JP7804874B2 - Transport work system, transport robot control device, and control method for transport work system - Google Patents

Description

This disclosure relates to a transportation work system, etc.

Conventionally, transport systems that control transport robots to transport items are known. Patent Document 1 discloses a component mounting system that includes a self-propelled component supply device that transports components stored in a component storage device to a component mounting line, and a management computer that controls the self-propelled component supply device.

Japanese Patent Application Laid-Open No. 2017-216379

Here, if the transport robot control device that controls multiple transport robots and the work management device that manages the work to be performed by the multiple transport robots are separate entities, the work management device will not be able to understand the status of the transport work performed by the multiple transport robots, will not be able to efficiently issue work instructions to the multiple transport robots, and will not be able to efficiently transport goods.

Therefore, the present disclosure provides a transport work system, etc. that can transport items efficiently.

A transport work system according to one aspect of the present disclosure includes a plurality of transport robots that perform work to transport items, a transport robot control device that controls the plurality of transport robots, and a work management device capable of communicating with the transport robot control device. The work management device has a request sending unit that sends a request to the transport robot control device to cause it to send a response including information about at least one of the plurality of transport robots, and a work instruction unit that sends a work instruction to the transport robot control device to cause one of the at least one transport robot to perform the work based on the information about the at least one transport robot included in the response. The transport robot control device has a request reply unit that sends the response to the work management device in response to the request sent from the request sending unit, and a work command unit that causes one of the at least one transport robot to perform the work based on the work instruction sent from the work instruction unit.

A work management device according to one aspect of the present disclosure is a work management device capable of communicating with a transport robot control device that controls multiple transport robots that perform work to transport items, and includes a request sending unit that sends a request to the transport robot control device to cause it to send a response including information about at least one of the multiple transport robots, and a work instruction unit that sends a work instruction to the transport robot control device to cause one of the at least one transport robot to perform the work based on the information about the at least one transport robot included in the response.

A transport robot control device according to one aspect of the present disclosure is a transport robot control device that controls multiple transport robots that perform work to transport items, and a work management device capable of communicating with the transport robot control device has a request sending unit that sends a request to the transport robot control device to cause it to send a response including information about at least one of the multiple transport robots, and a work instruction unit that sends a work instruction to the transport robot control device to cause one of the at least one transport robot to perform the work based on the information about the at least one transport robot included in the response, and is equipped with a request reply unit that sends the response to the work management device in response to the request sent from the request sending unit, and a work command unit that causes one of the at least one transport robot to perform the work based on the work instruction sent from the work instruction unit.

A control method for a transport system according to one aspect of the present disclosure is a control method for a transport work system including a plurality of transport robots that perform work to transport items, a transport robot control device that controls the plurality of transport robots, and a work management device capable of communicating with the transport robot control device, wherein the work management device sends a request to the transport robot control device to cause a response including information about at least one of the plurality of transport robots, and based on the information about the at least one transport robot included in the response, sends a work instruction to the transport robot control device to cause one of the at least one transport robot to perform the work, and the transport robot control device sends the response to the work management device in response to the request sent from the work management device, and causes one of the at least one transport robot to perform the work based on the work instruction sent from the work management device.

These comprehensive or specific aspects may be realized as a system, method, integrated circuit, computer program, or computer-readable recording medium such as a CD-ROM, or as any combination of a system, method, integrated circuit, computer program, and recording medium. The recording medium may also be a non-transitory recording medium.

The conveying work system disclosed herein can efficiently transport items.

Further advantages and effects of one aspect of the present disclosure will become apparent from the specification and drawings. While such advantages and/or effects are provided by some embodiments and features described in the specification and drawings, not all of them necessarily need to be provided in order to obtain one or more identical features.

FIG. 1 is a diagram illustrating an example of the configuration of a transport operation system according to an embodiment. FIG. 2 is a block diagram showing an example of the functional configuration of the transport operation system of FIG. FIG. 3 is a flowchart showing an example of the operation of the transport operation system of FIG. FIG. 4 is a flowchart showing another example of the operation of the transport operation system of FIG.

In order to solve the above-mentioned problems, a transport work system according to one embodiment of the present disclosure comprises a plurality of transport robots that perform work to transport items, a transport robot control device that controls the plurality of transport robots, and a work management device capable of communicating with the transport robot control device, wherein the work management device has a request sending unit that sends a request to the transport robot control device to cause it to send a response including information about at least one of the plurality of transport robots, and a work instruction unit that sends a work instruction to the transport robot control device to cause one of the at least one transport robot to perform the work based on the information about the at least one transport robot included in the response, and the transport robot control device has a request reply unit that sends the reply to the work management device in response to the request sent from the request sending unit, and a work command unit that causes one of the at least one transport robot to perform the work based on the work instruction sent from the work instruction unit.

This allows the work management device to obtain information about at least one of the multiple transport robots by sending a request to the transport robot control device. In other words, rather than waiting for the information to be sent unilaterally from the transport robot control device, the work management device can have the transport robot control device send the information by sending a request. This allows the work management device to efficiently obtain the information and efficiently send work instructions based on that information, thereby allowing for efficient transport of items.

