JP2000163126A - Unmanned carrier control system - Google Patents
Unmanned carrier control systemInfo
- Publication number
- JP2000163126A JP2000163126A JP10336142A JP33614298A JP2000163126A JP 2000163126 A JP2000163126 A JP 2000163126A JP 10336142 A JP10336142 A JP 10336142A JP 33614298 A JP33614298 A JP 33614298A JP 2000163126 A JP2000163126 A JP 2000163126A
- Authority
- JP
- Japan
- Prior art keywords
- transfer
- instruction
- automatic guided
- guided vehicle
- transport
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 208000033748 Device issues Diseases 0.000 claims description 2
- 238000003860 storage Methods 0.000 abstract description 9
- 238000004519 manufacturing process Methods 0.000 description 14
- 238000000034 method Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 4
- 238000011144 upstream manufacturing Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000012217 deletion Methods 0.000 description 1
- 230000037430 deletion Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
Description
【0001】[0001]
【発明の属する技術分野】本発明は、効率的な物流を実
現するための無人搬送車への制御を行う無人搬送車制御
システムに関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic guided vehicle control system for controlling an automatic guided vehicle for realizing efficient physical distribution.
【0002】[0002]
【従来の技術】従来から生産ライン等における無人搬送
車への搬送指示割りあての制御方法については提案され
ている。図7は、従来の無人搬送車制御システムの一例
を示す全体図である。無人搬送車A11,A12,A1
3は、互いに追い越したり追い越されたりできない閉ル
ープの走行路R11に沿って走行する。このとき搬送指
示が発生する毎に、作業実行中でない無人搬送車もしく
は作業実行中であっても積み側装置E11,E12,E
13,E14に到達するまでには作業を完了する無人搬
送車であって、積み側装置から最も近い上流側の無人搬
送車に搬送指示を割りあてる方法(特開平9−7331
6号公報)や、ホームポジションあるいは卸し完了した
ときに作業指示要求があった無人搬送車に対して、その
時点で最も古い搬送指示を割りあてる方法(特開平7−
44234号公報)などがある。2. Description of the Related Art Conventionally, there has been proposed a control method for assigning a transfer instruction to an automatic guided vehicle on a production line or the like. FIG. 7 is an overall view showing an example of a conventional automatic guided vehicle control system. Automatic guided vehicles A11, A12, A1
3 travels along a closed-loop travel path R11 that cannot pass or pass each other. At this time, every time a transfer instruction is issued, an unmanned guided vehicle that is not performing the work or the loading side devices E11, E12, and E even if the work is being performed.
And a method of allocating a transfer instruction to an unmanned guided vehicle on the upstream side which is the closest from the loading side device to the unmanned guided vehicle which completes the work before reaching the position 13 or E14 (Japanese Patent Laid-Open No. 9-7331).
No. 6) and a method of allocating the oldest transport instruction to an unmanned guided vehicle for which a work instruction has been requested when the home position or wholesale has been completed (Japanese Unexamined Patent Publication No.
No. 44234).
【0003】[0003]
【発明が解決しようとする課題】ところで、従来の搬送
指示割りあて制御方法は、無人搬送車が互いに追い越し
たり追い越されたりしない閉ループを対象としており、
追い越し可能な走行経路を想定していなかった。そのた
め、従来の制御方法を、追い越し可能な走行経路におけ
る無人搬送車に適用した場合には搬送ロスが発生する問
題がある。By the way, the conventional transfer instruction assignment control method is intended for a closed loop in which the automatic guided vehicles do not pass or pass each other.
It did not assume a traveling route that could be overtaken. Therefore, when the conventional control method is applied to an unmanned guided vehicle on a traveling route that can pass, there is a problem that a transport loss occurs.
【0004】まず、特開平9−73316号公報に記載
の搬送指示が発生するたびに積み側装置から上流側にあ
る無人搬送車で作業指示を持っていないもの、あるいは
作業指示を持っていても積み点までに完了するものを近
い順に探していき指示を割りあてる方法の場合を考えて
みる。この場合、搬送指示が出た時点において、上流側
で一番近くにいる無人搬送車に指示を割りあてても、追
い越し可能な走行経路においては、その無人搬送車が最
も早く積み点に到着するとは限らない。無人搬送車が卸
し作業や充電作業をしている間に、他の無人搬送車に追
い越されてしまうことがあり、搬送ロスが発生する。[0004] First, every time a transfer instruction described in Japanese Patent Application Laid-Open No. 9-73316 is issued, an unmanned guided vehicle on the upstream side from the loading apparatus that does not have a work instruction or has a work instruction. Consider a method of searching for items to be completed by the loading point in order of decreasing order and assigning instructions. In this case, at the time when the transfer instruction is issued, even if the instruction is assigned to the unmanned transport vehicle closest to the upstream side, on the overtaking traveling route, the unmanned transport vehicle arrives at the loading point first. Not necessarily. While an unmanned guided vehicle is performing a wholesale operation or a charging operation, it may be overtaken by another unmanned guided vehicle, resulting in a transfer loss.
【0005】次に、特開平7−44234号公報に記載
の作業完了後あるいはホームポジションでの無人搬送車
からの作業指示要求のたびに最も古い未指示の搬送指示
を割りあてる方法の場合を考えてみる。この場合、無人
走行車が走行中に作業指示要求を行わないないために、
作業完了後からホームポジション到着までの間で搬送指
示が割りあてできないこと、ホームポジションから積み
点までの走行距離が長くなってしまう可能性があること
などの問題がある。Next, consider a method described in Japanese Unexamined Patent Publication No. 7-44234, in which the oldest uninstructed transport instruction is allocated each time a work instruction is requested from an unmanned transport vehicle at the home position or at a home position. Try. In this case, in order not to make a work instruction request while the unmanned traveling vehicle is traveling,
There are problems such as the inability to assign a transfer instruction from the completion of the work to the arrival at the home position, and the possibility that the traveling distance from the home position to the loading point may become longer.
