, a transfer robot control device for controlling the plurality of transfer robots, and the above-mentioned transfer robot control device.
  • the work management device includes a transfer robot control device and a work management device capable of communicating, and the work management device causes the transfer robot control device to send an answer including information of at least one transfer robot among the plurality of transfer robots. Based on the information of the request transmission unit for transmitting the request for and the at least one transfer robot included in the answer, the transfer robot of at least one of the transfer robots is referred to the transfer robot control device.
  • the transfer robot control device has a work instruction unit for transmitting a work instruction for executing the work, and the transfer robot control device sends the answer to the work management device in response to the request transmitted from the request transmission unit. It has a request response unit to be transmitted, and a work command unit that causes any of the at least one transfer robots to perform the work based on the work instructions transmitted from the work instruction unit.
  • the work management device can acquire information on at least one of the plurality of transfer robots by transmitting a request to the transfer robot control device. That is, the work management device can make the transfer robot control device transmit the information by transmitting a request instead of waiting for the transfer robot control device to unilaterally transmit the information. As a result, the work management device can efficiently acquire the information and efficiently transmit the work instruction based on the information, so that the article can be efficiently transported.
  • the request may indicate that one of the plurality of transfer robots wants to execute the work.
  • the work management device can more reliably acquire information on one of the plurality of transfer robots.
  • the work management device is the first transfer robot among the at least one transfer robots that executes the work based on the information of the at least one transfer robot included in the answer. It may further have a condition suitability determination unit for determining whether or not there is a first transfer robot that meets the conditions.
  • the transfer work management device when the condition suitability determination unit determines that a plurality of the first transfer robots exist, the work management device causes one of the plurality of first transfer robots to execute the work.
  • the transfer robot selection unit for selecting the transfer robot may be further provided.
  • first transfer robot for executing work from a plurality of first transfer robots.
  • the most suitable first transfer robot for executing the work can be selected from the plurality of first transfer robots, and the first transfer robot can be made to execute the work, so that the article can be transferred more efficiently. ..
  • the information of the at least one transfer robot includes the information of the time when each of the at least one transfer robot can start the work, and the first condition is that the work can be started. It may be a condition that the time is before the deadline for starting the work.
  • the transfer robot whose work can be started at a time before the deadline for starting the work can be made to execute the work. That is, since the transfer robot capable of starting the work can be made to execute the work before the deadline for starting the work, it is possible to suppress the delay in the transportation of the article and to transport the article more efficiently.
  • the request includes a second condition of the transfer robot that executes the work
  • the transfer robot control device is a second condition that meets the second condition among the plurality of transfer robots.
  • the transfer robot extraction unit for extracting the transfer robot is further provided, and the information of the at least one transfer robot may include the information of the second transfer robot.
  • the second transfer robot that meets the second condition can be extracted, and the information of the second transfer robot can be transmitted to the work management device. Then, the second transfer robot can be made to execute the work.
  • a transfer robot suitable for executing a work can be extracted, and the transfer robot can be made to execute the work, so that the article can be conveyed more efficiently.
  • the work management device selects one second transfer robot for executing the work from the plurality of second transfer robots. It may further have a selection unit.
  • the most suitable second transfer robot for executing the work can be selected from the plurality of second transfer robots, and the second transfer robot can be made to execute the work, so that the article can be transferred more efficiently. ..
  • the second condition is that the time at which the work can be started is a time before the deadline for starting the work
  • the transfer robot extraction unit is the plurality of transfer robots.
  • the second transfer robot may be extracted based on the information of the time when each of the above can start the work.
  • the transfer robot whose work can be started at a time before the deadline for starting the work can be made to execute the work. That is, since the transfer robot capable of starting the work can be made to execute the work before the deadline for starting the work, it is possible to suppress the delay in the transportation of the article and to transport the article more efficiently.
  • the transfer robot control device further has a storage unit for storing status information of the plurality of transfer robots, and the request response unit refers to the status information to perform the answer. It may be sent to the management device.
  • the request response unit can efficiently refer to these status information without acquiring these status information from the plurality of transfer robots, and the response is efficient. Since it can be sent to the work management device well, the goods can be transported more efficiently.
  • the information of the at least one transfer robot preferentially includes the information of the transfer robot on standby among the plurality of transfer robots, and there is no transfer robot on standby. May include information on the transfer robot that is performing the work.
  • each of the plurality of transfer robots may be an automatic guided vehicle (AGV).
  • AGV automatic guided vehicle
  • each of the plurality of transfer robots can be easily and autonomously traveled, so that the articles can be conveyed more efficiently.
  • each of the plurality of transfer robots may be an autonomous traveling transfer robot (AMR).
  • AMR autonomous traveling transfer robot
  • each of the plurality of transfer robots can be easily and autonomously moved, so that the article can be conveyed more efficiently.
  • the work management device is a work management device capable of communicating with a transfer robot control device that controls a plurality of transfer robots that execute work for transporting articles. Therefore, a request transmission unit for transmitting a request for transmitting an answer including information of at least one of the plurality of transfer robots to the transfer robot control device, and at least the above included in the answer. Based on the information of one transfer robot, a work instruction unit for transmitting a work instruction for causing one of the at least one transfer robots to execute the work to the transfer robot control device is provided. Be prepared.
  • the transfer robot control device is a transfer robot control device that controls a plurality of transfer robots that execute work for transporting articles, and the transfer robot.
  • the work management device capable of communicating with the control device includes a request transmission unit for transmitting a request for transmitting a response including information of at least one of the plurality of transfer robots to the transfer robot control device.
  • a work instruction for causing the transfer robot to execute the work to the transfer robot control device based on the information of the at least one transfer robot included in the answer.
  • a request response unit that transmits the response to the work management device in response to the request transmitted from the request transmission unit, and the work transmitted from the work instruction unit. Based on the instruction, it is provided with a work command unit that causes any one of the at least one transfer robots to perform the work.
  • the transfer robot work control method includes a plurality of transfer robots that execute the work of transporting articles, and a transfer robot control that controls the plurality of transfer robots. It is a control method of a transfer work system including a device and a work management device capable of communicating with the transfer robot control device, wherein the work management device is a transfer robot of the plurality of transfer robots with respect to the transfer robot control device.
  • a request for transmitting an answer including information of at least one of the transfer robots is transmitted, and based on the information of the at least one transfer robot included in the answer, the transfer robot control device is notified of at least one of them.
  • a work instruction for causing one of the transfer robots to perform the work is transmitted, and the transfer robot control device sends the answer to the work in response to the request transmitted from the work management device. It is transmitted to the management device, and based on the work instruction transmitted from the work management device, one of the at least one transfer robots is made to perform the work.
  • each figure is a schematic diagram and is not necessarily exactly illustrated. Further, in each figure, the same components are designated by the same reference numerals.
  • FIG. 1 is a diagram showing an example of the configuration of the transport work system 10 according to the present embodiment. An example of the configuration of the transport work system 10 will be described with reference to FIG.
  • the transfer work system 10 in the present embodiment includes a work management device 12, a transfer robot control device 14, a plurality of transfer robots 16, a plurality of supply units 18, and an article stock unit 20.
  • a worker instruction terminal 22 and a mounting line system 24 are provided.
  • the work management device 12 is a device that manages the transport work, which is the work of transporting articles, and is arranged at a position capable of communicating with the transport robot control device 14.
  • the article is a part constituting a part of the product produced by the mounting line system 24, or an accommodating body for accommodating the part.
  • the article is a cassette box that houses the components mounted on the substrate in the mounting line system 24.
  • the work management device 12 does not directly communicate with the plurality of transfer robots 16, but acquires information on the plurality of transfer robots 16 from the transfer robot control device 14.
  • the work management device 12 manages the transfer work by the plurality of transfer robots 16 based on the information acquired from the transfer robot control device 14.
  • the transfer robot control device 14 is a device that controls a plurality of transfer robots 16, and is arranged at a position capable of communicating with each of the plurality of transfer robots 16.
  • the transfer robot control device 14 constitutes a fleet management system (FMS) together with a plurality of transfer robots 16 and the like.
  • the transfer robot control device 14 is a device separate from the work management device 12.
  • the transfer robot control device 14 transmits information acquired from the plurality of transfer robots 16 to the work management device 12, and causes the plurality of transfer robots 16 to execute the transfer work based on the work instructions from the work management device 12.
  • Each of the plurality of transfer robots 16 is a robot that executes the transfer work, and executes the transfer work based on a command from the transfer robot control device 14.
  • each of the plurality of transfer robots 16 conveys an article by using the supply unit 18.
  • each of the plurality of transfer robots 16 is connected to the supply unit 18 on which the article is loaded, and the article is conveyed by pulling and moving the supply unit 18.
  • Each of the plurality of transfer robots 16 is on standby in the standby area A1 when the transfer operation is not being executed.
  • each of the plurality of transfer robots 16 is an automatic guided vehicle (AGV: Automated Guided Vehicle).
  • Each of the plurality of supply units 18 is a unit used for the transfer work by the transfer robot 16, and can be loaded with articles and can be connected to the transfer robot 16.
  • each of the plurality of supply units 18 supplies a tape-shaped member housed in a cassette box to the mounting line system 24 at the transfer destination.
  • Each of the plurality of supply units 18 is on standby in the preparation area A2 when not used for the transfer operation.
  • the article stock unit 20 stocks articles to be conveyed by the transfer robot 16 and is arranged so as to be adjacent to the preparation area A2.
  • the article stock unit 20 stocks a plurality of articles.
  • the article stock unit 20 is a shelf or the like.
  • the worker instruction terminal 22 is a terminal for giving an instruction to the worker 1 and can communicate with the transfer robot control device 14. For example, when the transfer robot 16 executes the transfer work, the transfer robot control device 14 issues an instruction to the worker 1 via the worker instruction terminal 22, and the worker 1 to whom the instruction is given is the article stock unit 20. The goods stocked in the supply unit 18 are loaded on the supply unit 18. For example, the transfer robot 16 or the like instead of the worker 1 may load the articles stocked in the article stock section 20 into the supply unit 18.
  • the worker instruction terminal 22 is a mobile terminal such as a smartphone or a tablet.
  • the mounting line system 24 is a production system that produces a product using the parts conveyed by the transfer robot 16.
  • the product is a mounting board
  • the mounting line system 24 cuts out a component from a tape-shaped member housed in a cassette box conveyed by the transfer robot 16 and mounts the component on the substrate. , Produce mounting board.
  • the mounting line system 24 includes a plurality of production lines L1 to L3, and each of the plurality of production lines L1 to L3 produces a mounting board.
  • FIG. 2 is a block diagram showing an example of the functional configuration of the transport work system 10 of FIG. An example of the functional configuration of the transport work system 10 will be described with reference to FIG.
  • the transport work system 10 further includes a production plan storage unit 26.
  • the production plan storage unit 26, the work management device 12, the transfer robot control device 14, the worker instruction terminal 22, and the mounting line system 24 are communicably connected via a wired or wireless network.
  • the production plan storage unit 26 stores production plan information regarding the production plan of the product produced by the mounting line system 24.
  • the production planning information includes information indicating the type of the product, the number of products produced, the information of the parts constituting the product, the scheduled production start time, the scheduled production end time, and the like.
  • the production planning storage unit 26 is realized by a memory or the like.
  • the work management device 12 includes a work information generation unit 28, a request transmission unit 30, a condition suitability determination unit 32, a transfer robot selection unit 34, a cancellation unit 36, and a work instruction unit 38.
  • the work management device 12 is realized by a processor, a memory, and the like.
  • the work information generation unit 28 generates work information related to the transfer work to be executed by the plurality of transfer robots 16 based on the production plan information.
  • the work information is information indicating the contents of the transport work, for example, the type of the article to be transported, the quantity of the article to be transported, the scheduled start time of the transport work (deadline for starting the transport work), and the scheduled end time of the transport work (transport work). Includes information indicating the deadline for terminating) and the destination of goods.
  • the request transmission unit 30 transmits a first request or a second request for causing the transfer robot control device 14 to transmit a response including information of at least one transfer robot 16 among the plurality of transfer robots 16.
  • the information is execution information regarding the execution of the transfer work of at least one transfer robot 16 among the plurality of transfer robots 16.
  • the execution information includes information indicating the execution status such as whether the transport work is being executed or waiting, information indicating the reservation status, information indicating the period during which the transport work can be executed, and the transport work can be started. Includes information indicating the time of day.
  • the first request is a request indicating that one of the plurality of transfer robots 16 wants to execute the work. That is, the first request is a request for transmitting an answer including information of at least one of the plurality of transfer robots 16, and the transfer robot 16 of the plurality of transfer robots 16 is the first request. This is a request indicating that the transport work is to be executed.
  • the second request is a request including the second condition of the transfer robot that executes the transfer operation. In this embodiment, the second condition is that the time when the transport work can be started is the time before the deadline for starting the transport work.
  • the request transmission unit 30 transmits a reservation request for reserving the transfer robot 16 to execute the transfer work among the plurality of transfer robots 16 to the transfer robot control device 14.
  • the condition suitability determination unit 32 is the first transfer robot among the at least one transfer robot 16 that executes the work based on the information of the at least one transfer robot 16 included in the response from the transfer robot control device 14. It is determined whether or not there is a first transfer robot that meets the conditions.
  • the first condition is that the time when the transport work can be started is the time before the deadline for starting the transport work.
  • the time at which the transfer work can be started is the time at which the transfer robot 16 can start moving from the state of waiting in the standby area A1. That is, it is a time when the transfer robot 16 in which the transfer work is being executed can start moving again after returning to the standby area A1.
  • the transfer robot selection unit 34 selects one first transfer robot from among the plurality of first transfer robots to execute the transfer operation. Further, when there are a plurality of second transfer robots extracted by the transfer robot extraction unit 42, the transfer robot selection unit 34 selects one second transfer robot from among the plurality of second transfer robots to execute the transfer operation. do. The second transfer robot will be described later.
  • the cancellation unit 36 transmits a cancellation request for canceling the reservation of the transfer robot 16 reserved based on the reservation request to the transfer robot control device 14.
  • the work instruction unit 38 refers to the transfer robot control device 14 with respect to any one of the at least one transfer robot 16 based on the information of the at least one transfer robot 16 included in the response from the transfer robot control device 14. A work instruction for causing the transfer robot 16 to execute the transfer work is transmitted. In this embodiment, the work instruction unit 38 causes the transfer robot 16 reserved based on the information of at least one transfer robot 16 included in the response from the transfer robot control device 14 to execute the transfer work. Send work instructions.
  • the transfer robot control device 14 includes a request response unit 40, a transfer robot extraction unit 42, a status information update unit 44, a storage unit 46, a work command unit 48, and a wireless communication unit 50.
  • the transfer robot control device 14 is realized by a processor, a memory, and the like.
  • the request response unit 40 transmits a response including information of at least one transfer robot 16 among the plurality of transfer robots 16 to the work management device 12 in response to the request transmitted from the request transmission unit 30.
  • the request response unit 40 transmits a response including information of one of the plurality of transfer robots 16.
  • the request transmission unit 30 transmits the first request
  • the request response unit 40 transmits a response including information on the standby transfer robot 16 among the plurality of transfer robots 16.
  • the request response unit 40 receives an answer including the information of the second transfer robot extracted by the transfer robot extraction unit 42 among the plurality of transfer robots 16. Send.
  • the transfer robot extraction unit 42 extracts a second transfer robot that meets the second condition from the plurality of transfer robots 16. In this embodiment, the transfer robot extraction unit 42 extracts the second transfer robot based on the information of the time when each of the plurality of transfer robots 16 can start the transfer work.
  • the status information update unit 44 updates the status information of the plurality of transfer robots 16.
  • the status information includes the identification number of each of the plurality of transfer robots 16, the execution information of each of the plurality of transfer robots 16, and the like.
  • the storage unit 46 stores status information and the like. When the status information of the plurality of transfer robots 16 is updated by the status information updating unit 44, the storage unit 46 stores the updated status information.
  • the work command unit 48 causes one of the plurality of transfer robots 16 to execute the transfer work based on the work instruction transmitted from the work instruction unit 38.
  • the work command unit 48 transmits a command to the transfer robot 16 reserved in advance among the plurality of transfer robots 16 to execute the transfer work.
  • the wireless communication unit 50 is a communication module for each of the transfer robot control device 14 and the plurality of transfer robots 16 to perform wireless communication.
  • FIG. 3 is a flowchart showing an example of the operation of the transfer work system 10 of FIG. An example of the operation of the transport work system 10 will be described with reference to FIG.
  • the work management device 12 generates work information (step S1).
