WO2024013799A1 - Transport system, and operation instruction method for automatic transport device - Google Patents
Transport system, and operation instruction method for automatic transport device Download PDFInfo
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- WO2024013799A1 WO2024013799A1 PCT/JP2022/027244 JP2022027244W WO2024013799A1 WO 2024013799 A1 WO2024013799 A1 WO 2024013799A1 JP 2022027244 W JP2022027244 W JP 2022027244W WO 2024013799 A1 WO2024013799 A1 WO 2024013799A1
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- This specification discloses a transport system and a method for instructing the operation of an automatic transport device.
- the main purpose of the present disclosure is to more appropriately instruct the movement and operation of an automatic transport device through simple processing.
- the present disclosure has taken the following measures to achieve the above-mentioned main objective.
- the conveyance system of the present disclosure includes: A conveyance system comprising an automatic conveyance device that conveys articles, and a management device that manages the conveyance of articles by the automatic conveyance device,
- the management device includes: a management storage unit that stores a correspondence relationship in which an identification image is associated with each piece of route operation information that defines the route that the automatic transport device moves and the operation that it executes; When instructing the automatic transport device regarding a route and an operation, determining the identification image associated with the route operation information whose content matches the instruction based on the correspondence relationship in the management storage unit; a management control unit that displays the determined identification image on a predetermined display device;
- the automatic transport device is a transport storage unit that stores the correspondence relationship; a recognition unit capable of recognizing an image displayed on the display device; When the identification image is recognized by the recognition unit, the route motion information associated with the recognized identification image is determined based on the correspondence relationship in the transport storage unit, and the determined
- the present invention further comprises a conveyance control unit that controls the automatic conveyance device based on
- the management device issues instructions to the automatic conveyance device based on a correspondence relationship in which an identification image is associated with each piece of route operation information that defines the route and operation of the automatic conveyance device.
- the identification image associated with the route motion information whose contents match is determined and displayed on the display device.
- the automatic conveyance device recognizes the identification image displayed on the display device, it determines the route operation information associated with the identification image based on the correspondence relationship, and controls based on the content.
- the route of the automatic transport device can be instructed, and there is no need to perform instruction processing or image recognition processing at each branch point of the route.
- FIG. 4 is an explanatory diagram showing an example of the transport system 10, the robot 50, and routes R1 to R5.
- FIG. 2 is a schematic configuration diagram of a transport system 10 and a robot 50.
- 5 is a flowchart illustrating an example of display control processing.
- 5 is a flowchart illustrating an example of conveyance control processing.
- FIG. 1 is an explanatory diagram showing an example of the transport system 10, the robot 50, and the routes R1 to R5.
- FIG. 2 is a schematic configuration diagram of the transport system 10 and the robot 50.
- the transport system 10 includes an AMR (Autonomous Mobile Robot) 20, a display device 30, and a management device 40, and is used in factories, distribution warehouses, stores, and the like.
- the transport system 10 of this embodiment is used to transport articles (parts P, assemblies S, etc.) in a factory 1 equipped with a robot 50.
- the factory 1 includes a standby position (initial position) A0 of the AMR 20, a supply position A1 where the basket cart 2 for supplying parts P to the robot 50 is arranged, and a basket where the assembly S assembled by the robot 50 is collected.
- a recovery position A2 where the trolley 2 is placed is determined. Further, a basket truck 2a is used for supplying parts P, and a basket truck 2b is used for collecting assembled products S.
- the AMR 20 is, for example, an automatic transport device that can automatically transport the articles by autonomously traveling while connected to the cart 2 loaded with the articles.
- the AMR 20 of this embodiment includes a generally flat body part 20a and a box-like housing part 20b connected to one end of the body part 20a, and has a generally L-shaped appearance.
- This AMR 20 includes wheels 21, a control section 22, a storage section 23, a drive motor 24, a battery 25, a power supply unit 26, a connection section 27, sensors 28a, 28b, and cameras 29a, 29b. .
- a plurality of wheels (for example, four wheels) are attached to the lower surface of the vehicle body portion 20a, and are configured as mecanum wheels having a plurality of rollers rotatably supported at an angle of, for example, 45 degrees with respect to the axle.
- a plurality of drive motors 24 are provided so as to rotationally drive the corresponding wheels 21, respectively.
- the AMR 20 independently controls the rotational direction and rotational speed of the corresponding wheel 21 with each drive motor 24, thereby allowing the vehicle body 20a to move in all directions and perform various turns (such as a super turn, a turn, and a slow turn). rotation) is possible.
- the battery 25 is configured as, for example, a lithium ion secondary battery or a nickel hydride secondary battery, and is connected to the power supply unit 26 so as to supply power to each part of the AMR 20.
- the power supply unit 26 supplies electric power from the battery 25 as high voltage electric power necessary for drive systems such as the drive motor 24 and connection section 27, and supplies low voltage electric power necessary for control systems such as the control section 22 and storage section 23. It can also be used as electricity.
- the power supply unit 26 also detects the remaining battery power Br based on the voltage between the terminals of the voltage sensor provided between the terminals of the battery 25, and uses the power supplied from the power supply (external power supply) 5 of the factory 1. It also controls charging of the battery 25.
- the standby position A0 is a charging position where the battery 25 can be charged. Therefore, when the AMR 20 stops at the standby position A0, a power supply connector (not shown) is connected, and the battery 25 is charged with power from the power source 5. Note that the battery 25 may be charged in a non-contact manner at the standby position A0.
- the connecting portion 27 is installed on the upper surface of the vehicle body portion 20a, and includes a lifting device 27a and an engaging portion 27b that is raised and lowered by the lifting device 27a.
- the engaging part 27b is raised by the lifting device 27a, so that the engaging part 27b engages with the lower surface of the car truck 2 and is connected to the car truck 2.
- the sensors 28a and 28b are installed on both sides of the vehicle body 20a, and detect surrounding objects and distances to objects by emitting laser light and receiving the reflected light.
- the camera 29a is installed on the other end surface of the vehicle body section 20a on the side far from the housing section 20b, and the camera 29b is installed on the surface of the housing section 20b on the vehicle body section 20a side.
- the control unit 22 includes a CPU, ROM, RAM, etc. (not shown).
- the storage unit 23 is an HDD, SSD, or the like, and stores various information such as a processing program and a correspondence relationship 23a to be described later.
- the control unit 22 receives the remaining battery power Br of the battery 25 from the power supply unit 26, detection signals from the sensors 28a and 28b, images from the cameras 29a and 29b, and the like.
- the control unit 22 also outputs control signals to the drive motor 24 and the lifting device 27a, imaging signals to the cameras 29a and 29b, and the like.
- the display device 30 is configured to display various information on a display screen 32 under the display control of the management device 40.
- This display device 30 is provided at a position facing the AMR 20 when the AMR 20 stops at the standby position A0. Therefore, while the AMR 20 is stopped at the standby position A0, it is possible to image the display device 30 (display screen 32) with at least one of the cameras 29a and 29b.
- the display device 30 may be a touch panel or the like that allows touch operations by the operator.
- the management device 40 includes a control section 42, a storage section 43, and a communication section 44.
- the control unit 42 includes a CPU, ROM, RAM, etc. (not shown), and performs various processes such as managing the transportation of articles by the AMR 20 depending on the operating status of the robot 50.
- the storage unit 43 is an HDD, SSD, or the like, and stores various information such as a processing program and a correspondence relationship 43a to be described later.
- the communication unit 44 is capable of communicating with external equipment such as the robot 50 by wire.
- a detection signal from the A0 detection sensor 6 that detects the AMR 20 at the standby position A0, information received from the robot 50 through communication by the communication unit 44, and the like are input to the control unit 42. Further, the control unit 42 outputs a display signal to the display device 30, information to be transmitted to the robot 50 through communication by the communication unit 44, and the like.
- the robot 50 includes an articulated robot arm 51, a control section 52, a storage section 53, a communication section 54, a drive motor 55, a sensor 56, and a camera 57.
- the robot 50 performs an assembly process, for example, by taking out necessary parts P from the basket truck 2a at the supply position A1, assembling them on the workbench 4, and storing the assembled product S into the basket truck 2b at the collection position A2.
- the robot arm 51 has a plurality of links including a tip link to which the end effector 51a and camera 57 are attached, and a plurality of joints that rotatably or pivotably connect each link.
- the drive motor 55 drives each joint of the robot arm 51.
- the sensor 56 is configured as an encoder (rotary encoder) that detects the rotation angle of the drive motor 55 of each joint.
- the end effector 51a is capable of holding and releasing an article (component P or assembly S), and uses, for example, a mechanical chuck, a suction nozzle, an electromagnet, or the like.
- the control unit 52 includes a CPU, ROM, RAM, etc. (not shown).
- the storage unit 53 is an HDD, SSD, or the like, and stores various information such as processing programs.
- the communication unit 54 can communicate with external devices such as the management device 40 by wire.
- a detection signal from the sensor 56, an image captured by the camera 57, information received from the management device 40 through communication by the communication unit 54, and the like are input to the control unit 52.
- the control unit 52 also receives a detection signal from the A1 detection sensor 7 that detects the car cart 2a at the supply position A1, a detection signal from the A2 detection sensor 8 that detects the car cart 2b at the collection position A2, etc. Ru.
- control unit 52 outputs drive signals to the end effector 51a and drive motor 55, imaging signals to the camera 57, information to be transmitted to the management device 40 through communication by the communication unit 54, and the like.
- control unit 52 grasps the remaining number of parts P in the basket carriage 2a by, for example, processing an image taken of the basket carriage 2a by the camera 57 or counting the number of used parts P. Further, the control unit 52 processes an image taken of the car cart 2b by the camera 57, counts the number of assembled items S, and grasps the number of assembled items S accommodated in the car cart 2b.
- FIG. 3 is an explanatory diagram showing an example of the correspondence relationships 23a and 43a.
- the correspondence relationships 23a and 43a have a plurality of patterns in which identification images G (G1 to G5) for identification are associated with route motion information that defines the route that the AMR 20 moves and the content of the operation that it executes.
