CN114655621A

CN114655621A - Conveyance control system, conveyance system, component mounting system, and conveyance control method

Info

Publication number: CN114655621A
Application number: CN202111514448.1A
Authority: CN
Inventors: 宫崎达也; 川本英司
Original assignee: Panasonic Intellectual Property Management Co Ltd
Current assignee: Panasonic Intellectual Property Management Co Ltd
Priority date: 2020-12-22
Filing date: 2021-12-10
Publication date: 2022-06-24
Also published as: JP2022099061A

Abstract

The present disclosure provides a conveyance control system, a conveyance system, a component mounting system, and a conveyance control method. The conveyance control system includes: a1 st acquisition unit, a2 nd acquisition unit, a setting unit, and a conveyance control unit. The 1 st acquisition unit acquires, for each of the 1 st zones, transport amount information relating to a transport amount by which the transport robot transports the object between each of the 1 st zones and the 2 nd zone. The 2 nd acquisition unit acquires route information on a plurality of conveyance routes between a plurality of gates provided in the 2 nd area and a plurality of the 1 st areas. The setting unit assigns each of the plurality of 1 st areas to any one of a plurality of groups for carrying the object into and out of the object through each of the plurality of doors, based on the transportation amount information and the route information. The transport control unit causes the transport robot to carry at least one of the objects to be transported in and out between each of the plurality of 1 st zones and the 2 nd zone through the doors corresponding to each of the plurality of 1 st zones.

Description

Conveyance control system, conveyance system, component mounting system, and conveyance control method

Technical Field

The present disclosure relates to a conveyance control system, a conveyance system, a component mounting system, and a conveyance control method. More specifically, the present disclosure relates to a conveyance control system, a conveyance system, a component mounting system, and a conveyance control method that control a conveyance operation of a conveyance robot that conveys an object to be conveyed.

Background

Japanese patent application laid-open No. 2020-128266 discloses a warehouse management device that manages a warehouse for storing articles. In a storage space in the warehouse, a plurality of shelves for storing articles are arranged. In the warehouse, set up: a collection station for transferring articles from one rack to another rack; and a sorting station for taking out the sorted articles from the shelf. The warehouse management device moves the racks disposed in the storage space to the collection station by the transport vehicle, and transfers the items having a high delivery rate among the items stored in the racks to the collection rack. Then, the warehouse management device moves the order rack to the picking station, and at the picking station, the operator performs an operation of taking out the ordered articles from the articles stored in the order rack.

In the above-described warehouse management device, when a plurality of transport vehicles (transport robots) gather the transport operations of moving the racks to the same aggregation station, some of the transport vehicles must wait at a place other than the aggregation station until the aggregation operation in the aggregation station is completed, and there is a possibility that the transport efficiency is lowered, for example, the transport operation is delayed.

Disclosure of Invention

An object of the present disclosure is to provide a conveyance control system, a conveyance system, a component mounting system, and a conveyance control method that can improve conveyance efficiency in conveying an object to be conveyed.

A conveyance control system according to an aspect of the present disclosure includes: a1 st acquisition unit, a2 nd acquisition unit, a setting unit, and a conveyance control unit. The 1 st acquisition unit acquires, for each of the 1 st zones, transport amount information relating to a transport amount by which the transport robot transports the object between each of the 1 st zones and the 2 nd zone. The 2 nd acquisition unit acquires route information on a plurality of conveyance routes along which the conveyance robot conveys the object between the plurality of doors and the plurality of 1 st areas. The plurality of doors are provided in the 2 nd zone for at least one of carrying in and carrying out the object to be conveyed to and from the 2 nd zone. The setting unit assigns the 1 st areas to any one of a plurality of groups corresponding to the doors in a one-to-one manner, based on the transportation amount information and the route information. The transport control unit causes the transport robot to carry the object in and out at least one of the plurality of 1 st zones and the 2 nd zone through the doors corresponding to the plurality of 1 st zones.

A conveyance system according to one aspect of the present disclosure includes: the transport control system; and a plurality of the transfer robots that transfer the objects to be transferred among the plurality of groups, respectively.

A component mounting system according to an aspect of the present disclosure is a component mounting system including at least one component mounting machine that mounts components on a substrate. The component mounting apparatus includes: a component providing device that provides the component; and a mounting body including a mounting head for mounting the component on the substrate. The component supply device is carried to the mounting body by the carrying robot provided in the carrying system.

A conveyance control method according to an aspect of the present disclosure includes: the first acquisition process, the second acquisition process, the setting process, and the conveyance control process. In the 1 st acquisition process, the transport amount information on the transport amount by which the transport robot transports the object between each of the plurality of 1 st areas and the 2 nd area is acquired for each of the plurality of 1 st areas. In the 2 nd acquisition process, route information on a plurality of conveyance routes along which the conveyance robot conveys the object between a plurality of doors and the plurality of 1 st areas is acquired. The plurality of doors are provided in the 2 nd area for at least one of carrying in and carrying out the object to be conveyed to and from the 2 nd area. In the setting process, the 1 st zones are respectively assigned to any one of a plurality of groups corresponding to the plurality of doors in a one-to-one manner based on the transportation amount information and the route information. In the conveyance control process, the conveyance robot is caused to perform at least one of carrying in and carrying out the object to be conveyed between each of the plurality of 1 st zones and the 2 nd zone via the doors corresponding to each of the plurality of 1 st zones.

According to the present disclosure, the conveying efficiency of conveying the conveyed object can be improved.

Drawings

Fig. 1 is a schematic block diagram of a conveyance control system and a conveyance system according to an embodiment of the present disclosure.

Fig. 2 is an explanatory view of a manufacturing line to which the above-described conveyance control system and conveyance system are applied.

Fig. 3 is a flowchart for explaining the operation of the conveyance control system.

Fig. 4A is a graph showing the transport distance ratio and the requested tact for each group obtained by the transport control system described above before changing the group.

Fig. 4B is a graph showing the transport distance ratio and the requested tact for each group obtained after the group change in the transport control system described above.

Fig. 5A is a graph showing the transfer amount and requested tact for each group obtained by the above-described transfer control system before changing the group.

Fig. 5B is a graph showing the transfer amount and requested tact for each group obtained after the group change in the above-described transfer control system.

Fig. 6A is a graph showing the evaluation value and the requested tact for each group obtained by the conveyance control system before changing the group.

Fig. 6B is a graph showing the evaluation value and the requested tact for each group obtained after the group change in the conveyance control system.

Fig. 7 is an explanatory view of a manufacturing line to which the above-described conveyance control system and conveyance system are applied.

Fig. 8 is an explanatory diagram of a setting screen in the conveyance control system.

Fig. 9 is an explanatory diagram of an improvement output screen in the conveyance control system.

Fig. 10 is an explanatory view of an outline of a component mounting system constructed by using the above-described conveying system.

-description of symbols-

1 conveyance control system

2 transfer robot

3 handling system

12 operation receiving part (receiving part)

13 display part

15 evaluation part

16 setting part

17 improvement scheme output part

18 conveyance control part

30 carried article

110 automatic warehouse (area 2)

120 parts mounting machine

130 mounting body

141 acquisition part 1

142 the 2 nd acquisition part

143 rd acquisition part 3

144 th acquisition part

300 parts mounting system

W3 improved scheme display area

GR 1-GR 3 groups

GT 1-GT 3 gate

MP1 map display area

RT transport route

ST1 to ST12 region 1.

Detailed Description

(embodiment mode)

(1) Summary of the invention

The drawings described in the following embodiments are schematic drawings, and the ratio of the size and thickness of each component in each drawing does not necessarily reflect the actual dimensional ratio.

As shown in fig. 1 and 2, a conveyance control system 1 according to the present embodiment is a system for controlling a conveyance operation by a conveyance robot 2 for conveying an object 30.

The conveyance control system 1 and the conveyance system 3 including the conveyance control system 1 according to the present embodiment are introduced into facilities F1 such as factories, logistics centers (including distribution centers), offices, shops, schools, and hospitals, for example. The transfer robot 2 travels on the traveling surface 200 by using one or more wheels. The travel surface 200 is a surface on which the transfer robot 2 travels, and when the transfer robot 2 moves in the facility F1, the floor surface or the like of the facility F1 becomes the travel surface 200, and when the transfer robot 2 moves outdoors, the floor surface or the like becomes the travel surface 200. Hereinafter, a case will be described in which a plurality of transfer robots 2 transfer the objects 30 to be transferred in a facility F1 of a factory in which a plurality of (for example, 3) manufacturing lines 101 to 103, and an automated warehouse 110 for automatically warehousing and delivering articles are arranged.

Fig. 2 is a plan view of the travel surface 200 on which the transfer robot 2 travels inside the facility F1. On the moving surface 200, a plurality of (for example, 3) manufacturing lines 101 to 103 for manufacturing products, respectively, and an automatic warehouse 110 which is the 2 nd area are arranged.

