JP4457801B2 - Automated guided vehicle operation control system - Google Patents

Description

  The present invention relates to an automatic guided vehicle operation control system for controlling the operation of a plurality of automatic guided vehicles on a predetermined production line.

  As is well known, in production lines such as assembly production lines and processing production lines, for example, automated guided vehicles (hereinafter abbreviated as AGV) are used to convey workpieces to be produced and assembly parts for the workpieces. It is known to use. The AGV usually travels with an electric motor along a guide path set on the floor surface using a mounted battery as a drive source. In the production line using AGV, various work stations are set along the traveling route of AGV, and a worker or an assembly part is loaded on AGV by an operator arranged at each station. Also, the assembled parts loaded are taken out and the work is assembled.

  The travel route of AGV in the production line can be set in various ways. Conventionally, for example, as disclosed in Japanese Patent No. 2809294, a part of the travel route of AGV is branched to be parallel. A mode in which a branch path is set is known. In this mode, an operator is usually placed on each parallel branch path, and each worker performs a predetermined work (such as assembly work) on a single workpiece loaded on the automatic guided vehicle that has entered the branch path. ) Is performed. In recent years, as a production line, in order to produce a plurality of types of workpieces on the same line in response to the diversification of user preferences, a plurality of types of workpieces are loaded on the AGV for each single workpiece, for example, in order of delivery However, there are increasing opportunities to adopt lines (so-called mixed flow lines) that are transported in an irregular order that is not grouped for each type or model, but in particular, when mixed lines are used, there are multiple types. In order to increase the efficiency of the work on the workpiece, a mode in which a plurality of branch paths are set is very useful. In such a mode, conventionally, when each AGV enters the branch path, the AGV is temporarily stopped, and the branch path that is in an empty state after the operation is completed is close to the stop position of the AGV. It was common to choose from.

Patent Publication No. 2809294

  By the way, in a manner in which a plurality of branch routes are set, when each branch route is set as a route having a different travel length, the travel distance of the AGV is different for each branch route. Thus, the power consumption of the battery mounted on the AGV is different. For this reason, when the production line is operated, the power consumption of each AGV inevitably varies. Normally, the capacity of the battery installed in each AGV is set to correspond to the maximum power consumption that can be used when using the AGV, so a battery capacity that greatly exceeds the average power consumption is required for all AGVs. Therefore, an increase in cost is inevitable. Therefore, when branch paths having different travel lengths are set, the branch that becomes the entry destination is set so that the power consumption of the battery is averaged among all AGVs when each AGV enters the branch path. It is preferable to select a route. However, if too much importance is placed on the averaging of power consumption among all AGVs, each AGV will be stopped for a long time until the optimum branch path becomes empty to achieve the averaging of power consumption. There is a possibility that the operation efficiency of the production line will deteriorate due to waiting at the position. Therefore, it is required to select the branch path for each AGV in order to achieve both the average power consumption of the battery among all the AGVs and the shortening of the standby time of each AGV.

  The present invention has been made in view of the above technical problem. When a plurality of branch paths having different travel lengths are set as the travel paths for AGV, the power consumption of the battery among all the AGVs used. It is an object of the present invention to provide an automatic guided vehicle operation control system capable of selecting a branch route on which each AGV should travel while achieving both an average amount and a shortened waiting time.

The invention according to claim 1 of the present application is a production line that travels around a predetermined travel route by a driving force of a battery on which a plurality of automatic guided vehicles for loading and transporting a workpiece are respectively mounted. A plurality of branch paths are set in a part of the travel route, each of which is branched so as to have a different travel length, and in each of which a work area in which the same predetermined work is performed by the worker is set for the workpiece. in the production line, the AGV operation control system for controlling the operation of the automatic guided vehicle to orbit travels the predetermined travel route by selecting one of the plurality of branch routes, the respective AGV A power consumption amount calculating means for calculating a power consumption amount of a battery when each of the automatic guided vehicles travels along the predetermined travel route; and one of the automatic guided vehicles is located before the branch route. At the time of arrival at the bifurcation point, the power consumption calculated by the power consumption calculation means for the automatic guided vehicle arriving at the branch point is higher or lower than the power consumption of all automatic guided vehicles. It is determined that the power consumption amount of the automatic guided vehicle arriving at the branch point by the first comparison means for comparing and determining whether or not there is higher than the power consumption amount of all the automatic guided vehicles. If it is determined that it is lower in the power consumption of all automatic guided vehicles, the branching route with a longer travel length is set. First weighting order setting means for setting the weighting order so that the priority order of the route becomes higher, and the predicted work time predicted to be necessary from the start of the work to the end of the work in the work area of each branch path. seed Predicted work time storage means stored in advance according to the above, an actual work time measurement means for measuring an elapsed time from the time when the work area was stopped as an actual work time, and a predicted work stored by the predicted work time storage means Based on the time and the actual work time measured by the actual work time measuring means, the remaining work time calculating means for calculating the remaining work time until the work is completed in each work area, and the automatic guided vehicle is at the branch point The second comparison means for comparing the remaining work times of the respective work areas calculated by the remaining work time calculation means and determining the work end rank on each branch path, and the second comparison means. Second weighting rank setting means for setting a weighting rank so as to increase the priority of the branch path having a short remaining work time on the basis of the work end rank between the respective branch paths, It is an operation control means that selects the branch route that the automatic guided vehicle that has arrived at the branch point should travel and instructs the automatic guided vehicle, and when one of the automatic guided vehicles arrives at the branch point, A total weighting rank is set by integrating the weighting rank set by the first weighting rank setting means and the weighting rank set by the second weighting rank setting means, and the total weighting rank is set. And an operation control means for selecting a branch route on which the automatic guided vehicle that has arrived at the branch point should travel.

Further, the invention according to claim 2 of the present application is the invention according to claim 1, said first comparing means determines the descending of the power consumption of all the AGV, the AGV arriving at the branch point If the rank is higher than the center, it is determined that the power consumption of the automatic guided vehicle arriving at the branch point is higher than the power consumption of all the automatic guided vehicles. If the rank of the automated guided vehicle that arrives at the branch point is lower than the center, the power consumption of the automated guided vehicle that arrives at the branch point is lower than the power consumption of all automated guided vehicles. It is characterized by judging.

Also, unmanned further, according to the invention of claim 3 of the present application is the invention according to claim 1, said first comparing means for obtaining an average value of the power consumption amounts of all the AGV, we arrived at the branch point When the power consumption of the transport vehicle is equal to or higher than the average value, it is determined that the power consumption of the automatic guided vehicle that has arrived at the branch point is higher than the power consumption of all the automatic transport vehicles. On the other hand, if the power consumption of the automatic guided vehicle arriving at the branch point is less than the average value, the power consumption of the automatic guided vehicle arriving at the branch point is equal to the power consumption of all the automatic guided vehicles. It is characterized in that it is determined to be in the lower order .

Furthermore, in the invention according to claim 4 of the present application, in any one of the inventions according to claims 1 to 3 , the power consumption calculating means is a watt-hour meter mounted on the automatic guided vehicle. It is characterized by.