【0006】さらに、前記2つの制御方法に共通の問題
として、装置のタクトタイムや仕掛かり量に基づいた搬
送指示割りあてとなっていないため、生産装置での搬入
待ちや搬出遅れによるロスタイムが発生する可能性も大
きい。また、卸し側が空き棚なし、故障中の場合にも搬
送指示を割りあてるため、卸し側装置に無人搬送車から
卸すことができなくなる等の問題がある。Further, as a problem common to the above two control methods, since transfer instructions are not assigned based on the tact time of the apparatus or the amount of work in progress, a loss time occurs due to waiting for carry-in or delay in carry-out at the production apparatus. The possibility of doing it is great. In addition, since the wholesaler has no empty shelves and a transfer instruction is assigned even in the case of failure, there is a problem that the wholesaler cannot wholesale from the automatic guided vehicle to the wholesaler.
【0007】本発明の目的は、追い越し可能な走行経路
に沿って走行する無人搬送車に対して、効率的な搬送を
行うとともに、無人搬送車、積み卸し装置の稼動状態を
考慮して搬送指示をおこなうことができる無人搬送車制
御システムを提供することである。SUMMARY OF THE INVENTION It is an object of the present invention to efficiently transfer an automatic guided vehicle traveling along a traveling route that can be overtaken, and to issue a transfer instruction in consideration of the operation states of the automatic guided vehicle and the unloading device. To provide an automatic guided vehicle control system capable of performing the following.
【0008】[0008]
【課題を解決するための手段】請求項1の発明は、搬送
指示に従って荷物を目的の場所に自動搬送する複数の無
人搬送車と、該無人搬送車が走行して追い越し可能な走
行経路と、前記無人搬送車が搬送した荷物を積み卸しを
する積み側装置及び卸し側装置と、走行経路上に設けら
れ、搬送指示を持たない無人搬送車が搬送指示要求を行
う少なくとも1つ以上の搬送問い合せポイントと、前記
搬送指示要求に基づいて、前記無人搬送車の走行を制御
する搬送制御装置とを備えた無人搬送車制御システムで
ある。前記搬送制御装置は、前記搬送問い合わせポイン
トから搬送指示要求を出した無人搬送車に対して、搬送
すべき積み側装置と卸し側装置を指定する搬送指示を割
りあてることを特徴とする。According to the first aspect of the present invention, there is provided an automatic guided vehicle for automatically transporting a package to a destination according to a transport instruction, a traveling route over which the automated guided vehicle can travel and pass. A loading-side device and an unloading-side device for unloading and unloading the cargo conveyed by the automatic guided vehicle, and at least one or more transport inquiries provided on a traveling route and having an unmanned guided vehicle having no transport instruction and requesting a transport instruction An automatic guided vehicle control system including a point and a transport control device that controls the traveling of the automatic guided vehicle based on the transport instruction request. The transfer control device assigns a transfer instruction that specifies a loading side device and a wholesale side device to be transferred to the unmanned guided vehicle that has issued a transfer instruction request from the transfer inquiry point.
【0009】請求項2の発明は、請求項1記載の無人搬
送車制御システムであって、前記搬送制御装置は、搬送
問い合せポイントに近接した一定区間内の積み側装置を
起点とする搬送指示を行うことを特徴とする。According to a second aspect of the present invention, there is provided the automatic guided vehicle control system according to the first aspect, wherein the transport control device issues a transport instruction starting from a loading side device within a predetermined section close to a transport inquiry point. It is characterized by performing.
【0010】請求項3の発明は、請求項1又は2記載の
無人搬送車制御システムであって、前記搬送制御装置
は、必要な搬送指示を記憶しており、該搬送指示の中か
ら、搬送優先度により優先レベルの最も高い搬送指示を
無人搬送車に割りあてることを特徴とする。According to a third aspect of the present invention, there is provided the automatic guided vehicle control system according to the first or second aspect, wherein the transport control device stores necessary transport instructions, and performs transport from the transport instructions. The transfer instruction having the highest priority level is assigned to the automatic guided vehicle according to the priority.
【0011】請求項4の発明は、請求項3記載の無人搬
送車制御システムであって、前記搬送優先度は積み側装
置及び卸し側装置のタクトタイム、仕掛かり量に基づき
搬送優先度の初期値が決定されており、搬送指示発行後
時間経過とともに変化させることを特徴とする。According to a fourth aspect of the present invention, there is provided the automatic guided vehicle control system according to the third aspect, wherein the transfer priority is based on a tact time and a work-in-progress amount of the loading apparatus and the unloading apparatus. The value is determined, and is changed over time after the issuance of the transport instruction.
【0012】請求項5の発明は、請求項1乃至4記載の
無人搬送車制御システムであって、前記搬送制御装置
は、前記無人搬送車、積み側装置及び卸し側装置の稼働
が可能か否かを確認する機能を有し、稼働できないとき
は他の搬送指示に変更することを特徴とする。According to a fifth aspect of the present invention, there is provided the automatic guided vehicle control system according to any one of the first to fourth aspects, wherein the transport control device determines whether or not the automatic guided vehicle, the loading device, and the wholesale device can operate. It has a function of confirming whether or not it can be operated, and changes to another transport instruction when it cannot be operated.