- FIG. 3 five patterns, patterns 1 to E, are shown as an example.
- the route operation information the route is determined using each position within the factory 1.
- FIG. 1 shows some of the routes R1 to R5.
- positions A3 to A7 are defined within the factory 1.
- Position A3 is a position where the basket cart 2a containing the parts P is placed.
- Position A4 is a position where the empty basket cart 2a is placed.
- Position A5 is a position where the empty basket cart 2b is placed.
- Position A6 is a position where the basket cart 2b containing the assembly S is placed.
- Position A7 is the stop position of the AMR 20 at the time of shutdown.
- This position A7 is a position where the operator can easily start up the AMR 20 that has been shut down. Furthermore, the battery 25 may also be able to be charged at position A7.
- one car cart 2 (2a, 2b) is shown at positions A3 to A6 in FIG. 1, but in reality, a plurality of car carts 2 are arranged. Further, although the description will be made assuming that there is one AMR 20, a plurality of AMRs may be used, and a parking space for a plurality of AMRs may be provided at position A7.
- a black circle-shaped identification image G1 is associated with route operation information that defines the route and operation for transporting the basket cart 2a (part P) to the supply position A1.
- the route operation information includes a route R1 of moving from the standby position A0 to the supply position A1 via the position A3 (omitted in FIG. 1), an operation of connecting with the car cart 2a at the position A3, and an operation of connecting the car cart 2a with the car cart 2a at the supply position A1.
- An operation for canceling the connection is defined.
- the black triangular identification image G2 is associated with the route R2 and the route operation information that defines the operation for collecting the empty basket cart 2a from the supply position A1.
- a black rectangular identification image G3 is associated with route operation information that defines a route R3 and an operation for transporting the empty cart 2b to the collection position A2.
- a black star-shaped identification image G4 is associated with the route R4 and the route motion information that defines the motion for collecting the basket cart 2b (assembly S) from the collection position A2.
- a double circle-shaped identification image G5 is associated with the route R5 for shutting down the AMR 20 and the route operation information that defines the operation.
- route R2 from standby position A0 to supply position A1 is omitted
- route R3 from standby position A0 to position A5 is omitted
- route R4 from standby position A0 to position A2 is omitted. Illustrations are omitted.
- FIG. 4 is a flowchart illustrating an example of display control processing. This process is executed while the control unit 42 of the management device 40 is detecting the AMR 20 at the standby position A0 based on the detection signal from the A0 detection sensor 6.
- the control unit 42 acquires the operating status of the robot 50 through communication with the robot 50 (S100).
- the operation status includes the presence or absence of the basket cart 2a at the supply position A1, the presence or absence of the basket cart 2b at the collection position A2, the remaining number of parts P in the basket cart 2a at the supply position A1, and the presence or absence of the basket cart 2b at the collection position A2. This includes the number of assembled products S accommodated.
- the control unit 42 checks the operation required for the AMR 20 based on the operation status (S110), and determines whether an instruction to the AMR 20 is required (S120).
- control unit 42 determines whether it is time to shut down the AMR 20 (S130). For example, the control unit 42 determines that it is time to shut down when the work end time has come. If the control unit 42 determines that it is not time to shut down, it ends this process. Further, if the control unit 42 determines that an instruction to the AMR 20 is necessary or determines that it is time to shut down, the control unit 42 transfers the instruction and content (route and/or operation) from the correspondence relationship 43a of the storage unit 43 to the AMR 20. An identification image G corresponding to the matching motion route motion information is determined (S140). Then, the determined identification image G is displayed on the display screen 32 of the display device 30 (S150), and the present process ends.
- control unit 42 when the control unit 42 acquires in S100 that there is no basket cart 2a at the supply position A1, it determines in S120 that an instruction to supply the basket cart 2a (part P) to the supply position A1 is necessary, and takes action in S140.
- Identification image G1 of pattern 1 is determined from relationship 43a.
- the control unit 42 acquires that the remaining number of parts P in the basket cart 2a is 0 in S100, it determines that an instruction to recover the basket cart 2a from the supply position A1 is required in S120, and in S140
- the identification image G2 of pattern 2 is determined from the correspondence relationship 43a.
- the control unit 42 determines that it is time to shut down in S130, the control unit 42 determines the identification image G5 of pattern 5 from the correspondence relationship 43a in S140.
- FIG. 5 is a flowchart showing an example of the transport control process.
- This process is executed by the control unit 22 while the AMR 20 is stopped at the standby position A0.
- the control unit 22 images the display device 30 (display screen 32) with the cameras 29a and 29b, executes image processing (S200), determines whether or not the identification image G can be recognized (S210), and If it is determined that it cannot be recognized, the process returns to S200. That is, the control unit 22 constantly monitors the display device 30 (display screen 32) with the cameras 29a and 29b, and performs a process of recognizing the identification image G displayed on the display device 30.
- the control unit 22 checks the remaining battery power Br of the battery 25 (S220), and determines whether the remaining battery power Br is less than or equal to a predetermined remaining power. (S230).
- the predetermined remaining amount is calculated in advance as the remaining amount necessary to complete the movement and operation and return to the standby position A0, that is, the remaining amount that will not cause the battery to run out on the way, regardless of the content of the route operation information. things are determined.
- the control unit 22 determines that the remaining battery power Br is less than the predetermined remaining power, that is, there is a possibility that the battery will run out midway, the control unit 22 waits at the standby position A0 without accepting an instruction according to the recognized identification image G. (S240) and returns to S230. In this case, the AMR 20 waits until the battery remaining amount Br exceeds the predetermined remaining amount while charging the battery 25 at the standby position A0.
- the control unit 22 determines the route motion information corresponding to the identification image G from the correspondence relation 23a of the storage unit 23 (S250), and It is determined whether or not it is in shutdown (pattern 5 in FIG. 3) (S260).
- the control unit 22 executes the shutdown process of the AMR 20 (S270), and ends this process.
- the control section 22 causes the AMR 20 (vehicle body section 20a) to move along route R5, outputs a control signal to the power supply unit 26 at position A7, and performs an operation of shutting down.
- control unit 22 determines that the shutdown is not performed in S270, the control unit 22 controls the AMR 20 based on the content of the route operation information determined in S250 (S280). That is, the control unit 22 controls the AMR 20 to move along a predetermined route to the target position and then perform a predetermined operation at the target position. For example, when the route motion information of pattern 1 is determined by recognizing the identification image G1, the control unit 22 causes the AMR 20 (vehicle body 20a) to move along the route R1, connect to the car trolley 2a at position A3, and supply At position A1, the operation of disconnecting from the car trolley 2a is executed.
- the route motion information of pattern 1 is determined by recognizing the identification image G1
- the control unit 22 causes the AMR 20 (vehicle body 20a) to move along the route R1, connect to the car trolley 2a at position A3, and supply At position A1, the operation of disconnecting from the car trolley 2a is executed.
- the control unit 22 determines whether the execution content based on the route motion information has been completed (S290), and if it is determined that the execution content has been completed, the control unit 22 controls the AMR 20 to return to the standby position A0 (S300). ), this process ends. Note that the route to return to the standby position A0 may be determined in the route operation information.
- control unit 22 recognizes the identification image G and starts executing the content of the route motion information
- the AMR 20 moves away from the standby position A0. Therefore, if the control unit 42 of the management device 40 detects that the AMR 20 is not at the standby position A0 based on the detection signal of the A0 detection sensor 6 after displaying the identification image G on the display device 30, the control unit 42 issues instructions to the AMR 20. You can judge that it has been communicated. In that case, the control unit 42 may end the display of the identification image G on the display device 30. Thereby, it is possible to prevent the identification image G from continuing to be displayed more than necessary.
- the AMR 20 of this embodiment corresponds to an automatic transport device
- the management device 40 corresponds to a management device.
- the storage unit 43 corresponds to a management storage unit
- the control unit 42 corresponds to a management control unit
- the storage unit 23 corresponds to a transport storage unit
- at least one of the cameras 29a and 29b and S200 and S210 of the transport control process The control unit 22 that executes this corresponds to a recognition unit
- the control unit 22 that executes the processes after S220 (at least S250 and S280) of the conveyance control process corresponds to a conveyance control unit.
- the battery 25 corresponds to a battery.
- an example of the operation instruction method of the present disclosure is also made clear by explaining the operations of the control units 22 and 42.
- the control unit 42 of the management device 40 determines the identification image G associated with the route movement information whose content matches the instruction to the AMR 20 based on the correspondence relationship 43a, and 30. Further, when the control unit 22 of the AMR 20 recognizes the identification image G displayed on the display device 30, it determines the route motion information associated with the identification image G based on the correspondence relationship 23a, and The AMR 20 is controlled based on the contents of. Thereby, the transport system 10 can instruct the route of the AMR 20, so there is no need to perform instruction processing or image recognition processing at each branch point of the route. Further, it is possible to instruct not only the route but also the operation of the AMR 20. These instructions can be easily given by displaying the identification image G without using wireless communication. Therefore, instructions for movement and operation of the AMR 20 can be more appropriately performed with simple processing.
- the AMR 20 recognizes the identification image G by capturing an image of the display device 30 at the standby position A0 (stop position) in the charging area where the battery 25 can be charged, the identification image G is displayed on the display device 30. The battery 25 can be charged while waiting.
- the AMR 20 waits at the standby position A0 even if the identification image G is displayed on the display device 30, so the AMR 20 stops midway due to insufficient remaining power of the battery 25. It is possible to prevent problems such as
- the route operation information of the correspondence relationships 23a and 43a includes the shutdown of the AMR 20 as the operation content, the AMR 20 can be automatically shut down. Therefore, the worker does not have to manually shut down the AMR 20, thereby reducing the workload.
- the operation contents of the route operation information include the shutdown of the AMR 20, but the present invention is not limited to this and may not include the shutdown.
- the operation of the route operation information may include stop and standby.
- the route movement information may simply move to a destination position and stop or wait at that destination position.