The manufacturing lines 101 to 103 are, for example, component mounting lines for mounting electronic components on a circuit board. The manufacturing lines 101 to 103 are provided with one or more supply areas for supplying electronic components to the manufacturing lines 101 to 103 and one or more take-out areas for taking out finished products or semi-finished products from the manufacturing lines 101 to 103 to the outside. A plurality of 1 st regions including one or more supply regions and one or more take-out regions are provided in each of the 3 production lines 101 to 103. In the present embodiment, 41 ST regions ST1 to ST4 are provided in the manufacturing line 101, 41 ST regions ST5 to ST8 are provided in the manufacturing line 102, and 41 ST regions ST9 to ST12 are provided in the manufacturing line 103.

The automatic warehouse 110 is a warehouse for storing electronic components supplied to the manufacturing lines 101 to 103 and articles such as finished products or semi-finished products at manufacturing locations in the manufacturing lines 101 to 103, and is a warehouse in which warehousing and ex-warehousing of articles are automated. The automatic warehouse 110 in the 2 nd area is provided with a plurality of (for example, 3) gates GT1 to GT3 used as an entrance for putting articles into the automatic warehouse 110 and an exit for taking articles out of the automatic warehouse 110. When articles are put in the automated warehouse 110 from the manufacturing lines 101 to 103, if the transfer robot 2 transfers the articles to any one of the gates GT1 to GT3, the transferred articles are automatically put in the automated warehouse 110. When the articles required for the manufacturing lines 101 to 103 are delivered from the automated warehouse 110, the automated warehouse 110 automatically delivers the designated articles to any one of the gates GT1 to GT3, and the transfer robot 2 transfers the delivered articles to the manufacturing lines 101 to 103 at the transfer destination.

The following describes a conveyance control system 1 for controlling a conveyance robot 2 that conveys an object 30 between the 1 ST area ST1 to ST12 at 12 positions and the gates GT1 to GT3 provided at 3 positions of the automated warehouse 110 that is the 2 nd area.

The conveyance control system 1 allocates the 1 ST areas ST1 to ST12 at the 12 positions to any of the 3 groups GR1 to GR3 for taking out the put-in articles to the automated warehouse 110 through the 3-position gates GT1 to GT3, respectively. 1 or more transfer robots 2 for performing the transfer operation of the object 30 are assigned to each of the 3 groups GR1 to GR 3. In the present embodiment, two transfer robots 2 are respectively assigned to each of the 3 groups GR1 to GR 3. Hereinafter, the transfer robots 2 assigned to the groups GR1, GR2, and GR3 may be referred to as

transfer robots

2A, 2B, and 2C, respectively. The number and arrangement of the plurality of 1 st areas and the number and arrangement of the plurality of gates provided in the 2 nd area are examples, and can be changed as appropriate.

The object 30 conveyed by the conveying robot 2 includes, for example, components supplied from the automated warehouse 110 to the manufacturing lines 101 to 103, finished products or semi-finished products sent from the manufacturing lines 101 to 103 to the automated warehouse 110, boxes for receiving the components, the finished products or the semi-finished products, and the like. In other words, the object 30 may be the object itself to be conveyed, or may be a tray or the like that accommodates the object to be conveyed.

As shown in fig. 1, the conveyance control system 1 of the present embodiment includes a1 st acquisition unit 141, a2 nd acquisition unit 142, a setting unit 16, and a conveyance control unit 18.

The 1 ST acquiring unit 141 acquires the transportation amount information on the transportation amount by which the transport robot 2 transports the object 30 between each of the 1 ST areas ST1 to ST12 and the 2 nd area (automated warehouse 110) with respect to each of the 1 ST areas ST1 to ST 12. The conveyance of the object 30 by the conveying robot 2 includes at least one of conveyance from each of the plurality of 1 ST areas ST1 to ST12 to the 2 nd area and conveyance from the 2 nd area to each of the plurality of 1 ST1 to ST 12. In the following embodiments, a case where the transfer robot 2 transfers the object 30 in both directions between each of the plurality of 1 ST areas ST1 to ST12 and the 2 nd area will be described as an example. The object 30 to be transported between each of the plurality of 1 ST areas ST1 to ST12 and the 2 nd area is not limited to one type of article, and may be a different type of article for each 1 ST area. The "transportation amount information" is, for example, information on the total amount of the objects 30 transported between each of the plurality of 1 ST areas ST1 to ST12 and the 2 nd area per unit time (for example, per hour). The total amount of the objects 30 per unit time may be the number of the objects 30 or the number of trays for transporting a plurality of the objects 30. The total amount per unit time may be an average value, a maximum value, a minimum value, or a median of the transportation amounts occurring per unit time.

In the 2 nd area (automated warehouse 110), a plurality of (for example, 3) gates GT1 to GT3 are provided for carrying the object 30 into the 2 nd area and/or carrying the object 30 out of the 2 nd area. The 2 nd acquisition unit 142 acquires route information on a plurality of conveyance routes RT (see fig. 2) along which the conveyance robot 2 conveys the object 30 between the plurality of gates GT1 to GT3 and the plurality of 1 ST areas ST1 to ST 12. The "route information" includes, for example, a travel distance of the transport route RT from the departure point to the arrival point, or information of travel time required for the transport robot 2 to travel the transport route RT. The route information may further include acceleration/deceleration number information regarding the number of times the transfer robot 2 accelerates or decelerates in the transfer route RT from the departure point to the arrival point, or rotation number information regarding the number of times the transfer robot 2 rotates. The transport route RT is a route through which the transport robot 2 travels between the gates GT1 to GT3 and the 1 ST areas ST1 to ST 12. The transport route RT may be a predetermined route or may be created every time based on the current position and the destination position of the transport robot 2. The target position is a position of the gates GT1 to GT3 or the 1 ST areas ST1 to ST12 which are transportation destinations of the object 30.

The setting unit 16 assigns the plurality of 1 ST areas ST1 to ST12 to any one of the plurality of groups GR1 to GR3, respectively, based on the transportation amount information and the route information. The plurality of groups GR1 to GR3 correspond one-to-one to the plurality of gates GT1 to GT 3. Among the 1 ST areas ST1 to ST12, at least one of the carried-in and the carried-out of the object 30 is carried out between the 1 ST area and the 2 nd area (automated warehouse 110) which are respectively allocated to the groups GR1 to GR3 via the corresponding door.

The conveyance controller 18 causes the conveyance robot 2 to carry at least one of the carried objects 30 in and out between each of the plurality of 1 ST areas ST1 to ST12 and the 2 nd area (automated warehouse 110) via the gates GT1 to GT3 corresponding to each of the plurality of 1 ST areas ST1 to ST 12.

The transport control system 1 also constitutes a transport system 3 together with a plurality of transport robots 2 that transport the object 30 in a plurality of (e.g., 3) groups GR1 to GR 3. In other words, the transport system 3 includes the transport control system 1 and the plurality of transport robots 2.

In the conveyance control system 1 and the conveyance system 3, the setting unit 16 allocates each of the plurality of 1 ST areas ST1 to ST12 to one of the plurality of groups GR1 to GR3 based on the conveyance amount information and the route information. Therefore, the plurality of groups GR1 to GR3 can be set so that the conveying amounts of the objects 30 conveyed between the plurality of 1 ST1 to ST12 and the 2 nd zone (automated warehouse 110) are distributed to the plurality of gates GT1 to GT 3. Therefore, by dispersing the amount of work of the transfer robot 2 that transfers the object 30, it is possible to avoid a situation in which the transfer efficiency is reduced, and to improve the transfer efficiency of transferring the object 30. Further, since the conveying work is hard to be concentrated on a specific gate among the plurality of gates GT1 to GT3, it is hard to cause a traffic jam of the conveying robot 2 in front of the gates GT1 to GT3, and it is possible to improve the conveying efficiency of the conveyed object 30.

(2) Detailed description of the invention

(2.1) integral Structure

Hereinafter, the conveyance system 3 including the conveyance control system 1 according to the present embodiment will be described in detail with reference to the drawings.

As described above, the conveyance system 3 includes the conveyance control system 1 and the plurality of conveyance robots 2. The plurality of transfer robots 2 and the transfer control system 1 are configured to be able to communicate with each other. The term "communicable" in the present disclosure means that information can be received directly or indirectly via the network NT1, the relay device 4, or the like by an appropriate communication method such as wired communication or wireless communication. In the present embodiment, the conveyance control system 1 and the plurality of conveyance robots 2 can communicate bidirectionally, and both transmission of information from the conveyance control system 1 to the conveyance robots 2 and transmission of information from the conveyance robots 2 to the conveyance control system 1 are possible.