  • the work information generation unit 28 calculates, based on the production planning information, which article, when, to which production line, and how much quantity should be transported, and performs work information including such information. Generate.
  • the work management device 12 After generating the work information, the work management device 12 transmits a first request (simple request) to the transfer robot control device 14 (step S2).
  • the transfer robot control device 14 When the transfer robot control device 14 receives the first request from the work management device 12, the transfer robot control device 14 refers to the status information of the plurality of transfer robots 16 (step S3), and the transfer robot 16 of at least one of the plurality of transfer robots 16. An answer including information is transmitted to the work management device 12 (step S4). In one example of this operation, the request response unit 40 transmits a response including the identification numbers (robot IDs) of the plurality of transfer robots 16 and the startable times of the transfer operations of the plurality of transfer robots 16.
  • the work management device 12 determines whether or not there is a first transfer robot that meets the first condition among the plurality of transfer robots 16 based on the answer. (Step S5).
  • the first condition is that the time when the transport work can be started is the time before the deadline for starting the transport work.
  • the condition suitability determination unit 32 determines that the first transfer robot exists when the transfer robot 16 has a plurality of transfer robots 16 whose time at which the transfer work can be started is before the deadline for starting the transfer work. judge.
  • the work management device 12 if there is no transfer robot 16 among the plurality of transfer robots 16 whose time at which the transfer work can be started is before the deadline for starting the transfer work, the first transfer robot exists. Judge not to.
  • the work management device 12 deletes the generated work information (step S6), and gives an instruction to the worker 1 to convey the article (step S7). .. That is, when the first transfer robot does not exist, the worker 1 executes the transfer work instead of the plurality of transfer robots 16.
  • the work management device 12 selects the first transfer robot to execute the transfer work (step S8).
  • the transfer robot selection unit 34 selects the first transfer robot to execute the transfer work from the plurality of first transfer robots.
  • the transfer robot selection unit 34 causes the transfer operation to be executed by the first transfer robot capable of starting the transfer operation earliest or the first transfer robot having the largest remaining battery power among the plurality of first transfer robots. Select as a transfer robot.
  • the transfer robot selection unit 34 selects the one first transfer robot as the first transfer robot for executing the transfer operation.
  • the work management device 12 After selecting the first transfer robot to execute the transfer work, the work management device 12 transmits a reservation request for making a reservation for the first transfer robot to execute the transfer work to the transfer robot control device 14. (Step S9).
  • the transfer robot control device 14 When the transfer robot control device 14 receives the reservation request from the work management device 12, it reserves the first transfer robot indicated by the reservation request and updates the status information of the first transfer robot (step S10).
  • the status information updating unit 44 updates the information indicating the reservation status of the first transfer robot selected by the transfer robot selection unit 34.
  • the work management device 12 After transmitting the reservation request, the work management device 12 transmits a work instruction for causing the first transfer robot reserved by the reservation request to execute the transfer work (step S11).
  • the work instruction includes work information indicating the content of the transfer work to be executed by the first transfer robot.
  • the transfer robot control device 14 Upon receiving the work instruction from the work management device 12, the transfer robot control device 14 causes the reserved first transfer robot to execute the transfer work (step S12).
  • the work command unit 48 sends a command to the reserved first transfer robot, and causes the first transfer robot to execute the transfer work.
  • the first transfer robot executes the transfer work based on the work information.
  • the transfer robot control device 14 When the transfer robot control device 14 causes the first transfer robot to execute the transfer operation, the transfer robot control device 14 updates the status information of the first transfer robot (step S13). For example, the status information updating unit 44 updates the information indicating the execution status of the transport work of the first transport robot.
  • the transfer robot control device 14 transmits an answer including information of one transfer robot 16 to the work management device 12, and the one transfer robot 16 meets the first condition. May reserve the one transfer robot 16 without the work management device 12 transmitting the reservation request. In this case, for example, when the transfer robot control device 14 transmits a response including information of one transfer robot 16 to the work management device 12, the transfer robot 16 may be reserved.
  • FIG. 4 is a flowchart showing another example of the operation of the transfer work system 10 of FIG. Another example of the operation of the transport work system 10 will be described with reference to FIG.
  • the transfer robot control device 14 extracts a second transfer robot that meets the second condition from the plurality of transfer robots 16, and transmits an answer including the extracted information of the second transfer robot. In that respect, it differs from an example of the operation shown in FIG.
  • the points different from the example of the operation shown in FIG. 3 will be mainly described.
  • the work management device 12 transmits a second request (a request including the second condition) to the transfer robot control device 14 after generating the work information (step S21).
  • the transfer robot control device 14 When the transfer robot control device 14 receives the second request from the work management device 12, the transfer robot control device 14 refers to the status information of the plurality of transfer robots 16 (step S3), and the second condition of the plurality of transfer robots 16 is satisfied. 2 Extract the transfer robot (step S22).
  • the second condition is that the time when the transport work can be started is the time before the deadline for starting the transport work.
  • the transfer robot extraction unit 42 extracts, among the plurality of transfer robots 16, the second transfer robot whose time when the transfer work can be started is before the deadline for starting the transfer work.
  • the transfer robot extraction unit 42 does not have a second transfer robot whose time when the transfer work can be started is before the deadline for starting the transfer work among the plurality of transfer robots 16, the transfer robot extraction unit 42 is a second transfer robot. Do not extract.
  • the transfer robot control device 14 When the transfer robot control device 14 extracts the second transfer robot, the transfer robot control device 14 transmits an answer including the information of the second transfer robot to the work management device 12 (step S4). For example, when a plurality of second transfer robots are extracted, the request response unit 40 transmits a response including information of the plurality of second transfer robots, and when one second transfer robot is extracted, one second transfer robot. Send an answer containing information about the transfer robot. For example, when the second transfer robot does not exist, the request response unit 40 transmits an answer indicating that the second transfer robot does not exist.
  • the work management device 12 determines whether or not the second transfer robot extracted by the transfer robot control device 14 exists based on the response (step S23).
  • the work management device 12 deletes the generated work information (step S6) and causes the worker 1 to transfer the article. (Step S7). That is, when the second transfer robot does not exist, the worker 1 executes the transfer of the article instead of the plurality of transfer robots 16.
  • the work management device 12 selects the second transfer robot to execute the transfer work (step S24).
  • the transfer robot selection unit 34 selects the second transfer robot to execute the transfer operation from the plurality of second transfer robots. ..
  • the transfer robot selection unit 34 causes the transfer operation to be executed by the second transfer robot that can start the transfer operation earliest or the second transfer robot having the largest remaining battery power among the plurality of second transfer robots. Select as a transfer robot.
  • the transfer robot selection unit 34 selects one second transfer robot as the second transfer robot for executing the transfer work. do.
  • the work management device 12 After selecting the second transfer robot to execute the transfer work, the work management device 12 transmits a reservation request for making a reservation for the second transfer robot to execute the transfer work to the transfer robot control device 14. (Step S9).
  • the transfer robot control device 14 When the transfer robot control device 14 receives the reservation request from the work management device 12, it reserves the second transfer robot indicated by the reservation request and updates the status information of the second transfer robot (step S10).
  • the status information updating unit 44 updates the information indicating the reservation status of the second transfer robot selected by the transfer robot selection unit 34.
  • the work management device 12 After transmitting the reservation request, the work management device 12 transmits a work instruction for causing the second transfer robot reserved by the reservation request to execute the transfer work (step S11).
  • the work instruction includes work information indicating the content of the transfer work to be executed by the second transfer robot.
  • the transfer robot control device 14 Upon receiving the work instruction from the work management device 12, the transfer robot control device 14 causes the reserved second transfer robot to execute the transfer work (step S12).
  • the work command unit 48 sends a command to the reserved second transfer robot, and causes the second transfer robot to execute the transfer work.
  • the second transfer robot that has received the command executes the transfer work based on the work information.
  • the transfer robot control device 14 When the transfer robot control device 14 causes the second transfer robot to execute the transfer operation, the transfer robot control device 14 updates the status information of the second transfer robot (step S13). For example, the status information updating unit 44 updates the information indicating the execution status of the transport work of the second transport robot.
  • the transfer robot control device 14 may reserve the one second transfer robot without the work management device 12 transmitting the reservation request.
  • the one second transfer robot may be reserved when the transfer robot control device 14 transmits an answer including information of the second transfer robot to the work management device 12.
  • the work management device 12 transmits a first request or a second request to the transfer robot control device 14, so that the transfer robot 16 is at least one of the plurality of transfer robots 16.
  • Information can be obtained. That is, the work management device 12 does not wait for the information to be unilaterally transmitted from the transfer robot control device 14, but the information is transmitted to the transfer robot control device 14 by transmitting the first request or the second request. Can be sent.
  • the work management device 12 can efficiently acquire the information and efficiently transmit the work instruction based on the information, so that the article can be efficiently transported.
  • the work management device 12 is the transfer robot of any one of the plurality of transfer robots 16. 16 information can be acquired more reliably.
  • the first transfer robot it is possible to determine whether or not there is a first transfer robot that meets the first condition. Then, when the first transfer robot exists, the first transfer robot can be made to execute the transfer operation. For example, it is possible to determine whether or not a transfer robot suitable for executing a transfer operation exists, and if a transfer robot suitable for executing the transfer work exists, the transfer work is executed in the transfer robot. Therefore, the article can be transported more efficiently.
  • one first transfer robot for executing the transfer work can be selected from the plurality of first transfer robots.
  • the most suitable first transfer robot for executing the transfer work can be selected from the plurality of first transfer robots, and the first transfer robot can be made to execute the transfer work, so that the article can be more efficiently executed. Can be transported.
  • the transfer robot 16 can be made to execute the transfer work when the time when the transfer work can be started is the time before the deadline for starting the transfer work. That is, since the transport robot 16 capable of starting the transport work can be made to execute the transport work before the deadline for starting the transport work, it is possible to suppress the delay in the transport of the article and to transport the article more efficiently.
  • a second transfer robot that meets the second condition can be extracted. Then, the second transfer robot can be made to execute the transfer operation.
  • a transfer robot suitable for executing a transfer operation can be extracted, and the transfer robot can be made to execute the transfer operation, so that the article can be conveyed more efficiently.
  • one second transfer robot for executing the transfer work can be selected from the plurality of second transfer robots.
  • the most suitable second transfer robot for executing the transfer work can be selected from the plurality of second transfer robots, and the second transfer robot can be made to execute the transfer work, so that the article can be more efficiently executed. Can be transported.
  • the transfer robot 16 can be made to execute the transfer work when the time when the transfer work can be started is the time before the deadline for starting the transfer work. That is, since the transport robot 16 capable of starting the transport work can be made to execute the transport work before the deadline for starting the transport work, it is possible to suppress the delay in the transport of the article and to transport the article more efficiently.
  • the request response unit 40 can efficiently refer to these status information without acquiring the status information from the plurality of transfer robots 16 and respond. Can be efficiently transmitted to the work management device 12, so that the article can be transported more efficiently.
  • each of the plurality of transfer robots 16 is an automatic guided vehicle (AGV)
  • AGV automatic guided vehicle
  • the request response unit 40 includes an identification number (robot ID) of each of the plurality of transfer robots 16 and a response including a start time of each transfer operation of the plurality of transfer robots 16.
  • robot ID an identification number
  • the request response unit 40 preferentially transmits the information of the transfer robot 16 waiting in the standby area A1 among the plurality of transfer robots 16, and the transfer robot 16 waiting in the standby area A1 does not exist. In some cases, information on the transfer robot 16 that is executing the transfer operation may be transmitted.
  • the information of at least one transfer robot 16 included in the answer preferentially includes the information of the transfer robot 16 on standby among the plurality of transfer robots 16, and the transfer robot 16 on standby exists. If not, the information of the transfer robot 16 that is executing the transfer operation may be included. In this case, since the transfer robot 16 that is not executing the transfer work and is on standby can easily execute the work, it is possible to suppress the delay in the transfer of the article and to transfer the article more efficiently.
  • each of the plurality of transfer robots 16 is an automatic guided vehicle (AGV)
  • AGV automatic guided vehicle
  • each of the plurality of transfer robots may be an autonomous traveling transfer robot (AMR: Autonomous Mobile Robot).
  • AMR Autonomous Mobile Robot
  • each of the plurality of transfer robots 16 pulls and moves the supply unit 18 to transport the article has been described, but the present invention is not limited to this.
  • each of the plurality of transport robots may push and move the supply unit to transport the article.
  • each of the plurality of transport robots may transport the article by loading and moving the article on itself without using the supply unit.
  • the first condition is the condition that the time when the transport work can be started is the time before the deadline for starting the transport work has been described, but the present invention is not limited to this.
  • the first condition may be a waiting condition.
  • the transfer robot 16 that has not executed the transfer operation and is on standby becomes the first transfer robot that meets the first condition.
  • the work management device 12 may transmit a work instruction to cause the first transfer robot to execute the transfer work without transmitting the reservation request to reserve the first transfer robot.
  • the first condition may be the condition that the remaining battery level is the largest. In this case, the transfer robot 16 having the largest remaining battery power becomes the first transfer robot that meets the first condition.
  • the second condition is the condition that the time when the transport work can be started is the time before the deadline for starting the transport work has been described, but the present invention is not limited to this.
  • the second condition may be a waiting condition.
  • the transfer robot 16 that has not executed the transfer operation and is on standby becomes the second transfer robot that meets the second condition.
  • the work management device 12 may transmit a work instruction to cause the second transfer robot to execute the transfer work without transmitting the reservation request to reserve the second transfer robot.
  • the second condition may be the condition that the remaining battery level is the largest. In this case, the transfer robot 16 having the largest remaining battery power becomes the second transfer robot that meets the second condition.
  • each component may be configured by dedicated hardware or may be realized by executing a software program suitable for each component.
  • Each component may be realized by a program execution unit such as a CPU (Central Processing Unit) or a processor reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory.
  • the software that realizes the apparatus or the like of the above-described embodiment is a program that causes a computer to execute each step included in the flowcharts shown in FIGS. 3 and 4.
  • This disclosure can be used for a system for transporting parts for producing a mounting board in which parts are mounted on the board.
  • Transport work system 12
  • Work management device 14
  • Transport robot control device 16
  • Transport robot 18
  • Supply unit 20
  • Goods stock section 22
  • Worker instruction terminal 24
  • Mounting line system 26
  • Production plan storage section 28
  • Work information generation section 30
  • Request transmission section 32
  • Condition suitability judgment Unit 34
  • Transport robot selection section 36
  • Cancel section 38
  • Work instruction section 40
  • Request response section 42
  • Transport robot extraction section 44
  • Status information update section 46
  • Work command section 50
  • Wireless communication section 50

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Abstract

A conveyance work system (10) comprises a plurality of conveyance robots (16), a conveyance robot control device (14), and a work management device (12). The work management device (12) has: a request transmission unit (30) that transmits a first request or a second request for requesting transmission of a response including information of one or more conveyance robots (16) of the plurality of conveyance robots (16); and a work instruction unit (38) that transmits, on the basis of the information of said one or more conveyance robots included in the response, a work instruction for causing one conveyance robot, of said one or more conveyance robots (16), to execute work. The conveyance robot control device (14) has: a request responding unit (40) that, in response to the first request or the second request, transmits a response to the work management device (12); and a work command unit (48) that causes one conveyance robot (16), of said one or more conveyance robots (16), to execute work on the basis of the work instruction.

Description

搬送作業システム、作業管理装置、搬送ロボット制御装置、および搬送作業システムの制御方法Transfer work system, work management device, transfer robot control device, and control method of transfer work system
　本開示は、搬送作業システム等に関する。 This disclosure relates to a transport work system, etc.
　従来、搬送ロボットを制御して物品を搬送する搬送システムが知られている。特許文献１には、部品保管装置に保管されている部品を部品実装ラインに搬送する自走部品補給装置と、自走部品補給装置を制御する管理コンピュータとを備える部品実装システムが開示されている。 Conventionally, a transfer system that controls a transfer robot to transfer an article is known. Patent Document 1 discloses a component mounting system including a self-propelled component replenishment device that transports components stored in the component storage device to a component mounting line, and a management computer that controls the self-propelled component replenishment device. ..
特開２０１７－２１６３７９号公報JP-A-2017-216379
　ここで、複数の搬送ロボットを制御する搬送ロボット制御装置と、複数の搬送ロボットに実行させる作業を管理する作業管理装置とが別体である場合、作業管理装置は、複数の搬送ロボットによる搬送作業の状況等がわからず、複数の搬送ロボットに対する作業指示を効率よく行えず、物品を効率よく搬送できない。 Here, when the transfer robot control device that controls a plurality of transfer robots and the work management device that manages the work to be executed by the plurality of transfer robots are separate bodies, the work management device is a transfer operation by the plurality of transfer robots. It is not possible to efficiently give work instructions to a plurality of transport robots, and it is not possible to efficiently transport articles.