In addition, in a transport work system, the request may indicate that the task should be performed by one of the multiple transport robots.

This allows the work management device to more reliably obtain information about any of the multiple transport robots.

In addition, in the transport work system, the work management device may further have a condition suitability determination unit that determines whether or not there is a first transport robot among the at least one transport robot that meets the first condition for the transport robot performing the work, based on information about the at least one transport robot included in the response.

This makes it possible to determine whether a first transport robot that meets the first condition exists. If a first transport robot exists, the first transport robot can be made to perform the task. For example, it is possible to determine whether a transport robot suitable for performing the task exists, and if a transport robot suitable for performing the task exists, the transport robot can be made to perform the task, thereby allowing items to be transported more efficiently.

In addition, in the transport work system, the work management device may further have a transport robot selection unit that selects one first transport robot from among the multiple first transport robots to perform the work when the condition suitability determination unit determines that multiple first transport robots exist.

This allows one first transport robot to be selected from among multiple first transport robots to perform a task. For example, it is possible to select the first transport robot that is best suited to perform a task from among multiple first transport robots and have that first transport robot perform the task, thereby allowing for more efficient transport of items.

Furthermore, in a transport work system, the information of the at least one transport robot may include information on the time at which each of the at least one transport robot can start the work, and the first condition may be a condition that the time at which the work can be started is a time before the deadline for starting the work.

This allows a transport robot among multiple transport robots whose available time to start work is before the deadline to start work to be assigned to carry out the work. In other words, a transport robot that can start work before the deadline to start work can be assigned to carry out the work, thereby preventing delays in the transport of goods and allowing goods to be transported more efficiently.

Furthermore, in the transport work system, the request may include a second condition for the transport robot that will perform the work, and the transport robot control device may further have a transport robot extraction unit that extracts a second transport robot from the plurality of transport robots that meets the second condition, and the information on the at least one transport robot may include information on the second transport robot.

This allows a second transport robot that meets the second condition to be extracted, and information about the second transport robot to be sent to the work management device. The second transport robot can then be made to perform the work. For example, a transport robot suitable for performing the work can be extracted, and the transport robot can be made to perform the work, allowing items to be transported more efficiently.

In addition, in the transport work system, the work management device may further have a transport robot selection unit that, when there are multiple second transport robots, selects one second transport robot from among the multiple second transport robots to perform the work.

This allows one second transport robot to be selected from among multiple second transport robots to perform a task. For example, it is possible to select the second transport robot that is best suited to perform a task from among multiple second transport robots and have that second transport robot perform the task, thereby allowing items to be transported more efficiently.

In addition, in a transport work system, the second condition is that the time at which the work can be started is before the deadline for starting the work, and the transport robot extraction unit may extract the second transport robot based on information about the time at which each of the multiple transport robots can start the work.

This allows a transport robot among multiple transport robots whose available time to start work is before the deadline to start work to be assigned to carry out the work. In other words, a transport robot that can start work before the deadline to start work can be assigned to carry out the work, thereby preventing delays in the transport of goods and allowing goods to be transported more efficiently.

In addition, in the transport work system, the transport robot control device may further have a memory unit that stores status information of the multiple transport robots, and the request response unit may refer to the status information and transmit the response to the work management device.

As a result, since status information for multiple transport robots is stored, the request response unit can efficiently reference this status information without having to obtain it from multiple transport robots, and can efficiently send responses to the work management device, allowing items to be transported even more efficiently.

In addition, in a transport work system, the information on at least one transport robot may preferentially include information on a waiting transport robot among the plurality of transport robots, and if there is no waiting transport robot, may include information on a transport robot currently performing the work.

This makes it easier for transport robots that are not currently performing work and are waiting to perform the work, thereby preventing delays in the transport of items and allowing for more efficient transport of items.

In addition, in the transport work system, each of the multiple transport robots may be an automated guided vehicle (AGV).

This makes it easy to operate multiple transport robots autonomously, allowing goods to be transported more efficiently.

In addition, in the transport work system, each of the multiple transport robots may be an autonomous mobile transport robot (AMR).

This allows each of the multiple transport robots to easily move autonomously, making it possible to transport items more efficiently.

In addition, in order to solve the above-mentioned problems, a work management device according to one embodiment of the present disclosure is a work management device capable of communicating with a transport robot control device that controls multiple transport robots that perform work to transport items, and includes a request sending unit that sends a request to the transport robot control device to cause it to send a response including information about at least one of the multiple transport robots, and a work instruction unit that sends a work instruction to the transport robot control device to cause one of the at least one transport robot to perform the work based on the information about the at least one transport robot included in the response.

This achieves the same effects as the above-mentioned transportation work system.