(2.2) transfer robot

The configuration of the transfer robot 2 of the present embodiment will be described in more detail. As shown in fig. 2, the transfer robot 2 is an Automated Guided Vehicle (AGV) for transferring the object 30, and connects the vehicles on which the object 30 is placed and autonomously travels to a destination (the 1 ST areas ST1 to ST12 or the gates GT1 to GT 3). In the present embodiment, the conveyance control system 1 communicates with the conveyance robot 2 via the network NT1 and the relay device 4, and indirectly controls the movement of the conveyance robot 2.

The transfer robot 2 autonomously travels on a flat traveling surface 200 such as a floor surface including the facility F1. The transfer robot 2 includes a battery such as a lithium ion battery or a nickel metal hydride battery, and operates using electric energy stored in the battery. In the present embodiment, the transfer robot 2 travels on the travel surface 200 while being connected to a carriage on which the object 30 to be transferred is placed. Thus, the transfer robot 2 can transfer the object 30 placed at a certain location to another location by pulling or pushing the object, for example. The transfer robot 2 may be submerged below the carriage on which the object 30 is placed, and may lift a part of the main body thereof to transfer the object 30 while lifting the carriage.

As shown in fig. 1, the transfer robot 2 includes a control unit 20, a2 nd communication unit 21, a sensing unit 22, a travel device 23, and a storage unit 24. The control unit 20, the 2 nd communication unit 21, the sensing unit 22, the storage unit 24, the traveling device 23, and the storage unit 24 are mounted on the main body of the transfer robot 2.

The 2 nd communication unit 21 is configured to be able to communicate with the conveyance control system 1. In the present embodiment, the 2 nd communication unit 21 communicates with any of the plurality of relay devices 4 provided in the area where the transfer robot 2 is operated by wireless communication using radio waves as a medium. Therefore, the 2 nd communication unit 21 and the conveyance control system 1 communicate indirectly via at least the network NT1 and the relay device 4.

In other words, each relay device 4 is a device (access point) that relays communication between the 2 nd communication unit 21 and the conveyance control system 1. The relay device 4 communicates with the conveyance control system 1 via the network NT 1. In the present embodiment, as an example, wireless communication conforming to standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or low-power wireless (fixed low-power wireless) that does not require permission is used for communication between the relay device 4 and the 2 nd communication unit 21. The network NT1 is not limited to the internet, and may be a local area communication network in an area where the transfer robot 2 is operated or an operating company in the area.

The sensing unit 22 senses the behavior of the main body of the transfer robot 2, the peripheral conditions of the transfer robot 2, and the like. The term "behavior" in the present disclosure means an action, a state, and the like. In other words, the behavior of the main body of the transfer robot 2 includes an operation state of the transfer robot 2 indicating whether or not the transfer robot 2 is transferring the object 30, a travel distance and a speed of the transfer robot 2, an acceleration acting on the main body of the transfer robot 2, a movement posture of the main body, and the like. Specifically, the sensing unit 22 includes, for example, a sensor such as a rotary encoder, an acceleration sensor, or a gyro sensor, and senses the behavior of the main body of the transfer robot 2 by the sensor. The sensing unit 22 includes, for example, an image sensor (camera), a sonar sensor, a radar, a light Detection and ranging sensor, and senses the surrounding condition of the main body of the transfer robot 2 by these sensors.

The sensing unit 22 also includes a position specifying unit that specifies the current position of the transfer robot 2. The position determination section infers the current position from, for example, detection information of objects around based on LiDAR and electronic map information inside the facility F1, as an example. The sensor unit may estimate the current position by using an lps (local Positioning system) using a radio beacon. The position specifying unit may be implemented using a satellite Positioning system such as gps (global Positioning system).

The main body of the transfer robot 2 is provided with omni-directional wheels such as omni wheels as driving wheels 201 (see fig. 10) also serving as steering wheels. Further, a driven wheel that can rotate in all directions is provided in the main body of the transfer robot 2. The transfer robot 2 travels on the travel surface 200 by a plurality of wheels including a drive wheel 201 and a driven wheel. Here, the traveling device 23 receives a control command from the control unit 20, and controls the driving wheels 201 provided in the main body to cause the transfer robot 2 to travel in a desired direction. The object 30 to be conveyed is placed on, for example, a carriage having wheels 301, and a coupling portion 202 for coupling the carriage is provided in the main body of the conveying robot 2. The coupling portion 202 may mechanically couple the carriage by a hook or the like, or may couple a coupled portion of a magnetic material provided in the carriage by an electromagnetic force generated by an electromagnet.

The storage unit 24 is realized by a non-transitory recording medium such as a rewritable nonvolatile semiconductor memory, for example. The storage unit 24 stores, for example, identification information of the transfer robot 2, electronic map information inside the facility F1 where the transfer robot 2 travels, and the like. The map information includes, for example, the arrangement positions of the manufacturing lines 101 to 103 and the automated warehouse 110 installed in the facility F1, the position information of the plurality of 1 ST areas ST1 to ST12 and the plurality of gates GT1 to GT3, and the like. The storage unit 24 may store the above-described route information on the conveyance route that the conveyance robot 2 passes through when moving between each of the plurality of 1 ST areas ST1 to ST12 and each of the plurality of gates GT1 to GT 3. The storage unit 24 may store command information given from the conveyance control system 1. In addition, when the transfer robot 2 transmits the sensing information of the sensing unit 22 to the higher-level system (for example, the transfer control system 1) and travels in accordance with the travel instruction received from the higher-level system, it is not necessary that the transfer robot 2 hold the map information. In other words, the storage unit 24 for holding the map information is not an essential component of the transfer robot 2 and can be omitted as appropriate.

The control unit 20 is mainly configured by a computer system having one or more processors and a memory. Therefore, the functions of the control unit 20 can be realized by one or more processors executing programs stored in the memory. The program may be recorded in advance in a memory, may be provided via an electric communication line such as the internet, or may be recorded in a non-transitory recording medium such as a memory card.

The control unit 20 controls the traveling device 23 based on the instruction information given from the conveyance control system 1 and the sensing result of the sensing unit 22 to move the conveyance robot 2 to a desired location in the facility F1, and performs a conveyance operation for conveying the object 30. The control unit 20 periodically transmits state information indicating the state of the transfer robot 2 based on the sensing result of the sensing unit 22 from the 2 nd communication unit 21 to the transfer control system 1. In addition, the control unit 20 may receive a transmission request from the conveyance control system 1 and transmit state information indicating the state of the conveyance robot 2 from the 2 nd communication unit 21 to the conveyance control system 1.

The object 30 to be transported by the transport robot 2 of the present embodiment may include a component supply device that supplies components to the manufacturing lines 101 to 103. The component supply device has one or more feeders for supplying components. One or more manufacturing devices are provided in a manufacturing line. The manufacturing apparatus includes various types of apparatuses, but the manufacturing apparatus is, as an example, a mounting body including a mounting head that mounts a component supplied from a component supply apparatus to an object (for example, a substrate). In other words, at least one of the manufacturing lines 101 to 103 is a component mounting system 300 (see fig. 10) including at least one component mounter 120 that mounts components on a substrate. The component mounter 120 has: a component supply device that supplies components, and a mounting body 130 including a mounting head that mounts the components supplied from the component supply device on a substrate. In the present embodiment, the transfer robot 2 receives the instruction information from the transfer control system 1 and transfers the component supply device, which is the object 30 to be transferred, to the mounting body 130. In other words, the component supply device is transported to the mounting body 130 by the transport robot 2 provided in the transport system 3. Thereby, a component supply system that supplies components from the component supply device to the mounting body 130 can be constructed. The object 30 to be transported by the transport robot 2 is not limited to the component supply device, and may be a component itself, and may be appropriately changed according to the place of use, the purpose of use, or the like of the transport robot 2.

(2.3) conveyance control System

The conveyance control system 1 is realized by a computer system, for example. As described above, the conveyance control system 1 performs the process of assigning each of the plurality of 1 ST areas ST1 to ST12 to one of the plurality of groups GR1 to GR 3. The transport control system 1 performs a transport operation for transporting the object 30 by the transport robots 2(2A to 2C) for each of the plurality of groups GR1 to GR 3. The conveyance control system 1 may be located inside the facility F1 or outside the facility F1.

The conveyance control system 1 includes a control unit 10, a1 st communication unit 11, an operation receiving unit 12, a display unit 13, and a storage unit 19.

The 1 st communication unit 11 communicates with the plurality of transfer robots 2 via the network NT1 and the relay device 4, respectively. As a communication method between the 1 st communication unit 11 and the relay device 4, an appropriate communication method such as wireless communication or wired communication can be adopted.

The operation receiving unit 12 has a function of receiving an operation by a user using the conveyance control system 1. In the present embodiment, the operation receiving unit 12 is realized by, for example, a pointing device such as a mouse, a keyboard, or a combination of these. The operation receiving unit 12 may be realized by a voice recognition unit that receives an operation using a voice generated by the user.