Furthermore, the invention according to claim 5 of the present application is the invention according to any one of claims 1 to 3, wherein the power consumption calculating means travels on a predetermined travel route in the production line. The power consumption of the automatic guided vehicle is calculated by integrating the amount of power consumed and the number of times of traveling on the predetermined travel route .
The invention according to claim 6 of the present application is the invention according to any one of claims 1 to 3, wherein the power consumption calculating means includes a total travel length of a predetermined travel route in the production line, and the predetermined The power consumption of the automatic guided vehicle is calculated by integrating the power consumption per unit length when traveling on the travel route and the number of times of traveling on the predetermined travel route. It is.
The invention according to claim 7 of the present application is the invention according to any one of claims 1 to 3, wherein the power consumption calculating means travels in the length of a section that is a part of a predetermined travel route and in each section. In this case, the power consumption amount of the automatic guided vehicle is calculated by integrating the power consumption amount per unit length and the number of times of traveling in each section.
The invention according to claim 8 of the present application is the invention according to any one of claims 1 to 3, wherein the power consumption calculating means causes the automatic guided vehicle to travel along a predetermined travel route in the production line. consumption and power, a travel time in the predetermined travel path, by multiplying the number of times the vehicle travels the predetermined travel path, which was characterized by calculating the power consumption of the AGV is there.
The invention according to claim 9 of the present application is the invention according to any one of claims 1 to 3, wherein the power consumption calculation means includes the power consumption per pulse of the pulse motor of the automatic guided vehicle, The power consumption amount of the automatic guided vehicle is calculated by integrating the integrated pulse value of the pulse motor.
The invention according to claim 10 of the present application is the power consumption calculation unit according to any one of claims 1 to 3, wherein the power consumption calculation means calculates the power consumption per driving time of the automatic guided vehicle and the total of the driving time. The power consumption amount of the automatic guided vehicle is calculated by integrating the values.

Furthermore, the invention according to claim 11 of the present application is the work assembly part according to any one of claims 1 to 10 , wherein the automatic guided vehicle is assembled to a work loaded on the automatic guided vehicle. It is characterized by having a parts shelf for storing the.

  According to the invention according to claim 1 of the present application, the power consumption is averaged among all the AGVs in the production line, the capacity of the battery mounted on each AGV can be suppressed, and the cost can be reduced. It is. In addition, since the power consumption is averaged, the maintenance of each battery is facilitated. Further, as the power consumption is averaged, the time required for charging each battery is averaged, so that it is possible to avoid an increase in the time during which the AGV stops and waits during charging.

In addition, according to the invention according to claim 1 of the present application, in addition to averaging the power consumption of the automatic guided vehicle, the unmanned transport can be performed in consideration of the remaining work time in the work area set on each branch path. It is possible to shorten the waiting time of the car and improve the operation efficiency of the production line.

Furthermore, according to the invention according to claim 2 of the present application, the magnitude relationship between the power consumption amounts can be easily determined based on the determination result whether the power consumption amount of each automatic guided vehicle is higher or lower than the center in descending order. Judgment can be made.

Furthermore, according to the invention according to claim 3 of the present application, the magnitude relation of the power consumption is determined based on the determination result of whether the power consumption of each automatic guided vehicle is equal to or greater than the average value or less than the average value. It can be easily judged.

Furthermore, according to the invention of claim 4 of the present application, the power consumption of the automatic guided vehicle can be easily obtained using the watt-hour meter.

Furthermore, according to the invention according to any one of claims 5 to 10, the power consumption amount of the automatic guided vehicle can be easily obtained based on the total travel distance, the travel distance for each travel section, or the travel time. Can do.

Furthermore, according to the invention according to claim 11 of the present application, the operator can take out the work assembly part stored in the parts shelf and assemble it to the work loaded on the automatic guided vehicle. Work efficiency can be realized.

  Embodiments of the present invention will be described below with reference to the accompanying drawings. In this embodiment, as an assembly line system (hereinafter referred to as an assembly line) using an automatic guided vehicle (hereinafter referred to as AGV), a plurality of types of workpieces (for example, an instrument panel of a vehicle) are provided for each single workpiece. A mixed flow line that is loaded on the AGV 10 and transported and assembled in an irregular order that is not grouped by type or model, such as in order of delivery date, is taken up.

  FIG. 1 is a diagram showing a layout of an assembly line using an AGV according to an embodiment of the present invention. The assembly line 1 basically includes a transfer station 20, first to third component picking stations 30, 40, 50, a component assembly station 60, and an automatic charging station 70. In this assembly line 1, a magnetic guide path 9 for guiding the AGV 10 is provided on the floor surface so as to define a travel path for the AGV 10 to sequentially pass through each station in the direction indicated by the arrow D.

  In the transfer station 20, prior to the start of the AGV 10, a jig 120 (see FIG. 3A) for fixing a workpiece handled in the assembly line 1 is automatically loaded on the AGV 10, while the AGV 10 in the assembly line 1 is loaded. After one round, the jig 120 to which the completed workpiece is fixed is automatically taken out from the AGV 10. As such a loading and unloading mechanism, conveyors 21A and 21B and lifting lifts 22A and 22B are provided. The conveyors 21 </ b> A and 21 </ b> B deliver the AGV 10 once stopped on the magnetic guide path 9 and the jig 120, and convey the jig 120 in a direction perpendicular to the traveling direction of the AGV 10. On the other hand, the lifts 22A and 22B transfer the conveyors 21A and 21B and the jig 120, respectively, and convey the jig 120 between the floor where the assembly line 1 shown in FIG. 1 is installed and a different floor. To do.

  Although not particularly illustrated, in this embodiment, an assembly line (not shown) for the main body of the vehicle is installed on a floor different from the floor on which the assembly line 1 is installed (for example, a lower floor or an upper floor). The lifting lifts 22A and 22B convey the jig 120 in a non-stacked state and the jig 120 to which the completed workpiece is fixed between the assembly line for the main body and the assembly line 1 for the workpiece. To do.

In the first to third component picking stations 30, 40, and 50, shelves 31, 41, and 51 in which various assembly components for work are stored are installed along the magnetic guide path 9 that guides the AGV 10, respectively. Yes. Workers 39, 49, and 59 at the stations 30, 40, and 50 take out predetermined assembly parts from the shelves 31, 41, and 51 when passing through the AGV 10, and the parts shelves 102f and 102r provided on the AGV 10 side (see FIG. 2). In the present embodiment, heater parts, cooler parts, steering shafts, ducts, ABS (anti-lock brake system) parts, accessories, and the like are stored in the shelf 31 of the first part picking station 30 as assembly parts for the workpiece. The shelf 41 of the second part picking station 40 stores hood parts, meter parts, audio equipment parts, center panels, hecon parts, control switch parts, and the like. The shelf 51 stores harness parts and the like. In addition, a work (for example, an instrument panel main body) 52 is prepared in the third picking station 50, and an operator 59 in this station 50 removes the harness component taken out from the shelf 51 when passing through the AGV 10 into the component shelf 102f, While supplying to 102r, the workpiece | work 52 is fixed with respect to the jig | tool 120 loaded on AGV10.
In addition, these assembly parts are only examples, and when assembling an instrument panel of a different vehicle type or when assembling objects other than the instrument panel, the other assembly parts are the parts picking stations 30, 40, It is stored in 50 shelves 31, 41, 51.