　そこで、本開示は、物品を効率よく搬送できる搬送作業システム等を提供する。 Therefore, the present disclosure provides a transport work system or the like capable of efficiently transporting goods.
　本開示の一態様に係る搬送作業システムは、物品を搬送する作業を実行する複数の搬送ロボットと、前記複数の搬送ロボットを制御する搬送ロボット制御装置と、前記搬送ロボット制御装置と通信可能な作業管理装置とを備え、前記作業管理装置は、前記搬送ロボット制御装置に対して、前記複数の搬送ロボットのうち少なくとも１つの搬送ロボットの情報を含む回答を送信させるためのリクエストを送信するリクエスト送信部と、前記回答に含まれる前記少なくとも１つの搬送ロボットの情報に基づいて、前記搬送ロボット制御装置に対して、前記少なくとも１つの搬送ロボットのうちいずれかの搬送ロボットに前記作業を実行させるための作業指示を送信する作業指示部とを有し、前記搬送ロボット制御装置は、前記リクエスト送信部から送信された前記リクエストに応じて、前記回答を前記作業管理装置に送信するリクエスト回答部と、前記作業指示部から送信された前記作業指示に基づいて、前記少なくとも１つの搬送ロボットのうちいずれかの搬送ロボットに前記作業を実行させる作業司令部とを有する。 The transport work system according to one aspect of the present disclosure includes a plurality of transport robots that execute a task of transporting articles, a transfer robot control device that controls the plurality of transfer robots, and a work that can communicate with the transfer robot control device. A request transmission unit including a management device, wherein the work management device transmits a request for transmitting a response including information of at least one transfer robot among the plurality of transfer robots to the transfer robot control device. And, based on the information of the at least one transfer robot included in the answer, the operation for causing the transfer robot control device to execute the work by any of the at least one transfer robots. The transfer robot control device has a work instruction unit for transmitting instructions, and the transfer robot control device has a request response unit for transmitting the answer to the work management device in response to the request transmitted from the request transmission unit, and the work. It has a work command unit that causes any of the at least one transfer robots to perform the work based on the work instructions transmitted from the instruction unit.
　本開示の一態様に係る作業管理装置は、物品を搬送する作業を実行する複数の搬送ロボットを制御する搬送ロボット制御装置と通信可能な作業管理装置であって、前記搬送ロボット制御装置に対して、前記複数の搬送ロボットのうち少なくとも１つの搬送ロボットの情報を含む回答を送信させるためのリクエストを送信するリクエスト送信部と、前記回答に含まれる前記少なくとも１つの搬送ロボットの情報に基づいて、前記搬送ロボット制御装置に対して、前記少なくとも１つの搬送ロボットのうちいずれかの搬送ロボットに前記作業を実行させるための作業指示を送信する作業指示部とを備える。 The work management device according to one aspect of the present disclosure is a work management device capable of communicating with a transfer robot control device that controls a plurality of transfer robots that execute a work of transporting articles, with respect to the transfer robot control device. , The request transmission unit for transmitting a request including information of at least one transfer robot among the plurality of transfer robots, and the information of the at least one transfer robot included in the answer. The transfer robot control device is provided with a work instruction unit for transmitting a work instruction for causing any transfer robot of the at least one transfer robot to execute the work.
　本開示の一態様に係る搬送ロボット制御装置は、物品を搬送する作業を実行する複数の搬送ロボットを制御する搬送ロボット制御装置であって、前記搬送ロボット制御装置と通信可能な作業管理装置は、前記搬送ロボット制御装置に対して、前記複数の搬送ロボットのうち少なくとも１つの搬送ロボットの情報を含む回答を送信させるためのリクエストを送信するリクエスト送信部と、前記回答に含まれる前記少なくとも１つの搬送ロボットの情報に基づいて、前記搬送ロボット制御装置に対して、前記少なくとも１つの搬送ロボットのうちいずれかの搬送ロボットに前記作業を実行させるための作業指示を送信する作業指示部とを有し、前記リクエスト送信部から送信された前記リクエストに応じて、前記回答を前記作業管理装置に送信するリクエスト回答部と、前記作業指示部から送信された前記作業指示に基づいて、前記少なくとも１つの搬送ロボットのうちのいずれかの搬送ロボットに前記作業を実行させる作業司令部とを備える。 The transfer robot control device according to one aspect of the present disclosure is a transfer robot control device that controls a plurality of transfer robots that execute work for transporting articles, and the work management device that can communicate with the transfer robot control device is A request transmission unit for transmitting a request for transmitting a response including information of at least one transfer robot among the plurality of transfer robots to the transfer robot control device, and at least one transfer included in the answer. Based on the information of the robot, the transfer robot control device has a work instruction unit for transmitting a work instruction for causing the transfer robot of at least one of the transfer robots to execute the work. In response to the request transmitted from the request transmission unit, the request response unit that transmits the response to the work management device, and the at least one transfer robot based on the work instruction transmitted from the work instruction unit. It is provided with a work command unit that causes any of the transfer robots to perform the above work.
　本開示の一態様に係る搬送システムの制御方法は、物品を搬送する作業を実行する複数の搬送ロボットと、前記複数の搬送ロボットを制御する搬送ロボット制御装置と、前記搬送ロボット制御装置と通信可能な作業管理装置とを備えた搬送作業システムの制御方法であって、前記作業管理装置が、前記搬送ロボット制御装置に対して、前記複数の搬送ロボットのうち少なくとも１つの搬送ロボットの情報を含む回答を送信させるためのリクエストを送信し、前記回答に含まれる前記少なくとも１つの搬送ロボットの情報に基づいて、前記搬送ロボット制御装置に対して、前記少なくとも１つの搬送ロボットのうちいずれかの搬送ロボットに前記作業を実行させるための作業指示を送信し、前記搬送ロボット制御装置が、前記作業管理装置から送信された前記リクエストに応じて、前記回答を前記作業管理装置に送信し、前記作業管理装置から送信された前記作業指示に基づいて、前記少なくとも１つの搬送ロボットのうちいずれかの搬送ロボットに前記作業を実行させる。 The control method of the transfer system according to one aspect of the present disclosure can communicate with a plurality of transfer robots that execute the work of transporting articles, a transfer robot control device that controls the plurality of transfer robots, and the transfer robot control device. A method for controlling a transfer work system including a work management device, wherein the work management device includes information on at least one transfer robot among the plurality of transfer robots to the transfer robot control device. Is transmitted, and based on the information of the at least one transfer robot included in the answer, the transfer robot control device is referred to the transfer robot of the at least one transfer robot. The work instruction for executing the work is transmitted, the transfer robot control device sends the answer to the work management device in response to the request sent from the work management device, and the work management device sends the answer. Based on the transmitted work instruction, one of the at least one transfer robots is made to perform the work.
　なお、これらの包括的または具体的な態様は、システム、方法、集積回路、コンピュータプログラムまたはコンピュータ読み取り可能なＣＤ－ＲＯＭ等の記録媒体で実現されてもよく、システム、方法、集積回路、コンピュータプログラムおよび記録媒体の任意な組み合わせで実現されてもよい。また、記録媒体は、非一時的な記録媒体であってもよい。 It should be noted that these comprehensive or specific embodiments may be realized in a recording medium such as a system, method, integrated circuit, computer program or computer-readable CD-ROM, and the system, method, integrated circuit, computer program. And may be realized by any combination of recording media. Further, the recording medium may be a non-temporary recording medium.
　本開示の搬送作業システム等は、物品を効率よく搬送できる。 The transport work system, etc. disclosed in this disclosure can efficiently transport goods.
　なお、本開示の一態様における更なる利点および効果は、明細書および図面から明らかにされる。かかる利点および／または効果は、いくつかの実施の形態ならびに明細書および図面に記載された特徴によってそれぞれ提供されるが、１つまたはそれ以上の同一の特徴を得るために必ずしも全てが提供される必要はない。 Further advantages and effects in one aspect of the present disclosure will be clarified from the specification and drawings. Such advantages and / or effects are provided by some embodiments and the features described in the specification and drawings, respectively, but not all are provided in order to obtain one or more identical features. No need.
図１は、実施の形態における搬送作業システムの構成の一例を示す図である。FIG. 1 is a diagram showing an example of a configuration of a transport work system according to an embodiment. 図２は、図１の搬送作業システムの機能構成の一例を示すブロック図である。FIG. 2 is a block diagram showing an example of the functional configuration of the transport work system of FIG. 図３は、図１の搬送作業システムの動作の一例を示すフローチャートである。FIG. 3 is a flowchart showing an example of the operation of the transfer work system of FIG. 図４は、図１の搬送作業システムの動作の他の一例を示すフローチャートである。FIG. 4 is a flowchart showing another example of the operation of the transfer work system of FIG.
　上述の課題を解決するために、本開示の一態様に係る搬送作業システムは、物品を搬送する作業を実行する複数の搬送ロボットと、前記複数の搬送ロボットを制御する搬送ロボット制御装置と、前記搬送ロボット制御装置と通信可能な作業管理装置とを備え、前記作業管理装置は、前記搬送ロボット制御装置に対して、前記複数の搬送ロボットのうち少なくとも１つの搬送ロボットの情報を含む回答を送信させるためのリクエストを送信するリクエスト送信部と、前記回答に含まれる前記少なくとも１つの搬送ロボットの情報に基づいて、前記搬送ロボット制御装置に対して、前記少なくとも１つの搬送ロボットのうちいずれかの搬送ロボットに前記作業を実行させるための作業指示を送信する作業指示部とを有し、前記搬送ロボット制御装置は、前記リクエスト送信部から送信された前記リクエストに応じて、前記回答を前記作業管理装置に送信するリクエスト回答部と、前記作業指示部から送信された前記作業指示に基づいて、前記少なくとも１つの搬送ロボットのうちいずれかの搬送ロボットに前記作業を実行させる作業司令部とを有する。 In order to solve the above-mentioned problems, the transfer work system according to one aspect of the present disclosure includes a plurality of transfer robots for executing the operation of transporting articles, a transfer robot control device for controlling the plurality of transfer robots, and the above-mentioned transfer robot control device. The work management device includes a transfer robot control device and a work management device capable of communicating, and the work management device causes the transfer robot control device to send an answer including information of at least one transfer robot among the plurality of transfer robots. Based on the information of the request transmission unit for transmitting the request for and the at least one transfer robot included in the answer, the transfer robot of at least one of the transfer robots is referred to the transfer robot control device. The transfer robot control device has a work instruction unit for transmitting a work instruction for executing the work, and the transfer robot control device sends the answer to the work management device in response to the request transmitted from the request transmission unit. It has a request response unit to be transmitted, and a work command unit that causes any of the at least one transfer robots to perform the work based on the work instructions transmitted from the work instruction unit.
　これにより、作業管理装置は、搬送ロボット制御装置に対してリクエストを送信することによって、複数の搬送ロボットのうち少なくとも１つの搬送ロボットの情報を取得できる。つまり、作業管理装置は、搬送ロボット制御装置から一方的に当該情報が送信されるのを待つのではなく、リクエストを送信することによって搬送ロボット制御装置に当該情報を送信させることができる。これによって、作業管理装置は、当該情報を効率よく取得できるとともに、当該情報に基づいて作業指示を効率よく送信できるので、効率よく物品を搬送できる。 As a result, the work management device can acquire information on at least one of the plurality of transfer robots by transmitting a request to the transfer robot control device. That is, the work management device can make the transfer robot control device transmit the information by transmitting a request instead of waiting for the transfer robot control device to unilaterally transmit the information. As a result, the work management device can efficiently acquire the information and efficiently transmit the work instruction based on the information, so that the article can be efficiently transported.
　また、搬送作業システムにおいて、前記リクエストは、前記複数の搬送ロボットのうちいずれかの搬送ロボットに前記作業を実行させたい旨を示してもよい。 Further, in the transfer work system, the request may indicate that one of the plurality of transfer robots wants to execute the work.
　これにより、作業管理装置は、複数の搬送ロボットのうちいずれかの搬送ロボットの情報をより確実に取得できる。 As a result, the work management device can more reliably acquire information on one of the plurality of transfer robots.
　また、搬送作業システムにおいて、前記作業管理装置は、前記回答に含まれる前記少なくとも１つの搬送ロボットの情報に基づいて、前記少なくとも１つの搬送ロボットのうち、前記作業を実行する搬送ロボットの第１の条件に適合する第１搬送ロボットが存在するか否か判定する条件適否判定部をさらに有してもよい。 Further, in the transfer work system, the work management device is the first transfer robot among the at least one transfer robots that executes the work based on the information of the at least one transfer robot included in the answer. It may further have a condition suitability determination unit for determining whether or not there is a first transfer robot that meets the conditions.
　これにより、第１の条件に適合する第１搬送ロボットが存在しているか否かを判定できる。そして、第１搬送ロボットが存在している場合、第１搬送ロボットに作業を実行させることができる。たとえば、作業を実行するのに適した搬送ロボットが存在しているか否かを判定でき、作業を実行するのに適した搬送ロボットが存在している場合、当該搬送ロボットに作業を実行させることができるので、物品をさらに効率よく搬送できる。 This makes it possible to determine whether or not there is a first transfer robot that meets the first condition. Then, when the first transfer robot exists, the first transfer robot can be made to execute the work. For example, it is possible to determine whether or not a transfer robot suitable for performing a work exists, and if a transfer robot suitable for performing the work exists, it is possible to have the transfer robot execute the work. Therefore, the article can be transported more efficiently.
　また、搬送作業システムにおいて、前記作業管理装置は、前記条件適否判定部が前記第１搬送ロボットが複数存在すると判定した場合、前記複数の第１搬送ロボットのうちから前記作業を実行させる１つの第１搬送ロボットを選択する搬送ロボット選択部をさらに有してもよい。 Further, in the transfer work system, when the condition suitability determination unit determines that a plurality of the first transfer robots exist, the work management device causes one of the plurality of first transfer robots to execute the work. 1 The transfer robot selection unit for selecting the transfer robot may be further provided.
　これにより、複数の第１搬送ロボットのうちから作業を実行させる１つの第１搬送ロボットを選択できる。たとえば、複数の第１搬送ロボットのうちから作業を実行するのに最も適した第１搬送ロボットを選択でき、当該第１搬送ロボットに作業を実行させることができるので、物品をさらに効率よく搬送できる。 This makes it possible to select one first transfer robot for executing work from a plurality of first transfer robots. For example, the most suitable first transfer robot for executing the work can be selected from the plurality of first transfer robots, and the first transfer robot can be made to execute the work, so that the article can be transferred more efficiently. ..
　また、搬送作業システムにおいて、前記少なくとも１つの搬送ロボットの情報は、前記少なくとも１つの搬送ロボットのそれぞれが前記作業を開始可能な時刻の情報を含み、前記第１の条件は、前記作業を開始可能な時刻が前記作業を開始する期限以前の時刻であるという条件であってもよい。 Further, in the transfer work system, the information of the at least one transfer robot includes the information of the time when each of the at least one transfer robot can start the work, and the first condition is that the work can be started. It may be a condition that the time is before the deadline for starting the work.
　これにより、複数の搬送ロボットのうち、作業を開始可能な時刻が作業を開始する期限以前の時刻である搬送ロボットに作業を実行させることができる。つまり、作業を開始する期限以前に当該作業を開始可能な搬送ロボットに作業を実行させることができるので、物品の搬送が滞ることを抑制でき、物品をさらに効率よく搬送できる。 As a result, among a plurality of transfer robots, the transfer robot whose work can be started at a time before the deadline for starting the work can be made to execute the work. That is, since the transfer robot capable of starting the work can be made to execute the work before the deadline for starting the work, it is possible to suppress the delay in the transportation of the article and to transport the article more efficiently.
　また、搬送作業システムにおいて、前記リクエストは、前記作業を実行する搬送ロボットの第２の条件を含み、前記搬送ロボット制御装置は、前記複数の搬送ロボットのうち前記第２の条件に適合する第２搬送ロボットを抽出する搬送ロボット抽出部をさらに有し、前記少なくとも１つの搬送ロボットの情報には、前記第２搬送ロボットの情報が含まれてもよい。 Further, in the transfer work system, the request includes a second condition of the transfer robot that executes the work, and the transfer robot control device is a second condition that meets the second condition among the plurality of transfer robots. The transfer robot extraction unit for extracting the transfer robot is further provided, and the information of the at least one transfer robot may include the information of the second transfer robot.