In addition, in order to solve the above-mentioned problems, a transport robot control device according to one embodiment of the present disclosure is a transport robot control device that controls multiple transport robots that perform work to transport items, and a work management device capable of communicating with the transport robot control device has a request sending unit that sends a request to the transport robot control device to cause it to send a response including information about at least one of the multiple transport robots, and a work instruction unit that sends a work instruction to the transport robot control device to cause one of the at least one transport robot to perform the work based on the information about the at least one transport robot included in the response, and is equipped with a request reply unit that sends the response to the work management device in response to the request sent from the request sending unit, and a work command unit that causes one of the at least one transport robot to perform the work based on the work instruction sent from the work instruction unit.

This achieves the same effects as the above-mentioned transportation work system.

In addition, in order to solve the above-mentioned problems, a transport robot work control method according to one embodiment of the present disclosure is a control method for a transport work system including a plurality of transport robots that perform work to transport items, a transport robot control device that controls the plurality of transport robots, and a work management device that can communicate with the transport robot control device, wherein the work management device sends a request to the transport robot control device to cause it to send a response including information about at least one of the plurality of transport robots, and based on the information about the at least one transport robot included in the response, sends a work instruction to the transport robot control device to cause one of the at least one transport robot to perform the work, and the transport robot control device sends the response to the work management device in response to the request sent from the work management device, and causes one of the at least one transport robot to perform the work based on the work instruction sent from the work management device.

This achieves the same effects as the above-mentioned transportation work system.

The following describes the embodiments in detail with reference to the drawings.

The embodiments described below are all comprehensive or specific examples. The numerical values, shapes, materials, components, component placement and connection configurations, steps, and step order shown in the following embodiments are merely examples and are not intended to limit the present disclosure. Furthermore, among the components in the following embodiments, components that are not described in the independent claims that represent the highest concept are described as optional components.

Furthermore, each figure is a schematic diagram and is not necessarily an exact illustration. Furthermore, the same components are designated by the same reference numerals in each figure.

(Embodiment)
1 is a diagram showing an example of the configuration of a transport operation system 10 according to the present embodiment. With reference to FIG. 1, an example of the configuration of the transport operation system 10 will be described.

As shown in Figure 1, the transport work system 10 in this embodiment includes a work management device 12, a transport robot control device 14, multiple transport robots 16, multiple supply units 18, an item stock section 20, a worker instruction terminal 22, and a mounting line system 24.

The work management device 12 is a device that manages transport work, which is the work of transporting items, and is positioned so that it can communicate with the transport robot control device 14. For example, the items are components that constitute part of the products produced in the mounting line system 24, or containers that house such components. In this embodiment, the items are cassette boxes that house components to be mounted on boards in the mounting line system 24. The work management device 12 does not communicate directly with the multiple transport robots 16, but instead obtains information about the multiple transport robots 16 from the transport robot control device 14. The work management device 12 manages the transport work performed by the multiple transport robots 16 based on the information obtained from the transport robot control device 14.

The transport robot control device 14 is a device that controls the multiple transport robots 16 and is positioned in a position where it can communicate with each of the multiple transport robots 16. The transport robot control device 14, together with the multiple transport robots 16, etc., constitutes a fleet management system (FMS). The transport robot control device 14 is a device separate from the work management device 12. The transport robot control device 14 transmits information obtained from the multiple transport robots 16 to the work management device 12, and causes the multiple transport robots 16 to perform transport work based on work instructions from the work management device 12.

Each of the multiple transport robots 16 is a robot that performs transport tasks, and performs transport tasks based on commands from the transport robot control device 14. In this embodiment, each of the multiple transport robots 16 transports items using a supply unit 18. Specifically, each of the multiple transport robots 16 couples to a supply unit 18 on which an item is loaded, and transports the item by towing and moving the supply unit 18. When not performing transport tasks, each of the multiple transport robots 16 waits in a waiting area A1. In this embodiment, each of the multiple transport robots 16 is an automated guided vehicle (AGV).

Each of the multiple supply units 18 is a unit used for transport operations by the transport robot 16, is capable of loading items, and is connectable to the transport robot 16. In this embodiment, each of the multiple supply units 18 supplies tape-like materials stored in a cassette box to the destination mounting line system 24. When not being used for transport operations, each of the multiple supply units 18 waits in the preparation area A2.

The item stock section 20 stocks items to be transported by the transport robot 16 and is located adjacent to the preparation area A2. The item stock section 20 stocks multiple items. For example, the item stock section 20 may be a shelf, etc.

The worker instruction terminal 22 is a terminal for giving instructions to the worker 1 and is capable of communicating with the transport robot control device 14. For example, when the transport robot 16 performs a transport task, instructions are issued from the transport robot control device 14 to the worker 1 via the worker instruction terminal 22, and the worker 1 who received the instruction loads items stocked in the item stock section 20 onto the supply unit 18. Note that, for example, the transport robot 16 or the like, rather than the worker 1, may load items stocked in the item stock section 20 onto the supply unit 18. For example, the worker instruction terminal 22 is a mobile terminal such as a smartphone or tablet.

The mounting line system 24 is a production system that produces products using components transported by the transport robot 16. In this embodiment, the products are mounted boards, and the mounting line system 24 cuts out components from tape-like materials stored in cassette boxes transported by the transport robot 16 and mounts the components on the boards to produce the mounted boards. The mounting line system 24 includes multiple production lines L1 to L3, each of which produces a mounted board.