【0013】[0013]
【発明の実施の形態】以下、本発明の実施形態について
図面を参照しながら説明する。図1は本発明に係る無人
搬送車制御システムを示す全体図である。この無人搬送
車制御システムは、無人搬送車A1,A2,A3と、無
人搬送車A1〜A3が追い越し可能な走行経路R1,R
2,R3と、荷物(部品等)を一時保管するバッファス
テーションB1,B2と、生産装置E1〜E4と、無人
搬送車A1〜A3が搬送指示要求を出す搬送問い合わせ
ポイントT1〜T6と、搬送指示要求に基づいて無人搬
送車A1〜A3に搬送指示を出す搬送制御装置10とか
ら構成される。Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is an overall view showing an automatic guided vehicle control system according to the present invention. This automatic guided vehicle control system includes traveling paths R1, R that can be passed by the automatic guided vehicles A1, A2, A3 and the automatic guided vehicles A1 to A3.
2, R3, buffer stations B1 and B2 for temporarily storing luggage (parts and the like), production apparatuses E1 to E4, transfer inquiry points T1 to T6 at which the automatic guided vehicles A1 to A3 issue a transfer instruction request, and transfer instructions. And a transfer control device 10 for issuing a transfer instruction to the automatic guided vehicles A1 to A3 based on the request.
【0014】ここで、走行経路R1は、閉ループであ
り、その外周部に無人搬送車が停留するためのバッファ
ステーションB1,B2と生産装置E1〜E4が配置さ
れている。走行経路R2も閉ループであり、走行経路R
1の内周側に配置され、これを走行する無人搬送車が、
走行経路R1に停留する無人搬送車を追い抜くことを可
能としている。走行経路R3は、走行経路R1と走行経
路R2との間に渡設した走行経路であり、無人搬送車が
走行経路R1,R2を移動するのに用いる。また、バッ
ファステーションB1,B2と生産装置E1〜E4に
は、無人搬送車が停留し、荷物の積み卸し作業をするポ
ートP1〜P12が設置されている。搬送問い合わせポ
イントT1〜T6は、走行経路R2上に配置されてい
る。Here, the traveling route R1 is a closed loop, and buffer stations B1 and B2 for stopping the automatic guided vehicle and production devices E1 to E4 are arranged on the outer periphery thereof. The traveling route R2 is also a closed loop, and the traveling route R
An automatic guided vehicle that is disposed on the inner peripheral side of
It is possible to overtake an unmanned guided vehicle stopped on the traveling route R1. The travel route R3 is a travel route provided between the travel route R1 and the travel route R2, and is used by the automatic guided vehicle to travel along the travel routes R1 and R2. Further, in the buffer stations B1 and B2 and the production devices E1 to E4, ports P1 to P12 in which the unmanned transport vehicles stop and work for loading and unloading the luggage are installed. The transfer inquiry points T1 to T6 are arranged on the traveling route R2.
【0015】無人搬送車A1〜A3には、搬送指示がな
い状態の場合(搬送指示を終了した場合を含む)、搬送
指示要求を搬送制御装置10に送信する装置が設置され
ている。無人搬送車A1〜A3が搬送指示要求を行うの
は、搬送問い合わせポイントT1〜T6だけではなく、
ポートP1〜P12に停留中でも行う。生産装置E1〜
E4には、荷物の積み卸しの必要が生じた場合に無人搬
送車に対する搬送要求を搬送制御装置10に送信する装
置が設置されている。また、無人搬送車A1〜A3、バ
ッファステーションB1,B2及び生産装置E1〜E4
には稼働状況を確認し、その状況を搬送制御装置10に
送信する装置も設置してある。In the automatic guided vehicles A1 to A3, a device for transmitting a transfer instruction request to the transfer control device 10 when there is no transfer instruction (including when the transfer instruction is completed) is provided. It is not only the transfer inquiry points T1 to T6 that the automatic guided vehicles A1 to A3 make the transfer instruction request,
This is performed even while the vehicle is stopped at ports P1 to P12. Production equipment E1
At E4, a device for transmitting a transfer request for the automatic guided vehicle to the transfer control device 10 when it is necessary to unload and unload the load is installed. The automatic guided vehicles A1 to A3, the buffer stations B1 and B2, and the production devices E1 to E4
A device for checking the operation status and transmitting the status to the transport control device 10 is also installed.
【0016】搬送制御装置10は、各装置との情報伝達
を行う送受信部11と、搬送制御を行う制御部12と、
各情報を格納する記憶部13からなる。送受信部11
は、無人搬送車A1〜A3、バッファステーションB
1,B2及び生産装置E1〜E4との間で、搬送要求、
搬送指示要求、稼働状況等の情報を受信し、制御部12
にその情報を送る。制御部12は、その情報を記憶部1
3に格納した情報に追加し、これら情報に基づいて、無
人搬送車A1〜A3に対する搬送指示を作成する。そし
て、送受信部11から搬送指示を無人搬送車A1〜A3
に対して送信する。記憶部13に格納されている情報
は、図2に示す最寄り積み点テーブル、図3に示す搬送
優先度テーブル、図4に示す搬送要求リスト、図5に示
す搬送指示候補リストであり、詳しくは後述する。The transport control device 10 includes a transmitting / receiving unit 11 for transmitting information to each device, a control unit 12 for controlling transport,
The storage unit 13 stores each information. Transmitting / receiving unit 11
Are automatic guided vehicles A1 to A3, buffer station B
1, a transfer request between B2 and the production devices E1 to E4,
The control unit 12 receives information such as a transfer instruction request and an operation status.
Send the information to The control unit 12 stores the information in the storage unit 1
In addition to the information stored in No.3, a transfer instruction for the automatic guided vehicles A1 to A3 is created based on the information. Then, a transfer instruction is transmitted from the transmission / reception unit 11 to the automatic guided vehicles A1 to A3.