　これにより、第２の条件に適合する第２搬送ロボットを抽出でき、第２搬送ロボットの情報を作業管理装置に送信できる。そして、第２搬送ロボットに作業を実行させることができる。たとえば、作業を実行するのに適した搬送ロボットを抽出でき、当該搬送ロボットに作業を実行させることができるので、物品をさらに効率よく搬送できる。 As a result, the second transfer robot that meets the second condition can be extracted, and the information of the second transfer robot can be transmitted to the work management device. Then, the second transfer robot can be made to execute the work. For example, a transfer robot suitable for executing a work can be extracted, and the transfer robot can be made to execute the work, so that the article can be conveyed more efficiently.
　また、搬送作業システムにおいて、前記作業管理装置は、前記第２搬送ロボットが複数存在する場合、前記複数の第２搬送ロボットのうちから前記作業を実行させる１つの第２搬送ロボットを選択する搬送ロボット選択部をさらに有してもよい。 Further, in the transfer work system, when a plurality of the second transfer robots exist, the work management device selects one second transfer robot for executing the work from the plurality of second transfer robots. It may further have a selection unit.
　これにより、複数の第２搬送ロボットのうちから作業を実行させる１つの第２搬送ロボットを選択できる。たとえば、複数の第２搬送ロボットのうちから作業を実行するのに最も適した第２搬送ロボットを選択でき、当該第２搬送ロボットに作業を実行させることができるので、物品をさらに効率よく搬送できる。 This makes it possible to select one second transfer robot that executes work from a plurality of second transfer robots. For example, the most suitable second transfer robot for executing the work can be selected from the plurality of second transfer robots, and the second transfer robot can be made to execute the work, so that the article can be transferred more efficiently. ..
　また、搬送作業システムにおいて、前記第２の条件は、前記作業を開始可能な時刻が前記作業を開始する期限以前の時刻であるという条件であり、前記搬送ロボット抽出部は、前記複数の搬送ロボットのそれぞれが前記作業を開始可能な時刻の情報に基づいて、前記第２搬送ロボットを抽出してもよい。 Further, in the transfer work system, the second condition is that the time at which the work can be started is a time before the deadline for starting the work, and the transfer robot extraction unit is the plurality of transfer robots. The second transfer robot may be extracted based on the information of the time when each of the above can start the work.
　これにより、複数の搬送ロボットのうち、作業を開始可能な時刻が作業を開始する期限以前の時刻である搬送ロボットに作業を実行させることができる。つまり、作業を開始する期限以前に当該作業を開始可能な搬送ロボットに作業を実行させることができるので、物品の搬送が滞ることを抑制でき、物品をさらに効率よく搬送できる。 As a result, among a plurality of transfer robots, the transfer robot whose work can be started at a time before the deadline for starting the work can be made to execute the work. That is, since the transfer robot capable of starting the work can be made to execute the work before the deadline for starting the work, it is possible to suppress the delay in the transportation of the article and to transport the article more efficiently.
　また、搬送作業システムにおいて、前記搬送ロボット制御装置は、前記複数の搬送ロボットのステータス情報を記憶する記憶部をさらに有し、前記リクエスト回答部は、前記ステータス情報を参照して前記回答を前記作業管理装置に送信してもよい。 Further, in the transfer work system, the transfer robot control device further has a storage unit for storing status information of the plurality of transfer robots, and the request response unit refers to the status information to perform the answer. It may be sent to the management device.
　これにより、複数の搬送ロボットのステータス情報が記憶されているので、リクエスト回答部は、複数の搬送ロボットからこれらのステータス情報を取得することなく、これらのステータス情報を効率よく参照でき、回答を効率よく作業管理装置に送信できるので、物品をさらに効率よく搬送できる。 As a result, since the status information of a plurality of transfer robots is stored, the request response unit can efficiently refer to these status information without acquiring these status information from the plurality of transfer robots, and the response is efficient. Since it can be sent to the work management device well, the goods can be transported more efficiently.
　また、搬送作業システムにおいて、前記少なくとも１つの搬送ロボットの情報には、前記複数の搬送ロボットのうち、待機中の搬送ロボットの情報が優先的に含まれ、待機中の搬送ロボットが存在しない場合には前記作業を実行中の搬送ロボットの情報が含まれてもよい。 Further, in the transfer work system, the information of the at least one transfer robot preferentially includes the information of the transfer robot on standby among the plurality of transfer robots, and there is no transfer robot on standby. May include information on the transfer robot that is performing the work.
　これにより、作業を実行しておらず待機中の搬送ロボットに作業を実行させ易くできるので、物品の搬送が滞ることを抑制でき、さらに効率よく物品を搬送できる。 This makes it easier for the transfer robot, which is not executing the work and is on standby, to execute the work, so that it is possible to suppress the delay in the transportation of the article and to transfer the article more efficiently.
　また、搬送作業システムにおいて、前記複数の搬送ロボットのそれぞれは、自動搬送車（ＡＧＶ）であってもよい。 Further, in the transfer work system, each of the plurality of transfer robots may be an automatic guided vehicle (AGV).
　これにより、複数の搬送ロボットのそれぞれを容易に自律走行させることができるので、物品をさらに効率よく搬送できる。 As a result, each of the plurality of transfer robots can be easily and autonomously traveled, so that the articles can be conveyed more efficiently.
　また、搬送作業システムにおいて、前記複数の搬送ロボットのそれぞれは、自律走行搬送ロボット（ＡＭＲ）であってもよい。 Further, in the transfer work system, each of the plurality of transfer robots may be an autonomous traveling transfer robot (AMR).
　これにより、複数の搬送ロボットのそれぞれを容易に自律移動させることができるので、物品をさらに効率よく搬送できる。 As a result, each of the plurality of transfer robots can be easily and autonomously moved, so that the article can be conveyed more efficiently.
　また、上述の課題を解決するために、本開示の一態様に係る作業管理装置は、物品を搬送する作業を実行する複数の搬送ロボットを制御する搬送ロボット制御装置と通信可能な作業管理装置であって、前記搬送ロボット制御装置に対して、前記複数の搬送ロボットのうち少なくとも１つの搬送ロボットの情報を含む回答を送信させるためのリクエストを送信するリクエスト送信部と、前記回答に含まれる前記少なくとも１つの搬送ロボットの情報に基づいて、前記搬送ロボット制御装置に対して、前記少なくとも１つの搬送ロボットのうちいずれかの搬送ロボットに前記作業を実行させるための作業指示を送信する作業指示部とを備える。 Further, in order to solve the above-mentioned problems, the work management device according to one aspect of the present disclosure is a work management device capable of communicating with a transfer robot control device that controls a plurality of transfer robots that execute work for transporting articles. Therefore, a request transmission unit for transmitting a request for transmitting an answer including information of at least one of the plurality of transfer robots to the transfer robot control device, and at least the above included in the answer. Based on the information of one transfer robot, a work instruction unit for transmitting a work instruction for causing one of the at least one transfer robots to execute the work to the transfer robot control device is provided. Be prepared.
　これにより、上記搬送作業システムと同様の効果を奏する。 This has the same effect as the above transport work system.
　また、上述の課題を解決するために、本開示の一態様に係る搬送ロボット制御装置は、物品を搬送する作業を実行する複数の搬送ロボットを制御する搬送ロボット制御装置であって、前記搬送ロボット制御装置と通信可能な作業管理装置は、前記搬送ロボット制御装置に対して、前記複数の搬送ロボットのうち少なくとも１つの搬送ロボットの情報を含む回答を送信させるためのリクエストを送信するリクエスト送信部と、前記回答に含まれる前記少なくとも１つの搬送ロボットの情報に基づいて、前記搬送ロボット制御装置に対して、前記少なくとも１つの搬送ロボットのうちいずれかの搬送ロボットに前記作業を実行させるための作業指示を送信する作業指示部とを有し、前記リクエスト送信部から送信された前記リクエストに応じて、前記回答を前記作業管理装置に送信するリクエスト回答部と、前記作業指示部から送信された前記作業指示に基づいて、前記少なくとも１つの搬送ロボットのうちのいずれかの搬送ロボットに前記作業を実行させる作業司令部とを備える。 Further, in order to solve the above-mentioned problems, the transfer robot control device according to one aspect of the present disclosure is a transfer robot control device that controls a plurality of transfer robots that execute work for transporting articles, and the transfer robot. The work management device capable of communicating with the control device includes a request transmission unit for transmitting a request for transmitting a response including information of at least one of the plurality of transfer robots to the transfer robot control device. , A work instruction for causing the transfer robot to execute the work to the transfer robot control device based on the information of the at least one transfer robot included in the answer. A request response unit that transmits the response to the work management device in response to the request transmitted from the request transmission unit, and the work transmitted from the work instruction unit. Based on the instruction, it is provided with a work command unit that causes any one of the at least one transfer robots to perform the work.
　これにより、上記搬送作業システムと同様の効果を奏する。 This has the same effect as the above transport work system.
　また、上述の課題を解決するために、本開示の一態様に係る搬送ロボット作業制御方法は、物品を搬送する作業を実行する複数の搬送ロボットと、前記複数の搬送ロボットを制御する搬送ロボット制御装置と、前記搬送ロボット制御装置と通信可能な作業管理装置とを備えた搬送作業システムの制御方法であって、前記作業管理装置が、前記搬送ロボット制御装置に対して、前記複数の搬送ロボットのうち少なくとも１つの搬送ロボットの情報を含む回答を送信させるためのリクエストを送信し、前記回答に含まれる前記少なくとも１つの搬送ロボットの情報に基づいて、前記搬送ロボット制御装置に対して、前記少なくとも１つの搬送ロボットのうちいずれかの搬送ロボットに前記作業を実行させるための作業指示を送信し、前記搬送ロボット制御装置が、前記作業管理装置から送信された前記リクエストに応じて、前記回答を前記作業管理装置に送信し、前記作業管理装置から送信された前記作業指示に基づいて、前記少なくとも１つの搬送ロボットのうちいずれかの搬送ロボットに前記作業を実行させる。 Further, in order to solve the above-mentioned problems, the transfer robot work control method according to one aspect of the present disclosure includes a plurality of transfer robots that execute the work of transporting articles, and a transfer robot control that controls the plurality of transfer robots. It is a control method of a transfer work system including a device and a work management device capable of communicating with the transfer robot control device, wherein the work management device is a transfer robot of the plurality of transfer robots with respect to the transfer robot control device. A request for transmitting an answer including information of at least one of the transfer robots is transmitted, and based on the information of the at least one transfer robot included in the answer, the transfer robot control device is notified of at least one of them. A work instruction for causing one of the transfer robots to perform the work is transmitted, and the transfer robot control device sends the answer to the work in response to the request transmitted from the work management device. It is transmitted to the management device, and based on the work instruction transmitted from the work management device, one of the at least one transfer robots is made to perform the work.
　これにより、上記搬送作業システムと同様の効果を奏する。 This has the same effect as the above transport work system.
　以下、実施の形態について、図面を参照しながら具体的に説明する。 Hereinafter, embodiments will be specifically described with reference to the drawings.
　なお、以下で説明する実施の形態は、いずれも包括的または具体的な例を示すものである。以下の実施の形態で示される数値、形状、材料、構成要素、構成要素の配置位置および接続形態、ステップ、ステップの順序等は、一例であり、本開示を限定する主旨ではない。また、以下の実施の形態における構成要素のうち、最上位概念を示す独立請求項に記載されていない構成要素については、任意の構成要素として説明される。 Note that all of the embodiments described below are comprehensive or specific examples. The numerical values, shapes, materials, components, arrangement positions and connection forms of the components, steps, the order of steps, etc. shown in the following embodiments are examples, and are not intended to limit the present disclosure. Further, among the components in the following embodiments, the components not described in the independent claim indicating the highest level concept are described as arbitrary components.
　また、各図は、模式図であり、必ずしも厳密に図示されたものではない。また、各図において、同じ構成部材については同じ符号を付している。 Also, each figure is a schematic diagram and is not necessarily exactly illustrated. Further, in each figure, the same components are designated by the same reference numerals.
　（実施の形態）
　図１は、本実施の形態における搬送作業システム１０の構成の一例を示す図である。図１を参照して、搬送作業システム１０の構成の一例について説明する。 (Embodiment)
FIG. 1 is a diagram showing an example of the configuration of the transport work system 10 according to the present embodiment. An example of the configuration of the transport work system 10 will be described with reference to FIG.
　図１に示すように、本実施の形態における搬送作業システム１０は、作業管理装置１２と、搬送ロボット制御装置１４と、複数の搬送ロボット１６と、複数の供給ユニット１８と、物品ストック部２０と、作業者指示端末２２と、実装ラインシステム２４とを備える。 As shown in FIG. 1, the transfer work system 10 in the present embodiment includes a work management device 12, a transfer robot control device 14, a plurality of transfer robots 16, a plurality of supply units 18, and an article stock unit 20. A worker instruction terminal 22 and a mounting line system 24 are provided.
　作業管理装置１２は、物品を搬送する作業である搬送作業を管理する装置であり、搬送ロボット制御装置１４と通信可能な位置に配置されている。たとえば、物品は、実装ラインシステム２４で生産される生産物の一部を構成する部品、または当該部品を収容する収容体等である。この実施の形態では、物品は、実装ラインシステム２４において基板に実装される部品を収容するカセットボックスである。作業管理装置１２は、複数の搬送ロボット１６とは直接的に通信を行わず、搬送ロボット制御装置１４から複数の搬送ロボット１６の情報を取得する。作業管理装置１２は、搬送ロボット制御装置１４から取得した当該情報に基づいて、複数の搬送ロボット１６による搬送作業を管理する。 The work management device 12 is a device that manages the transport work, which is the work of transporting articles, and is arranged at a position capable of communicating with the transport robot control device 14. For example, the article is a part constituting a part of the product produced by the mounting line system 24, or an accommodating body for accommodating the part. In this embodiment, the article is a cassette box that houses the components mounted on the substrate in the mounting line system 24. The work management device 12 does not directly communicate with the plurality of transfer robots 16, but acquires information on the plurality of transfer robots 16 from the transfer robot control device 14. The work management device 12 manages the transfer work by the plurality of transfer robots 16 based on the information acquired from the transfer robot control device 14.
　搬送ロボット制御装置１４は、複数の搬送ロボット１６を制御する装置であり、複数の搬送ロボット１６のそれぞれと通信可能な位置に配置されている。搬送ロボット制御装置１４は、複数の搬送ロボット１６等とともにフリートマネジメントシステム（ＦＭＳ）を構成している。搬送ロボット制御装置１４は、作業管理装置１２とは別体の装置である。搬送ロボット制御装置１４は、複数の搬送ロボット１６から取得した情報を作業管理装置１２に送信するとともに、作業管理装置１２からの作業指示に基づいて複数の搬送ロボット１６に搬送作業を実行させる。 The transfer robot control device 14 is a device that controls a plurality of transfer robots 16, and is arranged at a position capable of communicating with each of the plurality of transfer robots 16. The transfer robot control device 14 constitutes a fleet management system (FMS) together with a plurality of transfer robots 16 and the like. The transfer robot control device 14 is a device separate from the work management device 12. The transfer robot control device 14 transmits information acquired from the plurality of transfer robots 16 to the work management device 12, and causes the plurality of transfer robots 16 to execute the transfer work based on the work instructions from the work management device 12.
　複数の搬送ロボット１６のそれぞれは、搬送作業を実行するロボットであり、搬送ロボット制御装置１４からの指令に基づいて搬送作業を実行する。この実施の形態では、複数の搬送ロボット１６のそれぞれは、供給ユニット１８を用いて物品を搬送する。具体的には、複数の搬送ロボット１６のそれぞれは、物品が積載されている供給ユニット１８と連結し、当該供給ユニット１８を牽引して移動させることによって、物品を搬送する。複数の搬送ロボット１６のそれぞれは、搬送作業を実行していないとき、待機エリアＡ１で待機している。この実施の形態では、複数の搬送ロボット１６のそれぞれは、自動搬送車（ＡＧＶ：Ａｕｔｏｍａｔｅｄ　Ｇｕｉｄｅｄ　Ｖｅｈｉｃｌｅ）である。 Each of the plurality of transfer robots 16 is a robot that executes the transfer work, and executes the transfer work based on a command from the transfer robot control device 14. In this embodiment, each of the plurality of transfer robots 16 conveys an article by using the supply unit 18. Specifically, each of the plurality of transfer robots 16 is connected to the supply unit 18 on which the article is loaded, and the article is conveyed by pulling and moving the supply unit 18. Each of the plurality of transfer robots 16 is on standby in the standby area A1 when the transfer operation is not being executed. In this embodiment, each of the plurality of transfer robots 16 is an automatic guided vehicle (AGV: Automated Guided Vehicle).