  In each component picking station 30, 40, 50, an ID reading unit 32, 42, 52 is installed in the vicinity of the station entrance. These ID reading units 32, 42, 52 are provided corresponding to the ID writable ID storage unit 107 (see FIG. 2) mounted in each AGV 10, and the information written in the ID storage unit 107 is stored in the ID reading unit 32, 42, 52. Can be read. Correspondingly, in this assembly line 1, the ID writing unit 2 for writing information to the ID storage unit 107 is upstream of the component picking station 30 (here, in the vicinity of the downstream side of the transfer station 20). is set up. The ID writing unit 2 writes production information such as assembly parts necessary for assembling a work corresponding to a predetermined vehicle type in the ID storage unit 107 mounted on the AGV 10, while the ID reading units 32, 42, 52 Reads the production information written in the ID storage unit 107 when the AGV 10 passes. In each of the component picking stations 30, 40, 50, the assembly components to be supplied to the component shelves 102f, 102r on the AGV 10 side are determined based on the production information read by the ID reading units 32, 42, 52 as described above. The In the present embodiment, a lamp (not shown) is attached to each shelf 31, 41, 51 of each component picking station 30, 40, 50, and an assembly component to be supplied to the component shelves 102f, 102r on the AGV 10 side is determined. Accordingly, the lamps of the shelves 31, 41, 51 in which the assembled parts are stored are turned on, so that the workers 39, 49, 59 can quickly find the necessary assembled parts. It can be grasped and taken out from the shelves 31, 41, 51 efficiently.

Next, at the parts assembly station 60, the assembly parts stored in the parts shelves 102f and 102r are sequentially taken out and assembled to the work by the worker, thereby completing the work. In this component assembly station 60, work efficiency for a plurality of types of workpieces in the assembly line 1 forming a mixed flow line is improved, and the magnetic guide path 9 is branched, and a plurality (four in this case) of branch paths parallel to each other. 62A, 62B, 62C, and 62D are set to have different running lengths. Between the travel lengths L _A , L _B , L _C and L _D at the parts assembly station 60 when passing through the branch paths 62A, 62B, 62C and 62D,
L _A <L _B <L _C <L _D
There is a big and small relationship.

  Further, work positions are set on the branch paths 62A, 62B, 62C, and 62D, and workers 69A, 69B, 69C, and 69D are arranged at the respective positions. When the AGV 10 that has entered the branch paths 62A, 62B, 62C, and 62D is stopped at the work position, the workers 69A, 69B, 69C, and 69D are assembled from the parts shelves 102f and 102r (see FIG. 2) of the AGV 10. The components are sequentially taken out and assembled to the instrument panel main body 52 fixed in advance to the AGV 10. Here, the assembly work of the assembly parts with respect to a single workpiece is performed by one worker without being shared by a plurality of workers.

  Further, in the automatic charging station 70, the battery 110 (see FIG. 3A) mounted on the AGV 10 that has passed through the transfer station 20, the component picking stations 30, 40, 50 and the component assembly station 60 described above is connected to the magnetic induction path 9. It is charged by the charging device installed along. The charging device includes a charger 71 that supplies power to the battery 110 mounted on the AGV 10, and a charge control panel 72 that controls power supply from the charger 71 to the battery 110. In this assembly line 1, two charging devices are installed along one magnetic induction path 9 for AGV 10. However, the present invention is not limited to this, and only one or three or more charging devices are provided. It may be provided. Alternatively, the magnetic guiding path 9 may be provided in parallel, and one charging device may be installed for each of the guiding paths that are parallel to each other.

  In the assembly line 1, address plates 8u and 8d are provided on the upstream side and the downstream side of each station in the traveling direction of the AGV 10 to indicate the start position and end position in each station, respectively. As will be described later with reference to FIGS. 2 and 3 as the configuration mounted on the AGV 10, the address plate detection sensor 106 for detecting the address plates 8u and 8d is provided in the AGV 10 corresponding to the address plates 8u and 8d. Yes. When the AGV 10 travels, the address plate detection sensor 106 detects the address plates 8u and 8d, whereby the position of the AGV 10 in the assembly line 1 is specified.

  In the assembly line 1 shown in FIG. 1, the address plates 8 u and 8 d are provided in the vicinity of the magnetic guiding path 9. However, if the address plate detection sensor 106 of each AGV 10 can detect the magnetic guiding path 9. It may be provided at any position such as above. In addition to the address plates 8u and 8d provided at the start and end positions in each station, for example, an address plate 65a representing the working position of the AGV 10 in the component assembly station is used as the address plate for indicating the position in the assembly line 1. , 65b, 65c, 65d and branching instruction address plates 62a, 62b, 62c, 62d, etc. at the branching positions of the branching paths, address plates indicating a predetermined position between the start position and the end position at each station, Alternatively, an address plate that indicates a predetermined position between different stations may be provided.

  Further, in this assembly line 1, together with the information processing terminals 5 and 6 (see FIG. 2), an AGV central control panel 3 constituting a control system for managing and controlling the entire line is installed. This control system basically grasps the status of each component based on information acquired by communication with each component including the AGV 10 and controls the assembly line 1 to function efficiently. FIG. 2 is a diagram schematically showing a control system including the AGV central control panel 3 and the information terminals 5 and 6, and the AGV 10 controlled thereby. The AGV central control panel 3 is attached to the main body for data transmission / reception with each AGV 10, and has an antenna 3 a for communicating with the AGV 10 traveling in the vicinity of the control panel 3. It is connected to a wireless device 4 for communicating with the AGV 10 that travels far away.

  As shown in FIG. 2, the wireless device 4 has three antennas 4A, 4B, and 4C, and each of the antennas 4A, 4B, and 4C has a plurality of AGVs 10 used in the assembly line 1, respectively. Any one of the three groups thus allocated is assigned, and the antennas 4A, 4B, and 4C are used for communication with the AGV 10 belonging to each group. In this assembly line 1, a total of 14 AGVs 10 assigned predetermined numbers are employed. For example, the antenna 4A includes AGVs 1 to 5, the antenna 4B includes AGVs 6 to 10, and AGVs 11-14 are assigned to the antenna 4C, and communication is performed between the corresponding antennas 4A-4C and ACVs 1-14.

  The AGV central control panel 3 communicates with the components such as the AGV 10 and the ID reading units 32, 42, and 52 via the antenna 3a or the antennas 4A to 4C of the wireless device 4 to detect the position and operating status of each AGV 10 and each component. In order to obtain information such as parts stock status at the picking stations 30, 40, 50, and then to make the assembly line 1 function efficiently, it is automatically performed for each component based on a predetermined control program as necessary. Is given an operation instruction. As one of the operation instructions of the AGV central control panel 3, when each AGV 10 enters the parts assembly station 60, the AGV 10 indicates a branch path to be selected. Details of control for selecting a branch path performed between the AGV 10 and the AGV central control panel 3 (hereinafter referred to as branch path selection control) will be described later.

  In addition to the method in which the AGV central control panel 3 gives an operation instruction based on a predetermined control program, the operation instruction is obtained by communication between the AGV central control panel 3 and each component. Various types of information are presented to the administrator of the assembly line 1 via the information processing terminals 5 and 6, and in response to this, the administrator instructs the components in the assembly line 1 to operate via the information processing terminals 5 and 6 Can also be given.