Send to The information stored in the storage unit 13 is a nearest stack point table shown in FIG. 2, a transport priority table shown in FIG. 3, a transport request list shown in FIG. 4, and a transport instruction candidate list shown in FIG. It will be described later.
【0017】次に、この無人搬送車制御システムの動作
の一例の概略を述べる。生産装置E1〜E4は、荷物の
積み卸しの必要が生じると、搬送制御装置10に対し
て、無人搬送車に対する搬送要求を送信する。搬送制御
装置10は、送受信部11で、この搬送要求を受信し
て、制御部12が搬送優先度テーブルに基づいて搬送優
先度を特定し、この情報を記憶部13に格納してある搬
送要求リスト(図4参照)に追加する。次に、無人搬送
車A1〜A3のいずれかから搬送指示要求があれば、搬
送制御装置10の制御部12は、最寄り積み点テーブル
(図2参照)から最寄りの積み点の装置とポートを特定
し、記憶している搬送要求リスト(図4参照)の中から
割りあて可能なすべての搬送要求を、搬送指示として記
憶部13の搬送指示候補リスト(図5参照)に登録す
る。つぎに、この搬送指示候補リストの中から最も優先
度の高い搬送指示をバッファステーションB1,B2の
稼動状態を確認後、搬送指示要求のあった無人搬送車に
割りあてる。卸し側装置がバッファステーションB1,
B2であり、一方のバッファステーションが空き棚なし
または故障中であれば、卸し点の装置を変更して搬送指
示を割りあてる。Next, an outline of an example of the operation of the automatic guided vehicle control system will be described. The production apparatuses E1 to E4 transmit a transfer request for the automatic guided vehicle to the transfer control apparatus 10 when it becomes necessary to unload and unload the packages. The transport control device 10 receives the transport request at the transmission / reception unit 11, the control unit 12 specifies the transport priority based on the transport priority table, and stores the transport request stored in the storage unit 13. Add to the list (see FIG. 4). Next, when there is a transfer instruction request from any of the automatic guided vehicles A1 to A3, the control unit 12 of the transfer control device 10 specifies the device and port of the nearest stacking point from the nearest stacking point table (see FIG. 2). Then, all transfer requests that can be assigned from the stored transfer request list (see FIG. 4) are registered in the transfer instruction candidate list (see FIG. 5) of the storage unit 13 as transfer instructions. Next, after confirming the operation state of the buffer stations B1 and B2, the transfer instruction having the highest priority from the transfer instruction candidate list is assigned to the unmanned transport vehicle that has requested the transfer instruction. The wholesaler is buffer station B1,
In B2, if one of the buffer stations has no empty shelves or is out of order, the apparatus at the wholesale point is changed and a transfer instruction is allocated.
【0018】ここでは詳しくは述べないが、搬送制御装
置10は、バッファステーションB1,B2だけでな
く、無人搬送車A1〜A3と生産装置E1〜E4の故障
等の稼働状況も確認して、搬送指示を割りあてることも
できる。また、搬送要求は、バッファステーションB
1,B2や生産装置E1〜E4から送信するが、他の搬
送要求装置から送信してもよいし、操作者が入力装置を
用いて入力してもよい。Although not described in detail here, the transfer control device 10 checks not only the buffer stations B1 and B2 but also the operation status such as failure of the automatic guided vehicles A1 to A3 and the production devices E1 to E4, You can also assign instructions. The transfer request is sent to buffer station B.
1, B2 and the production devices E1 to E4, but may be transmitted from another transport request device, or may be input by an operator using an input device.
【0019】次に、搬送要求リストヘの追加方法につい
て説明する。例えば、生産装置E2のポートP5および
P6を積み点とし、バッファステーションB1のポート
P4を卸し点とする搬送要求が搬送制御装置10に送信
されたとする。以下、それぞれの搬送要求はE2/P5
→B1/P4、E2/P6→B1/P4と表記する。搬
送制御装置10は、これら搬送要求の積み点と卸し点お
よびあらかじめ定義しておいた搬送優先度テーブル(図
3参照)の情報をもとに搬送優先度を決定して搬送要求
リストの中に追加する。したがって、搬送要求リスト
は、積み点と卸し点と搬送優先度と変化時間をリストと
して記憶しており、搬送優先度は変化時間が経過すると
変化していく。ただし、ここでの搬送優先度は値の小さ
いほうが優先レベルは高いものとする。Next, a method of adding to the transport request list will be described. For example, it is assumed that a transport request in which the ports P5 and P6 of the production device E2 are loading points and the port P4 of the buffer station B1 is a wholesale point is transmitted to the transport control device 10. Hereinafter, each transport request is E2 / P5
→ B1 / P4, E2 / P6 → B1 / P4. The transfer control device 10 determines a transfer priority based on the information of the transfer point and the wholesale point of the transfer request and the transfer priority table (see FIG. 3) defined in advance and stores the transfer priority in the transfer request list. to add. Therefore, the transfer request list stores the loading point, the wholesale point, the transfer priority, and the change time as a list, and the transfer priority changes after the change time elapses. However, the smaller the transport priority here, the higher the priority level.