　複数の供給ユニット１８のそれぞれは、搬送ロボット１６による搬送作業に用いられるユニットであり、物品を積載可能であるとともに、搬送ロボット１６と連結可能である。この実施の形態では、複数の供給ユニット１８のそれぞれは、搬送先の実装ラインシステム２４に、カセットボックスに収容されているテープ状の部材を供給する。複数の供給ユニット１８のそれぞれは、搬送作業に用いられていないとき、準備エリアＡ２で待機している。 Each of the plurality of supply units 18 is a unit used for the transfer work by the transfer robot 16, and can be loaded with articles and can be connected to the transfer robot 16. In this embodiment, each of the plurality of supply units 18 supplies a tape-shaped member housed in a cassette box to the mounting line system 24 at the transfer destination. Each of the plurality of supply units 18 is on standby in the preparation area A2 when not used for the transfer operation.
　物品ストック部２０は、搬送ロボット１６によって搬送される物品をストックしており、準備エリアＡ２と隣り合うように配置されている。物品ストック部２０は、複数の物品をストックしている。たとえば、物品ストック部２０は、棚等である。 The article stock unit 20 stocks articles to be conveyed by the transfer robot 16 and is arranged so as to be adjacent to the preparation area A2. The article stock unit 20 stocks a plurality of articles. For example, the article stock unit 20 is a shelf or the like.
　作業者指示端末２２は、作業者１に指示を行うための端末であり、搬送ロボット制御装置１４と通信可能である。たとえば、搬送ロボット１６が搬送作業を実行する際、搬送ロボット制御装置１４から作業者指示端末２２を介して作業者１に指示が出され、指示が出された作業者１は、物品ストック部２０にストックされている物品を供給ユニット１８に積載する。なお、たとえば、作業者１ではなく搬送ロボット１６等が、物品ストック部２０にストックされている物品を供給ユニット１８に積載してもよい。たとえば、作業者指示端末２２は、スマートフォンまたはタブレット等の携帯端末である。 The worker instruction terminal 22 is a terminal for giving an instruction to the worker 1 and can communicate with the transfer robot control device 14. For example, when the transfer robot 16 executes the transfer work, the transfer robot control device 14 issues an instruction to the worker 1 via the worker instruction terminal 22, and the worker 1 to whom the instruction is given is the article stock unit 20. The goods stocked in the supply unit 18 are loaded on the supply unit 18. For example, the transfer robot 16 or the like instead of the worker 1 may load the articles stocked in the article stock section 20 into the supply unit 18. For example, the worker instruction terminal 22 is a mobile terminal such as a smartphone or a tablet.
　実装ラインシステム２４は、搬送ロボット１６によって搬送された部品を用いて生産物を生産する生産システムである。この実施の形態では、生産物は実装基板であり、実装ラインシステム２４は、搬送ロボット１６によって搬送されたカセットボックスに収容されているテープ状の部材から部品を切り出し、当該部品を基板に実装し、実装基板を生産する。実装ラインシステム２４は、複数の生産ラインＬ１～Ｌ３を含んでおり、複数の生産ラインＬ１～Ｌ３のそれぞれは、実装基板を生産する。 The mounting line system 24 is a production system that produces a product using the parts conveyed by the transfer robot 16. In this embodiment, the product is a mounting board, and the mounting line system 24 cuts out a component from a tape-shaped member housed in a cassette box conveyed by the transfer robot 16 and mounts the component on the substrate. , Produce mounting board. The mounting line system 24 includes a plurality of production lines L1 to L3, and each of the plurality of production lines L1 to L3 produces a mounting board.
　以上、搬送作業システム１０の構成の一例について説明した。 The example of the configuration of the transport work system 10 has been described above.
　図２は、図１の搬送作業システム１０の機能構成の一例を示すブロック図である。図２を参照して、搬送作業システム１０の機能構成の一例について説明する。 FIG. 2 is a block diagram showing an example of the functional configuration of the transport work system 10 of FIG. An example of the functional configuration of the transport work system 10 will be described with reference to FIG.
　図２に示すように、搬送作業システム１０は、生産計画記憶部２６をさらに備える。生産計画記憶部２６、作業管理装置１２、搬送ロボット制御装置１４、作業者指示端末２２、および実装ラインシステム２４は、有線または無線によるネットワークを介して、通信可能に接続されている。 As shown in FIG. 2, the transport work system 10 further includes a production plan storage unit 26. The production plan storage unit 26, the work management device 12, the transfer robot control device 14, the worker instruction terminal 22, and the mounting line system 24 are communicably connected via a wired or wireless network.
　生産計画記憶部２６は、実装ラインシステム２４によって生産される生産物の生産計画に関する生産計画情報を記憶する。たとえば、生産計画情報は、生産物の種別、生産物の生産数、生産物を構成する部品の情報、生産開始予定時刻、および生産終了予定時刻等を示す情報を含む。たとえば、生産計画記憶部２６は、メモリ等によって実現される。 The production plan storage unit 26 stores production plan information regarding the production plan of the product produced by the mounting line system 24. For example, the production planning information includes information indicating the type of the product, the number of products produced, the information of the parts constituting the product, the scheduled production start time, the scheduled production end time, and the like. For example, the production planning storage unit 26 is realized by a memory or the like.
　作業管理装置１２は、作業情報生成部２８と、リクエスト送信部３０と、条件適否判定部３２と、搬送ロボット選択部３４と、キャンセル部３６と、作業指示部３８とを有する。たとえば、作業管理装置１２は、プロセッサおよびメモリ等によって実現される。 The work management device 12 includes a work information generation unit 28, a request transmission unit 30, a condition suitability determination unit 32, a transfer robot selection unit 34, a cancellation unit 36, and a work instruction unit 38. For example, the work management device 12 is realized by a processor, a memory, and the like.
　作業情報生成部２８は、生産計画情報に基づいて、複数の搬送ロボット１６に実行させる搬送作業に関する作業情報を生成する。作業情報は、搬送作業の内容を示す情報であり、たとえば、搬送する物品の種別、搬送する物品の数量、搬送作業開始予定時刻（搬送作業を開始する期限）、搬送作業終了予定時刻（搬送作業を終了する期限）、および物品の搬送先等を示す情報を含む。 The work information generation unit 28 generates work information related to the transfer work to be executed by the plurality of transfer robots 16 based on the production plan information. The work information is information indicating the contents of the transport work, for example, the type of the article to be transported, the quantity of the article to be transported, the scheduled start time of the transport work (deadline for starting the transport work), and the scheduled end time of the transport work (transport work). Includes information indicating the deadline for terminating) and the destination of goods.
　リクエスト送信部３０は、搬送ロボット制御装置１４に対して、複数の搬送ロボット１６のうち少なくとも１つの搬送ロボット１６の情報を含む回答を送信させるための第１リクエストまたは第２リクエストを送信する。たとえば、当該情報は、複数の搬送ロボット１６のうち少なくとも１つの搬送ロボット１６の搬送作業の実行に関する実行情報である。たとえば、実行情報は、搬送作業を実行中であるか待機中であるか等の実行状況を示す情報、予約状況を示す情報、搬送作業を実行可能な期間を示す情報、および搬送作業を開始可能な時刻を示す情報等を含む。 The request transmission unit 30 transmits a first request or a second request for causing the transfer robot control device 14 to transmit a response including information of at least one transfer robot 16 among the plurality of transfer robots 16. For example, the information is execution information regarding the execution of the transfer work of at least one transfer robot 16 among the plurality of transfer robots 16. For example, the execution information includes information indicating the execution status such as whether the transport work is being executed or waiting, information indicating the reservation status, information indicating the period during which the transport work can be executed, and the transport work can be started. Includes information indicating the time of day.
　第１リクエストは、複数の搬送ロボット１６のうちいずれかの搬送ロボット１６に作業を実行させたい旨を示すリクエストである。つまり、第１リクエストは、複数の搬送ロボット１６のうち少なくとも１つの搬送ロボット１６の情報を含む回答を送信させるためのリクエストであり、かつ、複数の搬送ロボット１６のうちいずれかの搬送ロボット１６に搬送作業を実行させたい旨を示すリクエストである。第２リクエストは、搬送作業を実行する搬送ロボットの第２の条件を含むリクエストである。この実施の形態では、第２の条件は、搬送作業を開始可能な時刻が搬送作業を開始する期限以前の時刻であるという条件である。 The first request is a request indicating that one of the plurality of transfer robots 16 wants to execute the work. That is, the first request is a request for transmitting an answer including information of at least one of the plurality of transfer robots 16, and the transfer robot 16 of the plurality of transfer robots 16 is the first request. This is a request indicating that the transport work is to be executed. The second request is a request including the second condition of the transfer robot that executes the transfer operation. In this embodiment, the second condition is that the time when the transport work can be started is the time before the deadline for starting the transport work.
　また、リクエスト送信部３０は、搬送ロボット制御装置１４に対して、複数の搬送ロボット１６のうち搬送作業を実行させる搬送ロボット１６を予約するための予約リクエストを送信する。 Further, the request transmission unit 30 transmits a reservation request for reserving the transfer robot 16 to execute the transfer work among the plurality of transfer robots 16 to the transfer robot control device 14.
　条件適否判定部３２は、搬送ロボット制御装置１４からの回答に含まれる少なくとも１つの搬送ロボット１６の情報に基づいて、当該少なくとも１つの搬送ロボット１６のうち、作業を実行する搬送ロボットの第１の条件に適合する第１搬送ロボットが存在するか否か判定する。この実施の形態では、第１の条件は、搬送作業を開始可能な時刻が搬送作業を開始する期限以前の時刻であるという条件である。たとえば、搬送作業を開始可能な時刻は、搬送ロボット１６が待機エリアＡ１で待機している状態から動き始めることが可能な時刻である。つまり、搬送作業を実行中の搬送ロボット１６においては、待機エリアＡ１に戻ってから再び動き始めることができる時刻である。 The condition suitability determination unit 32 is the first transfer robot among the at least one transfer robot 16 that executes the work based on the information of the at least one transfer robot 16 included in the response from the transfer robot control device 14. It is determined whether or not there is a first transfer robot that meets the conditions. In this embodiment, the first condition is that the time when the transport work can be started is the time before the deadline for starting the transport work. For example, the time at which the transfer work can be started is the time at which the transfer robot 16 can start moving from the state of waiting in the standby area A1. That is, it is a time when the transfer robot 16 in which the transfer work is being executed can start moving again after returning to the standby area A1.
　搬送ロボット選択部３４は、条件適否判定部３２が第１搬送ロボットが複数存在すると判定した場合、複数の第１搬送ロボットのうちから搬送作業を実行させる１つの第１搬送ロボットを選択する。また、搬送ロボット選択部３４は、搬送ロボット抽出部４２によって抽出された第２搬送ロボットが複数存在する場合、複数の第２搬送ロボットのうちから搬送作業を実行させる１つの第２搬送ロボットを選択する。第２搬送ロボットについては後述する。 When the condition suitability determination unit 32 determines that a plurality of first transfer robots exist, the transfer robot selection unit 34 selects one first transfer robot from among the plurality of first transfer robots to execute the transfer operation. Further, when there are a plurality of second transfer robots extracted by the transfer robot extraction unit 42, the transfer robot selection unit 34 selects one second transfer robot from among the plurality of second transfer robots to execute the transfer operation. do. The second transfer robot will be described later.
　キャンセル部３６は、搬送ロボット制御装置１４に対して、予約リクエストに基づいて予約されている搬送ロボット１６の予約をキャンセルするためのキャンセルリクエストを送信する。 The cancellation unit 36 transmits a cancellation request for canceling the reservation of the transfer robot 16 reserved based on the reservation request to the transfer robot control device 14.
　作業指示部３８は、搬送ロボット制御装置１４からの回答に含まれる少なくとも１つの搬送ロボット１６の情報に基づいて、搬送ロボット制御装置１４に対して、当該少なくとも１つの搬送ロボット１６のうちいずれかの搬送ロボット１６に搬送作業を実行させるための作業指示を送信する。この実施の形態では、作業指示部３８は、搬送ロボット制御装置１４からの回答に含まれる少なくとも１つの搬送ロボット１６の情報に基づいて予約されている搬送ロボット１６に、搬送作業を実行させるための作業指示を送信する。 The work instruction unit 38 refers to the transfer robot control device 14 with respect to any one of the at least one transfer robot 16 based on the information of the at least one transfer robot 16 included in the response from the transfer robot control device 14. A work instruction for causing the transfer robot 16 to execute the transfer work is transmitted. In this embodiment, the work instruction unit 38 causes the transfer robot 16 reserved based on the information of at least one transfer robot 16 included in the response from the transfer robot control device 14 to execute the transfer work. Send work instructions.
　搬送ロボット制御装置１４は、リクエスト回答部４０と、搬送ロボット抽出部４２と、ステータス情報更新部４４と、記憶部４６と、作業司令部４８と、無線通信部５０とを有する。たとえば、搬送ロボット制御装置１４は、プロセッサおよびメモリ等によって実現される。 The transfer robot control device 14 includes a request response unit 40, a transfer robot extraction unit 42, a status information update unit 44, a storage unit 46, a work command unit 48, and a wireless communication unit 50. For example, the transfer robot control device 14 is realized by a processor, a memory, and the like.
　リクエスト回答部４０は、リクエスト送信部３０から送信されたリクエストに応じて、複数の搬送ロボット１６のうち少なくとも１つの搬送ロボット１６の情報を含む回答を作業管理装置１２に送信する。たとえば、リクエスト回答部４０は、リクエスト送信部３０から第１リクエストが送信された場合、複数の搬送ロボット１６のうちいずれかの搬送ロボット１６の情報を含む回答を送信する。具体的には、たとえば、リクエスト回答部４０は、リクエスト送信部３０から第１リクエストが送信された場合、複数の搬送ロボット１６のうち待機中の搬送ロボット１６の情報を含む回答を送信する。また、たとえば、リクエスト回答部４０は、リクエスト送信部３０から第２リクエストが送信された場合、複数の搬送ロボット１６のうち搬送ロボット抽出部４２によって抽出された第２搬送ロボットの情報を含む回答を送信する。 The request response unit 40 transmits a response including information of at least one transfer robot 16 among the plurality of transfer robots 16 to the work management device 12 in response to the request transmitted from the request transmission unit 30. For example, when the first request is transmitted from the request transmission unit 30, the request response unit 40 transmits a response including information of one of the plurality of transfer robots 16. Specifically, for example, when the request transmission unit 30 transmits the first request, the request response unit 40 transmits a response including information on the standby transfer robot 16 among the plurality of transfer robots 16. Further, for example, when the request transmission unit 30 transmits the second request, the request response unit 40 receives an answer including the information of the second transfer robot extracted by the transfer robot extraction unit 42 among the plurality of transfer robots 16. Send.
　搬送ロボット抽出部４２は、複数の搬送ロボット１６のうち第２の条件に適合する第２搬送ロボットを抽出する。この実施の形態では、搬送ロボット抽出部４２は、複数の搬送ロボット１６のそれぞれが搬送作業を開始可能な時刻の情報に基づいて、第２搬送ロボットを抽出する。 The transfer robot extraction unit 42 extracts a second transfer robot that meets the second condition from the plurality of transfer robots 16. In this embodiment, the transfer robot extraction unit 42 extracts the second transfer robot based on the information of the time when each of the plurality of transfer robots 16 can start the transfer work.
　ステータス情報更新部４４は、複数の搬送ロボット１６のステータス情報を更新する。たとえば、ステータス情報は、複数の搬送ロボット１６のそれぞれの識別番号、および複数の搬送ロボット１６のそれぞれの実行情報等を含む。 The status information update unit 44 updates the status information of the plurality of transfer robots 16. For example, the status information includes the identification number of each of the plurality of transfer robots 16, the execution information of each of the plurality of transfer robots 16, and the like.
　記憶部４６は、ステータス情報等を記憶する。記憶部４６は、ステータス情報更新部４４によって複数の搬送ロボット１６のステータス情報が更新された場合、更新されたステータス情報を記憶する。 The storage unit 46 stores status information and the like. When the status information of the plurality of transfer robots 16 is updated by the status information updating unit 44, the storage unit 46 stores the updated status information.