The above describes an example of the configuration of the transportation work system 10.

Figure 2 is a block diagram showing an example of the functional configuration of the transport work system 10 of Figure 1. With reference to Figure 2, an example of the functional configuration of the transport work system 10 will be described.

As shown in FIG. 2, the transport work system 10 further includes a production plan memory unit 26. The production plan memory unit 26, the work management device 12, the transport robot control device 14, the worker instruction terminal 22, and the mounting line system 24 are communicatively connected via a wired or wireless network.

The production plan memory unit 26 stores production plan information related to the production plan for products to be produced by the mounting line system 24. For example, the production plan information includes information indicating the type of product, the number of products to be produced, information on the parts that make up the product, the scheduled start time of production, and the scheduled end time of production. For example, the production plan memory unit 26 is realized by a memory or the like.

The work management device 12 has a work information generation unit 28, a request transmission unit 30, a condition suitability determination unit 32, a transport robot selection unit 34, a cancellation unit 36, and a work instruction unit 38. For example, the work management device 12 is realized by a processor, memory, etc.

The work information generation unit 28 generates work information related to the transport work to be performed by the multiple transport robots 16 based on the production plan information. The work information is information indicating the content of the transport work, and includes, for example, information indicating the type of item to be transported, the quantity of items to be transported, the scheduled start time of the transport work (deadline for starting the transport work), the scheduled end time of the transport work (deadline for finishing the transport work), and the destination of the items.

The request sending unit 30 sends a first request or a second request to the transport robot control device 14 to cause it to send a response including information about at least one transport robot 16 out of the multiple transport robots 16. For example, the information is execution information regarding the execution of transport work by at least one transport robot 16 out of the multiple transport robots 16. For example, the execution information includes information indicating the execution status, such as whether the transport work is being performed or is on standby, information indicating the reservation status, information indicating the period during which the transport work can be performed, and information indicating the time when the transport work can be started.

The first request is a request indicating that a task is to be performed by one of the multiple transport robots 16. In other words, the first request is a request to transmit a response including information about at least one of the multiple transport robots 16, and is a request indicating that a transport task is to be performed by one of the multiple transport robots 16. The second request is a request including a second condition for the transport robot that will perform the transport task. In this embodiment, the second condition is a condition that the time at which the transport task can be started is before the deadline for starting the transport task.

In addition, the request sending unit 30 sends a reservation request to the transport robot control device 14 to reserve a transport robot 16 from among the multiple transport robots 16 to perform the transport work.

Based on the information about at least one transport robot 16 included in the response from the transport robot control device 14, the condition suitability determination unit 32 determines whether there is a first transport robot among the at least one transport robot 16 that satisfies the first condition for the transport robot performing the work. In this embodiment, the first condition is that the time at which the transport work can be started is a time before the deadline for starting the transport work. For example, the time at which the transport work can be started is the time at which the transport robot 16 can start moving from a standby state in the standby area A1. In other words, for a transport robot 16 currently performing a transport work, this is the time at which the transport robot 16 can start moving again after returning to the standby area A1.

When the condition suitability determination unit 32 determines that there are multiple first transport robots, the transport robot selection unit 34 selects one first transport robot from among the multiple first transport robots to perform the transport work. Furthermore, when there are multiple second transport robots extracted by the transport robot extraction unit 42, the transport robot selection unit 34 selects one second transport robot from among the multiple second transport robots to perform the transport work. The second transport robot will be described later.

The cancellation unit 36 sends a cancellation request to the transport robot control device 14 to cancel the reservation of the transport robot 16 that has been reserved based on the reservation request.

The work instruction unit 38 transmits a work instruction to the transport robot control device 14 to have one of the at least one transport robots 16 perform a transport task based on the information about at least one transport robot 16 included in the response from the transport robot control device 14. In this embodiment, the work instruction unit 38 transmits a work instruction to the reserved transport robot 16 to perform a transport task based on the information about at least one transport robot 16 included in the response from the transport robot control device 14.

The transport robot control device 14 has a request response unit 40, a transport robot extraction unit 42, a status information update unit 44, a memory unit 46, a work command unit 48, and a wireless communication unit 50. For example, the transport robot control device 14 is realized by a processor, memory, etc.

In response to a request transmitted from the request transmission unit 30, the request response unit 40 transmits a response to the work management device 12 that includes information about at least one of the multiple transport robots 16. For example, when a first request is transmitted from the request transmission unit 30, the request response unit 40 transmits a response that includes information about one of the multiple transport robots 16. Specifically, when a first request is transmitted from the request transmission unit 30, the request response unit 40 transmits a response that includes information about a standby transport robot 16 among the multiple transport robots 16. Furthermore, when a second request is transmitted from the request transmission unit 30, the request response unit 40 transmits a response that includes information about a second transport robot 16 extracted by the transport robot extraction unit 42 from the multiple transport robots 16.