The display unit 13 is used to present information to a user using the conveyance control system 1. The display unit 13 is realized by a display device such as a liquid crystal display or an organic EL display. When the conveyance control system 1 includes a touch panel display, the touch panel display may function as the operation receiving unit 12 and the display unit 13.

The storage unit 19 is realized by a non-transitory recording medium such as a rewritable nonvolatile semiconductor memory, for example. The storage unit 19 stores, for example, transportation amount information, route information, tact information, and number-of-devices information input by a user of the transportation control system 1. The conveying amount information is information on the conveying amount of the object 30 conveyed between each of the plurality of 1 ST areas ST1 to ST12 and the automated warehouse 110 as the 2 nd area. The transport amount is, for example, the number of trays to be loaded with the objects 30 transported between each of the 1 ST area ST1 to ST12 and the automated warehouse 110 as the 2 nd area, but may be the number of the objects 30, the weight, or the like, or the number of times of transportation. The route information is information on a transfer route along which the transfer robot 2 moves between each of the plurality of 1 ST areas ST1 to ST12 and the plurality of gates GT1 to GT3 provided in the automated warehouse 110. The route information is, for example, information on the carrying distances between the respective areas ST1 to ST12 and the respective gates of the plurality of gates GT1 to GT 3. In the present embodiment, the information on the transport distance is, for example, a value represented by a ratio of the distance between each of the 1 ST areas ST1 to ST12 and each of the plurality of gates GT1 to GT3 to the shortest distance between the 1 ST area and the gate, and this ratio is referred to as a transport distance ratio. The tact information is information on tact time requested in a conveying operation (conveying from the 1 ST area to the 2 nd area, or conveying from the 2 nd area to the 1 ST area) between each of the plurality of 1 ST areas ST1 to ST12 and the 2 nd area. The number-of-units information is information on the number of the transfer robots 2 that perform the operation of transferring the object 30 in each of the plurality of groups GR1 to GR 3.

The control unit 10 is, for example, a main structure of a computer system including a memory and a processor. That is, the functions of the control unit 10 (for example, the functions of the 1 st to 4 th acquisition units 141 to 144, the evaluation unit 15, the setting unit 16, the improvement plan output unit 17, the conveyance control unit 18, and the like) can be realized by the processor executing a program recorded in the memory of the computer system. The program may be recorded in advance in a memory, may be provided via an electric communication line such as the internet, or may be provided by being recorded in a non-transitory recording medium such as a memory card.

The 1 st acquisition unit 141 acquires the transportation amount information described above based on the information received by the operation reception unit 12, for example, and stores the acquired transportation amount information in the storage unit 19. The 1 st acquiring unit 141 may acquire the transportation amount information from the data server storing the transportation amount information via the 1 st communication unit 11.

The 2 nd acquisition unit 142 acquires the route information described above based on the information received by the operation reception unit 12, for example, and stores the acquired route information in the storage unit 19. The 2 nd acquisition unit 142 may acquire the route information from the data server storing the route information via the 1 st communication unit 11.

The 3 rd acquiring unit 143 acquires tact information regarding tact time required for conveyance of the object 30 in each of the plurality of 1 ST areas ST1 to ST12, for each of the plurality of 1 ST areas ST1 to ST 12. The 3 rd acquiring unit 143 acquires the above-described tact information based on the information received by the operation receiving unit 12, for example, and stores the acquired tact information in the storage unit 19. The 3 rd acquiring unit 143 may acquire the tempo information from the data server storing the tempo information via the 1 st communication unit 11.

The 4 th acquisition unit 144 acquires information on the number of transfer robots 2 that transfer the object 30 in each of the plurality of groups GR1 to GR 4. The 4 th acquiring unit 144 acquires the number-of-devices information described above based on the information received by the operation receiving unit 12, for example, and stores the acquired number-of-devices information in the storage unit 19. The 4 th acquiring unit 144 may acquire the number of devices from the data server in which the number of devices is stored, via the 1 st communication unit 11. The 4 th acquisition unit 144 may acquire the maximum number of the transfer robots 2 used in the facility F1 as the number information, or the non-determination unit 16 may determine the number of the transfer robots 2 that perform the transfer of the object 30 in each of the groups GR1 to GR4 based on the maximum number of the transfer robots 2 acquired by the 4 th acquisition unit 14.

The evaluation unit 15 determines evaluation values for each of the groups GR1 to GR3 in a state where the plurality of 1 ST regions ST1 to ST12 are assigned to each of the plurality of groups GR1 to GR 3. The evaluation value is an index for evaluating the work amount of the conveying work performed by the conveying robot 2 for each group. Here, the evaluation unit 15 obtains an evaluation value based on the transportation amount information acquired by the 1 st acquisition unit 141 and the route information acquired by the 2 nd acquisition unit 142 in each of the groups GR1 to GR 3. In the present embodiment, the evaluation unit 15 obtains the evaluation value based on the number information acquired by the 4 th acquisition unit 144 in addition to the transportation amount information and the route information. In other words, the evaluation unit 15 obtains the evaluation value based on the transportation amount information, the route information, and the number-of-stations information.

For example, when a group GRx (x is 1, 2, 3 in the present embodiment) to be evaluated includes n (n is a natural number from 1 to 12 in the present embodiment) 1 st regions, the evaluation unit 15 obtains a product of the conveying amount Q1 and the conveying distance ratio D1 for each of the n1 st regions included in the group GRx. The evaluation unit 15 obtains a total SUM (Q1 × D1) of the products Q1 × D1 obtained for each of the N1 st areas, and obtains an evaluation value E1 by dividing the total SUM (Q1 × D1) by the number N1 of the transfer robots 2 that perform the transfer operation in the group GRx. Here, the evaluation value E1 obtained for the group GRx is E1 ═ SUM (Q1 × D1)/N1. The expression for calculating the evaluation value E1 is not limited to the above expression, and can be changed as appropriate.

The evaluation unit 15 calculates a correlation coefficient between the evaluation value E1 and the shortest tact time by substituting the shortest tact time (also referred to as the requested tact) which is the shortest value of the tact time in each of the evaluation value E1 and the evaluation value GR1 to GR3 and the evaluation value GR1 to GR3 into a general calculation formula for calculating a correlation coefficient.

The setting unit 16 performs a process of assigning each of the plurality of 1 ST areas ST1 to ST12 to a grouping of any of the plurality of gates GT1 to GT 3. Specifically, the setting unit 16 performs grouping based on the evaluation value E1 obtained by the evaluation unit 15 using the transportation amount information and the route information. Here, the evaluation unit 15 obtains the evaluation value E1 using the number-of-devices information in addition to the transportation amount information and the route information. Therefore, the setting unit 16 performs grouping based on the transportation amount information, the route information, and the number-of-devices information.

The setting unit 16 may automatically determine the number of the transfer robots 2 used in each group based on the maximum number of the transfer robots 2 acquired by the 4 th acquisition unit 144, and may calculate the evaluation value E1. Here, the setting unit 16 obtains a plurality of combinations in which 1 or more transfer robots 2 are assigned to each of the plurality of groups GR1 to GR 3. The setting unit 16 may calculate the evaluation value E1 in each of a plurality of combinations, and determine the evaluation value E1 as the combination of the transfer robots 2 having the highest correlation coefficient with the requested tact.

The setting unit 16 groups the evaluation values E1 and the requested tact time, which are obtained for each group, so that the correlation between the evaluation value E1 and the requested tact time is positive. In other words, the setting unit 16 performs assignment processing for assigning each of the plurality of 1 ST areas ST1 to ST12 to one of the plurality of groups GR1 to GR3 based on the tact information in addition to the transportation amount information and the route information. Further, the setting unit 16 performs a process of assigning the plurality of 1 ST regions ST1 to ST12 to any one of the plurality of groups GR1 to GR3, respectively, based on the evaluation value E1 and the beat information.

Here, if the correlation between the evaluation value E1 and the shortest tact time is positive, the setting unit 16 allocates the plurality of 1 ST regions ST1 to ST12 to the plurality of gates GT1 to GT3 in the current group.

On the other hand, if the correlation between the evaluation value E1 and the shortest tact time is negative, the setting unit 16 changes the grouping of the plurality of 1 ST regions ST1 to ST12, and causes the evaluation unit 15 to recalculate the evaluation value E1 in the changed group.

The setting unit 16 repeatedly changes the grouping of the plurality of 1 ST areas ST1 to ST12 until the correlation between the evaluation value E1 and the shortest tact time becomes positive, and determines the grouping of the 1 ST areas ST1 to ST12 if the correlation between the evaluation value E1 and the shortest tact time becomes positive. In other words, the setting unit 16 assigns each of the plurality of 1 ST regions ST1 to ST12 to any one of the plurality of groups GR1 to GR3 based on the evaluation value E1 and the tact information such that the correlation between the shortest tact time (tact time) and the evaluation value is positive. The setting unit 16 may calculate a correlation coefficient between the evaluation value and the shortest tact time for all combinations in the case of grouping the plurality of 1 ST regions ST1 to ST12 into 3 groups GR1 to GR3, and determine the grouping of the plurality of 1 ST regions ST1 to ST12 in accordance with the combination with the strongest positive correlation.