　作業司令部４８は、作業指示部３８から送信された作業指示に基づいて、複数の搬送ロボット１６のうちいずれかの搬送ロボット１６に搬送作業を実行させる。この実施の形態では、作業司令部４８は、複数の搬送ロボット１６のうち予め予約されている搬送ロボット１６に指令を送信して搬送作業を実行させる。 The work command unit 48 causes one of the plurality of transfer robots 16 to execute the transfer work based on the work instruction transmitted from the work instruction unit 38. In this embodiment, the work command unit 48 transmits a command to the transfer robot 16 reserved in advance among the plurality of transfer robots 16 to execute the transfer work.
　無線通信部５０は、搬送ロボット制御装置１４と複数の搬送ロボット１６のそれぞれとが無線通信を行うための通信モジュールである。 The wireless communication unit 50 is a communication module for each of the transfer robot control device 14 and the plurality of transfer robots 16 to perform wireless communication.
　以上、搬送作業システム１０の機能構成の一例について説明した。 The example of the functional configuration of the transport work system 10 has been described above.
　図３は、図１の搬送作業システム１０の動作の一例を示すフローチャートである。図３を参照して、搬送作業システム１０の動作の一例について説明する。 FIG. 3 is a flowchart showing an example of the operation of the transfer work system 10 of FIG. An example of the operation of the transport work system 10 will be described with reference to FIG.
　図３に示すように、まず、作業管理装置１２は、作業情報を生成する（ステップＳ１）。たとえば、作業情報生成部２８は、生産計画情報に基づいて、どの物品を、いつ、どの生産ラインに、どれだけの数量を搬送させればよいかを算出し、これらの情報を含む作業情報を生成する。 As shown in FIG. 3, first, the work management device 12 generates work information (step S1). For example, the work information generation unit 28 calculates, based on the production planning information, which article, when, to which production line, and how much quantity should be transported, and performs work information including such information. Generate.
　作業管理装置１２は、作業情報を生成した後、搬送ロボット制御装置１４に対して、第１リクエスト（簡易リクエスト）を送信する（ステップＳ２）。 After generating the work information, the work management device 12 transmits a first request (simple request) to the transfer robot control device 14 (step S2).
　搬送ロボット制御装置１４は、作業管理装置１２から第１リクエストを受信すると、複数の搬送ロボット１６のステータス情報を参照し（ステップＳ３）、複数の搬送ロボット１６のうちの少なくとも１つの搬送ロボット１６の情報を含む回答を作業管理装置１２に送信する（ステップＳ４）。この動作の一例では、リクエスト回答部４０は、複数の搬送ロボット１６のそれぞれの識別番号（ロボットＩＤ）、および複数の搬送ロボット１６のそれぞれの搬送作業の開始可能時刻を含む回答を送信する。 When the transfer robot control device 14 receives the first request from the work management device 12, the transfer robot control device 14 refers to the status information of the plurality of transfer robots 16 (step S3), and the transfer robot 16 of at least one of the plurality of transfer robots 16. An answer including information is transmitted to the work management device 12 (step S4). In one example of this operation, the request response unit 40 transmits a response including the identification numbers (robot IDs) of the plurality of transfer robots 16 and the startable times of the transfer operations of the plurality of transfer robots 16.
　作業管理装置１２は、搬送ロボット制御装置１４から回答を受信すると、当該回答に基づいて、複数の搬送ロボット１６のうち第１の条件に適合する第１搬送ロボットが存在するか否かを判定する（ステップＳ５）。上述したように、この実施の形態では、第１の条件は、搬送作業を開始可能な時刻が搬送作業を開始する期限以前の時刻であるという条件である。条件適否判定部３２は、複数の搬送ロボット１６のうち、搬送作業を開始可能な時刻が当該搬送作業を開始する期限以前の時刻である搬送ロボット１６が存在する場合、第１搬送ロボットが存在すると判定する。一方、作業管理装置１２は、複数の搬送ロボット１６のうち、搬送作業を開始可能な時刻が当該搬送作業を開始する期限以前の時刻である搬送ロボット１６が存在しない場合、第１搬送ロボットが存在しないと判定する。 When the work management device 12 receives an answer from the transfer robot control device 14, the work management device 12 determines whether or not there is a first transfer robot that meets the first condition among the plurality of transfer robots 16 based on the answer. (Step S5). As described above, in this embodiment, the first condition is that the time when the transport work can be started is the time before the deadline for starting the transport work. The condition suitability determination unit 32 determines that the first transfer robot exists when the transfer robot 16 has a plurality of transfer robots 16 whose time at which the transfer work can be started is before the deadline for starting the transfer work. judge. On the other hand, in the work management device 12, if there is no transfer robot 16 among the plurality of transfer robots 16 whose time at which the transfer work can be started is before the deadline for starting the transfer work, the first transfer robot exists. Judge not to.
　作業管理装置１２は、第１搬送ロボットが存在しない場合（ステップＳ５でＮｏ）、生成した作業情報を削除し（ステップＳ６）、作業者１に物品を搬送させるための指示を行う（ステップＳ７）。つまり、第１搬送ロボットが存在しない場合、複数の搬送ロボット１６の代わりに作業者１が搬送作業を実行する。 When the first transfer robot does not exist (No in step S5), the work management device 12 deletes the generated work information (step S6), and gives an instruction to the worker 1 to convey the article (step S7). .. That is, when the first transfer robot does not exist, the worker 1 executes the transfer work instead of the plurality of transfer robots 16.
　作業管理装置１２は、第１搬送ロボットが存在する場合（ステップＳ５でＹｅｓ）、搬送作業を実行させる第１搬送ロボットを選択する（ステップＳ８）。たとえば、第１搬送ロボットが複数存在する場合、搬送ロボット選択部３４は、複数の第１搬送ロボットのうちから搬送作業を実行させる第１搬送ロボットを選択する。たとえば、搬送ロボット選択部３４は、複数の第１搬送ロボットのうち、最も早く搬送作業を開始できる第１搬送ロボット、またはバッテリ残量が最も多い第１搬送ロボットを、搬送作業を実行させる第１搬送ロボットとして選択する。また、たとえば、第１搬送ロボットが１つ存在する場合、搬送ロボット選択部３４は、当該１つの第１搬送ロボットを、搬送作業を実行させる第１搬送ロボットとして選択する。 When the first transfer robot exists (Yes in step S5), the work management device 12 selects the first transfer robot to execute the transfer work (step S8). For example, when a plurality of first transfer robots exist, the transfer robot selection unit 34 selects the first transfer robot to execute the transfer work from the plurality of first transfer robots. For example, the transfer robot selection unit 34 causes the transfer operation to be executed by the first transfer robot capable of starting the transfer operation earliest or the first transfer robot having the largest remaining battery power among the plurality of first transfer robots. Select as a transfer robot. Further, for example, when one first transfer robot exists, the transfer robot selection unit 34 selects the one first transfer robot as the first transfer robot for executing the transfer operation.
　作業管理装置１２は、搬送作業を実行させる第１搬送ロボットを選択した後、当該第１搬送ロボットに当該搬送作業を実行させるための予約をするための予約リクエストを搬送ロボット制御装置１４に送信する（ステップＳ９）。 After selecting the first transfer robot to execute the transfer work, the work management device 12 transmits a reservation request for making a reservation for the first transfer robot to execute the transfer work to the transfer robot control device 14. (Step S9).
　搬送ロボット制御装置１４は、作業管理装置１２から予約リクエストを受信すると、当該予約リクエストが示す第１搬送ロボットを予約し、当該第１搬送ロボットのステータス情報を更新する（ステップＳ１０）。たとえば、ステータス情報更新部４４は、搬送ロボット選択部３４が選択した第１搬送ロボットの予約状況を示す情報を更新する。 When the transfer robot control device 14 receives the reservation request from the work management device 12, it reserves the first transfer robot indicated by the reservation request and updates the status information of the first transfer robot (step S10). For example, the status information updating unit 44 updates the information indicating the reservation status of the first transfer robot selected by the transfer robot selection unit 34.
　作業管理装置１２は、予約リクエストを送信した後、当該予約リクエストによって予約した第１搬送ロボットに搬送作業を実行させるための作業指示を送信する（ステップＳ１１）。たとえば、作業指示には、第１搬送ロボットに実行させる搬送作業の内容を示す作業情報が含まれている。 After transmitting the reservation request, the work management device 12 transmits a work instruction for causing the first transfer robot reserved by the reservation request to execute the transfer work (step S11). For example, the work instruction includes work information indicating the content of the transfer work to be executed by the first transfer robot.
　搬送ロボット制御装置１４は、作業管理装置１２から作業指示を受信すると、予約されている第１搬送ロボットに搬送作業を実行させる（ステップＳ１２）。たとえば、作業司令部４８は、予約されている第１搬送ロボットに指令を送信し、当該第１搬送ロボットに搬送作業を実行させる。指令を受信した第１搬送ロボットは、作業情報に基づいて、搬送作業を実行する。 Upon receiving the work instruction from the work management device 12, the transfer robot control device 14 causes the reserved first transfer robot to execute the transfer work (step S12). For example, the work command unit 48 sends a command to the reserved first transfer robot, and causes the first transfer robot to execute the transfer work. Upon receiving the command, the first transfer robot executes the transfer work based on the work information.
　搬送ロボット制御装置１４は、第１搬送ロボットに搬送作業を実行させると、当該第１搬送ロボットのステータス情報を更新する（ステップＳ１３）。たとえば、ステータス情報更新部４４は、当該第１搬送ロボットの搬送作業の実行状況を示す情報を更新する。 When the transfer robot control device 14 causes the first transfer robot to execute the transfer operation, the transfer robot control device 14 updates the status information of the first transfer robot (step S13). For example, the status information updating unit 44 updates the information indicating the execution status of the transport work of the first transport robot.
　以上、搬送作業システム１０の動作の一例について説明した。 The above is an example of the operation of the transport work system 10.
　なお、たとえば、搬送ロボット制御装置１４は、１つの搬送ロボット１６の情報を含む回答を作業管理装置１２に送信した場合であって、当該１つの搬送ロボット１６が第１の条件に適合する場合には、作業管理装置１２が予約リクエストを送信しなくとも、当該１つの搬送ロボット１６を予約してもよい。この場合、たとえば、搬送ロボット制御装置１４が、１つの搬送ロボット１６の情報を含む回答を作業管理装置１２に送信した時点で、当該１つの搬送ロボット１６が予約されてもよい。 For example, when the transfer robot control device 14 transmits an answer including information of one transfer robot 16 to the work management device 12, and the one transfer robot 16 meets the first condition. May reserve the one transfer robot 16 without the work management device 12 transmitting the reservation request. In this case, for example, when the transfer robot control device 14 transmits a response including information of one transfer robot 16 to the work management device 12, the transfer robot 16 may be reserved.
　図４は、図１の搬送作業システム１０の動作の他の一例を示すフローチャートである。図４を参照して、搬送作業システム１０の動作の他の一例について説明する。図４に示す動作では、搬送ロボット制御装置１４が、複数の搬送ロボット１６のうち第２の条件に適合する第２搬送ロボットを抽出し、抽出した第２搬送ロボットの情報を含む回答を送信する点において、図３に示す動作の一例とは異なっている。以下、図３に示す動作の一例とは異なる点を中心に説明する。 FIG. 4 is a flowchart showing another example of the operation of the transfer work system 10 of FIG. Another example of the operation of the transport work system 10 will be described with reference to FIG. In the operation shown in FIG. 4, the transfer robot control device 14 extracts a second transfer robot that meets the second condition from the plurality of transfer robots 16, and transmits an answer including the extracted information of the second transfer robot. In that respect, it differs from an example of the operation shown in FIG. Hereinafter, the points different from the example of the operation shown in FIG. 3 will be mainly described.
　図４に示すように、作業管理装置１２は、作業情報を生成した後、搬送ロボット制御装置１４に第２リクエスト（第２の条件を含むリクエスト）を送信する（ステップＳ２１）。 As shown in FIG. 4, the work management device 12 transmits a second request (a request including the second condition) to the transfer robot control device 14 after generating the work information (step S21).
　搬送ロボット制御装置１４は、作業管理装置１２から第２リクエストを受信すると、複数の搬送ロボット１６のステータス情報を参照し（ステップＳ３）、複数の搬送ロボット１６のうち第２の条件に適合する第２搬送ロボットを抽出する（ステップＳ２２）。上述したように、この実施の形態では、第２の条件は、搬送作業を開始可能な時刻が搬送作業を開始する期限以前の時刻であるという条件である。搬送ロボット抽出部４２は、複数の搬送ロボット１６のうち、搬送作業を開始可能な時刻が当該搬送作業を開始する期限以前の時刻である第２搬送ロボットを抽出する。なお、搬送ロボット抽出部４２は、複数の搬送ロボット１６のうち、搬送作業を開始可能な時刻が当該搬送作業を開始する期限以前の時刻である第２搬送ロボットが存在しない場合、第２搬送ロボットを抽出しない。 When the transfer robot control device 14 receives the second request from the work management device 12, the transfer robot control device 14 refers to the status information of the plurality of transfer robots 16 (step S3), and the second condition of the plurality of transfer robots 16 is satisfied. 2 Extract the transfer robot (step S22). As described above, in this embodiment, the second condition is that the time when the transport work can be started is the time before the deadline for starting the transport work. The transfer robot extraction unit 42 extracts, among the plurality of transfer robots 16, the second transfer robot whose time when the transfer work can be started is before the deadline for starting the transfer work. In addition, when the transfer robot extraction unit 42 does not have a second transfer robot whose time when the transfer work can be started is before the deadline for starting the transfer work among the plurality of transfer robots 16, the transfer robot extraction unit 42 is a second transfer robot. Do not extract.
　搬送ロボット制御装置１４は、第２搬送ロボットを抽出すると、第２搬送ロボットの情報を含む回答を作業管理装置１２に送信する（ステップＳ４）。たとえば、リクエスト回答部４０は、第２搬送ロボットが複数抽出された場合、複数の第２搬送ロボットの情報を含む回答を送信し、第２搬送ロボットが１つ抽出された場合、１つの第２搬送ロボットの情報を含む回答を送信する。なお、たとえば、リクエスト回答部４０は、第２搬送ロボットが存在しない場合、第２搬送ロボットが存在しない旨を示す回答を送信する。 When the transfer robot control device 14 extracts the second transfer robot, the transfer robot control device 14 transmits an answer including the information of the second transfer robot to the work management device 12 (step S4). For example, when a plurality of second transfer robots are extracted, the request response unit 40 transmits a response including information of the plurality of second transfer robots, and when one second transfer robot is extracted, one second transfer robot. Send an answer containing information about the transfer robot. For example, when the second transfer robot does not exist, the request response unit 40 transmits an answer indicating that the second transfer robot does not exist.
　作業管理装置１２は、搬送ロボット制御装置１４から回答を受信すると、当該回答に基づいて、搬送ロボット制御装置１４によって抽出された第２搬送ロボットが存在するか否かを判定する（ステップＳ２３）。 Upon receiving the response from the transfer robot control device 14, the work management device 12 determines whether or not the second transfer robot extracted by the transfer robot control device 14 exists based on the response (step S23).
　作業管理装置１２は、搬送ロボット制御装置１４によって抽出された第２搬送ロボットが存在しない場合（ステップＳ２３でＮｏ）、生成した作業情報を削除し（ステップＳ６）、作業者１に物品を搬送させるための指示を行う（ステップＳ７）。つまり、第２搬送ロボットが存在しない場合、複数の搬送ロボット１６の代わりに作業者１が物品の搬送を実行する。 When the second transfer robot extracted by the transfer robot control device 14 does not exist (No in step S23), the work management device 12 deletes the generated work information (step S6) and causes the worker 1 to transfer the article. (Step S7). That is, when the second transfer robot does not exist, the worker 1 executes the transfer of the article instead of the plurality of transfer robots 16.
　作業管理装置１２は、搬送ロボット制御装置１４によって抽出された第２搬送ロボットが存在する場合（ステップＳ２３でＹｅｓ）、搬送作業を実行させる第２搬送ロボットを選択する（ステップＳ２４）。たとえば、搬送ロボット制御装置１４によって抽出された第２搬送ロボット１６が複数存在する場合、搬送ロボット選択部３４は、複数の第２搬送ロボットのうちから搬送作業を実行させる第２搬送ロボットを選択する。たとえば、搬送ロボット選択部３４は、複数の第２搬送ロボットのうち、最も早く搬送作業を開始できる第２搬送ロボット、またはバッテリ残量が最も多い第２搬送ロボットを、搬送作業を実行させる第２搬送ロボットとして選択する。また、たとえば、搬送ロボット制御装置１４によって抽出された第２搬送ロボットが１つ存在する場合、搬送ロボット選択部３４は、１つの第２搬送ロボットを、搬送作業を実行させる第２搬送ロボットとして選択する。 When the second transfer robot extracted by the transfer robot control device 14 exists (Yes in step S23), the work management device 12 selects the second transfer robot to execute the transfer work (step S24). For example, when there are a plurality of second transfer robots 16 extracted by the transfer robot control device 14, the transfer robot selection unit 34 selects the second transfer robot to execute the transfer operation from the plurality of second transfer robots. .. For example, the transfer robot selection unit 34 causes the transfer operation to be executed by the second transfer robot that can start the transfer operation earliest or the second transfer robot having the largest remaining battery power among the plurality of second transfer robots. Select as a transfer robot. Further, for example, when there is one second transfer robot extracted by the transfer robot control device 14, the transfer robot selection unit 34 selects one second transfer robot as the second transfer robot for executing the transfer work. do.
