JPH0830983B2 - Unmanned transportation system handling method - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a load handling method in an unmanned transport system in which a directly loaded load is taken out or placed by an automated guided vehicle.

[Conventional technology]

As shown in FIG. 1, a plurality of rows 01, 02, 03, 04, 05 are connected to a plurality of stations, and a load a is directly stacked in a multistage 1, 2, 3
To take out one load, for example, the load (1) by an unmanned guided vehicle, a load in front of the load (1) to be taken out,
Alternatively, since the loads (2) and (3) above are in the way, it is necessary to manipulate the loads to other positions.

For example, after confirming the load on the front side and the loads (2) and (3) on the upper side by the operator and confirming the vacant position where these loads can be moved, the load can be picked up and placed on each load. The operator gives a transfer command to the automatic guided vehicle, whereby the loads at the front and the loads (2) and (3) at the upper side are manipulated to the vacant positions, and then the transfer command for the load (1) is issued. Is given by.

[Problems to be Solved by the Invention]

With such a cargo handling, it is troublesome for an operator to check whether there is a load that is an obstacle when taking out a load to be taken out and to determine whether the cargo handling is necessary.

Also, when it is necessary to handle cargo, how many cargoes must be handled, which position of cargo should be carried to which empty position, and in what order should the cargo handling command be given? Is annoying to check.

Further, there is a trouble that an operator gives the unmanned guided vehicle an instruction every time the unmanned guided vehicle finishes the carrying instruction for the handling operation and the carrying instruction for taking out the load after the handling.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a method for handling an unmanned transportation system, which can solve all the above-mentioned troublesomeness of the handling.

(Means and actions for solving the problem) Multiple rows 01, 02, 03, 04, 05 in multiple stages 1, 2, 3
Loading position with multi-stage loading position for directly loading load a
Data communication is performed between A and B and the computer 20, and a load is placed on each load position by entering each load unit toward each of the load placement positions A and B, and a load is loaded from each load position. Equipped with a plurality of automatic guided vehicles 10 that are controlled so that they can be taken out, addressing the respective load positions of the load placing positions A and B, and when placing a load on the automatic guided vehicle 10, there is a load at that load position. The computer 20 judges and stores it in the computer 20, and when the load is taken out, the load position is judged and stored in the computer 20, and when the automatic guided vehicle 10 inputs a command to take out the load at a predetermined load position, the computer Reference numeral 20 determines the presence / absence of a load at each load position in the load placing positions A and B, and determines the load existing before or above the commanded load to be taken out.

Next, before the above-mentioned load to be taken out, the load that can be taken out first in the load above is determined, and the closest unloaded position, that is, the empty position, is selected for that load.

Next, the computer 20 gives an instruction to the automatic guided vehicle 10 to convey the load that can be initially taken out to an empty position,
The load is carried to the empty position, and the computer 20 stores the presence of the load in the empty position and the absence of the load in the load position of the load.

After this, an operation command for transporting the next load that can be taken out to another empty position is given in the same manner as above, and when the transport is completed, the presence / absence of a load is stored in the same manner as described above, and the computer
Reference numeral 20 denotes a load handling method for an unmanned transport system that gives a command to take out a load at the predetermined load position and takes out the load.

Thereby, when the load is taken out from the predetermined load position by the automatic guided vehicle, the load in front of and above the load can be automatically handled, so that the operator can artificially check the state of the load, And after determining the empty position to load,
It is not necessary for the operator to perform a troublesome operation of issuing a transfer command to the automatic guided vehicle for each load, and the subsequent load handling can be automatically performed by issuing a predetermined load extraction command.

〔Example〕

As shown in FIG. 2, data communication is performed between the plurality of unmanned guided vehicles 10 and the computer 20.
As shown in Fig. 3, is a multi-stage in multiple rows 01, 02, 03, 04, 05.
Loads are loaded into each of the above-mentioned load positions by entering each of the row positions toward the load placement positions A and B having multiple load positions for directly loading the loads a in multiple stages on 1, 2, and 3 The computer 20 is controlled so that it can be placed or taken out from each load position, and the computer 20 stores whether or not there is a load a at each load position in the respective load placement positions A and B. In other words, an address is assigned to each load position of the load placement position, and when a load is placed on the automatic guided vehicle 10, it is determined that there is a load at that load position and stored, and when a load is taken out, there is no load at that load position. Judge and store.