The transport robot extraction unit 42 extracts a second transport robot that meets a second condition from among the multiple transport robots 16. In this embodiment, the transport robot extraction unit 42 extracts the second transport robot based on information about the time at which each of the multiple transport robots 16 is able to start transport work.

The status information update unit 44 updates the status information of the multiple transport robots 16. For example, the status information includes the identification number of each of the multiple transport robots 16 and the execution information of each of the multiple transport robots 16.

The memory unit 46 stores status information, etc. When the status information of multiple transport robots 16 is updated by the status information update unit 44, the memory unit 46 stores the updated status information.

The work command unit 48 causes one of the multiple transport robots 16 to perform the transport work based on the work instruction sent from the work instruction unit 38. In this embodiment, the work command unit 48 sends a command to a transport robot 16 that has been reserved in advance among the multiple transport robots 16 to perform the transport work.

The wireless communication unit 50 is a communication module for wireless communication between the transport robot control device 14 and each of the multiple transport robots 16.

The above describes an example of the functional configuration of the transportation work system 10.

Figure 3 is a flowchart showing an example of the operation of the transport work system 10 of Figure 1. With reference to Figure 3, an example of the operation of the transport work system 10 will be described.

As shown in FIG. 3, first, the work management device 12 generates work information (step S1). For example, the work information generation unit 28 calculates, based on production plan information, which items should be transported, when, to which production line, and in what quantities, and generates work information including this information.

After generating the work information, the work management device 12 sends a first request (simple request) to the transport robot control device 14 (step S2).

When the transport robot control device 14 receives the first request from the work management device 12, it references the status information of the multiple transport robots 16 (step S3) and sends a response including information about at least one of the multiple transport robots 16 to the work management device 12 (step S4). In one example of this operation, the request reply unit 40 sends a response including the identification number (robot ID) of each of the multiple transport robots 16 and the time when each of the multiple transport robots 16 can start transport work.

When the work management device 12 receives a response from the transport robot control device 14, it determines, based on the response, whether or not there is a first transport robot among the multiple transport robots 16 that meets the first condition (step S5). As described above, in this embodiment, the first condition is that the time at which the transport work can be started is before the deadline for starting the transport work. The condition suitability determination unit 32 determines that a first transport robot exists if there is a transport robot 16 among the multiple transport robots 16 that can start the transport work before the deadline for starting the transport work. On the other hand, the work management device 12 determines that a first transport robot does not exist if there is no transport robot 16 among the multiple transport robots 16 that can start the transport work before the deadline for starting the transport work.

If the first transport robot does not exist (No in step S5), the work management device 12 deletes the generated work information (step S6) and instructs the worker 1 to transport the item (step S7). In other words, if the first transport robot does not exist, the worker 1 performs the transport work instead of the multiple transport robots 16.

If a first transport robot is present (Yes in step S5), the work management device 12 selects a first transport robot to perform the transport task (step S8). For example, if there are multiple first transport robots, the transport robot selection unit 34 selects a first transport robot to perform the transport task from among the multiple first transport robots. For example, the transport robot selection unit 34 selects, among the multiple first transport robots, the first transport robot that can start the transport task the earliest or the first transport robot with the most remaining battery power as the first transport robot to perform the transport task. Also, for example, if there is one first transport robot, the transport robot selection unit 34 selects that one first transport robot as the first transport robot to perform the transport task.

After selecting the first transport robot to perform the transport work, the work management device 12 sends a reservation request to the transport robot control device 14 to reserve the first transport robot to perform the transport work (step S9).

When the transport robot control device 14 receives a reservation request from the work management device 12, it reserves the first transport robot indicated in the reservation request and updates the status information of the first transport robot (step S10). For example, the status information update unit 44 updates information indicating the reservation status of the first transport robot selected by the transport robot selection unit 34.

After sending the reservation request, the work management device 12 sends a work instruction to have the first transport robot reserved by the reservation request perform the transport work (step S11). For example, the work instruction includes work information indicating the content of the transport work to be performed by the first transport robot.

When the transport robot control device 14 receives a work instruction from the work management device 12, it causes the reserved first transport robot to perform the transport work (step S12). For example, the work command unit 48 sends a command to the reserved first transport robot, causing the first transport robot to perform the transport work. Upon receiving the command, the first transport robot performs the transport work based on the work information.

When the transport robot control device 14 causes the first transport robot to perform the transport task, it updates the status information of the first transport robot (step S13). For example, the status information update unit 44 updates information indicating the execution status of the transport task of the first transport robot.

The above describes an example of the operation of the transportation work system 10.

For example, if the transport robot control device 14 sends a response including information about one transport robot 16 to the work management device 12 and that one transport robot 16 meets the first condition, the transport robot 16 may be reserved even if the work management device 12 does not send a reservation request. In this case, for example, the one transport robot 16 may be reserved at the time the transport robot control device 14 sends a response including information about that one transport robot 16 to the work management device 12.