　作業管理装置１２は、搬送作業を実行させる第２搬送ロボットを選択した後、当該第２搬送ロボットに当該搬送作業を実行させるための予約をするための予約リクエストを搬送ロボット制御装置１４に送信する（ステップＳ９）。 After selecting the second transfer robot to execute the transfer work, the work management device 12 transmits a reservation request for making a reservation for the second transfer robot to execute the transfer work to the transfer robot control device 14. (Step S9).
　搬送ロボット制御装置１４は、作業管理装置１２から予約リクエストを受信すると、当該予約リクエストが示す第２搬送ロボットを予約し、当該第２搬送ロボットのステータス情報を更新する（ステップＳ１０）。たとえば、ステータス情報更新部４４は、搬送ロボット選択部３４が選択した第２搬送ロボットの予約状況を示す情報を更新する。 When the transfer robot control device 14 receives the reservation request from the work management device 12, it reserves the second transfer robot indicated by the reservation request and updates the status information of the second transfer robot (step S10). For example, the status information updating unit 44 updates the information indicating the reservation status of the second transfer robot selected by the transfer robot selection unit 34.
　作業管理装置１２は、予約リクエストを送信した後、当該予約リクエストによって予約した第２搬送ロボットに搬送作業を実行させるための作業指示を送信する（ステップＳ１１）。たとえば、作業指示には、第２搬送ロボットに実行させる搬送作業の内容を示す作業情報が含まれている。 After transmitting the reservation request, the work management device 12 transmits a work instruction for causing the second transfer robot reserved by the reservation request to execute the transfer work (step S11). For example, the work instruction includes work information indicating the content of the transfer work to be executed by the second transfer robot.
　搬送ロボット制御装置１４は、作業管理装置１２から作業指示を受信すると、予約されている第２搬送ロボットに搬送作業を実行させる（ステップＳ１２）。たとえば、作業司令部４８は、予約されている第２搬送ロボットに指令を送信し、当該第２搬送ロボットに搬送作業を実行させる。指令を受信した第２搬送ロボットは、作業情報に基づいて、搬送作業を実行する。 Upon receiving the work instruction from the work management device 12, the transfer robot control device 14 causes the reserved second transfer robot to execute the transfer work (step S12). For example, the work command unit 48 sends a command to the reserved second transfer robot, and causes the second transfer robot to execute the transfer work. The second transfer robot that has received the command executes the transfer work based on the work information.
　搬送ロボット制御装置１４は、第２搬送ロボットに搬送作業を実行させると、当該第２搬送ロボットのステータス情報を更新する（ステップＳ１３）。たとえば、ステータス情報更新部４４は、当該第２搬送ロボットの搬送作業の実行状況を示す情報を更新する。 When the transfer robot control device 14 causes the second transfer robot to execute the transfer operation, the transfer robot control device 14 updates the status information of the second transfer robot (step S13). For example, the status information updating unit 44 updates the information indicating the execution status of the transport work of the second transport robot.
　以上、搬送作業システム１０の他の動作の一例について説明した。 The above is an example of another operation of the transport work system 10.
　なお、たとえば、搬送ロボット制御装置１４は、第２搬送ロボットが１つの場合、作業管理装置１２が予約リクエストを送信しなくとも、当該１つの第２搬送ロボットを予約してもよい。この場合、たとえば、搬送ロボット制御装置１４が、第２搬送ロボットの情報を含む回答を作業管理装置１２に送信した時点で、当該１つの第２搬送ロボットが予約されてもよい。 Note that, for example, when the transfer robot control device 14 has one second transfer robot, the transfer robot control device 14 may reserve the one second transfer robot without the work management device 12 transmitting the reservation request. In this case, for example, the one second transfer robot may be reserved when the transfer robot control device 14 transmits an answer including information of the second transfer robot to the work management device 12.
　以上、搬送作業システム１０の動作の他の一例について説明した。 The other example of the operation of the transport work system 10 has been described above.
　上述した搬送作業システム１０によれば、作業管理装置１２は、搬送ロボット制御装置１４に対して第１リクエストまたは第２リクエストを送信することによって、複数の搬送ロボット１６のうち少なくとも１つの搬送ロボット１６の情報を取得できる。つまり、作業管理装置１２は、搬送ロボット制御装置１４から一方的に当該情報が送信されるのを待つのではなく、第１リクエストまたは第２リクエストを送信することによって搬送ロボット制御装置１４に当該情報を送信させることができる。これによって、作業管理装置１２は、当該情報を効率よく取得できるとともに、当該情報に基づいて作業指示を効率よく送信できるので、効率よく物品を搬送できる。 According to the transfer work system 10 described above, the work management device 12 transmits a first request or a second request to the transfer robot control device 14, so that the transfer robot 16 is at least one of the plurality of transfer robots 16. Information can be obtained. That is, the work management device 12 does not wait for the information to be unilaterally transmitted from the transfer robot control device 14, but the information is transmitted to the transfer robot control device 14 by transmitting the first request or the second request. Can be sent. As a result, the work management device 12 can efficiently acquire the information and efficiently transmit the work instruction based on the information, so that the article can be efficiently transported.
　また、第１リクエストは、複数の搬送ロボット１６のうちいずれかの搬送ロボット１６に搬送作業を実行させたい旨を示すので、作業管理装置１２は、複数の搬送ロボット１６のうちいずれかの搬送ロボット１６の情報をより確実に取得できる。 Further, since the first request indicates that one of the plurality of transfer robots 16 wants to execute the transfer work, the work management device 12 is the transfer robot of any one of the plurality of transfer robots 16. 16 information can be acquired more reliably.
　また、第１の条件に適合する第１搬送ロボットが存在しているか否かを判定できる。そして、第１搬送ロボットが存在している場合、第１搬送ロボットに搬送作業を実行させることができる。たとえば、搬送作業を実行するのに適した搬送ロボットが存在しているか否かを判定でき、搬送作業を実行するのに適した搬送ロボットが存在している場合、当該搬送ロボットに搬送作業を実行させることができるので、物品をさらに効率よく搬送できる。 In addition, it is possible to determine whether or not there is a first transfer robot that meets the first condition. Then, when the first transfer robot exists, the first transfer robot can be made to execute the transfer operation. For example, it is possible to determine whether or not a transfer robot suitable for executing a transfer operation exists, and if a transfer robot suitable for executing the transfer work exists, the transfer work is executed in the transfer robot. Therefore, the article can be transported more efficiently.
　また、複数の第１搬送ロボットのうちから搬送作業を実行させる１つの第１搬送ロボットを選択できる。たとえば、複数の第１搬送ロボットのうちから搬送作業を実行するのに最も適した第１搬送ロボットを選択でき、当該第１搬送ロボットに搬送作業を実行させることができるので、物品をさらに効率よく搬送できる。 Further, one first transfer robot for executing the transfer work can be selected from the plurality of first transfer robots. For example, the most suitable first transfer robot for executing the transfer work can be selected from the plurality of first transfer robots, and the first transfer robot can be made to execute the transfer work, so that the article can be more efficiently executed. Can be transported.
　また、複数の搬送ロボット１６のうち、搬送作業を開始可能な時刻が搬送作業を開始する期限以前の時刻である搬送ロボット１６に搬送作業を実行させることができる。つまり、搬送作業を開始する期限以前に当該搬送作業を開始可能な搬送ロボット１６に搬送作業を実行させることができるので、物品の搬送が滞ることを抑制でき、物品をさらに効率よく搬送できる。 Further, among the plurality of transfer robots 16, the transfer robot 16 can be made to execute the transfer work when the time when the transfer work can be started is the time before the deadline for starting the transfer work. That is, since the transport robot 16 capable of starting the transport work can be made to execute the transport work before the deadline for starting the transport work, it is possible to suppress the delay in the transport of the article and to transport the article more efficiently.
　また、第２の条件に適合する第２搬送ロボットを抽出できる。そして、第２搬送ロボットに搬送作業を実行させることができる。たとえば、搬送作業を実行するのに適した搬送ロボットを抽出でき、当該搬送ロボットに搬送作業を実行させることができるので、物品をさらに効率よく搬送できる。 In addition, a second transfer robot that meets the second condition can be extracted. Then, the second transfer robot can be made to execute the transfer operation. For example, a transfer robot suitable for executing a transfer operation can be extracted, and the transfer robot can be made to execute the transfer operation, so that the article can be conveyed more efficiently.
　また、複数の第２搬送ロボットのうちから搬送作業を実行させる１つの第２搬送ロボットを選択できる。たとえば、複数の第２搬送ロボットのうちから搬送作業を実行するのに最も適した第２搬送ロボットを選択でき、当該第２搬送ロボットに搬送作業を実行させることができるので、物品をさらに効率よく搬送できる。 Further, one second transfer robot for executing the transfer work can be selected from the plurality of second transfer robots. For example, the most suitable second transfer robot for executing the transfer work can be selected from the plurality of second transfer robots, and the second transfer robot can be made to execute the transfer work, so that the article can be more efficiently executed. Can be transported.
　また、複数の搬送ロボット１６のうち、搬送作業を開始可能な時刻が搬送作業を開始する期限以前の時刻である搬送ロボット１６に搬送作業を実行させることができる。つまり、搬送作業を開始する期限以前に当該搬送作業を開始可能な搬送ロボット１６に搬送作業を実行させることができるので、物品の搬送が滞ることを抑制でき、物品をさらに効率よく搬送できる。 Further, among the plurality of transfer robots 16, the transfer robot 16 can be made to execute the transfer work when the time when the transfer work can be started is the time before the deadline for starting the transfer work. That is, since the transport robot 16 capable of starting the transport work can be made to execute the transport work before the deadline for starting the transport work, it is possible to suppress the delay in the transport of the article and to transport the article more efficiently.
　また、複数の搬送ロボット１６のステータス情報が記憶されているので、リクエスト回答部４０は、複数の搬送ロボット１６からこれらのステータス情報を取得することなく、これらのステータス情報を効率よく参照でき、回答を効率よく作業管理装置１２に送信できるので、物品をさらに効率よく搬送できる。 Further, since the status information of the plurality of transfer robots 16 is stored, the request response unit 40 can efficiently refer to these status information without acquiring the status information from the plurality of transfer robots 16 and respond. Can be efficiently transmitted to the work management device 12, so that the article can be transported more efficiently.
　また、複数の搬送ロボット１６のそれぞれは、自動搬送車（ＡＧＶ）であるので、複数の搬送ロボット１６のそれぞれを容易に自律走行させることができるので、物品をさらに効率よく搬送できる。 Further, since each of the plurality of transfer robots 16 is an automatic guided vehicle (AGV), each of the plurality of transfer robots 16 can be easily and autonomously traveled, so that the articles can be conveyed more efficiently.
　（その他の変形例）
　以上、一つまたは複数の態様に係る搬送作業システム等について、実施の形態に基づいて説明したが、本開示は、この実施の形態に限定されるものではない。本開示の趣旨を逸脱しない限り、当業者が思いつく各種変形を実施の形態に施したものも、本開示の範囲内に含まれてもよい。 (Other variants)
Although the transport work system and the like according to one or more embodiments have been described above based on the embodiment, the present disclosure is not limited to this embodiment. As long as it does not deviate from the gist of the present disclosure, various modifications that can be conceived by those skilled in the art may be included in the scope of the present disclosure.
　上述した実施の形態における動作の一例では、リクエスト回答部４０が、複数の搬送ロボット１６のそれぞれの識別番号（ロボットＩＤ）、および複数の搬送ロボット１６のそれぞれの搬送作業の開始可能時刻を含む回答を送信する場合について説明したが、これに限定されない。たとえば、リクエスト回答部４０は、複数の搬送ロボット１６のうち、待機エリアＡ１で待機中の搬送ロボット１６の情報を優先的に送信し、待機エリアＡ１で待機中の搬送ロボット１６が存在していない場合には搬送作業を実行中の搬送ロボット１６の情報を送信してもよい。つまり、たとえば、回答に含まれる少なくとも１つの搬送ロボット１６の情報には、複数の搬送ロボット１６のうち、待機中の搬送ロボット１６の情報が優先的に含まれ、待機中の搬送ロボット１６が存在しない場合には搬送作業を実行中の搬送ロボット１６の情報が含まれてもよい。この場合、搬送作業を実行しておらず待機中の搬送ロボット１６に作業を実行させ易くできるので、物品の搬送が滞ることを抑制でき、さらに効率よく物品を搬送できる。 In an example of the operation in the above-described embodiment, the request response unit 40 includes an identification number (robot ID) of each of the plurality of transfer robots 16 and a response including a start time of each transfer operation of the plurality of transfer robots 16. Has been described, but is not limited to this. For example, the request response unit 40 preferentially transmits the information of the transfer robot 16 waiting in the standby area A1 among the plurality of transfer robots 16, and the transfer robot 16 waiting in the standby area A1 does not exist. In some cases, information on the transfer robot 16 that is executing the transfer operation may be transmitted. That is, for example, the information of at least one transfer robot 16 included in the answer preferentially includes the information of the transfer robot 16 on standby among the plurality of transfer robots 16, and the transfer robot 16 on standby exists. If not, the information of the transfer robot 16 that is executing the transfer operation may be included. In this case, since the transfer robot 16 that is not executing the transfer work and is on standby can easily execute the work, it is possible to suppress the delay in the transfer of the article and to transfer the article more efficiently.
　また、上述した実施の形態では、複数の搬送ロボット１６のそれぞれが、自動搬送車（ＡＧＶ）である場合について説明したが、これに限定されない。たとえば、複数の搬送ロボットのそれぞれは、自律走行搬送ロボット（ＡＭＲ：Ａｕｔｏｎｏｍｏｕｓ　Ｍｏｂｉｌｅ　Ｒｏｂｏｔ）であってもよい。この場合、複数の搬送ロボット１６のそれぞれを容易に自律移動させることができるので、物品をさらに効率よく搬送できる。 Further, in the above-described embodiment, the case where each of the plurality of transfer robots 16 is an automatic guided vehicle (AGV) has been described, but the present invention is not limited to this. For example, each of the plurality of transfer robots may be an autonomous traveling transfer robot (AMR: Autonomous Mobile Robot). In this case, since each of the plurality of transfer robots 16 can be easily and autonomously moved, the article can be conveyed more efficiently.
　また、上述した実施の形態では、複数の搬送ロボット１６のそれぞれが、供給ユニット１８を牽引して移動させて物品を搬送する場合について説明したが、これに限定されない。たとえば、複数の搬送ロボットのそれぞれは、供給ユニットを押して移動させて物品を搬送してもよい。また、たとえば、複数の搬送ロボットのそれぞれは、供給ユニットを用いず、自らに物品を積載して移動することによって、物品を搬送してもよい。 Further, in the above-described embodiment, the case where each of the plurality of transfer robots 16 pulls and moves the supply unit 18 to transport the article has been described, but the present invention is not limited to this. For example, each of the plurality of transport robots may push and move the supply unit to transport the article. Further, for example, each of the plurality of transport robots may transport the article by loading and moving the article on itself without using the supply unit.
　また、上述した実施の形態では、第１の条件が、搬送作業を開始可能な時刻が搬送作業を開始する期限以前の時刻であるという条件である場合について説明したが、これに限定されない。たとえば、第１の条件は、待機中であるという条件でもよい。この場合、搬送作業を実行しておらず待機中の搬送ロボット１６が、第１の条件に適合する第１搬送ロボットとなる。たとえば、この場合、作業管理装置１２は、予約リクエストを送信して当該第１搬送ロボットを予約することなく、作業指示を送信して当該第１搬送ロボットに搬送作業を実行させてもよい。また、たとえば、第１の条件は、バッテリ残量が最も多いという条件でもよい。この場合、バッテリ残量が最も多い搬送ロボット１６が、第１の条件に適合する第１搬送ロボットとなる。 Further, in the above-described embodiment, the case where the first condition is the condition that the time when the transport work can be started is the time before the deadline for starting the transport work has been described, but the present invention is not limited to this. For example, the first condition may be a waiting condition. In this case, the transfer robot 16 that has not executed the transfer operation and is on standby becomes the first transfer robot that meets the first condition. For example, in this case, the work management device 12 may transmit a work instruction to cause the first transfer robot to execute the transfer work without transmitting the reservation request to reserve the first transfer robot. Further, for example, the first condition may be the condition that the remaining battery level is the largest. In this case, the transfer robot 16 having the largest remaining battery power becomes the first transfer robot that meets the first condition.