- the route operation information may include content such as not including a route of movement, that is, not moving, and waiting or shutting down on the spot.
- the AMR 20 is placed on standby at the standby position A0 when the remaining battery charge Br is equal to or less than the predetermined remaining charge, but the present invention is not limited to this.
- the route operation information route or operation
- the route operation information consumes relatively little battery 25, it may be executed without waiting.
- the load may be relatively small, so it may be executed when the remaining capacity is below a predetermined level.
- the control unit 22 may control the AMR 20 based on the content of the route operation information if it recognizes the identification image G, regardless of the remaining battery level Br. However, in order to prevent the battery from running out during the process, it is preferable to do as in the embodiment.
- the AMR 20 images the display device 30 and recognizes the identification image G at the standby position A0 where the battery 25 can be charged, but the invention is not limited thereto.
- the standby position A0 may be a position where the battery 25 cannot be charged, or a separate position where the battery 25 can be charged may be provided.
- the identification images G1 to G5 as figures with different shapes are illustrated as the identification images G, but the invention is not limited to this, and each pattern (route motion information) can be identified on the display screen 32 of the display device 30. That's fine.
- the identification image G may be a barcode, a QR code (registered trademark), an AR marker, a data matrix, or the like.
- the AMR 20 is not limited to recognizing the identification image G from images captured by the cameras 29a and 29b, and may recognize the identification image G such as a code using a code reader or the like.
- the connecting portion 27 of the AMR 20 has the engaging portion 27b, and is connected to the car truck 2 by engaging the engaging portion 27b with the lower surface of the car truck 2, but the present invention is not limited thereto.
- the connecting portion 27 of the AMR 20 may not include the engaging portion 27b.
- the AMR 20 has a flat upper surface and a liftable loading section as a connection section, and the loading section rises and comes into contact with the lower surface of the basket truck 2, so that the AMR 20 can be connected to the basket truck 2. good.
- the present disclosure can be used in the technical field of transporting articles using an automatic transport device.
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Abstract
This transport system comprises an automatic transport device and a management device. The management device is provided with: a management storage unit that stores a correspondence relationship in which an identification image is associated with each of a plurality of sets of route operation information that each define the contents of a route along which the automatic transport device travels and an operation performed by the automatic transport device; and a management control unit that, when giving route and operation instructions to the automatic transport device, determines the identification image associated with route operation information, the content of which matches the instructions, on the basis of the correspondence relationship stored in the management storage unit, and displays the determined identification image on a prescribed display device. The automatic transport device is provided with: a transport storage unit that stores the correspondence relationship; a recognition unit that can recognize images displayed on the display device; and a transport control unit that, when the recognition unit recognizes an identification image, determines the route operation information associated with the recognized identification image on the basis of the correspondence relationship stored in the transport storage unit, and controls the automatic transport device on the basis of the content of the determined route operation information.
Description
本明細書は、搬送システムおよび自動搬送装置の動作指示方法を開示する。
This specification discloses a transport system and a method for instructing the operation of an automatic transport device.
従来、自律走行車などの車両に対する指示を行うものが提案されている。例えば特許文献1のシステムでは、車両が走行可能な経路上の複数の分岐点に標識を配置しておき、目的地までの走行経路に応じて標識に表示する内容を、例えば直進と左折、右折のいずれかに決定して表示する。車両は、標識を撮像した画像から標識の内容を認識し、認識した内容に基づいて直進と左折、右折のいずれかを行う。
Conventionally, devices have been proposed that give instructions to vehicles such as autonomous vehicles. For example, in the system disclosed in Patent Document 1, signs are placed at multiple branch points on a route that a vehicle can travel, and the content to be displayed on the sign depending on the driving route to the destination is set, for example, to go straight, turn left, or turn right. Decide on one of these and display it. The vehicle recognizes the content of the sign from the image taken of the sign, and based on the recognized content, either goes straight, turns left, or turns right.
上述したシステムでは、標識毎に、表示する内容を決定したり、表示された内容を認識したりする必要があるから、指示処理が煩雑となったり、認識処理に時間がかかったりすることがある。また、分岐点毎に方向を指示するだけであるから、自動搬送装置の移動と動作の指示を簡易な処理でより適切に行えることが望まれる。
In the above-mentioned system, it is necessary to determine the content to be displayed and to recognize the displayed content for each sign, which can make the instruction process complicated and the recognition process take a long time. . Further, since only directions are given at each branch point, it is desirable to be able to more appropriately instruct the movement and operation of the automatic transport device through simple processing.
本開示は、自動搬送装置の移動と動作の指示を簡易な処理でより適切に行うことを主目的とする。
The main purpose of the present disclosure is to more appropriately instruct the movement and operation of an automatic transport device through simple processing.
本開示は、上述の主目的を達成するために以下の手段を採った。
The present disclosure has taken the following measures to achieve the above-mentioned main objective.
本開示の搬送システムは、
物品を搬送する自動搬送装置と、該自動搬送装置による物品の搬送を管理する管理装置と、を備える搬送システムであって、
前記管理装置は、
前記自動搬送装置が移動する経路と実行する動作との内容を定めた複数の経路動作情報の各々に識別画像を対応付けた対応関係を記憶する管理記憶部と、
前記自動搬送装置に経路と動作の指示を行う場合に、前記管理記憶部の前記対応関係に基づいて、前記指示と内容が一致する前記経路動作情報に対応付けられた前記識別画像を決定し、該決定した前記識別画像を所定の表示装置に表示させる管理制御部と、を備え、
前記自動搬送装置は、
前記対応関係を記憶する搬送記憶部と、
前記表示装置に表示された画像を認識可能な認識部と、
前記認識部により前記識別画像が認識された場合に、前記搬送記憶部の前記対応関係に基づいて、前記認識された前記識別画像に対応付けられた前記経路動作情報を決定し、該決定した前記経路動作情報の内容に基づいて前記自動搬送装置を制御する搬送制御部と、を備える、ことを要旨とする。 The conveyance system of the present disclosure includes:
A conveyance system comprising an automatic conveyance device that conveys articles, and a management device that manages the conveyance of articles by the automatic conveyance device,
The management device includes:
a management storage unit that stores a correspondence relationship in which an identification image is associated with each piece of route operation information that defines the route that the automatic transport device moves and the operation that it executes;
When instructing the automatic transport device regarding a route and an operation, determining the identification image associated with the route operation information whose content matches the instruction based on the correspondence relationship in the management storage unit; a management control unit that displays the determined identification image on a predetermined display device;
The automatic transport device is
a transport storage unit that stores the correspondence relationship;
a recognition unit capable of recognizing an image displayed on the display device;
When the identification image is recognized by the recognition unit, the route motion information associated with the recognized identification image is determined based on the correspondence relationship in the transport storage unit, and the determined The present invention further comprises a conveyance control unit that controls the automatic conveyance device based on the content of route operation information.
物品を搬送する自動搬送装置と、該自動搬送装置による物品の搬送を管理する管理装置と、を備える搬送システムであって、
前記管理装置は、
前記自動搬送装置が移動する経路と実行する動作との内容を定めた複数の経路動作情報の各々に識別画像を対応付けた対応関係を記憶する管理記憶部と、
前記自動搬送装置に経路と動作の指示を行う場合に、前記管理記憶部の前記対応関係に基づいて、前記指示と内容が一致する前記経路動作情報に対応付けられた前記識別画像を決定し、該決定した前記識別画像を所定の表示装置に表示させる管理制御部と、を備え、
前記自動搬送装置は、
前記対応関係を記憶する搬送記憶部と、
前記表示装置に表示された画像を認識可能な認識部と、
前記認識部により前記識別画像が認識された場合に、前記搬送記憶部の前記対応関係に基づいて、前記認識された前記識別画像に対応付けられた前記経路動作情報を決定し、該決定した前記経路動作情報の内容に基づいて前記自動搬送装置を制御する搬送制御部と、を備える、ことを要旨とする。 The conveyance system of the present disclosure includes:
A conveyance system comprising an automatic conveyance device that conveys articles, and a management device that manages the conveyance of articles by the automatic conveyance device,
The management device includes:
a management storage unit that stores a correspondence relationship in which an identification image is associated with each piece of route operation information that defines the route that the automatic transport device moves and the operation that it executes;
When instructing the automatic transport device regarding a route and an operation, determining the identification image associated with the route operation information whose content matches the instruction based on the correspondence relationship in the management storage unit; a management control unit that displays the determined identification image on a predetermined display device;
The automatic transport device is
a transport storage unit that stores the correspondence relationship;
a recognition unit capable of recognizing an image displayed on the display device;
When the identification image is recognized by the recognition unit, the route motion information associated with the recognized identification image is determined based on the correspondence relationship in the transport storage unit, and the determined The present invention further comprises a conveyance control unit that controls the automatic conveyance device based on the content of route operation information.
本開示の搬送システムでは、管理装置が、自動搬送装置の経路と動作との内容を定めた複数の経路動作情報の各々に識別画像を対応付けた対応関係に基づいて、自動搬送装置への指示と内容が一致する経路動作情報に対応付けられた識別画像を決定して表示装置に表示させる。また、自動搬送装置が、表示装置に表示された識別画像を認識した場合に、対応関係に基づいて識別画像に対応付けられた経路動作情報を決定し、その内容に基づいて制御する。これにより、自動搬送装置の経路を指示することができ、経路の分岐点毎に指示処理や画像の認識処理を行う必要がない。また、経路だけでなく自動搬送装置の動作も含めて指示することができる。これらの指示を、無線通信を用いずに識別画像の表示により簡易に行うことができる。したがって、自動搬送装置の移動と動作の指示を簡易な処理でより適切に行うことができる。
In the conveyance system of the present disclosure, the management device issues instructions to the automatic conveyance device based on a correspondence relationship in which an identification image is associated with each piece of route operation information that defines the route and operation of the automatic conveyance device. The identification image associated with the route motion information whose contents match is determined and displayed on the display device. Further, when the automatic conveyance device recognizes the identification image displayed on the display device, it determines the route operation information associated with the identification image based on the correspondence relationship, and controls based on the content. Thereby, the route of the automatic transport device can be instructed, and there is no need to perform instruction processing or image recognition processing at each branch point of the route. Further, it is possible to give instructions not only about the route but also about the operation of the automatic transport device. These instructions can be easily given by displaying an identification image without using wireless communication. Therefore, instructions for movement and operation of the automatic transport device can be more appropriately performed with simple processing.