Figure 4 is a flowchart showing another example of the operation of the transport work system 10 of Figure 1. With reference to Figure 4, another example of the operation of the transport work system 10 will be described. The operation shown in Figure 4 differs from the example of operation shown in Figure 3 in that the transport robot control device 14 extracts a second transport robot from among the multiple transport robots 16 that meets the second condition and transmits a response including information about the extracted second transport robot. Below, the differences from the example of operation shown in Figure 3 will be mainly described.

As shown in FIG. 4, after generating the work information, the work management device 12 sends a second request (a request including a second condition) to the transport robot control device 14 (step S21).

When the transport robot control device 14 receives the second request from the work management device 12, it references the status information of the multiple transport robots 16 (step S3) and extracts a second transport robot from the multiple transport robots 16 that meets the second condition (step S22). As described above, in this embodiment, the second condition is that the time at which the transport operation can be started is before the deadline for starting the transport operation. The transport robot extraction unit 42 extracts a second transport robot from the multiple transport robots 16 that can start the transport operation before the deadline for starting the transport operation. Note that if there is no second transport robot from the multiple transport robots 16 that can start the transport operation before the deadline for starting the transport operation, the transport robot extraction unit 42 does not extract a second transport robot.

When the transport robot control device 14 extracts a second transport robot, it transmits a response including information about the second transport robot to the work management device 12 (step S4). For example, if multiple second transport robots are extracted, the request reply unit 40 transmits a response including information about multiple second transport robots, and if one second transport robot is extracted, it transmits a response including information about one second transport robot. Note that, for example, if no second transport robot exists, the request reply unit 40 transmits a response indicating that no second transport robot exists.

When the work management device 12 receives a response from the transport robot control device 14, it determines based on the response whether or not a second transport robot extracted by the transport robot control device 14 exists (step S23).

If the second transport robot extracted by the transport robot control device 14 does not exist (No in step S23), the work management device 12 deletes the generated work information (step S6) and instructs the worker 1 to transport the item (step S7). In other words, if the second transport robot does not exist, the worker 1 transports the item instead of the multiple transport robots 16.

If a second transport robot is selected by the transport robot control device 14 (Yes in step S23), the work management device 12 selects a second transport robot to perform the transport task (step S24). For example, if multiple second transport robots 16 are selected by the transport robot control device 14, the transport robot selection unit 34 selects a second transport robot to perform the transport task from among the multiple second transport robots. For example, the transport robot selection unit 34 selects, among the multiple second transport robots, the second transport robot that can start the transport task earliest or the second transport robot with the highest remaining battery power, as the second transport robot to perform the transport task. Furthermore, for example, if one second transport robot is selected by the transport robot control device 14, the transport robot selection unit 34 selects one second transport robot as the second transport robot to perform the transport task.

After selecting the second transport robot to perform the transport work, the work management device 12 sends a reservation request to the transport robot control device 14 to reserve the second transport robot to perform the transport work (step S9).

When the transport robot control device 14 receives a reservation request from the work management device 12, it reserves the second transport robot indicated in the reservation request and updates the status information of the second transport robot (step S10). For example, the status information update unit 44 updates information indicating the reservation status of the second transport robot selected by the transport robot selection unit 34.

After sending the reservation request, the work management device 12 sends a work instruction to have the second transport robot reserved by the reservation request perform the transport work (step S11). For example, the work instruction includes work information indicating the content of the transport work to be performed by the second transport robot.

When the transport robot control device 14 receives a work instruction from the work management device 12, it causes the reserved second transport robot to perform the transport work (step S12). For example, the work command unit 48 sends a command to the reserved second transport robot, causing the second transport robot to perform the transport work. The second transport robot that receives the command performs the transport work based on the work information.

When the transport robot control device 14 causes the second transport robot to perform the transport task, it updates the status information of the second transport robot (step S13). For example, the status information update unit 44 updates information indicating the execution status of the transport task of the second transport robot.

The above describes an example of another operation of the transportation work system 10.

For example, if there is one second transport robot, the transport robot control device 14 may reserve that one second transport robot even if the work management device 12 does not send a reservation request. In this case, for example, the one second transport robot may be reserved at the time the transport robot control device 14 sends a response including information about the second transport robot to the work management device 12.

The above describes another example of the operation of the transportation work system 10.

According to the transport work system 10 described above, the work management device 12 can obtain information about at least one of the multiple transport robots 16 by sending a first request or a second request to the transport robot control device 14. In other words, rather than waiting for the information to be sent unilaterally from the transport robot control device 14, the work management device 12 can have the transport robot control device 14 send the information by sending a first request or a second request. This allows the work management device 12 to efficiently obtain the information and efficiently send work instructions based on the information, thereby enabling efficient transport of items.

In addition, since the first request indicates that the transport task should be performed by one of the multiple transport robots 16, the work management device 12 can more reliably obtain information about one of the multiple transport robots 16.

It is also possible to determine whether a first transport robot that meets the first condition exists. If a first transport robot exists, the first transport robot can be made to perform the transport task. For example, it is possible to determine whether a transport robot suitable for performing the transport task exists, and if a transport robot suitable for performing the transport task exists, the transport robot can be made to perform the transport task, thereby allowing items to be transported more efficiently.