　また、上述した実施の形態では、第２の条件が、搬送作業を開始可能な時刻が搬送作業を開始する期限以前の時刻であるという条件である場合について説明したが、これに限定されない。たとえば、第２の条件は、待機中であるという条件でもよい。この場合、搬送作業を実行しておらず待機中の搬送ロボット１６が、第２の条件に適合する第２搬送ロボットとなる。たとえば、この場合、作業管理装置１２は、予約リクエストを送信して当該第２搬送ロボットを予約することなく、作業指示を送信して当該第２搬送ロボットに搬送作業を実行させてもよい。また、たとえば、第２の条件は、バッテリ残量が最も多いという条件でもよい。この場合、バッテリ残量が最も多い搬送ロボット１６が、第２の条件に適合する第２搬送ロボットとなる。 Further, in the above-described embodiment, the case where the second condition is the condition that the time when the transport work can be started is the time before the deadline for starting the transport work has been described, but the present invention is not limited to this. For example, the second condition may be a waiting condition. In this case, the transfer robot 16 that has not executed the transfer operation and is on standby becomes the second transfer robot that meets the second condition. For example, in this case, the work management device 12 may transmit a work instruction to cause the second transfer robot to execute the transfer work without transmitting the reservation request to reserve the second transfer robot. Further, for example, the second condition may be the condition that the remaining battery level is the largest. In this case, the transfer robot 16 having the largest remaining battery power becomes the second transfer robot that meets the second condition.
　なお、上述した実施の形態において、各構成要素は、専用のハードウェアで構成されるか、各構成要素に適したソフトウェアプログラムを実行することによって実現されてもよい。各構成要素は、ＣＰＵ（Central Processing Unit）またはプロセッサ等のプログラム実行部が、ハードディスクまたは半導体メモリ等の記録媒体に記録されたソフトウェアプログラムを読み出して実行することによって実現されてもよい。ここで、上述した実施の形態の装置等を実現するソフトウェアは、図３および図４に示すフローチャートに含まれる各ステップをコンピュータに実行させるプログラムである。 In the above-described embodiment, each component may be configured by dedicated hardware or may be realized by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a CPU (Central Processing Unit) or a processor reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory. Here, the software that realizes the apparatus or the like of the above-described embodiment is a program that causes a computer to execute each step included in the flowcharts shown in FIGS. 3 and 4.
　本開示は、基板に部品が実装された実装基板を生産するための部品を搬送するシステム等に利用可能である。 This disclosure can be used for a system for transporting parts for producing a mounting board in which parts are mounted on the board.
　１０　　搬送作業システム
　１２　　作業管理装置
　１４　　搬送ロボット制御装置
　１６　　搬送ロボット
　１８　　供給ユニット
　２０　　物品ストック部
　２２　　作業者指示端末
　２４　　実装ラインシステム
　２６　　生産計画記憶部
　２８　　作業情報生成部
　３０　　リクエスト送信部
　３２　　条件適否判定部
　３４　　搬送ロボット選択部
　３６　　キャンセル部
　３８　　作業指示部
　４０　　リクエスト回答部
　４２　　搬送ロボット抽出部
　４４　　ステータス情報更新部
　４６　　記憶部
　４８　　作業司令部
　５０　　無線通信部 10 Transport work system 12 Work management device 14 Transport robot control device 16 Transport robot 18 Supply unit 20 Goods stock section 22 Worker instruction terminal 24 Mounting line system 26 Production plan storage section 28 Work information generation section 30 Request transmission section 32 Condition suitability judgment Unit 34 Transport robot selection section 36 Cancel section 38 Work instruction section 40 Request response section 42 Transport robot extraction section 44 Status information update section 46 Storage section 48 Work command section 50 Wireless communication section

Claims (15)

  1. 　物品を搬送する作業を実行する複数の搬送ロボットと、
    　前記複数の搬送ロボットを制御する搬送ロボット制御装置と、
    　前記搬送ロボット制御装置と通信可能な作業管理装置とを備え、
    　前記作業管理装置は、
    　　前記搬送ロボット制御装置に対して、前記複数の搬送ロボットのうち少なくとも１つの搬送ロボットの情報を含む回答を送信させるためのリクエストを送信するリクエスト送信部と、
    　　前記回答に含まれる前記少なくとも１つの搬送ロボットの情報に基づいて、前記搬送ロボット制御装置に対して、前記少なくとも１つの搬送ロボットのうちいずれかの搬送ロボットに前記作業を実行させるための作業指示を送信する作業指示部とを有し、
    　前記搬送ロボット制御装置は、
    　　前記リクエスト送信部から送信された前記リクエストに応じて、前記回答を前記作業管理装置に送信するリクエスト回答部と、
    　　前記作業指示部から送信された前記作業指示に基づいて、前記少なくとも１つの搬送ロボットのうちいずれかの搬送ロボットに前記作業を実行させる作業司令部とを有する、
    　搬送作業システム。     Multiple transport robots that perform the task of transporting goods,
    A transfer robot control device that controls the plurality of transfer robots,
    It is equipped with a work management device capable of communicating with the transfer robot control device.
    The work management device is
    A request transmission unit for transmitting a request for transmitting a response including information of at least one transfer robot among the plurality of transfer robots to the transfer robot control device, and a request transmission unit.
    Based on the information of the at least one transfer robot included in the answer, the transfer robot control device is instructed to have one of the at least one transfer robot perform the work. It has a work instruction unit to send
    The transfer robot control device is
    A request response unit that transmits the response to the work management device in response to the request transmitted from the request transmission unit, and a request response unit.
    It has a work command unit that causes any of the at least one transfer robots to perform the work based on the work instructions transmitted from the work instruction unit.
    Transport work system.
  2. 　前記リクエストは、前記複数の搬送ロボットのうちいずれかの搬送ロボットに前記作業を実行させたい旨を示す、
    　請求項１に記載の搬送作業システム。     The request indicates that one of the plurality of transfer robots wants to perform the work.
    The transport work system according to claim 1.
  3. 　前記作業管理装置は、前記回答に含まれる前記少なくとも１つの搬送ロボットの情報に基づいて、前記少なくとも１つの搬送ロボットのうち、前記作業を実行する搬送ロボットの第１の条件に適合する第１搬送ロボットが存在するか否か判定する条件適否判定部をさらに有する、
    　請求項１または２に記載の搬送作業システム。     Based on the information of the at least one transfer robot included in the answer, the work management device is a first transfer that meets the first condition of the transfer robot that executes the work among the at least one transfer robot. Further has a condition suitability determination unit for determining whether or not a robot exists.
    The transport work system according to claim 1 or 2.
  4. 　前記作業管理装置は、前記条件適否判定部が前記第１搬送ロボットが複数存在すると判定した場合、前記複数の第１搬送ロボットのうちから前記作業を実行させる１つの第１搬送ロボットを選択する搬送ロボット選択部をさらに有する、
    　請求項３に記載の搬送作業システム。     When the condition suitability determination unit determines that a plurality of the first transfer robots exist, the work management device selects one transfer robot for executing the work from the plurality of first transfer robots. It also has a robot selection unit,
    The transport work system according to claim 3.
  5. 　前記少なくとも１つの搬送ロボットの情報は、前記少なくとも１つの搬送ロボットのそれぞれが前記作業を開始可能な時刻の情報を含み、
    　前記第１の条件は、前記作業を開始可能な時刻が前記作業を開始する期限以前の時刻であるという条件である、
    　請求項３または４に記載の搬送作業システム。     The information of the at least one transfer robot includes information on the time when each of the at least one transfer robot can start the work.
    The first condition is that the time at which the work can be started is a time before the deadline for starting the work.
    The transport work system according to claim 3 or 4.
  6. 　前記リクエストは、前記作業を実行する搬送ロボットの第２の条件を含み、
    　前記搬送ロボット制御装置は、前記複数の搬送ロボットのうち前記第２の条件に適合する第２搬送ロボットを抽出する搬送ロボット抽出部をさらに有し、
    　前記少なくとも１つの搬送ロボットの情報には、前記第２搬送ロボットの情報が含まれる、
    　請求項１に記載の搬送作業システム。     The request includes a second condition of the transfer robot that performs the work.
    The transfer robot control device further includes a transfer robot extraction unit that extracts a second transfer robot that meets the second condition among the plurality of transfer robots.
    The information of the at least one transfer robot includes the information of the second transfer robot.
    The transport work system according to claim 1.
  7. 　前記作業管理装置は、前記第２搬送ロボットが複数存在する場合、前記複数の第２搬送ロボットのうちから前記作業を実行させる１つの第２搬送ロボットを選択する搬送ロボット選択部をさらに有する、
    　請求項６に記載の搬送作業システム。     The work management device further includes a transfer robot selection unit that selects one second transfer robot for executing the work from the plurality of second transfer robots when a plurality of the second transfer robots are present.
    The transport work system according to claim 6.
  8. 　前記第２の条件は、前記作業を開始可能な時刻が前記作業を開始する期限以前の時刻であるという条件であり、
    　前記搬送ロボット抽出部は、前記複数の搬送ロボットのそれぞれが前記作業を開始可能な時刻の情報に基づいて、前記第２搬送ロボットを抽出する、
    　請求項６または７に記載の搬送作業システム。     The second condition is that the time when the work can be started is a time before the deadline for starting the work.
    The transfer robot extraction unit extracts the second transfer robot based on the information at the time when each of the plurality of transfer robots can start the work.
    The transport work system according to claim 6 or 7.
  9. 　前記搬送ロボット制御装置は、前記複数の搬送ロボットのステータス情報を記憶する記憶部をさらに有し、
    　前記リクエスト回答部は、前記ステータス情報を参照して前記回答を前記作業管理装置に送信する、
    　請求項１から８のいずれか１項に記載の搬送作業システム。     The transfer robot control device further includes a storage unit that stores status information of the plurality of transfer robots.
    The request response unit refers to the status information and transmits the response to the work management device.
    The transport work system according to any one of claims 1 to 8.
  10. 　前記少なくとも１つの搬送ロボットの情報には、前記複数の搬送ロボットのうち、待機中の搬送ロボットの情報が優先的に含まれ、待機中の搬送ロボットが存在しない場合には前記作業を実行中の搬送ロボットの情報が含まれる、
    　請求項１から５のいずれか１項に記載の搬送作業システム。     The information of the at least one transfer robot preferentially includes the information of the transfer robot on standby among the plurality of transfer robots, and when the transfer robot on standby does not exist, the work is being executed. Contains information about the transfer robot,
    The transport work system according to any one of claims 1 to 5.
  11. 　前記複数の搬送ロボットのそれぞれは、自動搬送車（ＡＧＶ）である、
    　請求項１から１０のいずれか１項に記載の搬送作業システム。     Each of the plurality of transfer robots is an automatic guided vehicle (AGV).
    The transport work system according to any one of claims 1 to 10.
  12. 　前記複数の搬送ロボットのそれぞれは、自律走行搬送ロボット（ＡＭＲ）である、
    　請求項１から１０のいずれか１項に記載の搬送作業システム。     Each of the plurality of transfer robots is an autonomous traveling transfer robot (AMR).
    The transport work system according to any one of claims 1 to 10.
  13. 　物品を搬送する作業を実行する複数の搬送ロボットを制御する搬送ロボット制御装置と通信可能な作業管理装置であって、
    　前記搬送ロボット制御装置に対して、前記複数の搬送ロボットのうち少なくとも１つの搬送ロボットの情報を含む回答を送信させるためのリクエストを送信するリクエスト送信部と、
    　前記回答に含まれる前記少なくとも１つの搬送ロボットの情報に基づいて、前記搬送ロボット制御装置に対して、前記少なくとも１つの搬送ロボットのうちいずれかの搬送ロボットに前記作業を実行させるための作業指示を送信する作業指示部とを備える、
    　作業管理装置。     A work management device that can communicate with a transfer robot control device that controls a plurality of transfer robots that execute the work of transporting articles.
    A request transmission unit for transmitting a request for transmitting a response including information of at least one transfer robot among the plurality of transfer robots to the transfer robot control device, and a request transmission unit.
    Based on the information of the at least one transfer robot included in the answer, the transfer robot control device is instructed to have one of the at least one transfer robot perform the work. Equipped with a work instruction unit to send
    Work management device.
  14. 　物品を搬送する作業を実行する複数の搬送ロボットを制御する搬送ロボット制御装置であって、前記搬送ロボット制御装置と通信可能な作業管理装置は、前記搬送ロボット制御装置に対して、前記複数の搬送ロボットのうち少なくとも１つの搬送ロボットの情報を含む回答を送信させるためのリクエストを送信するリクエスト送信部と、前記回答に含まれる前記少なくとも１つの搬送ロボットの情報に基づいて、前記搬送ロボット制御装置に対して、前記少なくとも１つの搬送ロボットのうちいずれかの搬送ロボットに前記作業を実行させるための作業指示を送信する作業指示部とを有し、
    　前記リクエスト送信部から送信された前記リクエストに応じて、前記回答を前記作業管理装置に送信するリクエスト回答部と、
    　前記作業指示部から送信された前記作業指示に基づいて、前記少なくとも１つの搬送ロボットのうちのいずれかの搬送ロボットに前記作業を実行させる作業司令部とを備える、
    　搬送ロボット制御装置。     A transfer robot control device that controls a plurality of transfer robots that execute work for transporting articles, and a work management device capable of communicating with the transfer robot control device, is such that the plurality of transfer robots are transferred to the transfer robot control device. The transfer robot control device is based on the request transmission unit for transmitting a request including the information of at least one transfer robot among the robots and the information of the at least one transfer robot included in the answer. On the other hand, it has a work instruction unit for transmitting a work instruction for causing any one of the at least one transfer robots to execute the work.
    A request response unit that transmits the response to the work management device in response to the request transmitted from the request transmission unit, and a request response unit.
    A work command unit for causing any of the at least one transfer robots to perform the work based on the work instructions transmitted from the work instruction unit.
    Transfer robot control device.
  15. 　物品を搬送する作業を実行する複数の搬送ロボットと、
    　前記複数の搬送ロボットを制御する搬送ロボット制御装置と、
    　前記搬送ロボット制御装置と通信可能な作業管理装置とを備えた搬送作業システムの制御方法であって、
    　前記作業管理装置が、
    　　前記搬送ロボット制御装置に対して、前記複数の搬送ロボットのうち少なくとも１つの搬送ロボットの情報を含む回答を送信させるためのリクエストを送信し、
    　　前記回答に含まれる前記少なくとも１つの搬送ロボットの情報に基づいて、前記搬送ロボット制御装置に対して、前記少なくとも１つの搬送ロボットのうちいずれかの搬送ロボットに前記作業を実行させるための作業指示を送信し、
    　前記搬送ロボット制御装置が、
    　　前記作業管理装置から送信された前記リクエストに応じて、前記回答を前記作業管理装置に送信し、
    　　前記作業管理装置から送信された前記作業指示に基づいて、前記少なくとも１つの搬送ロボットのうちいずれかの搬送ロボットに前記作業を実行させる、
    　搬送作業システムの制御方法。     Multiple transport robots that perform the task of transporting goods,
    A transfer robot control device that controls the plurality of transfer robots,
    A method for controlling a transfer work system including a transfer robot control device and a work management device capable of communicating with the transfer robot control device.
    The work management device
    A request for transmitting a response including information of at least one transfer robot among the plurality of transfer robots is transmitted to the transfer robot control device.
    Based on the information of the at least one transfer robot included in the answer, the transfer robot control device is instructed to have one of the at least one transfer robot perform the work. Send and
    The transfer robot control device
    In response to the request transmitted from the work management device, the answer is transmitted to the work management device.
    Based on the work instruction transmitted from the work management device, one of the at least one transfer robots is made to perform the work.
    How to control the transport work system.
PCT/JP2021/032728 2020-11-09 2021-09-06 Conveyance work system, work management device, conveyance robot control device, and control method for conveyance work system WO2022097360A1 (en)

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