Then, by the automatic guided vehicle 10, the load a shown in FIG.
When a command to retrieve the
A load 20 determines the presence / absence of a load at each load position in the load placing position, and in order to take out the commanded load a, a load to be taken out in advance and transported to another load position, that is, a load that needs to be handled, for example, (2 ) And (3) are determined. Specifically, the load on the front side or the front side of the load to be taken out is determined.

Next, the first load that can be taken out of the loads that need to be handled, for example, (3) is determined, and the closest load-free destination load position for the load (3), that is, an empty position. Select.

Specifically, it is checked whether or not there is a vacant position in the row 02 adjacent to the row number 03 of the load (1) to be taken out, and if there is no vacant position in the adjacent row 04 on the opposite side, the following steps are performed sequentially. Row 01,
Check for empty positions in columns 04 and 05.

In FIG. 1, column 02 has an empty position (column 02, station 2, row 3).

Next, the computer 20 gives the automatic guided vehicle 10 a command to convey the load (3) to the empty position (b) (row 02, station 2, stage 3), and carries the load (3) to the empty position b. .

As a result, the computer 20 stores the presence of the load in the empty position b (column 02, station 2, stage 3), and loads the load position (column 0) of the load (3).
Memorize that there is no load in 3, 2, 2 and 3).

After this, an operation command for transporting the load (2) to another empty position is given in the same manner as described above, and when the transport is completed, the load (1) is transferred.
Is given and the load (1) is taken out.

〔The invention's effect〕

When a load is taken out from a predetermined load position by an automated guided vehicle, the load in front of and above the load can be automatically handled, so that the operator can manually check the load status and place it on the load. After deciding the empty position to be used, it is not necessary for the operator to perform a troublesome operation of issuing a transfer command to the automatic guided vehicle for each load, and the subsequent load handling is automatically performed by issuing a predetermined load removal command. Can be done.

Moreover, the empty position for transporting the load before and above the load to be taken out is the position closest to the load, so that the work for transporting the load can be performed in a short time.

Moreover, the empty position for transporting the load before and above the load to be taken out is the position closest to the load, so that the work for transporting the load can be performed in a short time.

Further, since the original load position of the transported load is stored as no load and the transported load position is stored as having a load, malfunction does not occur during subsequent operation.

[Brief description of drawings]

The drawings are configuration explanatory views for explaining the load handling method of the present invention. FIG. 1 is a perspective view showing a load state at a load placing position where a load is taken out, and FIG. 2 is an explanatory view of a computer and an automatic guided vehicle, FIG. 3 is a perspective view of the loading position.

Claims (1)

[Claims] 1. Loading positions A and B having a multi-stage loading position for directly loading a load a on a plurality of rows 01, 02, 03, 04, 05 in a plurality of rows 1, 2, 3 and a plurality of stations. Data communication is performed with the computer 20 so that the load can be placed at each load position or taken out from each load position by entering the load positions A and B in units of rows. It is provided with a plurality of automatic guided vehicles 10 controlled by, addressing at each load position of the loading position A, B, when placing a load on the automatic guided vehicle 10, it is determined that there is a load at the load position, The load is stored in the computer 20, and when the load is taken out, it is determined that there is no load at the load position and stored in the computer 20, and when the automatic guided vehicle 10 inputs a command to take out the load at a predetermined load position, the computer 20 Is the loading position
The presence / absence of a load at each load position in A and B is determined, and the load above and below the commanded load to be taken out is determined. Next, before the above-mentioned load to be taken out, the load that can be taken out first in the load above is determined, and the closest unloaded position, that is, the empty position, is selected for that load. Next, the computer 20 gives an instruction to the automatic guided vehicle 10 to convey the load that can be first taken out to an empty position, conveys the load to the empty position, and the computer 20 stores the presence of the load in the empty position. Memorize that there is no load in the load position of the load. After this, an operation command for transporting the next load that can be taken out to another empty position is given in the same manner as above, and when the transport is completed, the presence / absence of a load is stored in the same manner as described above, and the computer
20 is a load handling method for an unmanned transport system, wherein a load removal command is given to take out the load at the predetermined load position.