In addition, one first transport robot can be selected from among multiple first transport robots to perform the transport task. For example, the first transport robot that is most suitable for performing the transport task can be selected from among multiple first transport robots, and that first transport robot can be made to perform the transport task, thereby allowing items to be transported more efficiently.

Furthermore, among the multiple transport robots 16, the transport robot 16 that can start the transport work before the deadline for starting the transport work can be made to carry out the transport work. In other words, the transport robot 16 that can start the transport work before the deadline for starting the transport work can be made to carry out the transport work, thereby preventing delays in the transport of goods and allowing goods to be transported more efficiently.

In addition, a second transport robot that meets the second condition can be extracted. The second transport robot can then be made to perform the transport task. For example, a transport robot suitable for performing the transport task can be extracted, and the transport robot can be made to perform the transport task, thereby enabling items to be transported more efficiently.

In addition, one second transport robot can be selected from among multiple second transport robots to perform the transport task. For example, the second transport robot that is most suitable for performing the transport task can be selected from among multiple second transport robots, and that second transport robot can be made to perform the transport task, thereby allowing items to be transported more efficiently.

Furthermore, among the multiple transport robots 16, the transport robot 16 that can start the transport work before the deadline for starting the transport work can be made to carry out the transport work. In other words, the transport robot 16 that can start the transport work before the deadline for starting the transport work can be made to carry out the transport work, thereby preventing delays in the transport of goods and allowing goods to be transported more efficiently.

In addition, since status information for multiple transport robots 16 is stored, the request response unit 40 can efficiently refer to this status information without having to obtain it from multiple transport robots 16, and can efficiently send responses to the work management device 12, thereby enabling items to be transported even more efficiently.

In addition, since each of the multiple transport robots 16 is an automated guided vehicle (AGV), each of the multiple transport robots 16 can easily be made to move autonomously, allowing items to be transported even more efficiently.

(Other Modifications)
While the transport operation system according to one or more aspects has been described above based on the embodiments, the present disclosure is not limited to these embodiments. As long as the modifications do not deviate from the spirit of the present disclosure, modifications that would occur to those skilled in the art may also be included within the scope of the present disclosure.

In the example of operation in the above-described embodiment, the request reply unit 40 transmits a reply including the identification numbers (robot IDs) of the multiple transport robots 16 and the available times for each of the multiple transport robots 16 to start transport work. However, this is not limiting. For example, the request reply unit 40 may preferentially transmit information about a transport robot 16 that is waiting in the waiting area A1 among the multiple transport robots 16, and if there are no waiting transport robots 16 in the waiting area A1, it may transmit information about a transport robot 16 that is currently performing transport work. In other words, for example, the information about at least one transport robot 16 included in the reply may preferentially include information about a waiting transport robot 16 among the multiple transport robots 16, or if there are no waiting transport robots 16, it may include information about a transport robot 16 that is currently performing transport work. In this case, it is easier to have a waiting transport robot 16 that is not currently performing transport work perform the work, thereby preventing delays in the transport of items and more efficiently transporting items.

In addition, in the above-described embodiment, the case where each of the multiple transport robots 16 is an automated guided vehicle (AGV) has been described, but this is not limited to this. For example, each of the multiple transport robots may be an autonomous mobile robot (AMR). In this case, each of the multiple transport robots 16 can be easily moved autonomously, allowing for even more efficient transport of goods.

In addition, in the above-described embodiment, a case has been described in which each of the multiple transport robots 16 transports items by towing and moving the supply unit 18, but this is not limited to this. For example, each of the multiple transport robots may transport items by pushing and moving the supply unit. Also, for example, each of the multiple transport robots may transport items by loading items onto itself and moving without using a supply unit.

In addition, in the above-described embodiment, the first condition is that the time at which the transport work can be started is before the deadline for starting the transport work, but this is not limited to this. For example, the first condition may be that the transport robot 16 is on standby. In this case, a transport robot 16 that is not performing transport work and is on standby becomes the first transport robot that meets the first condition. For example, in this case, the work management device 12 may send a work instruction to have the first transport robot perform the transport work without sending a reservation request to reserve the first transport robot. Also, for example, the first condition may be that the battery level is the highest. In this case, the transport robot 16 with the highest battery level becomes the first transport robot that meets the first condition.

In addition, in the above-described embodiment, the second condition is described as being a condition that the time at which the transport work can be started is a time before the deadline for starting the transport work, but this is not limited to this. For example, the second condition may be a condition of being on standby. In this case, a transport robot 16 that is not performing transport work and is on standby becomes the second transport robot that meets the second condition. For example, in this case, the work management device 12 may send a work instruction to have the second transport robot perform the transport work without sending a reservation request to reserve the second transport robot. Also, for example, the second condition may be a condition of having the highest remaining battery power. In this case, the transport robot 16 with the highest remaining battery power becomes the second transport robot that meets the second condition.