When the group of the 1 ST areas ST1 to ST12 is determined, the transport control system 1 performs the transport operation of transporting the object 30 by the transport robot 2 for each group.

When the user has grouped a plurality of the 1 ST areas ST1 to ST12, the improvement plan output unit 17 determines the quality of the grouping by the user based on the correlation value between the evaluation value E1 obtained for each group by the evaluation unit 15 and the shortest tact time. If it is determined that the grouping by the user is not appropriate, the improvement plan output unit 17 derives an improvement plan capable of improving the grouping of the evaluation value E1 and the shortest tact time, and outputs the improvement plan to the display unit 13.

(2.4) component mounting System

In the present embodiment, as shown in fig. 10, the object 30 to be transported includes, as an example, a component supply device having one or more feeders. The component supply device as the object 30 to be conveyed is used for supplying components to the mounting body 130 of the component mounting machine 120 disposed in at least one of the manufacturing lines 101 to 103. The "component mounter" herein is, for example, a device that mounts components on an object such as a substrate. The mounting body 130 includes a mounting head that mounts a component to a substrate. In other words, in the present embodiment, the transfer robot 2 is controlled by the transfer control system 1 to transfer the component supply device, which is the object 30 to be transferred, to the installation location of the mounting body 130 of the component mounting machine 120. Thereby, the component mounting system 300 can be constructed. In other words, the component mounting system 300 is a system including at least one component mounter 120 that mounts components on a substrate. Then, the component supply device, which is one of the objects 30 to be transported, is transported to the mounting body 130 by the transport robot 2 provided in the transport system 3.

(2.5) description of operation

The operation of the conveyance control system 1 according to the present embodiment will be described with reference to fig. 3 and the like. The flowchart shown in fig. 3 is merely an example of a conveyance control method in which the conveyance control system 1 performs grouping of the plurality of 1 ST areas ST1 to ST12, and the order of the processing may be changed as appropriate, and the processing may be added or omitted as appropriate.

Here, a process will be described in which the conveyance control system 1 allocates the 1 ST areas ST1 to ST12 provided at 12 positions of the 3 production lines 101 to 103 to any one of the 3 groups GR1 to GR3, as shown in fig. 2.

For example, when the operation accepting unit 12 accepts a packet start command input by the user, the conveyance control system 1 starts processing for allocating each of the plurality of 1 ST areas ST1 to ST12 to a packet of any of the 3 groups GR1 to GR 3. The conveyance control system 1 may start the grouping process by changing the conveyance amount, route information, number of stations information, requested tact, and the like in the manufacturing lines 101 to 103 as a trigger.

First, the 1 ST acquiring unit 141 acquires the transportation amount information on the transportation amount of the object 30 transported between each of the 1 ST area ST1 to ST12 and the automated warehouse 110 as the 2 nd area (S1), and stores the acquired transportation amount information in the storage unit 19. The 1 st acquisition unit 141 may acquire the transportation amount information input by the user via the operation reception unit 12, or may acquire the transportation amount information from a data server storing the transportation amount information via the 1 st communication unit 11. Table 1 shows an example of the transportation amount information acquired by the 1 st acquisition unit 141. The conveying amount information indicates the conveying amount (number) per unit time (for example, per hour) of the pallet for accommodating one or more objects to be conveyed 30. In the following table, the 1 ST regions ST1, ST5, and ST9 correspond to the packing machines 1 of the manufacturing lines 101 to 103, the 1 ST regions ST2, ST6, and ST10 correspond to the packing machines 2 of the manufacturing lines 101 to 103, the 1 ST regions ST3, ST7, and ST11 correspond to the placement tables 1 of the manufacturing lines 101 to 103, and the 1 ST regions ST4, ST8, and ST12 correspond to the placement tables 2 of the manufacturing lines 101 to 103.

[ Table 1]

Next, the 3 rd acquiring unit 143 acquires the tact information on the tact time requested in the transfer job between each of the plurality of 1 ST areas ST1 to ST12 and the automated warehouse 110 as the 2 nd area (S2), and stores the acquired tact information in the storage unit 19. The 3 rd acquiring unit 143 may acquire the tempo information input by the user via the operation accepting unit 12, or may acquire the tempo information from the data server storing the tempo information via the 1 st communication unit 11. Table 2 below shows an example of the tact information acquired by the 2 nd acquisition unit 142.

[ Table 2]

When the transportation amount information and the tact information are acquired, the setting unit 16 performs grouping in which the 1 ST areas ST1 to ST12 are temporarily assigned to 3 groups GR1 to GR3, respectively, in order to calculate the evaluation values (S3). In the initial grouping, the 1 ST1 to ST4 provided in the manufacturing line 101 are assigned to the group GR1 of the gate GT1, the 1 ST5 to ST8 provided in the manufacturing line 102 are assigned to the group GR2 of the gate GT2, and the 1 ST9 to ST12 provided in the manufacturing line 103 are assigned to the group GR3 of the gate GT3 (see fig. 2).

Next, the 4 th acquiring unit 144 acquires the number information on the number of the transport robots 2 used for the transport operation in each of the 3 groups GR1 to GR3 (S4), and stores the acquired number information in the storage unit 19. The 4 th acquisition unit 144 may acquire the number of stations information input by the user via the operation reception unit 12, or may acquire the number of stations information from a data server storing the number of stations information via the 1 st communication unit 11. Here, a case will be described where the number of transfer robots 2 used for the transfer operation in each of the 3 groups GR1 to GR3 is 2.

Next, the 2 nd acquiring unit 142 acquires route information on a plurality of conveying routes RT (see fig. 2) along which the conveying robot 2 conveys the object 30 between the plurality of gates GT1 to GT3 and the plurality of 1 ST1 to ST12 (S5). The 2 nd acquisition unit 142 may acquire the route information input by the user via the operation reception unit 12, or may acquire the route information from the data server storing the route information via the 1 st communication unit 11. Table 3 below shows an example of the route information acquired by the 2 nd acquisition unit 142. Here, the route information is information indicating the transport distance between each of the 1 ST areas ST1 to ST12 and the corresponding gates GT1 to GT3, and is indicated by a ratio (transport distance ratio) when the shortest transport distance is 1.

[ Table 3]

When the transportation amount information, the route information, and the number-of-devices information are acquired, the evaluation unit 15 uses the transportation amount information, the route information, and the number-of-devices information to obtain evaluation values for each of the groups GR1 to GR3 (S6). The evaluation unit 15 obtains a product of the conveying amount Q1 and the conveying distance ratio D1 for each of the n1 st regions included in the group GRx (x is 1 to 3). The evaluation unit 15 then obtains a total SUM (Q1 × D1) of the products Q1 × D1 obtained for each group of the N1-th regions, and divides the total SUM (Q1 × D1) by the number N1 of the transfer robots 2 that perform the transfer operation in the group GRx, thereby obtaining an evaluation value E1. For example, in the group GR1, the product Q1 × D1 of the conveying amount Q1 and the conveying distance ratio D1 is obtained for each of the 41 ST regions ST1 to ST4 included in the group GR1, the SUM (Q1 × D1) is calculated, and the result is divided by the number of the conveying robots 2(2 robots), thereby obtaining the evaluation value E1.

Next, the evaluation unit 15 calculates the shortest tact time that is the shortest value of the tact time in each of the groups GR1 to GR3 (S7), and calculates a correlation coefficient (correlation value) between the evaluation value E1 calculated in each of the groups GR1 to GR3 and the shortest tact time (S8).

Then, the setting unit 16 determines whether or not the evaluation value E1 has a positive correlation with the shortest tact time based on the calculation result of the correlation value (S9). Here, the setting unit 16 determines a relationship between the evaluation value E1 obtained in each of the groups GR1 to GR3 and the evaluation value E1, the smaller the shortest tact time is.

When it is determined in step S9 that a positive correlation is obtained (S9: yes), the setting unit 16 specifies the grouping of the 1 ST areas ST1 to ST12 for the current grouping, and ends the grouping process.

When it is determined in step S9 that no positive correlation is obtained (S9: no), the setting unit 16 returns to step S3 to change the grouping of the plurality of 1 ST regions ST1 to ST 12. Then, the processing of steps S4 to S8 is performed to obtain the correlation coefficient between the evaluation value E1 and the shortest tact time for each group, and it is determined again whether or not a positive correlation is obtained (S9). Thus, the setting unit 16 repeats the grouping of the 1 ST regions ST1 to ST12 until the correlation between the evaluation value E1 obtained for each group and the shortest tact time becomes a positive correlation, and ends the grouping process when the correlation between the evaluation value E1 obtained for each group GR1 to GR3 and the shortest tact time becomes a positive correlation.

