WO2022097360A1 - Système de travail de transport, dispositif de gestion de travail, dispositif de commande de robot de transport et procédé de commande pour système de travail de transport - Google Patents

Système de travail de transport, dispositif de gestion de travail, dispositif de commande de robot de transport et procédé de commande pour système de travail de transport 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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English (en)
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/fr

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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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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Manufacturing & Machinery (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • General Engineering & Computer Science (AREA)
  • Quality & Reliability (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un système de travail de transport (10) qui comprend une pluralité de robots de transport (16), un dispositif de commande de robot de transport (14) et un dispositif de gestion de travail (12). Le dispositif de gestion de travail (12) comprend : une unité de transmission de requête (30) qui transmet une première requête ou une seconde requête pour demander la transmission d'une réponse comportant des informations d'un ou de plusieurs robots de transport (16) de la pluralité de robots de transport (16) ; et une unité d'instruction de travail (38) qui transmet, sur la base des informations dudit ou desdits robots de transport inclus dans la réponse, une instruction de travail pour amener un robot de transport, dudit ou desdits robots de transport (16), à exécuter un travail. Le dispositif de commande de robot de transport (14) comprend : une unité de réponse à une requête (40) qui, en réponse à la première requête ou à la seconde requête, transmet une réponse au dispositif de gestion de travail (12) ; et une unité de commande de travail (48) qui amène un robot de transport (16), parmi ledit ou lesdits robots de transport (16), à exécuter un travail sur la base de l'instruction de travail.
PCT/JP2021/032728 2020-11-09 2021-09-06 Système de travail de transport, dispositif de gestion de travail, dispositif de commande de robot de transport et procédé de commande pour système de travail de transport WO2022097360A1 (fr)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024029357A1 (fr) * 2022-08-01 2024-02-08 パナソニックＩｐマネジメント株式会社 Système d'approvisionnement en composants, procédé de détermination d'agencement, control procédé, dispositif de gestion et robot d'approvisionnement

Citations (4)

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JP2008059021A (ja) * 2006-08-29 2008-03-13 Murata Mach Ltd 搬送台車システム
JP2014126930A (ja) * 2012-12-25 2014-07-07 Toyota Industries Corp 搬送システム
US20180039258A1 (en) * 2016-08-02 2018-02-08 Amazon Technologies, Inc. Mobile robot group for moving an item
JP2020149370A (ja) * 2019-03-13 2020-09-17 株式会社東芝 運行計画システム、運行計画方法及びコンピュータプログラム

Patent Citations (4)

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Publication number Priority date Publication date Assignee Title
JP2008059021A (ja) * 2006-08-29 2008-03-13 Murata Mach Ltd 搬送台車システム
JP2014126930A (ja) * 2012-12-25 2014-07-07 Toyota Industries Corp 搬送システム
US20180039258A1 (en) * 2016-08-02 2018-02-08 Amazon Technologies, Inc. Mobile robot group for moving an item
JP2020149370A (ja) * 2019-03-13 2020-09-17 株式会社東芝 運行計画システム、運行計画方法及びコンピュータプログラム

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024029357A1 (fr) * 2022-08-01 2024-02-08 パナソニックＩｐマネジメント株式会社 Système d'approvisionnement en composants, procédé de détermination d'agencement, control procédé, dispositif de gestion et robot d'approvisionnement

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