  Next, the detailed configuration of the AGV 10 will be described with reference to FIGS. 3A, 3B, and 3C together with FIG. 3A to 3C are a side view, a plan view, and a front view of the AGV 10, respectively. The left side of FIGS. 3A and 3B corresponds to the front side of the AGV 10, and FIG. 3C shows the front surface of the AGV 10. The AGV 10 includes a main body 101 that extends in the front-rear direction along the traveling direction. On the main body 101, various assembly parts supplied from the first to third part picking stations 30, 40, and 50 are stored. Parts shelves 102f and 102r are provided on the front side and the rear side, respectively. On the front part shelf 102f, for example, an information display monitor 103 for displaying various types of information including vehicle type information, total work time, elapsed time such as work time for each work station, and work contents is installed. On the rear component shelf 102r, an antenna 104 for communicating with the AGV central control panel 3 is attached.

  Between the front and rear component shelves 102f and 102r on the main body 101, a space for loading the jig 120 for fixing the instrument panel to be assembled is secured. In FIG. 3A, the jig | tool 120 loaded with respect to this space is shown with a virtual line. An anti-back unit 121 is attached to the space on the main body 101 in order to prevent the loaded jig 120 from sliding down.

  Further, as a driving means of the AGV 10, one steering front wheel 109f and a pair of driving rear wheels 109r are provided on the back surface side of the main body 101 facing the floor surface. A motor (not shown) for driving the wheel 109r and a battery 110 for supplying motor driving power are mounted. The battery 110 also supplies power to components other than the motor that consumes power.

  Further, an obstacle sensor 108 for detecting an obstacle existing in front of the AGV 10 is provided on the front side surface of the main body 101, and is disposed below the obstacle sensor 108. A bumper 114 extending in the width direction is attached. In the unlikely event that the bumper 114 comes into contact with an obstacle, traveling speed control may be performed so that the AGV 10 is immediately stopped.

  Furthermore, as shown in FIG. 2, a magnetic induction sensor 105 for detecting a magnetic tape constituting the guide path 9 is provided on the side surface of the main body 101. Further, on the side surface of the main body 101, in order to grasp the position of each AGV 10 in the assembly line 1, the address plate for detecting the address plates 8u and 8d provided at the start position and the end position of each work station. A detection sensor 106 and an ID storage unit 107 in which production information such as a vehicle type and an assembly part to be assembled can be written / rewritten are provided. As shown in FIG. 3A, for example, when the AGV 10 is stopped at the transfer station 20, the parts assembly station 60, and the automatic charging station 70, the position of the side surface of the main body 101 is detected. Optical transmitter 112 used for communication between the fixed position stop sensor 111 and the loading and unloading mechanisms (conveyors 21A and 21B) in the transfer station 20, and power supply on the charger 71 side when charging at the automatic charging station 70 And an automatic charging electrode 113 that is brought into contact with the electrode for use.

  Further, as a means for representing the operation state of the AGV 10, as shown in FIG. 3A, one operation indicator lamp 115 representing the operation state of the AGV 10 by its lighting mode is easily visible to surrounding workers. , Disposed on the front side of the AGV 10. Further, a pair of direction indicator lamps 116 are provided on the left and right sides of the operation indicator lamp 115 to indicate the traveling direction of the AGV 10 depending on the lighting style or combination of lighting.

  Further, in the AGV 10, an operation unit 117 having a travel start button 118a, an emergency stop button 118b, and a travel stop button 118c faces the worker side so that it can be easily operated by the worker at each work station. It is arranged. The travel start button 118a is a button for causing the AGV 10 to start from a state where it has been started but stopped to enter a travel state. The emergency stop button 118b is a button for immediately stopping the AGV 10 from the state in which it is traveling. Further, the travel stop button 118c is a button for stopping the AGV 10 from a state in which the AGV 10 is traveling and stopping the AGV 10 in an operable state. Further, although not particularly illustrated, the AGV 10 is provided with an AGV operation switch for starting the AGV 10 from a state where the AGV 10 is not started, that is, a state where various sensors and circuit configurations are not functioning. When this switch is turned on, the AGV 10 enters a standby state before driving. In the AGV 10, in order to ensure safety in an emergency, in addition to the operation unit 117 described above, for example, when trouble occurs in the assembly line 1 and it is necessary to stop the AGV 10, not only the actual worker but also the AGV 10 An emergency stop button 118b is provided on the front side surface and the rear side surface of the AGV 10 so that a person around the vehicle can easily stop the AGV 10.

  In addition, a control unit 119 for controlling each component installed in the AGV 10 is mounted inside the main body 101. The control unit 119 controls each component equipped in the AGV 10, and acquires position information in the assembly line 1 from the address plates 8u and 8d detected by the address plate detection sensor 106, for example. A signal corresponding to the information is transmitted from the antenna 104 to the AGV central control panel 3 or the wireless device 4, production information written in the ID storage unit 107 is acquired, and the signal corresponding to the production information is displayed on the information display monitor 103. To output. For example, the control unit 119 starts the AGV 10 when the start button 118a is turned on, and immediately stops the AGV 10 when the stop button 118b is turned on. Further, the control unit 119 performs steering control on the steering front wheels 109f so that the detection state of the guide path 9 by the magnetic induction sensor 105 is maintained so that the AGV 10 travels along the guide path 9.

  Furthermore, the control unit 119 controls driving means such as a motor (not shown) and the battery 110 according to various states in the assembly line 1 to control the traveling speed of the AGV 10. Basically, the control unit 119 controls the driving means so that the AGV 10 travels at a constant traveling speed. For example, when an obstacle is detected by the obstacle sensor 108, the AGV 10 is decelerated or stopped. The drive means is controlled so that

  In the present embodiment, when the control unit 119 further enters the component assembly station 60 of the AGV 10, the power consumption of the battery 110 mounted on the AGV 10 is averaged and the branch paths 62A to 62A to Reduce the waiting time when entering 62D, cooperate with the AGV central control panel 3 while communicating, and the AGV 10 travels based on conditions such as the power consumption of the AGV 10 and the remaining work time in each branch path Branch route selection control for selecting one of the branch routes 62A, 62B, 62C, and 62D as a route to be performed is performed.

  FIG. 4 shows the parts assembly station 60 in which the branch path selection control is executed in more detail. In the component assembling station 60, the start position and end position specified by the address plates 8u and 8d are set, and the work positions specified by the address plates 65a to 65d are set on the branch paths 62A to 62D, and the work Before and after the position, buffer positions (front buffer position and rear buffer position) specified by the address plates 64a to 64d and 66a to 66d are set. Each AGV 10 identifies its own location by detecting address plates 64a to 64d, 65a to 65d, and 66a to 66d provided at the front buffer position, the working position, and the rear buffer position, respectively. Stop.

At the work position, the AGV 10 is stopped, and the workers 69A to 69D perform the work of assembling the assembly parts similarly loaded on the AGV 10 to the work loaded on the AGV 10, and the work is assembled. In the state shown in FIG. 4, the AGV 10 is stopped at the work positions in all the branch paths 62A to 62D. Further, at the front buffer position, when the assembly work for another AGV 10 is being performed at the downstream work position, the AGV 10 stops and waits until the work position becomes empty. In the state shown in FIG. 4, the AGV 10 stands by at the previous buffer position set on the branch path 62C. Furthermore, at the rear buffer position, the AGV 10 stops and waits so that the AGV 10 is smoothly sent from each branch route to the common travel route 9 without interfering with the AGV 10 on the other branch routes. In the state shown in FIG. 4, the AGV 10 stands by at the rear buffer position set on the branch path 62B.
If the other AGV 10 is not stopped at the work position, the AGV 10 is advanced to the work position without stopping at the previous buffer position. Similarly, the AGV 10 interferes with the AGV 10 in other branch paths. When there is no concern, the vehicle travels without stopping at the rear buffer position.