The setting unit 16 may calculate a correlation coefficient between the evaluation value E1 of each group and the requested tact for all combinations of the plurality of groups of the 1 ST areas ST1 to ST12, and determine the group with the strongest positive correlation. The setting unit 16 may change the group based on a user's group change operation received by the operation receiving unit 12 after the automatic grouping.

Here, fig. 4A shows an example of the average transport distance ratio obtained for each group in the initial grouping, fig. 5A shows an example of the total transport amount obtained for each group in the initial grouping, and fig. 6A shows an example of the evaluation value obtained for each group in the initial grouping. The average transport distance ratio is an average of the transport distance ratios D1 obtained for each of the one or more 1 st zones included in each group. The total transport amount is the total number of transport amounts per unit time of pallets transported between the 1 st zone and the 2 nd zone included in each group, and is the sum of the transport amounts of the 1 st zones. Since the correlation coefficient between the evaluation value obtained in the initial grouping and the requested tact becomes negative-0.94 as shown in fig. 6A, the setting unit 16 changes the grouping.

The setting unit 16 changes the grouping so that a part of the plurality of 1 ST areas ST1 to ST12 is moved to another group in order to improve the correlation value between the evaluation value of each group and the requested tact time. For example, the setting unit 16 changes the grouping so that the 1 ST region ST5 and ST6 assigned to the group GR2 are moved from the initial grouping to the group GR1 (see fig. 7). Then, for each of the changed groups, the evaluation unit 15 obtains an evaluation value E1 for each group, and the setting unit 16 obtains a correlation value between the evaluation value E1 for each group and the requested tact time. Fig. 4B shows an example of the average transport distance ratio obtained for each group for the changed group, fig. 5B shows an example of the total transport amount obtained for each group for the changed group, and fig. 6B shows an example of the evaluation value obtained for each group for the changed group. In the changed grouping, the correlation value between the evaluation value of each group and the requested tact time improves to +0.99, and a positive correlation is obtained, so the setting section 16 specifies the evaluation value in accordance with the changed grouping, and allocates the plurality of 1 ST1 to ST12 to each of the groups GR1 to GR3 in the changed grouping.

Thus, the conveyance control system 1 can perform grouping in which the correlation between the evaluation value E1 obtained for each of the groups GR1 to GR3 and the shortest tact time is positive. When the grouping of the 1 ST areas ST1 to ST12 is completed, the conveyance control unit 18 performs a conveying operation of conveying the object 30 between the doors by the conveying robot 2 in each of the 3 groups GR1 to GR 3. In other words, the conveyance control unit 18 controls the conveyance operation by the plurality of conveyance robots 2 assigned to the plurality of groups GR1 to GR 3.

In step S9, if the correlation coefficient between the evaluation value E1 obtained for each of the groups GR1 to GR3 and the shortest tact time is equal to or greater than a predetermined reference value, the setting unit 16 may perform grouping so as to identify the current grouping and perform grouping that can obtain a desired correlation.

In the present embodiment, when the user assigns a plurality of the 1 ST regions ST1 to ST12 to any of the groups GR1 to GR3, the evaluation unit 15 may determine the evaluation values for the groups GR1 to GR3 assigned by the user, and determine the correlation between the evaluation values and the requested tact time for each group.

Fig. 8 shows an example of a group setting screen a1 displayed on the display unit 13 of the conveyance control system 1. The symbols and the lead lines shown in the setting screen a1 of fig. 8 are shown for illustrative purposes only and are not actually displayed on the display unit 13.

On the setting screen a1, a group setting area W1 for setting a plurality of 1 ST areas ST1 to ST12 in groups and an information display area W2 for displaying information for the 1 ST areas ST1 to ST12 are displayed so as to be arranged side by side and converge on one screen. In addition, in the group setting area W1, the input box B1 and the map display area MP1 are displayed in an up-down arrangement. The input box B1 is an input box for inputting in a table format the number of nodes (doors and the 1 st region) included in each of the groups GR1 to GR3 and the number of transfer robots 2. When the user inputs setting information for assigning the plurality of 1 ST regions ST1 to ST12 and the plurality of gates GT1 to GT3 to the plurality of groups GR1 to GR3, respectively, to the input box B1, the operation accepting unit 12 accepts the setting information input by the user, and the control unit 10 generates image data for displaying the map display region MP1 grouped by the setting information on a schematic map and displays the image data on the display unit 13. In other words, when the operation accepting unit 12 accepts the setting information for allocating the plurality of 1 ST areas ST1 to ST12 to the plurality of groups GR1 to GR3 corresponding to the plurality of gates GT1 to GT3, respectively, the map display area MP1 is displayed in a group based on the setting information. In the map display area MP1, by dragging a line indicating the boundary of each group with a mouse or the like, it is possible to group more of the 1 ST areas ST1 to ST12 and the gates GT1 to GT 3. In the map display area MP1, grouping may be performed by performing an operation (for example, a drag operation of a mouse or a selection operation of a shift key or a combination of control keys of a keyboard) for selecting a plurality of the 1 ST areas ST1 to ST12 and the plurality of gates GT1 to GT 3.

Here, in the map display area MP1, the plurality of 1 ST regions ST1 to ST12 are displayed by marks such as white circles, for example, and the 1 ST region and the gate assigned to the same group are surrounded by solid lines, so that the user can visually easily understand the grouping of the plurality of 1 ST regions ST1 to ST12 and the plurality of gates GT1 to GT 3. In the information display area W2, a display frame B2 that displays information on the 1 st area designated by the user is displayed. For example, when the user clicks a mark corresponding to the 1 ST8 displayed in the map display area MP1 with a mouse or the like, information on the amount of the carried objects, the distance ratio (carrying distance ratio), and the requested tact (requested tact time) in the 1 ST8 is displayed in the information display area W2. Therefore, the user can check the information displayed in the information display area W2 and study to which group the 1 ST region ST1 to ST12 are assigned to perform grouping.

When the operation accepting unit 12 accepts a simulation start command input by the user after the grouping is performed on the setting screen a1, the evaluation unit 15 obtains an evaluation value E1 for each group based on the grouping performed by the user, and obtains a correlation value between the evaluation value E1 for each group and the requested tact time. In other words, the evaluation unit 15 obtains the evaluation value E1 for each of the groups GR1 to GR3 to which the 1 ST regions ST1 to ST12 are assigned, based on the setting information. Then, based on the correlation value between the evaluation value E1 and the requested tact time for each set, the setting unit 16 performs a process of outputting the improvement plan to the improvement plan output unit 17 when the correlation between the evaluation value E1 and the requested tact time is negative. That is, the improvement plan output unit 17 derives an improvement plan in which the plurality of 1 ST regions ST1 to ST12 assigned to each of the plurality of groups GR1 to GR3 are changed based on the evaluation value E1 obtained by the evaluation unit 15, and displays the improvement plan on the display unit 13.

Fig. 9 is an example of a modification output screen a2 displayed on the display unit 13 by the modification output unit 17. The symbols and the lead lines shown in the modification output screen a2 in fig. 9 are shown for illustrative purposes only and are not actually displayed on the display unit 13.

The improvement plan output screen a2 displays the same group setting area W1 as the setting screen a1 and the grouped improvement plan display area W3 which displays the improvement plans in parallel on the left and right sides and converges on one screen. In other words, the improvement plan output unit 17 displays the map display area MP1 in which the plurality of groups of the 1 ST areas ST1 to ST12 are displayed on the map and the improvement plan display area W3 in which the improvement plan is displayed on one screen of the display unit 13 of the terminal device. Here, the terminal device is a computer constituting the conveyance control system 1. Note that the display of the map display area MP1 and the improvement plan display area W3 on one screen of the display unit 13 is not limited to the screen size of the display device constituting the display unit 13 in which the entire map display area MP1 and the entire improvement plan display area W3 are converged, and the map display area MP1 and the entire improvement plan display area W3 may be displayed on the display unit 13 in a state in which the entire map display area MP1 and the entire improvement plan display area W3 can be confirmed by scrolling the display unit 13.

In the improvement plan display region W3, an evaluation value E1 obtained in each of the groups GR1 to GR3, a1 st display region G1 requesting the tact time, and a2 nd display region B4 displaying the improvement plan by a sentence or the like are graphically displayed. Further, on the upper side of the 1 st display area G1, a 3 rd display area B3 that displays by numerical value the correlation value of the evaluation value E1 found for each group and the requested tact time is provided.