【0020】搬送優先度テーブル(図3)の中の優先度
初期値は搬送御装置が、その装置に関する搬送指示を送
信されたときに付加する優先度であり、変化時間は優先
度を1つあげる周期時間(分)である。優先度初期値と
変化時間は、生産装置E1〜E4のタクトタイムや装置
への仕掛かり量に基づき決定する数値であり、人があら
かじめ数値を決定しておいても良いし、ある計算式によ
り自動的に算出するようにしても良い。積み点と卸し点
で優先度初期値および変化時間が異なるときは優先度初
期値については値の小さいほうを、変化時間についても
値の小さい方を採用する。The priority initial value in the transport priority table (FIG. 3) is a priority added by the transport control device when a transport instruction relating to the device is transmitted, and the change time is one priority. The cycle time (minutes) to be given. The priority initial value and the change time are numerical values determined based on the takt time of the production devices E1 to E4 and the amount of work in progress to the devices, and may be determined in advance by a person or by a certain calculation formula. You may make it calculate automatically. When the priority initial value and the change time are different between the loading point and the wholesale point, the smaller value is adopted for the priority initial value, and the smaller value is also used for the change time.
【0021】図3の搬送優先度テーブルからE2/P5
→Bl/P4の搬送指示の場合、積み点の装置E2のポ
ートP5の優先度初期値、変化時間はそれぞれ8、6で
あり、卸し点の装置B1のポートP4の優先度初期値、
変化時間はそれそれ10、9であることから、この搬送
要求の優先度初期値は8、変化時間は6と決定する。こ
うして搬送制御装置はE2/P5→B1/P4の搬送要
求に優先度8をつけて搬送要求リストに追加し、6分毎
に優先度の値を1つずつ減らしていく。また同様に積み
点の装置E2のポートP6の優先度初期値、変化時間は
それぞれ10、6であり、卸し点の装置B1のポートP
4の優先度初期値、変化時間はそれそれ10、9である
ことから、E2/P6→Bl/P4の搬送要求に優先度
10をつけて搬送要求リストに追加し、6分毎に優先度
の値を1つずつ減らしていく。また、特定の搬送要求の
優先度を上げる必要が生じた時には、搬送制御装置10
と接続された搬送端末(不図示)から人手により任意の
優先度にまで上げることができるようにしてもよい。こ
のようにして、搬送要求が送信されるたびに搬送制御装
置10は、記憶部13に記憶されている搬送要求リスト
に搬送要求を追加していく。無人搬送車A1〜A3から
の搬送指示要求を、搬送制御装置10が受信すると、割
りあて可能なすべての搬送要求を搬送指示として、記憶
部13の搬送指示候補リストに登録し、最も優先度の高
い搬送指示を無人搬送車に割りあてる。From the transport priority table shown in FIG. 3, E2 / P5
→ In the case of the Bl / P4 transfer instruction, the priority initial value and the change time of the port P5 of the device E2 at the loading point are 8, 6 respectively, and the priority initial value of the port P4 of the device B1 at the wholesale point,
Since the change times are 10 and 9, respectively, the priority initial value of the transport request is determined to be 8 and the change time is determined to be 6. In this way, the transport control device assigns a priority of 8 to the transport request of E2 / P5 → B1 / P4 and adds the priority to the transport request list, and decreases the priority value by one every six minutes. Similarly, the priority initial value and the change time of the port P6 of the device E2 at the loading point are 10 and 6, respectively, and the port P of the device B1 at the wholesale point is
Because the priority initial value and the change time of priority 4 are 10 and 9, respectively, the priority is added to the transport request list with the priority 10 added to the transport request of E2 / P6 → B1 / P4, and the priority is changed every 6 minutes. The value of is reduced one by one. When it becomes necessary to raise the priority of a specific transfer request, the transfer control device 10
It may be possible to manually raise the priority to an arbitrary priority from a transport terminal (not shown) connected to the terminal. In this way, every time a transfer request is transmitted, the transfer control device 10 adds the transfer request to the transfer request list stored in the storage unit 13. When the transfer control device 10 receives transfer instruction requests from the automatic guided vehicles A1 to A3, all transfer requests that can be assigned are registered as transfer instructions in the transfer instruction candidate list of the storage unit 13, and the highest priority is assigned. Allocate high transportation instructions to automated guided vehicles.
【0022】次に、搬送要求リストにある搬送指示の無
人搬送車への割りあて方法について、説明する。ここ
で、図6は、無人搬送車への搬送指示方法を説明するた
めのフローチャートである。Next, a method of allocating the transfer instruction in the transfer request list to the automatic guided vehicle will be described. Here, FIG. 6 is a flowchart for explaining a method of instructing conveyance to the automatic guided vehicle.
【0023】まず、搬送指示を持っていない無人搬送車
A2が搬送問い合せポイントT3を通過すると(ステッ
プS1)、搬送指示を持たない無人搬送車A2は搬送指
示要求を行う(ステップS2)。この搬送問い合せポイ
ントT3からの搬送指示要求に対して、搬送要求リスト
(図4参照)の中から、最寄り積み点テーブル(図2参
照)に定義されている装置のポートを積み点とする搬送
要求が存在するかどうかをチェックする(ステップS
3)。最寄り積み点テーブルは、無人搬送車からの搬送
指示要求があった時に、搬送要求リスト中の積み点が、
搬送指示要求があった搬送問い合せポイントT3から一
定の区間内にあるかどうかを判別するために用いる。First, when the automatic guided vehicle A2 having no transport instruction passes the transport inquiry point T3 (step S1), the automatic guided vehicle A2 having no transport instruction issues a transport instruction request (step S2). In response to the transfer instruction request from the transfer inquiry point T3, a transfer request using the port of the device defined in the nearest stacking point table (see FIG. 2) from the transfer request list (see FIG. 4) as a stacking point. Check whether or not exists (step S
3). The nearest loading point table indicates that when there is a transport instruction request from the automatic guided vehicle, the loading points in the transport request list are
It is used to determine whether or not the vehicle is within a certain section from the transportation inquiry point T3 where the transportation instruction request was issued.