  The branch path selection control is started when each AGV 10 reaches the start position in the component assembly station 60 and detects the address plate 8u. This branch path selection control is performed between the AGV central control panel 3 and the AGV 10 based on the following three selection conditions. In the branch path selection control, a branch path for which the AGV 10 is not waiting at the previous buffer position is treated as a selection target at the time when the branch path selection control is executed. Will be described as an example in which all the branch paths 62A to 62D are treated as selection targets.

First, as one of the selection conditions, the magnitude relationship of the amount of power of the battery 10 (the amount of power consumed in each branch path) consumed when the AGV 10 passes through each branch path is used. As described above, the travel length when passing through the branch paths 62A, 62B, 62C, 62D (strictly, from the start position where the address plate 8u is set in the parts assembly station 60 to the end position where the address plate 8d is set) The travel length of L _A , L _B , L _C , and L _D
L _A <L _B <L _C <L _D
There is a big and small relationship. The amount of power consumed by the battery 110 mounted on the AGV 10 is proportional to the travel length, and the amount of power P _A , P _B , P _C , P _D consumed when passing through the branch paths 62A, 62B, 62C, 62D. In between
P _A <P _B <P _C <P _D
There is a big and small relationship. In this embodiment, as one of the selection conditions, the magnitude relationship of the power consumption in each branch path is determined, the power consumption is averaged among a plurality of AGVs 10, and basically, the branch path is selected. For AGV10 having a relatively large amount of power consumption, a branch path having a short travel length is selected in order to secure the amount of power of battery 110, while for AGV10 having a relatively small amount of power consumption, A branch route having a long travel length is selected.

Further, as one of the selection conditions, the remaining time (hereinafter referred to as the remaining work time) T _A , T _B , T _C , T _D at the work position set on each branch path is estimated. To estimate the work time remaining in each AGV 10, the predicted operation time for each type of workpiece to be loaded thereto (hereinafter, referred to as the predicted operation time) T _x is stored. Specifically, on the downstream side of the transfer station 20, the type of the work is determined based on the production information written by the ID writing unit 2 in the ID storage unit 107 mounted on the AGV 10, and the prediction work corresponding to the type is performed. The time T _x is stored in the control unit 119. To approximate the working time remaining, in addition to the predicted operation time T _x, actual operation time T _y on each branch path is measured. Specifically, the address plates 65a to 65d set on the branch path are detected by the AGV 10, and the elapsed time from when the AGV 10 is stopped at the work position is measured by a timer (not shown).
Based on the predicted work time T _x and the actual work time T _y acquired as described above, the remaining work times T _A , T _B , T _C , and T _D on the branch paths 62A, 62B, 62C, and 62D are expressed as T _x. It is estimated as -T _y.

  Furthermore, as one of the selection conditions, the magnitude relationship (order) of the power consumption of the AGV 10 that is the branch path selection target with respect to the power consumption of all the AGVs 10 operating in the assembly line 1 is determined. More specifically, it is determined whether the power consumption of the AGV 10 that is a branch path selection target is higher or lower than the center in the whole. In the present embodiment, when all 14 ADVs 10 are operating and the power consumption of the AGV 10 that is a branch path selection target is in the first to seventh ranks, it is higher than the center (that is, all the AGVs 10 On the other hand, when it is in the 8th to 14th ranks, it is determined that the power consumption is lower than the center (that is, the power consumption is smaller among all the AGVs 10).

Subsequently, several embodiments in which a branch route is selected based on the selection condition will be described.
Example 1
First, the magnitude relationship between the remaining work times T _A , T _B , T _C , and T _D on the branch paths 62A, 62B, 62C, and 62D
_{T C <T A <T D} <T B
, The weighting coefficient Tf [i] for the rank until the end of work (hereinafter referred to as work end rank) is
Tf [i] = Tf [62A, 62B, 62C, 62D]
= Tf [2,4,1,3]
Is set.

In addition, when it is determined that the power consumption of the AGV 10 that is the branch path selection target is higher than the center, that is, the power consumption of the AGV 10 is relatively large among all the AGVs 10, the power consumption of the battery 110 is secured. Therefore, since it is desirable to select a branch route with a short travel length, the weighting coefficient Cs [i] for the priority in selecting a branch route based on the ascending order of the travel length is
Cs [i] = Cs [62A, 62B, 62C, 62D]
= Cs [1,2,3,4]
Is set.

Then, the weighting coefficient Tf [i] for the work end order and the weighting coefficient Cs [i] for the branch path selection order based on the power consumption are integrated, and the overall priority order for selecting the branch path. A coefficient Cp [i] for is calculated.
Cp [i] = Cp [2 × 1, 4 × 2, 1 × 3, 3 × 4]
= Cp [2,8,3,12]
That is, the priority order for selecting the branch paths 62A, 62B, 62C, and 62D is 62A → 62C → 62B → 62D. Based on this result, the branch path 62A is selected as the branch path on which the AGV 10 as the branch path selection target should travel.

On the other hand, if it is determined that the power consumption of the AGV 10 that is the branch path selection target is lower than the center, that is, the power consumption of the entire AGV 10 is smaller, the branch path having a long travel length is determined. Since it is desirable that the weighting coefficient Cs [i] for the branch route selection order is based on the descending order of the travel length,
Cs [i] = Cs [62A, 62B, 62C, 62D]
= Cs [4, 3, 2, 1]
Is set.

Then, the weighting coefficient Tf [i] for the work end order and the weighting coefficient Cs [i] for the branch path selection order are integrated, and the coefficient Cp [ i] is calculated.
Cp [i] = Cp [2 × 4, 4 × 3, 1 × 2, 3 × 1]
= Cp [8, 12, 2, 3]
That is, the priority order for selecting the branch route is 62C → 62D → 62A → 62B. Based on this result, the branch path 62C is selected as the branch path on which the AGV 10 as the branch path selection target should travel.

(Example 2)
In the first embodiment, as one of the selection conditions, it is determined whether the power consumption of the AGV 10 that is a branch path selection target is higher or lower than the center among all the AGVs 10. The average value of the power consumption of all the AGVs 10 may be obtained, and it may be determined whether the power consumption of each AGV 10 is equal to or greater than the average value. Other selection conditions (the amount of power consumed by the battery 10 when the AGV 10 passes through each branch path and the remaining work time at the work position set on each branch path) are the same as in the above-described embodiment. It is the same.

First, the magnitude relationship between the remaining work times T _A , T _B , T _C , and T _D on each branch path is
_{T C <T A <T D} <T B
, The weighting coefficient Tf [i] for the work end rank is
Tf [i] = Tf [62A, 62B, 62C, 62D]
= Tf [2,4,1,3]
It becomes.