In the example of fig. 9, the correlation between the evaluation value E1 obtained in each of the groups GR1 to GR3 and the requested tact time is a negative correlation, and in the 2 nd display region B4, a modification suggested to change the 1 ST region ST7 from the group GR2 to the group GR1 is displayed as a modification. Here, 2 selection buttons BT1 and BT2 are displayed in the 2 nd display area B4. When the user performs an operation of selecting the selection button BT1, the improvement pattern displayed in the 2 nd display area B4 is reflected in the group, and the setting unit 16 specifies the group of the 1 ST areas ST1 to ST12 by the reflected group. On the other hand, if the user performs an operation of selecting the selection button BT2, the improvement scheme displayed in the 2 nd display area B4 is not adopted. In this case, the improvement plan output unit 17 preferably derives another improvement plan and displays the result on the display unit 13.

In this way, the improvement plan output unit 17 outputs the improvement plan, and grouping can be performed with improved conveyance efficiency.

(3) Modification example

The above embodiments are merely one of various embodiments of the present disclosure. If the object of the present disclosure can be achieved, the above embodiment can be variously modified according to design and the like. The same functions as those of the conveyance control system 1 may be embodied by a conveyance control method, a computer program, a non-transitory recording medium on which a program is recorded, or the like. A conveyance control method according to one aspect includes a1 st acquisition process, a2 nd acquisition process, a setting process, and a conveyance control process. In the 1 ST acquisition process, the conveying amount information on the conveying amount by which the conveying robot 2 conveys the object 30 between each of the 1 ST areas ST1 to ST12 and the 2 nd area (automated warehouse 110) is acquired for each of the 1 ST areas ST1 to ST 12. In the 2 nd acquisition process, route information on a plurality of conveyance routes for the conveyance robot 2 to convey the object 30 between the plurality of gates GT1 to GT3 and the plurality of 1 ST areas ST1 to ST12 is acquired for the plurality of conveyance routes, respectively. The gates GT1 to GT3 are provided in the 2 nd area for at least one of loading of the object 30 into the 2 nd area (automated warehouse 110) and unloading of the object 30 from the 2 nd area. In the setting process, the plurality of 1 ST areas ST1 to ST12 are assigned to any one of the plurality of groups GR1 to GR3 corresponding to the plurality of gates GT1 to GT3 one-to-one, respectively, based on the transportation amount information and the route information. In the conveyance control process, between each of the plurality of 1 ST areas ST1 to ST12 and the 2 nd area, the conveyance robot 2 carries the object 30 in and out through the gates GT1 to GT3 corresponding to the plurality of 1 ST areas ST1 to ST12, respectively. A (computer) program according to one aspect is a program for causing a computer system to execute the above-described conveyance control method.

Modifications of the above embodiment will be described below. The modifications described below can be combined and applied as appropriate.

The transfer control system 1 and the transfer robot 2 in the present disclosure include a computer system. The computer system is mainly configured with a processor and a memory as hardware. The functions as the conveyance control system 1 and the conveyance robot 2 in the present disclosure can be realized by a processor executing a program recorded in a memory of a computer system. The program may be recorded in advance in a memory of the computer system, may be provided via an electric communication line, or may be recorded in a non-transitory recording medium such as a memory card, an optical disc, or a hard disk drive that is readable by the computer system. The processor of the computer system includes one or more electronic circuits including a semiconductor Integrated Circuit (IC) or a large scale integrated circuit (LSI). Here, the integrated circuits such as an IC and an LSI are referred to as different terms depending on the degree of Integration, and include integrated circuits called a system LSI (Very Large Scale Integration), a VLSI (Very Large Scale Integration), or an ulsi (ultra Large Scale Integration). Further, a logic device for programming after manufacturing of the LSI, reconfiguring a connection relationship within the LSI (Field-Programmable Gate Array), or reconfiguring circuit division within the LSI can also be used as the processor. The electronic circuits may be integrated in one chip or may be distributed on a plurality of chips. The plurality of chips may be collected in one device or may be distributed among a plurality of devices. A computer system as referred to herein comprises a microcontroller having more than one processor and more than one memory. Thus, a microcontroller also contains one or even several electronic circuits with semiconductor integrated circuits or large scale integrated circuits.

It is not essential for the conveyance control system 1 to collect a plurality of functions in the conveyance control system 1 in one housing, and the components of the conveyance control system 1 may be distributed in a plurality of housings. Further, at least a part of the functions of the conveyance control system 1 may be realized by cloud (cloud computing) or the like.

In the above-described conveyance control system 1, the 1 ST area ST1 to ST12 is a place where the objects 30 to be conveyed are exchanged among the manufacturing lines 101 to 103, and the 2 nd area is the automated warehouse 110, but the 2 nd area may be a manufacturing line. In this case, a plurality of doors are provided in the manufacturing line, which is the 2 nd area, and at least one of the carried objects 30 is carried in and out between the 1 ST area ST1 to ST12 and the 2 nd area via any one of the plurality of doors. That is, at least one of the carrying in and carrying out of the components, the semi-finished products, the finished products, and the like is performed between the manufacturing lines of the 1 ST1 to ST12 and the manufacturing line of the 2 nd zone via the door.

In the above-described embodiment, the "greater" may be "or" greater "in the comparison of the 2 values of the measurement data and the like. In other words, in the comparison of 2 values, whether or not 2 values are equal can be arbitrarily changed depending on the setting of the reference value or the like, and there is no technical difference in "greater than" or "greater than" the reference value. Similarly, the "lower" may be "lower".

(conclusion)

As described above, the conveyance control system (1) according to claim 1 includes: a1 st acquisition unit (141), a2 nd acquisition unit (142), a setting unit (16), and a conveyance control unit (18). A1 ST acquisition unit (141) acquires, for each of a plurality of 1 ST areas (ST 1-ST 12), transport amount information relating to the transport amount by which the transport robot (2) transports the object (30) between each of the plurality of 1 ST areas (ST 1-ST 12) and the 2 nd area (110). A2 nd acquisition unit (142) acquires route information relating to a plurality of conveyance Routes (RT) for the conveyance robot (2) to convey the object (30) between the plurality of gates (GT 1-GT 3) and the plurality of 1 ST areas (ST 1-ST 12). The plurality of gates (GT 1-GT 3) are provided in the 2 nd area (110) for at least one of carrying in the object (30) to the 2 nd area (110) and carrying out the object (30) from the 2 nd area (110). The setting unit (16) assigns each of the plurality of 1 ST areas (ST 1-ST 12) to one of a plurality of groups (GR 1-GR 3) corresponding one-to-one to the plurality of gates (GT 1-GT 3) based on the transportation amount information and the route information. The conveyance control unit (18) causes the conveyance robot (2) to carry the object (30) in and out between each of the plurality of 1 ST areas (ST 1-ST 12) and the 2 nd area (110) via the gates (GT 1-GT 3) corresponding to the plurality of 1 ST areas (ST 1-ST 12).

In this way, the setting unit (16) allocates the plurality of 1 ST areas (ST1 to ST12) to any one of the plurality of groups (GR1 to GR3) based on the transportation amount information and the route information. Therefore, the plurality of groups (GR 1-GR 3) can be set so that the conveying amount of the conveyed object (30) conveyed between the plurality of 1 ST zones (ST 1-ST 12) and the 2 nd zone (110) is distributed to the plurality of doors (GT 1-GT 3). Therefore, the situation that the conveying efficiency is reduced due to the fact that the conveying robot (2) for conveying the conveyed object (30) concentrates on the specific doors (GT 1-GT 3) can be avoided, and the conveying efficiency for conveying the conveyed object (30) can be improved. Further, since it is difficult for the transportation work to be concentrated on the specific gates (GT1 to GT3) among the plurality of gates (GT1 to GT3), traffic congestion of the transportation robot (2) is less likely to occur in front of the gates (GT1 to GT3), and it is possible to improve the transportation efficiency of the transported object (30).

The conveyance control system (1) according to claim 2 is characterized in that, in claim 1, the conveyance control system further comprises a 3 rd acquisition unit (143). A3 rd acquisition unit (143) acquires beat information on beat times required for the conveyance of the object (30) in each of the 1 ST areas (ST1 to ST12) for each of the 1 ST areas (ST1 to ST 12). The setting unit (16) also allocates the plurality of 1 ST regions (ST 1-ST 12) to any one of the plurality of groups (GR 1-GR 3) on the basis of the beat information.

In this way, the plurality of 1 ST regions (ST1 to ST12) can be respectively allocated to any one of the plurality of groups (GR1 to GR3), so that the conveying efficiency of the conveyed object (30) can be improved.

The conveyance control system (1) according to claim 3 is the conveyance control system (2) further comprising: an evaluation unit (15) obtains evaluation values based on the transportation amount information and the route information for each of the plurality of groups (GR 1-GR 3). A setting unit (16) assigns a plurality of 1 ST regions (ST 1-ST 12) to each of a plurality of groups (GR 1-GR 3) on the basis of the evaluation value and the beat-to-beat information.