本開示の実施形態について図面を用いて説明する。図1は、搬送システム10とロボット50と経路R1~R5の一例を示す説明図である。図2は、搬送システム10とロボット50の概略構成図である。搬送システム10は、AMR(Autonomous Mobile Robot)20と、表示装置30と、管理装置40とを備え、工場や物流倉庫、店舗等で用いられる。本実施形態の搬送システム10は、ロボット50を備える工場1における物品(部品Pや組立品S等)の搬送に用いられる。なお、工場1には、AMR20の待機位置(初期位置)A0と、ロボット50に部品Pを供給するカゴ台車2が配置される供給位置A1と、ロボット50が組み立てた組立品Sを回収するカゴ台車2が配置される回収位置A2とが定められている。また、部品Pの供給用をカゴ台車2aとし、組立品Sの回収用をカゴ台車2bとする。
Embodiments of the present disclosure will be described using the drawings. FIG. 1 is an explanatory diagram showing an example of the transport system 10, the robot 50, and the routes R1 to R5. FIG. 2 is a schematic configuration diagram of the transport system 10 and the robot 50. The transport system 10 includes an AMR (Autonomous Mobile Robot) 20, a display device 30, and a management device 40, and is used in factories, distribution warehouses, stores, and the like. The transport system 10 of this embodiment is used to transport articles (parts P, assemblies S, etc.) in a factory 1 equipped with a robot 50. The factory 1 includes a standby position (initial position) A0 of the AMR 20, a supply position A1 where the basket cart 2 for supplying parts P to the robot 50 is arranged, and a basket where the assembly S assembled by the robot 50 is collected. A recovery position A2 where the trolley 2 is placed is determined. Further, a basket truck 2a is used for supplying parts P, and a basket truck 2b is used for collecting assembled products S.
AMR20は、例えば、物品を積載したカゴ台車2に接続された状態で自律走行することで、当該物品を自動で搬送可能な自動搬送装置である。本実施形態のAMR20は、略平板状の車体部20aと、車体部20aの一端に連結された箱状の筐体部20bとを備え、略L字状の外観を有する。このAMR20は、車輪21と、制御部22と、記憶部23と、駆動モータ24と、バッテリ25と、電源ユニット26と、接続部27と、センサ28a,28bと、カメラ29a,29bとを備える。
The AMR 20 is, for example, an automatic transport device that can automatically transport the articles by autonomously traveling while connected to the cart 2 loaded with the articles. The AMR 20 of this embodiment includes a generally flat body part 20a and a box-like housing part 20b connected to one end of the body part 20a, and has a generally L-shaped appearance. This AMR 20 includes wheels 21, a control section 22, a storage section 23, a drive motor 24, a battery 25, a power supply unit 26, a connection section 27, sensors 28a, 28b, and cameras 29a, 29b. .
車輪21は、車体部20aの下面に複数(例えば4つ)取り付けられ、例えば車軸に対して45度傾斜して回転可能に軸支された複数のローラを有するメカナムホイールとして構成されている。駆動モータ24は、それぞれ対応する車輪21を回転駆動するように複数設けられている。AMR20は、各駆動モータ24で対応する車輪21の回転方向および回転速度を独立して制御することにより、車体部20aの全方位への移動や各種旋回(超信地旋回や信地旋回、緩旋回)が可能である。バッテリ25は、例えばリチウムイオン二次電池やニッケル水素二次電池として構成されており、AMR20の各部に電力を供給するように電源ユニット26に接続されている。電源ユニット26は、バッテリ25からの電力を駆動モータ24や接続部27などの駆動系に必要な高電圧の電力として供給したり、制御部22や記憶部23などの制御系に必要な低電圧の電力として供給したりする。また、電源ユニット26は、バッテリ25の端子間に設けられた電圧センサからの端子間電圧に基づいてバッテリ残量Brを検出したり、工場1の電源(外部電源)5から供給された電力でバッテリ25の充電制御を行ったりする。なお、待機位置A0は、バッテリ25を充電可能な充電位置である。このため、AMR20が待機位置A0で停止すると、図示しない給電コネクタが接続されて、電源5からの電力でバッテリ25が充電される。なお、待機位置A0では、非接触でバッテリ25が充電されてもよい。
A plurality of wheels (for example, four wheels) are attached to the lower surface of the vehicle body portion 20a, and are configured as mecanum wheels having a plurality of rollers rotatably supported at an angle of, for example, 45 degrees with respect to the axle. A plurality of drive motors 24 are provided so as to rotationally drive the corresponding wheels 21, respectively. The AMR 20 independently controls the rotational direction and rotational speed of the corresponding wheel 21 with each drive motor 24, thereby allowing the vehicle body 20a to move in all directions and perform various turns (such as a super turn, a turn, and a slow turn). rotation) is possible. The battery 25 is configured as, for example, a lithium ion secondary battery or a nickel hydride secondary battery, and is connected to the power supply unit 26 so as to supply power to each part of the AMR 20. The power supply unit 26 supplies electric power from the battery 25 as high voltage electric power necessary for drive systems such as the drive motor 24 and connection section 27, and supplies low voltage electric power necessary for control systems such as the control section 22 and storage section 23. It can also be used as electricity. The power supply unit 26 also detects the remaining battery power Br based on the voltage between the terminals of the voltage sensor provided between the terminals of the battery 25, and uses the power supplied from the power supply (external power supply) 5 of the factory 1. It also controls charging of the battery 25. Note that the standby position A0 is a charging position where the battery 25 can be charged. Therefore, when the AMR 20 stops at the standby position A0, a power supply connector (not shown) is connected, and the battery 25 is charged with power from the power source 5. Note that the battery 25 may be charged in a non-contact manner at the standby position A0.
接続部27は、車体部20aの上面に設置され、昇降装置27aと、昇降装置27aによって昇降する係合部27bとを有する。AMR20は、車体部20aがカゴ台車2に潜り込んだ状態で、昇降装置27aにより係合部27bを上昇させることで、係合部27bがカゴ台車2の下面に係合してカゴ台車2と接続される。センサ28a,28bは、車体部20aの両側面にそれぞれ設置されており、レーザ光を照射してその反射光を受光することにより周囲の物体や物体との距離を検出する。カメラ29aは、車体部20aにおける筐体部20bから遠い側の他端面に設置され、カメラ29bは、筐体部20bにおける車体部20a側の面に設置されている。
The connecting portion 27 is installed on the upper surface of the vehicle body portion 20a, and includes a lifting device 27a and an engaging portion 27b that is raised and lowered by the lifting device 27a. In the AMR 20, when the car body part 20a is inserted into the car truck 2, the engaging part 27b is raised by the lifting device 27a, so that the engaging part 27b engages with the lower surface of the car truck 2 and is connected to the car truck 2. be done. The sensors 28a and 28b are installed on both sides of the vehicle body 20a, and detect surrounding objects and distances to objects by emitting laser light and receiving the reflected light. The camera 29a is installed on the other end surface of the vehicle body section 20a on the side far from the housing section 20b, and the camera 29b is installed on the surface of the housing section 20b on the vehicle body section 20a side.
制御部22は、図示しないCPUやROM、RAMなどを備える。記憶部23は、HDDやSSDなどであり、処理プログラムや後述する対応関係23aなどの各種情報を記憶する。制御部22には、電源ユニット26からバッテリ25のバッテリ残量Brやセンサ28a,28bからの検出信号、カメラ29a,29bからの画像などが入力される。また、制御部22からは、駆動モータ24や昇降装置27aへの制御信号、カメラ29a,29bへの撮像信号などが出力される。
The control unit 22 includes a CPU, ROM, RAM, etc. (not shown). The storage unit 23 is an HDD, SSD, or the like, and stores various information such as a processing program and a correspondence relationship 23a to be described later. The control unit 22 receives the remaining battery power Br of the battery 25 from the power supply unit 26, detection signals from the sensors 28a and 28b, images from the cameras 29a and 29b, and the like. The control unit 22 also outputs control signals to the drive motor 24 and the lifting device 27a, imaging signals to the cameras 29a and 29b, and the like.
表示装置30は、管理装置40の表示制御により、各種情報を表示画面32に表示するように構成されている。この表示装置30は、AMR20が待機位置A0で停止した際に、AMR20と対向する位置に設けられている。このため、AMR20は、待機位置A0で停止中に、表示装置30(表示画面32)をカメラ29a,29bの少なくともいずれかで撮像することが可能である。なお、表示装置30は、作業者のタッチ操作が可能なタッチパネルなどでもよい。
The display device 30 is configured to display various information on a display screen 32 under the display control of the management device 40. This display device 30 is provided at a position facing the AMR 20 when the AMR 20 stops at the standby position A0. Therefore, while the AMR 20 is stopped at the standby position A0, it is possible to image the display device 30 (display screen 32) with at least one of the cameras 29a and 29b. Note that the display device 30 may be a touch panel or the like that allows touch operations by the operator.
管理装置40は、制御部42と、記憶部43と、通信部44とを備える。制御部42は、図示しないCPUやROM、RAMなどを備え、ロボット50の動作状況に応じて、AMR20による物品の搬送を管理するなどの各種処理を行う。記憶部43は、HDDやSSDなどであり、処理プログラムや後述する対応関係43aなどの各種情報を記憶する。通信部44は、ロボット50などの外部機器と有線により通信可能である。制御部42には、待機位置A0のAMR20を検知するA0検知センサ6からの検知信号や、通信部44の通信によりロボット50から受信した情報などが入力される。また、制御部42からは、表示装置30への表示信号や、通信部44の通信によりロボット50へ送信する情報などが出力される。
The management device 40 includes a control section 42, a storage section 43, and a communication section 44. The control unit 42 includes a CPU, ROM, RAM, etc. (not shown), and performs various processes such as managing the transportation of articles by the AMR 20 depending on the operating status of the robot 50. The storage unit 43 is an HDD, SSD, or the like, and stores various information such as a processing program and a correspondence relationship 43a to be described later. The communication unit 44 is capable of communicating with external equipment such as the robot 50 by wire. A detection signal from the A0 detection sensor 6 that detects the AMR 20 at the standby position A0, information received from the robot 50 through communication by the communication unit 44, and the like are input to the control unit 42. Further, the control unit 42 outputs a display signal to the display device 30, information to be transmitted to the robot 50 through communication by the communication unit 44, and the like.