【0024】走行中の搬送問い合せポイントT3で無人
搬送車A2が搬送指示要求を行った時、図2の最寄り積
み点テーブルから、搬送制御装置10は、搬送問い合せ
ポイントT3の最寄り積み点が装置E2のポートP5ま
たはP6であることを確認する。つぎに、装置E2のポ
ートP5またはP6を積み点とする搬送指示が搬送要求
リストの中に存在するかどうかをチェックする。もし、
搬送要求リストの中に条件を満たす搬送指示がなけれ
ば、作業継続の指示を無人搬送車A2に与える(ステッ
プS4)。このため、この無人搬送車A2は、次の搬送
問い合せポイントT2を通過時に再度搬送指示を要求す
る事になる(ステップSl)。When the automatic guided vehicle A2 issues a transfer instruction request at the transfer inquiry point T3 during traveling, from the nearest stack point table of FIG. 2, the transfer control device 10 determines that the nearest stack point of the transfer inquiry point T3 is the device E2. Port P5 or P6. Next, it is checked whether or not a transfer instruction having the port P5 or P6 of the apparatus E2 as a stack point exists in the transfer request list. if,
If there is no transfer instruction satisfying the condition in the transfer request list, an instruction to continue the work is given to the automatic guided vehicle A2 (step S4). Therefore, the automatic guided vehicle A2 requests a transfer instruction again when passing the next transfer inquiry point T2 (step Sl).
【0025】ステップS3を満たす搬送指示が存在する
ときは、その全ての搬送指示を搬送指示候補リスト(図
5参照)に登録する(ステップS5)。搬送問い合せポ
イントT3で搬送指示要求した無人搬送A2に割りあて
る搬送指示候補は、前述の搬送要求であるE2/P5→
Bl/P4(搬送優先度8)、E2/P6→Bl/P4
(搬送優先度10)である。そして、搬送指示候補の中
で最も優先度の高い搬送指示(E2/P5→Bl/P
4)が選択され(ステップS6)、その搬送指示の卸し
側の装置がバッファステーションB1,B2であるかを
チェックする(ステップS7)。If there are transfer instructions satisfying step S3, all the transfer instructions are registered in a transfer instruction candidate list (see FIG. 5) (step S5). The transfer instruction candidate to be assigned to the unmanned transfer A2 requested to be transferred at the transfer inquiry point T3 is E2 / P5, which is the aforementioned transfer request.
Bl / P4 (conveyance priority 8), E2 / P6 → Bl / P4
(Transport priority 10). Then, the transport instruction having the highest priority among the transport instruction candidates (E2 / P5 → Bl / P)
4) is selected (step S6), and it is checked whether the wholesaler of the transfer instruction is the buffer station B1 or B2 (step S7).
【0026】卸し側装置がバッファステーションB1,
B2でなければ、搬送要求リストから該搬送要求を削除
して(ステップS8)、無人搬送車A2に搬送作業を指
示する(ステップS9)。卸し側装置がバッファステー
ションBlである時はバッファステーションBl)に空
き棚があるか(ステップSlO)、故障中であるかをチ
ェックする(ステップSll)。バッファステーション
Blに空き棚があり故障中でもなければ、搬送要求リス
トから該搬送指示を削除して(ステップS8)、無人搬
送車に搬送作業を指示する(ステップS9)。If the wholesaler is a buffer station B1,
If it is not B2, the transfer request is deleted from the transfer request list (step S8), and a transfer operation is instructed to the automatic guided vehicle A2 (step S9). When the wholesaler apparatus is the buffer station Bl, it is checked whether there is an empty shelf in the buffer station Bl) (step SlO) or whether it is out of order (step Sll). If there is no empty shelf in the buffer station Bl and there is no failure, the transfer instruction is deleted from the transfer request list (step S8), and a transfer operation is instructed to the automatic guided vehicle (step S9).
【0027】もし、バッファステーションBlに空き棚
がないもしくは故障中であれば、他に振り替えて搬送可
能なバッファステーションがあるかどうかをチェックす
る(ステップS12)。振り替え可能バッファステーシ
ョンが存在するときは、振り替え可能バッファステーシ
ョンB2を選択して(ステップS13)、選択したバッ
ファステーションB2についても、同様に空き棚がある
か、故障中でないかをチェックしていく(ステップSl
O,Sll)。他に振り替えるバッファステーションが
ないときは搬送指示候補リストから該搬送指示を削除し
て(ステップS14)、削除後にも搬送指示候補リスト
の中に搬送指示があるかどうかをチェックする(ステッ
プS15)。If there is no empty shelf in the buffer station B1 or if there is a failure, it is checked whether there is another buffer station that can be transferred and transferred (step S12). If there is a transferable buffer station, the transferable buffer station B2 is selected (step S13), and the selected buffer station B2 is similarly checked whether there is an empty shelf or not in failure (step S13). Step Sl
O, Sll). If there is no other buffer station to be transferred, the transfer instruction is deleted from the transfer instruction candidate list (step S14), and after the deletion, it is checked whether there is a transfer instruction in the transfer instruction candidate list (step S15).