The conveyance control system (1) according to claim 4 is the conveyance control system (3) according to claim 3, further comprising: a4 th acquisition unit (144) acquires information on the number of transfer robots (2) that transfer the object (30) in each of the plurality of groups (GR 1-GR 3). An evaluation unit (15) obtains an evaluation value based on the transportation amount information, the route information, and the number information.

In the conveyance control system (1) according to claim 5, in the 3 rd or 4 th aspect, the setting unit (16) assigns the plurality of 1 ST areas (ST1 to ST12) to each of the plurality of groups (GR1 to GR3) based on the evaluation value and the tact information such that the correlation between the tact time and the evaluation value is positive.

The conveyance control system (1) according to claim 6 is the conveyance control system (1) according to any one of claims 3 to 5, further comprising: a receiving unit (12) receives setting information for assigning a plurality of 1 ST regions (ST 1-ST 12) to a plurality of groups (GR 1-GR 3). An evaluation unit (15) obtains evaluation values for a plurality of groups (GR1 to GR3) to which each of the plurality of 1 ST regions (ST1 to ST12) is assigned, based on the setting information. The conveyance control system (1) is further provided with an improvement recipe output unit (17). An improvement plan output unit (17) derives and outputs an improvement plan for changing the 1 ST regions (ST1 to ST12) assigned to each of the groups (GR1 to GR3) based on the evaluation value obtained by the evaluation unit (15).

In this way, the improvement plan output unit (17) outputs the improvement plan, and the user can be prompted to change to an assignment that can improve the transportation efficiency.

In a conveyance control system (1) according to claim 7, according to claim 6, an improvement plan output unit (17) displays a map display area (MP1) in which a plurality of groups of the 1 ST areas (ST1 to ST12) are displayed on a map, and an improvement plan display area (W3) in which an improvement plan is displayed, on one screen of a display unit (13) of a terminal device.

In this way, since the map display area (MP1) and the improvement plan display area (W3) are displayed on one screen, there is an advantage in that the user can easily understand the contents of the improvement plan.

In the conveyance control system (1) according to claim 8, in any one of claims 1 to 7, the conveyance control unit (18) controls the conveyance operation by the plurality of conveyance robots (2) assigned to the plurality of groups (GR1 to GR 3).

This arrangement can improve the conveying efficiency of a plurality of conveying robots (2) for conveying an object (30).

A conveyance system (3) according to claim 9 is provided with: a conveyance control system (1) according to any one of modes 1 to 8; and a plurality of transfer robots (2) which transfer the objects (30) to be transferred to the plurality of groups (GR 1-GR 3).

This configuration can improve the conveying efficiency of conveying the object (30).

The component mounting system (300) according to claim 10 is a component mounting system (300) including at least one component mounting machine (120) that mounts components on a substrate. The component mounting machine (120) comprises: a component supply device that supplies a component; and a mounting body (130) including a mounting head for mounting the component on the substrate. The component supply device is transported to the mounting body (130) by a transport robot (2) provided in a transport system (3) according to claim 8.

In this way, in the component mounting system, the conveying efficiency of the conveyed object (30) can be improved.

The conveyance control method according to claim 11 includes: the first acquisition process, the second acquisition process, the setting process, and the conveyance control process. In the 1 ST acquisition process, the transport amount information on the transport amount by which the transport robot (2) transports the object (30) between each of the 1 ST areas (ST1 to ST12) and the 2 nd area (110) is acquired for each of the 1 ST areas (ST1 to ST 12). In the 2 nd acquisition process, route information on a plurality of conveyance Routes (RT) for the conveyance robot (2) to convey the object (30) between the plurality of gates (GT 1-GT 3) and the plurality of 1 ST areas (ST 1-ST 12) is acquired. The plurality of gates (GT 1-GT 3) are provided in the 2 nd area (110) for carrying in/out at least one of the object (30) to the 2 nd area (110) and the object (30) to be carried out from the 2 nd area (110). In the setting process, based on the transportation amount information and the route information, the 1 ST areas (ST1 to ST12) are respectively allocated to any of a plurality of groups (GR1 to GR3) corresponding to the gates (GT1 to GT3) in a one-to-one manner. In the conveyance control process, between each of the plurality of 1 ST areas (ST1 to ST12) and the 2 nd area (110), the conveyance robot (2) carries the object (30) in and out through the doors (GT1 to GT3) corresponding to the plurality of 1 ST areas (ST1 to ST 12).

The present invention is not limited to the above-described embodiments, and various configurations (including modifications) of the conveyance control system (1) according to the above-described embodiments can be embodied by a conveyance control method, a (computer) program, or a non-transitory recording medium on which a program is recorded.

The configurations according to embodiments 2 to 8 are not essential to the conveyance control system (1) and can be omitted as appropriate.

Claims

1. A conveyance control system is provided with:

a1 st acquisition unit that acquires, for each of a plurality of 1 st areas, conveying amount information relating to a conveying amount by which a conveying robot conveys an object to be conveyed between each of the plurality of 1 st areas and a2 nd area;

a2 nd acquisition unit configured to acquire route information on a plurality of transport routes for the transport robot to transport the object between a plurality of doors provided in the 2 nd area and the plurality of 1 st areas in order to carry out at least one of loading of the object into the 2 nd area and unloading of the object from the 2 nd area;

a setting unit configured to assign the 1 st areas to any one of a plurality of groups corresponding to the doors in a one-to-one manner, based on the transportation amount information and the route information; and

and a conveyance control unit configured to cause the conveyance robot to carry the object in and out at least one of the plurality of 1 st zones and the 2 nd zone through the doors corresponding to the plurality of 1 st zones.

2. The conveyance control system according to claim 1,

the conveyance control system further includes: a 3 rd acquiring unit configured to acquire takt time information on takt time required for conveying the object in each of the 1 st zones for each of the 1 st zones,

the setting unit further assigns the plurality of 1 st regions to any one of the plurality of groups, respectively, based on the tempo information.

3. The conveyance control system according to claim 2, wherein,

the conveyance control system further includes: an evaluation unit that obtains evaluation values based on the transportation amount information and the route information for each of the plurality of groups,

the setting unit assigns the 1 st regions to any one of the groups, respectively, based on the evaluation value and the tempo information.

4. The conveyance control system according to claim 3, wherein,

the conveyance control system further includes: a 4 th acquisition unit configured to acquire information on the number of the transport robots that transport the object to be transported in each of the plurality of groups,

the evaluation unit obtains the evaluation value based on the transportation amount information, the route information, and the number information.

5. The conveyance control system according to claim 3 or 4,

the setting section assigns the 1 st regions to any one of the groups, respectively, based on the evaluation value and the tact information, such that a correlation of the tact time and the evaluation value is a positive correlation.

6. The conveyance control system according to any one of claims 3 to 5,

the conveyance control system further includes: a receiving unit that receives setting information for assigning each of the plurality of 1 st areas to the plurality of groups,

the evaluation unit obtains the evaluation values for the plurality of groups to which the plurality of 1 st regions are assigned, respectively, based on the setting information,

the conveyance control system further includes: and an improvement plan output unit configured to derive and output an improvement plan for changing the plurality of 1 st areas assigned to each of the plurality of groups, based on the evaluation value obtained by the evaluation unit.

7. The conveyance control system according to claim 6,

the improvement plan output unit displays a map display area in which the group of the plurality of 1 st areas is displayed on a map and an improvement plan display area in which the improvement plan is displayed on one screen of a display unit of a terminal device.

8. The conveyance control system according to any one of claims 1 to 7,

the transport control unit controls transport operations performed by the plurality of transport robots assigned to the plurality of groups.

9. A conveyance system is provided with:

the conveyance control system according to any one of claims 1 to 8; and

and a plurality of transfer robots for transferring the objects to be transferred to the plurality of groups, respectively.

10. A component mounting system includes at least one component mounter which mounts components onto a substrate,

the component mounting apparatus includes:

a component providing device that provides the component; and

a mounting body including a mounting head for mounting the component on the substrate,

the component supply device is transported to the mounting body by the transport robot provided in the transport system according to claim 9.

11. A conveyance control method includes:

a1 st acquisition process of acquiring, for each of a plurality of 1 st areas, conveying amount information on a conveying amount by which a conveying robot conveys an object to be conveyed between each of the plurality of 1 st areas and a2 nd area;

a2 nd acquisition process of acquiring route information on a plurality of conveyance routes for the conveyance robot to convey the object between a plurality of doors provided in the 2 nd area and the plurality of 1 st areas in order to carry out at least one of loading of the object into the 2 nd area and unloading of the object from the 2 nd area;

setting processing of assigning each of the plurality of 1 st zones to any one of a plurality of groups corresponding one-to-one to the plurality of doors, based on the transportation amount information and the route information; and

and a conveyance control process of causing the conveyance robot to carry at least one of the object to be conveyed in and out between each of the plurality of 1 st zones and the 2 nd zone via the doors corresponding to each of the plurality of 1 st zones.