ロボット50は、多関節型のロボットアーム51と、制御部52と、記憶部53と、通信部54と、駆動モータ55と、センサ56と、カメラ57とを備える。ロボット50は、例えば供給位置A1のカゴ台車2aから必要な部品Pを取り出して作業台4上で組み立て、組立品Sを回収位置A2のカゴ台車2bに収容する、組立処理を行う。
The robot 50 includes an articulated robot arm 51, a control section 52, a storage section 53, a communication section 54, a drive motor 55, a sensor 56, and a camera 57. The robot 50 performs an assembly process, for example, by taking out necessary parts P from the basket truck 2a at the supply position A1, assembling them on the workbench 4, and storing the assembled product S into the basket truck 2b at the collection position A2.
ロボットアーム51は、エンドエフェクタ51aとカメラ57とが取り付けられる先端リンクを含む複数のリンクと、各リンクを回転または旋回可能に連結する複数の関節とを有する。駆動モータ55は、ロボットアーム51の各関節を駆動する。センサ56は、各関節の駆動モータ55の回転角度を検出するエンコーダ(ロータリエンコーダ)として構成されている。エンドエフェクタ51aは、物品(部品Pや組立品S)の保持とその解除とが可能であり、例えば、メカチャックや吸着ノズル、電磁石などが用いられる。
The robot arm 51 has a plurality of links including a tip link to which the end effector 51a and camera 57 are attached, and a plurality of joints that rotatably or pivotably connect each link. The drive motor 55 drives each joint of the robot arm 51. The sensor 56 is configured as an encoder (rotary encoder) that detects the rotation angle of the drive motor 55 of each joint. The end effector 51a is capable of holding and releasing an article (component P or assembly S), and uses, for example, a mechanical chuck, a suction nozzle, an electromagnet, or the like.
制御部52は、図示しないCPUやROM、RAMなどを備える。記憶部53は、HDDやSSDなどであり、処理プログラムなどの各種情報を記憶する。通信部54は、管理装置40などの外部機器と有線により通信可能である。制御部52には、センサ56からの検出信号やカメラ57により撮像された画像、通信部54の通信により管理装置40から受信した情報などが入力される。また、制御部52には、供給位置A1のカゴ台車2aを検知するA1検知センサ7からの検知信号や、回収位置A2のカゴ台車2bを検知するA2検知センサ8からの検知信号なども入力される。一方、制御部52からは、エンドエフェクタ51aや駆動モータ55への駆動信号やカメラ57への撮像信号、通信部54の通信により管理装置40へ送信する情報などが出力される。なお、制御部52は、例えばカメラ57によりカゴ台車2aを撮像した画像を処理したり部品Pの使用数をカウントしたりして、カゴ台車2a内の部品Pの残数を把握する。また、制御部52は、カメラ57によりカゴ台車2bを撮像した画像を処理したり組立品Sの組立数をカウントしたりして、カゴ台車2b内の組立品Sの収容数を把握する。
The control unit 52 includes a CPU, ROM, RAM, etc. (not shown). The storage unit 53 is an HDD, SSD, or the like, and stores various information such as processing programs. The communication unit 54 can communicate with external devices such as the management device 40 by wire. A detection signal from the sensor 56, an image captured by the camera 57, information received from the management device 40 through communication by the communication unit 54, and the like are input to the control unit 52. In addition, the control unit 52 also receives a detection signal from the A1 detection sensor 7 that detects the car cart 2a at the supply position A1, a detection signal from the A2 detection sensor 8 that detects the car cart 2b at the collection position A2, etc. Ru. On the other hand, the control unit 52 outputs drive signals to the end effector 51a and drive motor 55, imaging signals to the camera 57, information to be transmitted to the management device 40 through communication by the communication unit 54, and the like. Note that the control unit 52 grasps the remaining number of parts P in the basket carriage 2a by, for example, processing an image taken of the basket carriage 2a by the camera 57 or counting the number of used parts P. Further, the control unit 52 processes an image taken of the car cart 2b by the camera 57, counts the number of assembled items S, and grasps the number of assembled items S accommodated in the car cart 2b.
ここで、AMR20の記憶部23に記憶されている対応関係23aと、管理装置40の記憶部43に記憶されている対応関係43aについて説明する。対応関係23a,43aは、同じ内容であるため、まとめて説明する。図3は、対応関係23a,43aの一例を示す説明図である。対応関係23a,43aは、識別用の識別画像G(G1~G5)と、AMR20が移動する経路と実行する動作の内容を定めた経路動作情報とが対応付けられた複数のパターンを有する。
Here, the correspondence relationship 23a stored in the storage unit 23 of the AMR 20 and the correspondence relationship 43a stored in the storage unit 43 of the management device 40 will be explained. Since the correspondence relationships 23a and 43a have the same content, they will be explained together. FIG. 3 is an explanatory diagram showing an example of the correspondence relationships 23a and 43a. The correspondence relationships 23a and 43a have a plurality of patterns in which identification images G (G1 to G5) for identification are associated with route motion information that defines the route that the AMR 20 moves and the content of the operation that it executes.
図3では、一例としてパターン1~Eの5つのパターンを示す。経路動作情報の経路では、工場1内の各位置を用いて経路が定められている。図1には、そのうち一部の経路R1~R5を示す。また、工場1内には、待機位置A0、供給位置A1、回収位置A2の他に、位置A3~A7が定められている。位置A3は、部品Pを収容したカゴ台車2aが配置される位置である。位置A4は、空のカゴ台車2aが配置される位置である。位置A5は、空のカゴ台車2bが配置される位置である。位置A6は、組立品Sを収容したカゴ台車2bが配置される位置である。位置A7は、AMR20のシャットダウン時の停車位置である。この位置A7は、シャットダウンしたAMR20を作業者が起動させ易い位置などとなっている。また、位置A7でもバッテリ25の充電が可能としてもよい。なお、図示の都合上、図1の位置A3~A6には、カゴ台車2(2a,2b)を1台ずつ示すが、実際は複数のカゴ台車2が配置されている。また、AMR20を1台として説明するが、複数台でもよく、位置A7に複数台分の停車スペースが設けられてもよい。
In FIG. 3, five patterns, patterns 1 to E, are shown as an example. In the route operation information, the route is determined using each position within the factory 1. FIG. 1 shows some of the routes R1 to R5. In addition to the standby position A0, the supply position A1, and the collection position A2, positions A3 to A7 are defined within the factory 1. Position A3 is a position where the basket cart 2a containing the parts P is placed. Position A4 is a position where the empty basket cart 2a is placed. Position A5 is a position where the empty basket cart 2b is placed. Position A6 is a position where the basket cart 2b containing the assembly S is placed. Position A7 is the stop position of the AMR 20 at the time of shutdown. This position A7 is a position where the operator can easily start up the AMR 20 that has been shut down. Furthermore, the battery 25 may also be able to be charged at position A7. For convenience of illustration, one car cart 2 (2a, 2b) is shown at positions A3 to A6 in FIG. 1, but in reality, a plurality of car carts 2 are arranged. Further, although the description will be made assuming that there is one AMR 20, a plurality of AMRs may be used, and a parking space for a plurality of AMRs may be provided at position A7.
パターン1では、供給位置A1にカゴ台車2a(部品P)を搬送するための経路および動作を定めた経路動作情報に、黒い丸形状の識別画像G1が対応付けられている。その経路動作情報は、待機位置A0から位置A3を経て(図1では省略)、供給位置A1まで移動する経路R1と、位置A3でカゴ台車2aと接続する動作および供給位置A1でカゴ台車2aとの接続を解除する動作と、が定められている。以下、詳細は省略するが同様に内容が定められている。即ち、パターン2では、供給位置A1から空のカゴ台車2aを回収するための経路R2および動作を定めた経路動作情報に、黒い三角形状の識別画像G2が対応付けられている。パターン3では、回収位置A2に空のカゴ台車2bを搬送するための経路R3および動作を定めた経路動作情報に、黒い四角形状の識別画像G3が対応付けられている。パターン4では、回収位置A2からカゴ台車2b(組立品S)を回収するための経路R4および動作を定めた経路動作情報に、黒い星形状の識別画像G4が対応付けられている。パターン5では、AMR20をシャットダウンさせるための経路R5および動作を定めた経路動作情報に、二重丸形状の識別画像G5が対応付けられている。なお、図1では、経路R2の待機位置A0から供給位置A1までの図示を省略し、経路R3の待機位置A0から位置A5までの図示を省略し、経路R4の待機位置A0から位置A2までの図示を省略する。
In pattern 1, a black circle-shaped identification image G1 is associated with route operation information that defines the route and operation for transporting the basket cart 2a (part P) to the supply position A1. The route operation information includes a route R1 of moving from the standby position A0 to the supply position A1 via the position A3 (omitted in FIG. 1), an operation of connecting with the car cart 2a at the position A3, and an operation of connecting the car cart 2a with the car cart 2a at the supply position A1. An operation for canceling the connection is defined. The details are omitted below, but the contents are similarly defined. That is, in pattern 2, the black triangular identification image G2 is associated with the route R2 and the route operation information that defines the operation for collecting the empty basket cart 2a from the supply position A1. In pattern 3, a black rectangular identification image G3 is associated with route operation information that defines a route R3 and an operation for transporting the empty cart 2b to the collection position A2. In pattern 4, a black star-shaped identification image G4 is associated with the route R4 and the route motion information that defines the motion for collecting the basket cart 2b (assembly S) from the collection position A2. In pattern 5, a double circle-shaped identification image G5 is associated with the route R5 for shutting down the AMR 20 and the route operation information that defines the operation. In addition, in FIG. 1, illustration of route R2 from standby position A0 to supply position A1 is omitted, route R3 from standby position A0 to position A5 is omitted, and route R4 from standby position A0 to position A2 is omitted. Illustrations are omitted.