【0028】まだ、搬送指示候補リストの中に搬送指示
が残っていれば、再度搬送指示候補リストの中から最も
優先度の高い搬送指示を選択する(ステップS6)。搬
送指示候補リストの中に搬送指示がない場合は、無人搬
送車に作業継続の指示をあたえる(ステップS4)。こ
の場合、無人搬送車は次の搬送問い合せポイントを通過
時に再度搬送指示を要求することになる。搬送指示を割
りあてられた無人搬送車は積み点にて積み作業を行い
(ステップS16)、卸し点に向け走行し(ステップS
17)、卸し点にて卸し作業を行う(ステップS1
8)。そして、卸し作業の後、新たな搬送指示を得るた
めに卸し点にて搬送指示要求を行う(ステップS2)。If the transfer instruction still remains in the transfer instruction candidate list, the transfer instruction with the highest priority is selected again from the transfer instruction candidate list (step S6). If there is no transfer instruction in the transfer instruction candidate list, an instruction to continue work is given to the automatic guided vehicle (step S4). In this case, the unmanned transport vehicle requests the transport instruction again when passing through the next transport inquiry point. The unmanned guided vehicle to which the transfer instruction is assigned performs the loading operation at the loading point (step S16), and travels toward the wholesale point (step S16).
17), a wholesale operation is performed at the wholesale point (step S1)
8). Then, after the wholesale operation, a transfer instruction request is made at a wholesale point to obtain a new transfer instruction (step S2).
【0029】[0029]
【発明の効果】請求項1の発明によれば、前記搬送問い
合わせポイントから搬送指示要求を出した無人搬送車に
対して、搬送すべき積み側装置と卸し側装置を指定する
搬送指示を割りあてるので、搬送指示を持たない無人搬
送車に指示を出すことになり、積み側装置にいち早く到
達することができ、効率的な搬送制御が実現できる。According to the first aspect of the present invention, a transfer instruction for designating a loading apparatus and a wholesale apparatus to be transferred is allocated to the automatic guided vehicle that has issued a transfer instruction request from the transfer inquiry point. Therefore, an instruction is issued to an unmanned transport vehicle that does not have a transport instruction, so that the vehicle can reach the loading side device quickly, and efficient transport control can be realized.
【0030】請求項2の発明によれば、搬送問い合せポ
イントに近接した一定区間内の積み側装置を起点とする
搬送指示を行うので、搬送指示要求を出した無人搬送車
が積み側装置にいち早く到達することができ、効率的な
搬送制御が実現できる。According to the second aspect of the present invention, since the transfer instruction is performed starting from the stacking side device within a certain section close to the transfer inquiry point, the automatic guided vehicle that issues the transfer instruction request can promptly send the stacking side device to the stacking side device. And efficient transport control can be realized.
【0031】請求項3の発明によれば、搬送指示の中か
ら、搬送優先度により優先レベルの最も高い搬送指示を
無人搬送車に割りあてるので、積み側装置及び卸し側装
置の搬入待ちや搬出待ちのロスタイムを短縮することが
できる。According to the third aspect of the present invention, among the transfer instructions, the transfer instruction having the highest priority level is assigned to the automatic guided vehicle according to the transfer priority, so that the loading and unloading of the loading and unloading apparatuses is performed. Waiting time can be reduced.
【0032】請求項4の発明によれば、搬送優先度は積
み側装置及び卸し側装置のタクトタイム、仕掛かり量等
に基づき搬送優先度の初期値が決定されているので、積
み側装置及び卸し側装置の搬入待ちや搬出待ちのロスタ
イムを大幅に短縮することができる。According to the fourth aspect of the present invention, since the initial value of the transfer priority is determined based on the tact time, the amount of work in progress, and the like of the loading side device and the unloading side device, It is possible to greatly reduce the time lost in waiting for loading and unloading of the wholesale apparatus.
【0033】請求項5の発明によれば、無人搬送車、積
み側装置及び卸し側装置は、稼働が可能か否かを確認す
る機能を有し、稼働できないときは他の搬送指示に変更
するので、荷物の搬送を遅らせたりすることがなく、効
率的な搬送制御が実現できる。According to the fifth aspect of the present invention, the automatic guided vehicle, the loading side device and the unloading side device have a function of confirming whether or not the operation is possible. Therefore, efficient transport control can be realized without delaying the transport of the load.
【図1】本発明に係る無人搬送車搬制御システムを示す
全体図である。FIG. 1 is an overall view showing an automatic guided vehicle transport control system according to the present invention.
【図2】最寄り積み点テーブルを示す説明図である。FIG. 2 is an explanatory diagram showing a nearest stacking point table.
【図3】搬送優先度テーブルを示す説明図である。FIG. 3 is an explanatory diagram showing a transport priority table.
【図4】搬送要求リストを示す説明図である。FIG. 4 is an explanatory diagram showing a transport request list.
【図5】搬送指示候補リストを示す説明図である。FIG. 5 is an explanatory diagram showing a transfer instruction candidate list.
【図6】無人搬送車への搬送指示方法を説明するための
フローチャートである。FIG. 6 is a flowchart for explaining a method of instructing conveyance to an automatic guided vehicle.
【図7】従来の無人搬送車制御システムの一例を示す全
体図である。FIG. 7 is an overall view showing an example of a conventional automatic guided vehicle control system.