Subsequently, when it is determined that the power consumption of the AGV 10 that is the branch path selection target is equal to or greater than the average value of the power consumption of all the AGVs 10, a branch path with a short travel length is set so that the power consumption is as small as possible. Since it is desirable that the weighting coefficient Cs [i] for the branch route selection order is based on the ascending order of the travel length,
Cs [i] = Cs [62A, 62B, 62C, 62D]
= Cs [1,2,3,4]
It becomes.

Then, the weighting coefficient Tf [i] for the work end order and the weighting coefficient Cs [i] for the branch path selection order based on the power consumption are integrated, and the overall priority order for selecting the branch path. A coefficient Cp [i] for is calculated.
Cp [i] = Cp [2 × 1, 4 × 2, 1 × 3, 3 × 4]
= Cp [2,8,3,12]
That is, the priority order for selecting the branch paths 62A, 62B, 62C, and 62D is 62A → 62C → 62B → 62D. Based on this result, the branch path 62A is selected as the branch path on which the AGV 10 as the branch path selection target should travel.

On the other hand, when it is determined that the power consumption of the AGV10 that is the branch path selection target is less than the average value of the power consumption of all the AGV10, it is desirable to select a branch path having a long travel length. Based on the descending order of travel length, the weighting coefficient Cs [i] for the branch route selection order is:
Cs [i] = Cs [62A, 62B, 62C, 62D]
= Cs [4, 3, 2, 1]
It becomes.

Then, the weighting coefficient Tf [i] for the work end order and the weighting coefficient Cs [i] for the branch path selection order based on the power consumption are integrated, and the overall priority order for selecting the branch path. A coefficient Cp [i] for is calculated.
Cp [i] = Cp [2 × 4, 4 × 3, 1 × 2, 3 × 1]
= Cp [8, 12, 2, 3]
That is, the priority order for selecting the branch paths 62A, 62B, 62C, 62D is 62C → 62D → 62A → 62B. Based on this result, the branch path 62C is selected as the branch path on which the AGV 10 as the branch path selection target should travel.

  FIG. 5 shows a flowchart of the branch path selection control process common to the first and second embodiments, which is executed by the control unit 119 on the AGV 10 side. First, when the AGV 10 starts, it is determined whether or not the AGV 10 is activated (# 11). As a result, if it is determined that the AGV 10 is not activated, # 11 is repeated again, while the AGV 10 is If it is determined that it has been activated, then AGV 10 is started (# 12).

  Thereafter, whether or not the travel route has arrived at an address for branching into a plurality of branch routes 62A, 62B, 62C, 62D, that is, an address for inquiring the branch route to be selected to the AGV central control panel 3, It is determined whether or not the address plate 8u representing the start position of the component assembly station 60 has been detected (# 13). As a result, if it is determined that the address plate 8u has not been detected, the process proceeds to # 22. On the other hand, if it is determined that the address plate 8u has been detected, the AGV 10 is immediately stopped (# 14).

  After the AGV 10 is stopped, the power consumption of the battery 110 mounted on the AGV 10 is calculated (# 15). Thereafter, information indicating the power consumption calculated in # 15 is incorporated in the message transmitted to inquire the AGV central control panel 3 about the branch path to be selected (# 16), and the message is transmitted to the AGV center. It is transmitted to the control panel 3 (# 17). In the present embodiment, the message transmitted to the AGV central control panel 3 includes the information indicating the amount of power consumption and the identification ID of the AGV 10 that is the transmission source of the message (in this embodiment, in the units 1 to 14). Identifiers indicating which one is), position information based on the address plate 8u, and the like are included. However, the present invention is not limited to this, and any information is included as long as it is various information useful for selecting a branch path. May be.

  It is determined whether or not a telegram indicating the branch path to be selected returned from the AGV central board 3 is received (# 18). As a result, if it is determined that a telegram has not been received, # 18 is repeated and, on the other hand, if it is determined that the message has been received, the traveling condition of the AGV 10 (for example, a branch route to be selected) is set based on the information included in the received message. (# 19) After various conditions for integrating the power consumption (for example, the power consumption rate in the selected branch path) are set (# 20), the AGV 10 is started (# 21). Thereafter, it is determined whether or not the AGV 10 has been stopped. As a result, if it is determined that the AGV 10 has not been stopped, the process returns to # 11 and the subsequent steps are repeated. On the other hand, if it is determined that the AGV 10 has been stopped, the processing is immediately terminated. The process is thus completed.

  On the other hand, FIG. 6 shows a flowchart of the branch path selection control process performed on the AGV central control panel 10 side corresponding to the branch path selection control process on the AGV 10 side shown in FIG. First, it is determined whether or not the AGV central control panel 3 is activated when the AGV 10 is operated (# 31). As a result, when it is determined that the AGV central control panel 10 is not activated, # 31 is repeated again. On the other hand, if it is determined that the AGV central control panel 10 has been activated, the calculation requirements for the power consumption of each AGV 10 are set (# 32). Various methods A1 to A7 and B1 to B5, which will be described later, can be used to calculate the power consumption. Here, calculation requirements used when these various methods are used (for example, AGV10 is a predetermined value). The power consumption rate when traveling on a route) is set. Further, a branch route selection condition (for example, a left turn instruction at the address plate 62b) to be instructed to the AGV 10 is set (# 33).

  Thereafter, it is determined whether or not a telegram including information on an inquiry about a travel route to be selected by the AGV 10 has been received from the AGV 10 (# 34), and as a result, it is determined that a telegram has not been received. Then, # 34 is repeated again. On the other hand, if it is determined that a message has been received, the power consumption of each AGV 10 is calculated (# 35), and the priority order for the AGV 10 to select the branch paths 62A, 62B, 62C, 62D is determined. Determined (# 36). Information indicating the branch route to be adopted based on the determined priority order is set so as to be included in the message transmitted to AGV 10 (# 37).

  Thereafter, the electronic message created in # 37 is transmitted to the inquiry source AGV10 (# 38). Then, it is determined whether or not the AGV is stopped (# 39). As a result, when it is determined that the operation of the AGV 10 is not stopped, the process returns to # 34 and the subsequent steps are repeated. On the other hand, when it is determined that the operation of the AGV 10 has been stopped, the process is immediately terminated.

  As described above, in the assembly line 1, the AGV 10 has arrived at a predetermined position (in this embodiment, the start position of the component assembly station 60) before branching into a plurality of branch paths each having a different travel length. At that time, in response to inquiring of the AGV central control panel 3 about the branch path to be selected, the AGV central control panel 3 shortens the waiting time until each AGV 10 enters the branch path and all the AGVs 10. Averaging power consumption is averaged, an appropriate branch path is obtained, and this is instructed to the AGV 10. Thereby, the capacity | capacitance of the battery 110 mounted in each AGV10 can be suppressed, and cost reduction is possible.

  In addition, since the power consumption of each AGV 10 is averaged, the maintenance of the battery 110 mounted on each AGV 10 is facilitated. In this case, since the time required for charging each battery 110 is further averaged, in the automatic charging station 70, it is avoided that the charging operation of the specific AGV 10 is prolonged, and accordingly, each AGV 10 performs charging. Therefore, it is possible to avoid lengthening the waiting time and to improve the operation efficiency of the production line.