次に、こうして構成された本実施形態の搬送システム10の動作について説明する。図4は、表示制御処理の一例を示すフローチャートである。この処理は、管理装置40の制御部42がA0検知センサ6からの検知信号に基づいて待機位置A0のAMR20を検知している状態で、実行される。
Next, the operation of the transport system 10 of this embodiment configured in this manner will be described. FIG. 4 is a flowchart illustrating an example of display control processing. This process is executed while the control unit 42 of the management device 40 is detecting the AMR 20 at the standby position A0 based on the detection signal from the A0 detection sensor 6.
図4の表示制御処理では、制御部42は、ロボット50との通信によりロボット50の動作状況を取得する(S100)。なお、動作状況には、供給位置A1のカゴ台車2aの有無や回収位置A2のカゴ台車2bの有無、供給位置A1のカゴ台車2a内の部品Pの残数、回収位置A2のカゴ台車2b内の組立品Sの収容数などを含む。次に、制御部42は、動作状況に基づいてAMR20に必要な動作を確認し(S110)、AMR20に対する指示が必要であるか否かを判定する(S120)。
In the display control process in FIG. 4, the control unit 42 acquires the operating status of the robot 50 through communication with the robot 50 (S100). The operation status includes the presence or absence of the basket cart 2a at the supply position A1, the presence or absence of the basket cart 2b at the collection position A2, the remaining number of parts P in the basket cart 2a at the supply position A1, and the presence or absence of the basket cart 2b at the collection position A2. This includes the number of assembled products S accommodated. Next, the control unit 42 checks the operation required for the AMR 20 based on the operation status (S110), and determines whether an instruction to the AMR 20 is required (S120).
制御部42は、S120でAMR20に対する指示が必要でないと判定すると、AMR20のシャットダウンのタイミングであるか否かを判定する(S130)。制御部42は、例えば作業終了時刻となった場合にシャットダウンのタイミングであると判定する。制御部42は、シャットダウンのタイミングでないと判定すると、本処理を終了する。また、制御部42は、AMR20に対する指示が必要であると判定するか、シャットダウンのタイミングであると判定すると、記憶部43の対応関係43aからAMR20への指示と内容(経路及び/又は動作)が一致する動作経路動作情報に対応する識別画像Gを決定する(S140)。そして、決定した識別画像Gを表示装置30の表示画面32に表示して(S150)、本処理を終了する。
If the control unit 42 determines in S120 that an instruction to the AMR 20 is not necessary, it determines whether it is time to shut down the AMR 20 (S130). For example, the control unit 42 determines that it is time to shut down when the work end time has come. If the control unit 42 determines that it is not time to shut down, it ends this process. Further, if the control unit 42 determines that an instruction to the AMR 20 is necessary or determines that it is time to shut down, the control unit 42 transfers the instruction and content (route and/or operation) from the correspondence relationship 43a of the storage unit 43 to the AMR 20. An identification image G corresponding to the matching motion route motion information is determined (S140). Then, the determined identification image G is displayed on the display screen 32 of the display device 30 (S150), and the present process ends.
例えば、制御部42は、S100で供給位置A1にカゴ台車2aがない旨を取得した場合、S120で供給位置A1へのカゴ台車2a(部品P)の供給指示が必要と判定し、S140で対応関係43aからパターン1の識別画像G1を決定する。また、制御部42は、S100でカゴ台車2a内の部品Pの残数が値0である旨を取得した場合、S120で供給位置A1からカゴ台車2aの回収指示が必要と判定し、S140で対応関係43aからパターン2の識別画像G2を決定する。また、制御部42は、S130でシャットダウンのタイミングであると判定すると、S140で対応関係43aからパターン5の識別画像G5を決定する。
For example, when the control unit 42 acquires in S100 that there is no basket cart 2a at the supply position A1, it determines in S120 that an instruction to supply the basket cart 2a (part P) to the supply position A1 is necessary, and takes action in S140. Identification image G1 of pattern 1 is determined from relationship 43a. Further, when the control unit 42 acquires that the remaining number of parts P in the basket cart 2a is 0 in S100, it determines that an instruction to recover the basket cart 2a from the supply position A1 is required in S120, and in S140 The identification image G2 of pattern 2 is determined from the correspondence relationship 43a. Further, when the control unit 42 determines that it is time to shut down in S130, the control unit 42 determines the identification image G5 of pattern 5 from the correspondence relationship 43a in S140.
次に、AMR20の制御部22が行う処理を説明する。図5は、搬送制御処理の一例を示すフローチャートである。この処理は、AMR20が待機位置A0で停止している状態で制御部22により実行される。制御部22は、表示装置30(表示画面32)をカメラ29a,29bで撮像して画像処理を実行し(S200)、識別画像Gを認識できたか否かを判定し(S210)、識別画像Gを認識できないと判定するとS200に戻る。即ち、制御部22は、表示装置30(表示画面32)をカメラ29a,29bで常時監視して、表示装置30に表示された識別画像Gを認識する処理を行う。
Next, the processing performed by the control unit 22 of the AMR 20 will be explained. FIG. 5 is a flowchart showing an example of the transport control process. This process is executed by the control unit 22 while the AMR 20 is stopped at the standby position A0. The control unit 22 images the display device 30 (display screen 32) with the cameras 29a and 29b, executes image processing (S200), determines whether or not the identification image G can be recognized (S210), and If it is determined that it cannot be recognized, the process returns to S200. That is, the control unit 22 constantly monitors the display device 30 (display screen 32) with the cameras 29a and 29b, and performs a process of recognizing the identification image G displayed on the display device 30.
そして、制御部22は、S210で識別画像Gを認識できたと判定すると、バッテリ25のバッテリ残量Brを確認し(S220)、バッテリ残量Brが所定残量以下であるか否かを判定する(S230)。所定残量は、例えば経路動作情報のいずれの内容であっても、移動および動作を完了して待機位置A0に戻るのに必要な残量即ち途中でバッテリ切れが生じない残量として予め算出されたものが定められている。制御部22は、バッテリ残量Brが所定残量以下である即ち途中でバッテリ切れが生じる可能性があると判定すると、認識した識別画像Gに応じた指示を受け付けずに待機位置A0で待機して(S240)、S230に戻る。この場合、AMR20は、待機位置A0でバッテリ25を充電しながら、バッテリ残量Brが所定残量を超えるのを待つことになる。
When determining that the identification image G has been recognized in S210, the control unit 22 checks the remaining battery power Br of the battery 25 (S220), and determines whether the remaining battery power Br is less than or equal to a predetermined remaining power. (S230). For example, the predetermined remaining amount is calculated in advance as the remaining amount necessary to complete the movement and operation and return to the standby position A0, that is, the remaining amount that will not cause the battery to run out on the way, regardless of the content of the route operation information. things are determined. When the control unit 22 determines that the remaining battery power Br is less than the predetermined remaining power, that is, there is a possibility that the battery will run out midway, the control unit 22 waits at the standby position A0 without accepting an instruction according to the recognized identification image G. (S240) and returns to S230. In this case, the AMR 20 waits until the battery remaining amount Br exceeds the predetermined remaining amount while charging the battery 25 at the standby position A0.
一方、制御部22は、バッテリ残量Brが所定残量を超えると判定すると、記憶部23の対応関係23aから識別画像Gに対応する経路動作情報を決定し(S250)、決定した経路動作情報がシャットダウン(図3のパターン5)であるか否かを判定する(S260)。制御部22は、識別画像G5を認識したためにS260でシャットダウンであると判定すると、AMR20のシャットダウン処理を実行して(S270)、本処理を終了する。シャットダウン処理では、制御部22は、AMR20(車体部20a)に経路R5を移動させ、位置A7で電源ユニット26に制御信号を出力してシャットダウンする動作を実行する。
On the other hand, when the control unit 22 determines that the battery remaining capacity Br exceeds the predetermined remaining capacity, the control unit 22 determines the route motion information corresponding to the identification image G from the correspondence relation 23a of the storage unit 23 (S250), and It is determined whether or not it is in shutdown (pattern 5 in FIG. 3) (S260). When the control unit 22 determines in S260 that the shutdown is to be performed because the identification image G5 has been recognized, the control unit 22 executes the shutdown process of the AMR 20 (S270), and ends this process. In the shutdown process, the control section 22 causes the AMR 20 (vehicle body section 20a) to move along route R5, outputs a control signal to the power supply unit 26 at position A7, and performs an operation of shutting down.
また、制御部22は、S270でシャットダウンでないと判定すると、S250で決定した経路動作情報の内容に基づいてAMR20を制御する(S280)。即ち、制御部22は、目的位置まで予め定められた経路で移動してから、目的位置で予め定められた動作を行うようにAMR20を制御する。例えば、識別画像G1の認識によりパターン1の経路動作情報を決定した場合、制御部22は、AMR20(車体部20a)に経路R1を移動させ、位置A3でカゴ台車2aと接続する動作と、供給位置A1でカゴ台車2aとの接続を解除する動作とを実行する。そして、制御部22は、経路動作情報に基づく実行内容が完了したか否かを判定し(S290)、実行内容が完了したと判定すると、待機位置A0に戻るようにAMR20を制御して(S300)、本処理を終了する。なお、待機位置A0に戻るまでの経路が経路動作情報に定められていてもよい。
Further, if the control unit 22 determines that the shutdown is not performed in S270, the control unit 22 controls the AMR 20 based on the content of the route operation information determined in S250 (S280). That is, the control unit 22 controls the AMR 20 to move along a predetermined route to the target position and then perform a predetermined operation at the target position. For example, when the route motion information of pattern 1 is determined by recognizing the identification image G1, the control unit 22 causes the AMR 20 (vehicle body 20a) to move along the route R1, connect to the car trolley 2a at position A3, and supply At position A1, the operation of disconnecting from the car trolley 2a is executed. The control unit 22 then determines whether the execution content based on the route motion information has been completed (S290), and if it is determined that the execution content has been completed, the control unit 22 controls the AMR 20 to return to the standby position A0 (S300). ), this process ends. Note that the route to return to the standby position A0 may be determined in the route operation information.