In the above-described embodiments, each component may be configured with dedicated hardware, or may be realized by executing a software program appropriate for each component. Each component may be realized by a program execution unit such as a CPU (Central Processing Unit) or processor reading and executing a software program recorded on a recording medium such as a hard disk or semiconductor memory. Here, the software that realizes the devices, etc. of the above-described embodiments is a program that causes a computer to execute each step included in the flowcharts shown in Figures 3 and 4.

This disclosure can be used in systems for transporting components to produce mounted boards on which components are mounted.

REFERENCE SIGNS LIST 10 Transport work system 12 Work management device 14 Transport robot control device 16 Transport robot 18 Supply unit 20 Item stock section 22 Worker instruction terminal 24 Mounting line system 26 Production plan storage section 28 Work information generation section 30 Request transmission section 32 Condition suitability determination section 34 Transport robot selection section 36 Cancellation section 38 Work instruction section 40 Request response section 42 Transport robot extraction section 44 Status information update section 46 Storage section 48 Work command section 50 Wireless communication section

Claims (8)

a plurality of transport robots that perform work to transport items;
a transport robot control device that controls the plurality of transport robots;
a work management device capable of communicating with the transport robot control device,
The work management device
a request sending unit that sends a request to the transport robot control device to cause the transport robot control device to send a response including information about the plurality of transport robots ;
a work instruction unit that transmits a work instruction to the transport robot control device to cause one of the plurality of transport robots to perform the work based on information about the plurality of transport robots included in the response,
The transport robot control device
a storage unit that stores status information including information on a time when each of the plurality of transport robots is able to start the work;
a request reply unit that refers to the status information in response to the request sent from the request sending unit and sends the reply to the work management device;
a work command unit that causes one of the plurality of transport robots to perform the work based on the work instruction transmitted from the work instruction unit,
The work management device further comprises:
a condition suitability determination unit that determines whether or not a first transport robot that satisfies a first condition for a transport robot that performs the work exists among the plurality of transport robots based on information about the plurality of transport robots included in the response; and
a transport robot selection unit that selects one first transport robot to perform the work from among the plurality of first transport robots when the condition suitability determination unit determines that a plurality of first transport robots exist,
Transport work system. the request indicates a desire to have any one of the plurality of transport robots perform the task;
The transport work system according to claim 1 . the information about the plurality of transport robots includes information about a time when each of the plurality of transport robots is able to start the work;
The first condition is a condition that the time when the work can be started is a time before a deadline for starting the work.
The transport work system according to claim 1 . The information on the plurality of transport robots includes, among the plurality of transport robots, information on a standby transport robot, and when there is no standby transport robot, includes information on a transport robot currently performing the work.
The transport work system according to any one of claims 1 to 3 . Each of the plurality of transport robots is an automated guided vehicle (AGV).
The transport work system according to any one of claims 1 to 4 . Each of the plurality of transport robots is an autonomous mobile transport robot (AMR).
The transport work system according to any one of claims 1 to 4 . a transfer robot control device that controls a plurality of transfer robots that perform work to transfer items, the work management device being capable of communicating with the transfer robot control device, the work management device comprising: a request sending unit that sends a request to the transfer robot control device to cause the transfer robot control device to send a response including information on the plurality of transfer robots; a work instruction unit that sends a work instruction to the transfer robot control device to cause one of the plurality of transfer robots to perform the work , based on the information on the plurality of transfer robots included in the response; a condition suitability determination unit that determines whether or not there is a first transfer robot among the plurality of transfer robots that satisfies a first condition for the transfer robot that performs the work, based on the information on the plurality of transfer robots included in the response; and a transfer robot selection unit that selects one first transfer robot from the plurality of first transfer robots to perform the work, when the condition suitability determination unit determines that there are multiple first transfer robots ;
a storage unit that stores status information including information on a time when each of the plurality of transport robots is able to start the work;
a request reply unit that refers to the status information in response to the request sent from the request sending unit and sends the reply to the work management device;
a work command unit that causes any one of the plurality of transport robots to perform the work based on the work instruction transmitted from the work instruction unit,
Transport robot control device. a plurality of transport robots that perform work to transport items;
a transport robot control device that controls the plurality of transport robots;
A control method for a transport work system including a work management device capable of communicating with the transport robot control device,
The work management device
transmitting a request to the transport robot control device to cause it to transmit a response including information on the plurality of transport robots ;
transmits, to the transport robot control device, a work instruction for causing one of the plurality of transport robots to perform the work based on the information of the plurality of transport robots included in the response;
The transport robot control device
storing status information including information on the time when each of the plurality of transport robots is able to start the work;
In response to the request transmitted from the work management device, referencing the status information and transmitting the response to the work management device;
causing any one of the plurality of transport robots to perform the work based on the work instruction transmitted from the work management device;
The work management device further comprises:
determining whether or not a first transport robot that satisfies a first condition for a transport robot that performs the work is present among the plurality of transport robots based on information about the plurality of transport robots included in the response;
When it is determined that a plurality of first transport robots exist, one first transport robot to perform the work is selected from the plurality of first transport robots.
A method for controlling a transport operation system.