10 搬送制御装置 A1〜A3 無人搬送車 B1,B2 バッファステーション E1〜E4 生産装置 R1〜R3 走行経路 T1〜T6 搬送問い合わせポイント 10 Transport control device A1 to A3 Automatic guided vehicle B1, B2 Buffer station E1 to E4 Production device R1 to R3 Travel route T1 to T6 Transport inquiry point
───────────────────────────────────────────────────── フロントページの続き (72)発明者 山本 博之 兵庫県尼崎市下坂部3丁目11番1号 日立 機電工業株式会社内 (72)発明者 水谷 俊治 兵庫県尼崎市下坂部3丁目11番1号 日立 機電工業株式会社内 Fターム(参考) 3F022 LL11 MM08 MM14 MM27 MM44 MM45 5H301 AA01 AA09 BB05 CC03 CC06 DD01 DD17 EE01 EE18 KK02 KK03 KK04 KK05 KK07 KK08 KK18 KK19 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Hiroyuki Yamamoto 3-11-1, Shimosakabe, Amagasaki City, Hyogo Prefecture Inside Hitachi Kiden Kogyo Co., Ltd. (72) Inventor Shunji Mizutani 3-11-1, Shimosakabe, Amagasaki City, Hyogo Prefecture No. F-term (reference) in Hitachi Kiden Kogyo Co., Ltd. 3F022 LL11 MM08 MM14 MM27 MM44 MM45 5H301 AA01 AA09 BB05 CC03 CC06 DD01 DD17 EE01 EE18 KK02 KK03 KK04 KK05 KK07 KK08 KK18 KK19
Claims (5)
動搬送する複数の無人搬送車と、 該無人搬送車が走行して追い越し可能な走行経路と、 前記無人搬送車が搬送した荷物を積み卸しをする積み側
装置及び卸し側装置と、 走行経路上に設けられ、搬送指示を持たない無人搬送車
が搬送指示要求を行う少なくとも1つ以上の搬送問い合
せポイントと、 前記搬送指示要求に基づいて、前記無人搬送車の走行を
制御する搬送制御装置と、を備え、 前記搬送制御装置は、 前記搬送問い合わせポイントから搬送指示要求を出した
無人搬送車に対して、搬送すべき積み側装置と卸し側装
置を指定する搬送指示を割りあてることを特徴とする無
人搬送車制御システム。1. A plurality of automatic guided vehicles for automatically transporting a package to a destination according to a transport instruction, a traveling route on which the automatic guided vehicle can travel and overtake, and loading and unloading of the package transported by the automatic guided vehicle. A loading side device and a wholesale side device, which are provided on the traveling route, and at least one or more transport inquiry points at which an unmanned guided vehicle having no transport instruction issues a transport instruction request, based on the transport instruction request, A transfer control device that controls the traveling of the automatic guided vehicle, and the transfer control device, for the automatic guided vehicle that has issued a transfer instruction request from the transfer inquiry point, a loading device and a wholesaler to be transferred. An automatic guided vehicle control system characterized by assigning a transfer instruction for designating a device.
ントに近接した一定区間内の積み側装置を起点とする搬
送指示を行うことを特徴とする請求項1記載の無人搬送
車制御システム。2. The automatic guided vehicle control system according to claim 1, wherein the transfer control device issues a transfer instruction starting from a loading side device in a fixed section close to the transfer inquiry point.
記憶しており、該搬送指示の中から、搬送優先度により
優先レベルの最も高い搬送指示を無人搬送車に割りあて
ることを特徴とする請求項1又は2記載の無人搬送車制
御システム。3. The transfer control device according to claim 1, wherein the transfer control device stores necessary transfer instructions, and assigns a transfer instruction having a highest priority level to the automatic guided vehicle from the transfer instructions according to a transfer priority. The automatic guided vehicle control system according to claim 1 or 2, wherein:
側装置のタクトタイム、仕掛かり量に基づき搬送優先度
の初期値が決定されており、搬送指示発行後時間経過と
ともに変化させることを特徴とする請求項3記載の無人
搬送車制御システム。4. The transfer priority, wherein an initial value of the transfer priority is determined based on a tact time and a work-in-progress amount of the loading apparatus and the unloading apparatus, and is changed with the lapse of time after the issuance of the transfer instruction. The automatic guided vehicle control system according to claim 3, wherein:
積み側装置及び卸し側装置の稼働が可能か否かを確認す
る機能を有し、稼働できないときは他の搬送指示に変更
することを特徴とする請求項1乃至4記載の無人搬送車
制御システム。5. The transfer control device according to claim 1, wherein the automatic transfer vehicle includes:
The automatic guided vehicle control system according to any one of claims 1 to 4, further comprising a function of confirming whether or not the loading side device and the unloading side device can be operated, and changing to another transportation instruction when the operation cannot be performed. .
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP33614298A JP3323821B2 (en) | 1998-11-26 | 1998-11-26 | Automatic guided vehicle control system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP33614298A JP3323821B2 (en) | 1998-11-26 | 1998-11-26 | Automatic guided vehicle control system |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2000163126A true JP2000163126A (en) | 2000-06-16 |
JP3323821B2 JP3323821B2 (en) | 2002-09-09 |
Family
ID=18296135
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP33614298A Expired - Fee Related JP3323821B2 (en) | 1998-11-26 | 1998-11-26 | Automatic guided vehicle control system |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP3323821B2 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2011016619A (en) * | 2009-07-08 | 2011-01-27 | Ihi Corp | Carrying device and carrying device control method |
JP2012046309A (en) * | 2010-08-26 | 2012-03-08 | Sumitomo Heavy Ind Ltd | Device and method for managing operation |
JP2023086921A (en) * | 2021-11-24 | 2023-06-22 | 株式会社ダイフク | Article sorting facility |
-
1998
- 1998-11-26 JP JP33614298A patent/JP3323821B2/en not_active Expired - Fee Related
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2011016619A (en) * | 2009-07-08 | 2011-01-27 | Ihi Corp | Carrying device and carrying device control method |
JP2012046309A (en) * | 2010-08-26 | 2012-03-08 | Sumitomo Heavy Ind Ltd | Device and method for managing operation |
JP2023086921A (en) * | 2021-11-24 | 2023-06-22 | 株式会社ダイフク | Article sorting facility |
JP7501724B2 (en) | 2021-11-24 | 2024-06-18 | 株式会社ダイフク | Article sorting equipment |
Also Published As
Publication number | Publication date |
---|---|
JP3323821B2 (en) | 2002-09-09 |
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