なお、制御部22が識別画像Gを認識して経路動作情報の内容を実行開始すると、AMR20が待機位置A0から離れる。そのため、管理装置40の制御部42は、識別画像Gを表示装置30に表示した後、A0検知センサ6の検知信号に基づいてAMR20が待機位置A0にないことを検知した場合、AMR20に指示が伝わったと判断することができる。その場合、制御部42は、表示装置30での識別画像Gの表示を終了すればよい。これにより、識別画像Gを必要以上に表示し続けるのを防止することができる。
Note that when the control unit 22 recognizes the identification image G and starts executing the content of the route motion information, the AMR 20 moves away from the standby position A0. Therefore, if the control unit 42 of the management device 40 detects that the AMR 20 is not at the standby position A0 based on the detection signal of the A0 detection sensor 6 after displaying the identification image G on the display device 30, the control unit 42 issues instructions to the AMR 20. You can judge that it has been communicated. In that case, the control unit 42 may end the display of the identification image G on the display device 30. Thereby, it is possible to prevent the identification image G from continuing to be displayed more than necessary.
ここで、本実施形態の構成要素と本開示の構成要素との対応関係を明らかにする。本実施形態のAMR20が自動搬送装置に相当し、管理装置40が管理装置に相当する。また、記憶部43が管理記憶部に相当し、制御部42が管理制御部に相当し、記憶部23が搬送記憶部に相当し、カメラ29a,29bの少なくとも一方と搬送制御処理のS200,S210を実行する制御部22が認識部に相当し、搬送制御処理のS220以降の処理(少なくともS250,S280)を実行する制御部22が搬送制御部に相当する。バッテリ25がバッテリに相当する。なお、本実施形態では、制御部22,42の動作を説明することにより本開示の動作指示方法の一例も明らかにしている。
Here, the correspondence between the components of this embodiment and the components of the present disclosure will be clarified. The AMR 20 of this embodiment corresponds to an automatic transport device, and the management device 40 corresponds to a management device. Further, the storage unit 43 corresponds to a management storage unit, the control unit 42 corresponds to a management control unit, the storage unit 23 corresponds to a transport storage unit, and at least one of the cameras 29a and 29b and S200 and S210 of the transport control process The control unit 22 that executes this corresponds to a recognition unit, and the control unit 22 that executes the processes after S220 (at least S250 and S280) of the conveyance control process corresponds to a conveyance control unit. The battery 25 corresponds to a battery. In addition, in this embodiment, an example of the operation instruction method of the present disclosure is also made clear by explaining the operations of the control units 22 and 42.
以上説明した搬送システム10では、管理装置40の制御部42が、対応関係43aに基づいて、AMR20への指示と内容が一致する経路動作情報に対応付けられた識別画像Gを決定して表示装置30に表示させる。また、AMR20の制御部22が、表示装置30に表示された識別画像Gを認識した場合に、対応関係23aに基づいて識別画像Gに対応付けられた経路動作情報を決定し、その経路動作情報の内容に基づいてAMR20を制御する。これにより、搬送システム10では、AMR20の経路を指示することができるから、経路の分岐点毎に指示処理や画像の認識処理を行う必要がない。また、経路だけでなくAMR20の動作も含めて指示することができる。これらの指示を、無線通信を用いずに識別画像Gの表示により簡易に行うことができる。したがって、AMR20の移動と動作の指示を簡易な処理でより適切に行うことができる。
In the conveyance system 10 described above, the control unit 42 of the management device 40 determines the identification image G associated with the route movement information whose content matches the instruction to the AMR 20 based on the correspondence relationship 43a, and 30. Further, when the control unit 22 of the AMR 20 recognizes the identification image G displayed on the display device 30, it determines the route motion information associated with the identification image G based on the correspondence relationship 23a, and The AMR 20 is controlled based on the contents of. Thereby, the transport system 10 can instruct the route of the AMR 20, so there is no need to perform instruction processing or image recognition processing at each branch point of the route. Further, it is possible to instruct not only the route but also the operation of the AMR 20. These instructions can be easily given by displaying the identification image G without using wireless communication. Therefore, instructions for movement and operation of the AMR 20 can be more appropriately performed with simple processing.
また、AMR20は、バッテリ25を充電可能な充電エリアにおける待機位置A0(停止位置)で表示装置30を撮像して識別画像Gを認識するから、表示装置30に識別画像Gが表示されるのを待ちながらバッテリ25を充電することができる。
Further, since the AMR 20 recognizes the identification image G by capturing an image of the display device 30 at the standby position A0 (stop position) in the charging area where the battery 25 can be charged, the identification image G is displayed on the display device 30. The battery 25 can be charged while waiting.
また、AMR20は、バッテリ残量Brが所定残量以下の場合、表示装置30に識別画像Gが表示されても、待機位置A0で待機するから、バッテリ25の残量不足により途中でAMR20が停止するなどのトラブルを防止することができる。
Furthermore, if the remaining battery power Br is below the predetermined remaining power, the AMR 20 waits at the standby position A0 even if the identification image G is displayed on the display device 30, so the AMR 20 stops midway due to insufficient remaining power of the battery 25. It is possible to prevent problems such as
また、対応関係23a,43aの経路動作情報には、動作の内容としてAMR20のシャットダウンを含むから、AMR20を自動でシャットダウンをさせることができる。このため、作業者がAMR20を手動でシャットダウンする手間を省いて作業負担を軽減することができる。
Furthermore, since the route operation information of the correspondence relationships 23a and 43a includes the shutdown of the AMR 20 as the operation content, the AMR 20 can be automatically shut down. Therefore, the worker does not have to manually shut down the AMR 20, thereby reducing the workload.
また、無線通信を介さずにAMR20に指示するため、工場1内に無線通信環境を構築したり、AMR20に無線通信モジュールを設けたりする必要がなく、費用を抑えることが可能となる。また、無線通信を行うと、他の無線通信機器との電波干渉を受けてAMR20の走行不良に繋がるおそれがあるが、そのようなおそれを防止することができる。
Furthermore, since instructions are given to the AMR 20 without using wireless communication, there is no need to construct a wireless communication environment within the factory 1 or provide a wireless communication module in the AMR 20, making it possible to reduce costs. Furthermore, when wireless communication is performed, there is a risk that the AMR 20 may experience poor running due to radio wave interference with other wireless communication devices, but such a risk can be prevented.
なお、本開示は上述した実施形態に何ら限定されることはなく、本開示の技術的範囲に属する限り種々の態様で実施し得ることはいうまでもない。
It goes without saying that the present disclosure is not limited to the embodiments described above, and can be implemented in various forms as long as they fall within the technical scope of the present disclosure.
上述した実施形態では、経路動作情報の動作の内容に、AMR20のシャットダウンを含むものを例示したが、これに限られず、シャットダウンを含まなくてもよい。また、経路動作情報の動作として、停止や待機が含まれてもよい。例えば、単に目的位置まで移動して、その目的位置で停止や待機する内容が経路動作情報に定められていてもよい。また、経路動作情報として、移動の経路を含まず即ち移動せずに、その場で待機したりシャットダウンしたりする内容が定められてもよい。
In the above-described embodiment, the operation contents of the route operation information include the shutdown of the AMR 20, but the present invention is not limited to this and may not include the shutdown. Further, the operation of the route operation information may include stop and standby. For example, the route movement information may simply move to a destination position and stop or wait at that destination position. Further, the route operation information may include content such as not including a route of movement, that is, not moving, and waiting or shutting down on the spot.
実施形態では、バッテリ残量Brが所定残量以下の場合に待機位置A0でAMR20を待機させたが、これに限られない。例えば、バッテリ残量Brが所定残量以下の場合であっても、バッテリ25の消費が比較的少ない経路動作情報(経路や動作)の場合には、待機させずに実行させてもよい。例えば、シャットダウンが指示された場合には、位置A7まで移動してシャットダウンすればよく待機位置A0まで戻る必要がないから、比較的負荷が少ないため、所定残量以下の場合に実行させてもよい。このように、バッテリ残量Brが所定残量以下の場合、経路動作情報の内容(予想される消費電力)に応じて、AMR20を待機させるか、経路動作情報の内容を実行させるかを選択してもよい。また、バッテリ残量Brが所定残量以下の場合には、識別画像Gを撮像せず、識別画像Gの認識処理を行わなくてもよい。あるいは、制御部22は、バッテリ残量Brに拘わらず、識別画像Gを認識すれば経路動作情報の内容に基づいてAMR20を制御してもよい。ただし、途中でバッテリ切れが生じるのを防止するため、実施形態のようにするものが好ましい。
In the embodiment, the AMR 20 is placed on standby at the standby position A0 when the remaining battery charge Br is equal to or less than the predetermined remaining charge, but the present invention is not limited to this. For example, even if the battery remaining capacity Br is below a predetermined remaining capacity, if the route operation information (route or operation) consumes relatively little battery 25, it may be executed without waiting. For example, when a shutdown is instructed, it is only necessary to move to position A7 and shut down, and there is no need to return to standby position A0, so the load may be relatively small, so it may be executed when the remaining capacity is below a predetermined level. . In this way, when the remaining battery power Br is less than the predetermined remaining power, it is selected whether to make the AMR 20 standby or to execute the contents of the route operation information, depending on the contents of the route operation information (expected power consumption). You can. Further, when the battery remaining amount Br is less than or equal to the predetermined remaining amount, the identification image G may not be captured and the recognition process for the identification image G may not be performed. Alternatively, the control unit 22 may control the AMR 20 based on the content of the route operation information if it recognizes the identification image G, regardless of the remaining battery level Br. However, in order to prevent the battery from running out during the process, it is preferable to do as in the embodiment.