  In the branch path selection control described above, the power consumption amount of each AGV 10 is calculated to determine whether it is higher or lower than the center of the rank of all AGVs 10, but there are various calculation methods. Can be adopted. Hereinafter, examples A1 to A7 in which the power consumption amount is individually calculated in each AGV 10 will be described.

(A1)
A watt-hour meter (not shown) is attached to the AGV 10, and an integrated value q ₁ [Wh] of the power consumption measured by the watt-hour meter is taken into the control unit 119 and integrated, whereby the total power consumption Q ₀ is calculated. That is,
Total power consumption Q ₀ = Σq ₁ [Wh]

(A2)
The control unit 119, together with the amount of power q ₂ consumed is stored in advance when traveling a predetermined path in the assembly line 1, the number n ₁ that travels each path is sequentially stored, they are integrated Thus, the total power consumption Q ₀ at each time point is calculated. That is,
Total power consumption Q ₀ = Σ (q ₂ [Wh] × n ₁ )

(A3)
The control unit 119 causes the total travel length l ₁ [m] of a predetermined route in the assembly line 1 and the power consumption (power consumption rate) r ₁ [Wh / m] per unit length when traveling on each route. ] Is stored in advance, and the number of times n ₁ traveled on each route is sequentially stored, and the total power consumption Q ₀ is calculated by integrating them. That is,
Total power consumption Q ₀ = Σ (l ₁ [m] × r ₁ [Wh / m] × n ₁ )
When the power consumption rate r ₁ [Wh / m] is different for each route, the relative power consumption ratio for the power consumption rate of each route is obtained in advance as a correction coefficient based on the power consumption rate of an arbitrary route. The travel length of each AGV 10 is corrected with this correction coefficient.

(A4)
The control unit 119, the length of the segment that is part of the predetermined path (the section length) l _2, the power consumption per unit length in the case of traveling the respective sections (power consumption rate) r 2 _[Wh / m] is stored in advance, and the number of times of traveling in each section (section travel count) n ₂ is sequentially stored, and the total power consumption Q ₀ is calculated by adding them. That is,
Total power consumption Q ₀ = Σ (l ₂ [m] × r ₂ [Wh / m] × n ₂ )
When the power consumption rate r ₂ [Wh / m] is different for each route, the relative power consumption ratio for the power consumption rate of each route is obtained in advance as a correction coefficient based on the power consumption rate of an arbitrary route. In addition, the number of times of traveling of each AGV 10 is corrected with this correction coefficient.

(A5)
The control unit 119 stores power consumption p ₁ [W] when the AGV 10 travels along a predetermined route in the assembly line 1 in advance and travels along the travel time t ₁ [h] in each route and each route. The total number of times n ₁ is stored in succession and integrated to calculate the total power consumption Q ₀ . That is,
Total power consumption Q ₀ = Σ (t ₁ [h] × p ₁ [W] × n ₁ )

(A6)
The control unit 119 pre-stores power consumption (power consumption rate) r ₃ [Wh / pulse] per movement amount pulse of the AGV 10 (that is, one pulse of the pulse motor), and an integrated value I _{1 of the} movement amount pulse. [Pulse] is sequentially stored and integrated to calculate the total power consumption Q ₀ . That is,
Total power consumption Q ₀ = r ₃ [Wh / pulse] × I ₁ [pulse]
When the power consumption rate r ₃ [Wh / pulse] is different for each route, the relative power consumption ratio for the power consumption rate of each route is obtained in advance as a correction coefficient based on the power consumption rate of an arbitrary route. In addition, the integrated value of the movement amount pulse of each AGV 10 is corrected with this correction coefficient.

(A7)
The control unit 119 stores the power consumption (power consumption rate) r ₄ [Wh / min] per travel time of the AGV 10 in advance, and the travel time integrated value T ₁ is sequentially stored and integrated. Thus, the total power consumption Q ₀ is calculated. That is,
Total power consumption Q ₀ = r ₄ [Wh / min] × T ₁ [min]
When the power consumption rate r ₄ [Wh / min] is different for each path, the relative power consumption ratio for the power consumption rate of each path is obtained in advance as a correction coefficient based on the power consumption rate of an arbitrary path. The accumulated value of the travel time of each AGV 10 is corrected with this correction coefficient.

  The example in which the power consumption amount is estimated on the AGV 10 side has been described above, but the power consumption amount may be estimated on the AGV central control panel 3 side without being limited thereto. Hereinafter, examples B1 to B5 in which the power consumption of each AGV 10 is calculated by the AGV central control panel 3 will be described.

(B1)
A watt-hour meter (not shown) is attached to each AGV 10, and the integrated value q ₁ [Wh] of the power consumption measured by the watt-hour meter is taken into the control unit 119 of the AGV 10, for example, at the center of the AGV every round. It is transmitted to the control panel 3. The AGV central control panel 3, the stored integration value q _1, which has been transmitted sequentially by the integrated value q ₁ is integrated, total power consumption Q ₀ is integrated. That is,
Total power consumption Q ₀ = Σq ₁ [Wh]

(B2)
In the AGV central control panel 3, the total travel length l ₁ [m] of a predetermined route in the assembly line 1 and the power consumption (power consumption rate) r ₁ [Wh] per unit length when traveling on each route. / M] is stored in advance, and the number of times n ₃ instructed to the AGV 10 for selection of each divided path is sequentially stored, and the total power consumption Q ₀ is calculated by adding them. That is,
Total power consumption Q ₀ = Σ (l ₁ [m] × r ₁ [Wh / m] × n ₃ )

(B3)
In AGV central control panel 3, the length of the segment that is part of the predetermined path (the section length) l _2, is stored in advance and the power consumption rate r _{2 [Wh} / m] at the time of traveling each section At the same time, the number of times n ₄ instructed to the AGV 10 for selection of each section is sequentially stored, and these are integrated to calculate the total power consumption Q ₀ . That is,
Total power consumption Q ₀ = Σ (l ₂ [m] × r ₂ [Wh / m] × n ₄ )

(B4)
In the AGV central control panel 3, the power consumption rate r ₃ [Wh / pulse] per movement pulse (that is, one pulse of the pulse motor) of the AGV 10 and the control unit 119 of the AGV 10 are taken in and transmitted every round. The accumulated value I ₁ [pulse] of the movement amount pulse is stored, and the total power consumption Q ₀ is calculated by integrating them.
Total power consumption Q ₀ = r ₃ [Wh / pulse] × I ₁ [pulse]

(B5)
The power consumption rate r ₄ [Wh / min] per travel time of the AGV ₁₀ and the integrated value T ₁ of the travel time of the AGV 10 that is taken into the control unit 119 of the AGV 10 and transmitted every round are stored. by being integrated, total power consumption Q ₀ is calculated. That is,
Total power consumption Q ₀ = r ₄ [Wh / min] × T ₁ [min]

  It should be noted that the present invention is not limited to the illustrated embodiments, and it goes without saying that various improvements and design changes can be made without departing from the scope of the present invention.

  In the above-described embodiment, the branch path is set only in the component assembly station 60. However, the present invention is not limited to this, and the branch path may be set in another station such as the automatic charging station 70, for example. Also in this case, the same effects as described above can be achieved by performing branch path selection control between the AGV central control panel 3 and the AGV 10 in the same manner as in the above-described embodiment. In calculating the power consumption of each AGV 10, the work load may be taken into consideration.