実施形態では、バッテリ25を充電可能な待機位置A0でAMR20が表示装置30を撮像して識別画像Gを認識したが、これに限られない。待機位置A0は、バッテリ25を充電不能な位置であってもよく、充電可能な位置が別に設けられていてもよい。
In the embodiment, the AMR 20 images the display device 30 and recognizes the identification image G at the standby position A0 where the battery 25 can be charged, but the invention is not limited thereto. The standby position A0 may be a position where the battery 25 cannot be charged, or a separate position where the battery 25 can be charged may be provided.
実施形態では、識別画像Gとして形状の異なる図形としての識別画像G1~G5を例示したが、これに限られず、表示装置30の表示画面32上で各パターン(経路動作情報)を識別可能なものであればよい。例えば、識別画像Gは、バーコードやQRコード(登録商標)、ARマーカー、データマトリックス(Data Matrix)などでもよい。また、AMR20は、カメラ29a,29bで撮像した画像から識別画像Gを認識するものに限られず、コードリーダなどにより、コードなどの識別画像Gを認識してもよい。
In the embodiment, the identification images G1 to G5 as figures with different shapes are illustrated as the identification images G, but the invention is not limited to this, and each pattern (route motion information) can be identified on the display screen 32 of the display device 30. That's fine. For example, the identification image G may be a barcode, a QR code (registered trademark), an AR marker, a data matrix, or the like. Further, the AMR 20 is not limited to recognizing the identification image G from images captured by the cameras 29a and 29b, and may recognize the identification image G such as a code using a code reader or the like.
実施形態では、AMR20の接続部27が係合部27bを有し、係合部27bをカゴ台車2の下面に係合させることでカゴ台車2と接続したが、これに限られない。例えば、AMR20の接続部27が係合部27bを備えなくてもよい。この場合、例えば、AMR20は、上面が平坦で昇降可能な載置部を接続部として備え、載置部が上昇してカゴ台車2の下面と接触することで、カゴ台車2と接続してもよい。
In the embodiment, the connecting portion 27 of the AMR 20 has the engaging portion 27b, and is connected to the car truck 2 by engaging the engaging portion 27b with the lower surface of the car truck 2, but the present invention is not limited thereto. For example, the connecting portion 27 of the AMR 20 may not include the engaging portion 27b. In this case, for example, the AMR 20 has a flat upper surface and a liftable loading section as a connection section, and the loading section rises and comes into contact with the lower surface of the basket truck 2, so that the AMR 20 can be connected to the basket truck 2. good.
本開示は、自動搬送装置により物品の搬送を行う技術分野に利用可能である。
The present disclosure can be used in the technical field of transporting articles using an automatic transport device.
1 工場、2,2a,2b カゴ台車、4 作業台、5 電源部、6 A0検知センサ、7 A1検知センサ、8 A2検知センサ、10 搬送システム、20 AMR(自動搬送装置)、20a 車体部、20b 筐体部、21 車輪、22 制御部、23 記憶部、23a 対応関係、24 駆動モータ、25 バッテリ、26 電源ユニット、27 接続部、27a 昇降装置、27b 係合部、28a,28b センサ部、29a,29b カメラ、30 表示装置、32 表示画面、40 管理装置、42 制御部、43 記憶部、43a 対応関係、44 通信部、50 ロボット、51 ロボットアーム、52 制御部、53 記憶部、54 通信部、55 駆動モータ、56 センサ、57 カメラ、G 識別画像、P 部品、R1~R5 経路、S 組立品。
1 Factory, 2, 2a, 2b Cart truck, 4 Workbench, 5 Power supply unit, 6 A0 detection sensor, 7 A1 detection sensor, 8 A2 detection sensor, 10 Transport system, 20 AMR (automatic transport device), 20a Vehicle body, 20b housing section, 21 wheels, 22 control section, 23 storage section, 23a correspondence, 24 drive motor, 25 battery, 26 power supply unit, 27 connection section, 27a lifting device, 27b engaging section, 28a, 28b sensor section, 29a, 29b camera, 30 display device, 32 display screen, 40 management device, 42 control unit, 43 storage unit, 43a correspondence, 44 communication unit, 50 robot, 51 robot arm, 52 control unit, 53 storage unit, 54 communication Section, 55 Drive motor, 56 Sensor, 57 Camera, G Identification image, P Parts, R1 to R5 route, S Assembly.
Claims (5)
- 物品を搬送する自動搬送装置と、該自動搬送装置による物品の搬送を管理する管理装置と、を備える搬送システムであって、
前記管理装置は、
前記自動搬送装置が移動する経路と実行する動作との内容を定めた複数の経路動作情報の各々に識別画像を対応付けた対応関係を記憶する管理記憶部と、
前記自動搬送装置に経路と動作の指示を行う場合に、前記管理記憶部の前記対応関係に基づいて、前記指示と内容が一致する前記経路動作情報に対応付けられた前記識別画像を決定し、該決定した前記識別画像を所定の表示装置に表示させる管理制御部と、を備え、
前記自動搬送装置は、
前記対応関係を記憶する搬送記憶部と、
前記表示装置に表示された画像を認識可能な認識部と、
前記認識部により前記識別画像が認識された場合に、前記搬送記憶部の前記対応関係に基づいて、前記認識された前記識別画像に対応付けられた前記経路動作情報を決定し、該決定した前記経路動作情報の内容に基づいて前記自動搬送装置を制御する搬送制御部と、を備える、
搬送システム。 A conveyance system comprising an automatic conveyance device that conveys articles, and a management device that manages the conveyance of articles by the automatic conveyance device,
The management device includes:
a management storage unit that stores a correspondence relationship in which an identification image is associated with each piece of route operation information that defines the route that the automatic transport device moves and the operation that it executes;
When instructing the automatic transport device regarding a route and an operation, determining the identification image associated with the route operation information whose content matches the instruction based on the correspondence relationship in the management storage unit; a management control unit that displays the determined identification image on a predetermined display device;
The automatic transport device is
a transport storage unit that stores the correspondence relationship;
a recognition unit capable of recognizing an image displayed on the display device;
When the identification image is recognized by the recognition unit, the route motion information associated with the recognized identification image is determined based on the correspondence relationship in the transport storage unit, and the determined a transport control unit that controls the automatic transport device based on the content of route operation information;
Conveyance system. - 前記自動搬送装置は、動力源としてのバッテリを備え、
前記認識部は、外部電源により前記バッテリを充電可能な充電位置に前記自動搬送装置が停止している状態で、前記表示装置に表示された画像を認識可能である、
請求項1に記載の搬送システム。 The automatic transport device includes a battery as a power source,
The recognition unit is capable of recognizing an image displayed on the display device while the automatic transport device is stopped at a charging position where the battery can be charged by an external power source.
The conveyance system according to claim 1. - 前記搬送制御部は、前記バッテリの残量が所定残量以下の場合、前記表示装置に前記識別画像が表示されても、前記充電位置で前記自動搬送装置を待機させる、
請求項2に記載の搬送システム。 The transport control unit causes the automatic transport device to wait at the charging position even if the identification image is displayed on the display device when the remaining amount of the battery is less than or equal to a predetermined remaining amount.
The conveyance system according to claim 2. - 前記対応関係の前記経路動作情報には、動作の内容として前記自動搬送装置のシャットダウンを含む、
請求項1ないし3のいずれか1項に記載の搬送システム。 The route operation information in the correspondence relationship includes a shutdown of the automatic transport device as the operation content.
The conveyance system according to any one of claims 1 to 3. - 物品を搬送する自動搬送装置と、該自動搬送装置による物品の搬送を管理する管理装置と、を備える搬送システムにおける自動搬送装置の動作指示方法であって、
(a)前記自動搬送装置が移動する経路と実行する動作との内容を定めた複数の経路動作情報の各々に識別画像を対応付けた対応関係に基づいて、前記自動搬送装置への経路と動作の指示と内容が一致する前記経路動作情報に対応付けられた前記識別画像を決定し、該決定した前記識別画像を所定の表示装置に表示させるステップと、
(b)前記表示装置に表示された画像を認識させるステップと、
(c)前記ステップ(b)で前記識別画像が認識された場合に、前記対応関係に基づいて、前記認識された前記識別画像に対応付けられた前記経路動作情報を決定し、該決定した前記経路動作情報の内容に基づいて前記自動搬送装置を制御するステップと、
を含む自動搬送装置の動作指示方法。 A method for instructing the operation of an automatic conveyance device in a conveyance system comprising an automatic conveyance device that conveys articles, and a management device that manages the conveyance of articles by the automatic conveyance device, the method comprising:
(a) A route and an operation to the automatic transport device are determined based on a correspondence relationship in which an identification image is associated with each piece of route motion information that defines the route that the automatic transport device moves and the actions that the automatic transport device executes. determining the identification image associated with the route motion information whose content matches the instruction, and displaying the determined identification image on a predetermined display device;
(b) recognizing the image displayed on the display device;
(c) When the identification image is recognized in step (b), the route motion information associated with the recognized identification image is determined based on the correspondence relationship, and the determined controlling the automatic transport device based on the content of route operation information;
A method for instructing the operation of an automatic conveyance device including:
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Citations (2)
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JP2001084037A (en) * | 1999-09-13 | 2001-03-30 | Murata Mach Ltd | Unmanned vehicle system |
WO2021245892A1 (en) * | 2020-06-04 | 2021-12-09 | 三菱電機株式会社 | Autonomous travel control device, autonomous travel control system, and warning information determination method |
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JP2001084037A (en) * | 1999-09-13 | 2001-03-30 | Murata Mach Ltd | Unmanned vehicle system |
WO2021245892A1 (en) * | 2020-06-04 | 2021-12-09 | 三菱電機株式会社 | Autonomous travel control device, autonomous travel control system, and warning information determination method |
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