It is a figure which shows the layout of the assembly line system using AGV which concerns on embodiment of this invention. It is a figure which shows schematically the control system which consists of AGV central control panel and an information terminal, and AGV controlled by it. It is a side view of AGV. It is a top view of AGV. It is a front view of AGV. It is a figure which shows a components assembly station in detail. It is a flowchart about the branch route selection control performed by the AGV side. It is a flowchart about the branch route selection control performed by the AGV central control panel side.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Assembly line 2 ... ID writing unit 3 ... AGV central control panel 8u, 8d ... Address plate 10 ... AGV
DESCRIPTION OF SYMBOLS 20 ... Transfer station 30, 40, 50 ... Parts picking station 32, 42, 52 ... ID reading unit 60 ... Parts assembly station 70 ... Automatic charge station 39, 49, 59, 69A, 69B, 69C, 69D ... Worker 64a 64b, 64c, 64d ... front buffer position address plates 65a, 65b, 65c, 65d ... work position address plates 66a, 66b, 66c, 66d ... rear buffer position address plates 101 ... AGV main body 102f, 102r ... parts shelf DESCRIPTION OF SYMBOLS 103 ... Information display monitor 104 ... Antenna 105 ... Magnetic induction sensor 106 ... Address plate detection sensor 107 ... ID memory | storage part 108 ... Obstacle sensor 110 ... Battery 119 ... Control unit

Claims (11)

A production line that travels along a predetermined travel route by a driving force of a battery on which a plurality of automatic guided vehicles for loading and transporting workpieces is mounted, and a part of the predetermined travel route is traveling the length is branched differently, given the same work by the operator against the workpiece more at the production line the branch path is set to the work area is set done each of said plurality of branches through In the automatic guided vehicle operation control system for controlling the operation of the automatic guided vehicle so as to go around the predetermined traveling route by selecting any of the roads,
A power consumption amount calculating means for calculating a power consumption amount of a battery when each of the automatic guided vehicles travels along the predetermined travel route for each of the automatic guided vehicles;
When one of the automatic guided vehicles arrives at the branch point before the branch path, the power consumption calculated by the power consumption calculating means for the automatic guided vehicle that has arrived at the branch point is the total automatic guided vehicle. First comparison means for comparing and determining whether the power consumption amount is higher or lower than
If it is determined by the first comparison means that the power consumption of the automatic guided vehicle that has arrived at the branch point is higher than the power consumption of all the automatic guided vehicles, priority is given to the branch route with a short travel length. While setting the weighting order so that the rank is higher, if it is determined that it is lower in the power consumption of all automatic guided vehicles, set the weighting order so that the priority of the branch route with a longer travel length is higher First weighting order setting means for
Predicted work time storage means for storing in advance the predicted work time predicted to be necessary from the work start to the work end in the work area of each branch path according to the type of the work;
An actual work time measuring means for measuring an elapsed time from the time when the work area is stopped as an actual work time;
Based on the predicted work time stored by the predicted work time storage means and the actual work time measured by the actual work time measurement means, the remaining work time for calculating the remaining work time until the work is completed in each work area. A calculation means;
Second comparing means for comparing the remaining work times of the respective work areas calculated by the remaining work time calculating means at the time when the automatic guided vehicle arrives at the branch point to obtain a work end rank on each branch route; ,
Second weighting order setting means for setting the weighting order so that the priority order of the branch path having a short remaining work time becomes higher based on the work end order between the respective branch paths obtained by the second comparing means;
An operation control means for selecting a branch route on which the automatic guided vehicle that has arrived at the branch point should travel and instructing the automatic guided vehicle when one of the automatic guided vehicles arrives at the branch point. The total weighting rank is set by integrating the weighting rank set by the first weighting rank setting means and the weighting rank set by the second weighting rank setting means, and the total weighting rank is set. And an operation control means for selecting a branch route on which the automated guided vehicle that has arrived at the branch point should travel.   The first comparison means obtains the descending order of the power consumption of all the automatic guided vehicles, and when the order of the automatic guided vehicles that have arrived at the branch point is higher than the center, the unmanned that has arrived at the branch point When it is judged that the power consumption of the transport vehicle is higher in the power consumption of all the automatic guided vehicles, and on the other hand, when the rank of the automatic transport vehicle that arrives at the branch point is lower than the center, 2. The automatic guided vehicle operation control system according to claim 1, wherein it is determined that the power consumption amount of the automatic guided vehicle arriving at the branch point is lower than the power consumption amount of all the automatic guided vehicles.   The first comparing means obtains an average value of the power consumption of all the automatic guided vehicles, and when the power consumption of the automatic guided vehicle that has arrived at the branch point is equal to or greater than the average value, the first comparison unit arrives at the branch point. It is determined that the power consumption of the automated guided vehicle is higher than the power consumption of all the automated guided vehicles. On the other hand, the power consumption of the automated guided vehicle arriving at the branch point is less than the average value. 2. The automatic guided vehicle according to claim 1, wherein the power consumption of the automatic guided vehicle that has arrived at the branch point is determined to be lower than the power consumption of all the automatic guided vehicles. Navigation control system.   The automatic guided vehicle operation control system according to any one of claims 1 to 3, wherein the power consumption calculating means is a watt hour meter installed in the automatic guided vehicle.   The power consumption calculating means integrates the amount of power consumed when traveling on a predetermined travel route in the production line and the number of times of traveling on the predetermined travel route, thereby The automatic guided vehicle operation control system according to any one of claims 1 to 3, wherein the power consumption is calculated.   The power consumption amount calculation means travels along the predetermined travel route, the total travel length of the predetermined travel route in the production line, the power consumption per unit length when traveling on the predetermined travel route, and the predetermined travel route. The automatic guided vehicle operation control system according to any one of claims 1 to 3, wherein the power consumption of the automatic guided vehicle is calculated by integrating the number of times of the automatic guided vehicle.   The power consumption calculating means integrates the length of a section that is a part of a predetermined travel route, the power consumption per unit length when traveling in each section, and the number of times of traveling in each section. The automatic guided vehicle operation control system according to any one of claims 1 to 3, wherein the power consumption of the automatic guided vehicle is calculated.   The power consumption calculation means travels the power consumption when the automatic guided vehicle travels on a predetermined travel route in the production line, the travel time on the predetermined travel route, and the predetermined travel route. The automatic guided vehicle operation control system according to any one of claims 1 to 3, wherein the power consumption of the automatic guided vehicle is calculated by integrating the number of times.   The power consumption calculation means calculates the power consumption of the automatic guided vehicle by integrating the power consumption per pulse of the pulse motor of the automatic guided vehicle and the integrated value of the pulse of the pulse motor. The automatic guided vehicle operation control system according to any one of claims 1 to 3.   The power consumption calculation means calculates the power consumption of the automatic guided vehicle by integrating the power consumption per travel time of the automatic guided vehicle and the integrated value of the travel time. The automatic guided vehicle operation control system according to any one of claims 1 to 3.   The said unmanned conveyance vehicle is equipped with the components shelf which accommodates the workpiece | work assembly | attachment components assembled | attached to the workpiece | work loaded on this automatic guided vehicle, The unmanned one of Claims 1-10 characterized by the above-mentioned. Transport vehicle operation control system.

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