Integrated navigation system and method of operation instruction

Abstract

A navigation device (50) generates work related to production based on information transmitted from each of a plurality of production facilities (10) deployed in a production site (F). The navigation device (50) generates a task as a work command to each of a plurality of robot systems (31, 32, 33) different from each other based on the work, and transmits the task of the robot system to the corresponding robot system. Therefore, in a production site (F) such as a factory, close cooperation of operations between robot systems provided by a plurality of different suppliers can be effectively supported, thereby improving the versatility and scalability as a system.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to an integrated navigation system and a work instruction method. BACKGROUND

[0002] In the related art, in a production site such as a factory, an automated transport of components and the like for production has been performed using an automated guided vehicle (AGV) in order to achieve automation or labor saving of the production site (see Patent Literature 1 and the like).

[0003] For example, Patent Literature 1 discloses a picking system including: a movable mobile rack; an automated guided vehicle that transports the mobile rack; an AGV area in which the automated guided vehicle transports the mobile rack; a picking area adjacent to the AGV area, in which a picking work is performed by a worker; two or more picking locations at which the mobile rack is temporarily placed at a position adjacent to one picking area within the AGV area; a control system; and a picking terminal. The control system is connected to the automated guided vehicle and the picking terminal. When the control system receives a notification that a mobile rack to be picked is set at any picking location from the automated guided vehicle, the control system notifies the picking terminal to enable picking. This notification improves distribution efficiency.

[0004] LIST OF CITATIONS

[0005] PATENT LITERATURE

[0006] Patent Literature 1: WO2015 / 097736 SUMMARY

[0007] TECHNICAL PROBLEM

[0008] Incidentally, in recent years, further advancement of intelligentization is expected with respect to the application of automation or labor saving in the production site of the related art. For this purpose, for example, it is necessary to make robot systems (for example, a robot system for managing the operation of the above-described automated guided vehicle (AGV)) provided by a plurality of different suppliers (manufacturers) closely cooperate with each other, and through such cooperation, a more complex automated system can be constructed.

[0009] However, with respect to the above-described purpose, various problems still remain. For example, even if the configuration of the above-described Patent Literature 1 is used, it is difficult to construct an automated system having high versatility and scalability in the production site. As a specific example, it is difficult to additionally add a robot system provided by another supplier in addition to the currently running robot system, or it is difficult to change a part of the function of the current robot system.

[0010] An object of the present disclosure is to provide an integrated navigation system and work instruction method that effectively supports complex cooperation of operations among robot system industries provided by a plurality of different suppliers in a production site such as a factory and improves versatility and scalability as a system. SUMMARY

[0012] The present disclosure provides an integrated navigation system configured to support cooperation of a plurality of different robot systems each including at least one automatic work robot operating in a production site. The integrated navigation system includes: a work generation device configured to generate works related to production based on information transmitted from a plurality of production facilities deployed in the production site; a navigation device configured to generate tasks as work commands to each of the plurality of different robot systems based on the works, and transmit the tasks of the robot systems to each corresponding robot system.

[0013] Further, the present disclosure provides a work command method for supporting cooperation of a plurality of different robot systems each including at least one automatic work robot operating in a production site. The work instruction method includes: a work generation step of generating works related to production based on information transmitted from a plurality of production facilities deployed in the production site; and a work instruction step of generating tasks as work commands to each of the plurality of different robot systems based on the works, and transmitting the tasks of the robot systems to each corresponding robot system.

[0014] Advantages of the Invention

[0015] According to the present disclosure, complex cooperation of operations among robot systems provided by a plurality of different suppliers can be effectively supported in a production site such as a factory, and versatility and scalability as a system can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a layout diagram illustrating an arrangement relationship of a production site according to the present embodiment.

[0017] Figure 2 is a block diagram illustrating a structure of an integrated navigation system.

[0018] Figure 3 is a table exemplifying contents of works and tasks when a component transport request work has occurred.

[0019] Figure 4 is a flowchart illustrating an abnormality notification process.

[0020] Figure 5 is a flowchart illustrating a cooperation process.

[0021] Figure 6is a flowchart showing the recovery process.

[0022] Figure 7 is a table exemplifying the contents of the work and tasks when two component transport request works have occurred.

[0023] Figure 8 is a table exemplifying the state of the optimization process of the two component transport request works based on the order of the works.

[0024] Figure 9 is a flowchart showing the optimization process of the two component transport request works.

[0025] Figure 10 is a table exemplifying the contents of the work and tasks when at least one of the two component transport request works is canceled.

[0026] Figure 11 is a table showing the state of the cancellation process when one of the two component transport request works is canceled.

[0027] Figure 12 is a flowchart showing the cancellation process of one of the two component transport request works.

[0028] Figure 13 is a diagram schematically showing an application example of the navigation device processing a conditional task.

[0029] Figure 14 is a diagram schematically showing an application example of the navigation device processing a conditional task.

[0030] Figure 15 is a diagram schematically showing an application example of the navigation device processing a conditional task.

[0031] Figure 16 is a diagram schematically showing an application example of the navigation device processing a conditional task. DETAILED DESCRIPTION

[0032] Embodiments of an integrated navigation system and a work instruction method according to the present disclosure will be described in detail below with reference to the accompanying drawings. However, unnecessary detailed descriptions can be omitted. For example, detailed descriptions of well-known matters or repetitive descriptions of substantially the same structures can be omitted. This is to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art. It should be noted that the accompanying drawings and the following description are provided to allow those skilled in the art to have a thorough understanding of the present disclosure, not to limit the subject matter recited in the claims.

[0033] For example, this embodiment describes a production site including a mounting board production line (see below) as an example of a production site, but is not limited thereto. The production site is not limited to this type of production site or component, as long as it is a production site in which a production facility that consumes members (including components) in the production process of mounting boards is installed, and can be, for example, a manufacturing plant in which an assembly device for assembling components by welding is deployed.

[0034] In addition, the "unit" or "device" in this embodiment is not limited to a physical structure realized by hardware, but also includes a case where a function is realized by a software structure such as a program. In addition, for example, the function of one structure can be realized by two or more physical structures, or the functions of two or more structures can be realized by one physical structure.

[0035] Production site layout summary

[0036] First, a summary of the layout in the production site F according to the present embodiment will be described with reference to Figure 1 A summary of the layout in the production site F according to the present embodiment will be described. Figure 1 is a layout diagram that represents the configuration relationship of the production site F of the present embodiment.

[0037] As shown in Figure 1 , the production site F includes a mounting board production line L described later, and four sides of the production site F are separated by predetermined walls. In the production site F, a plurality of production facilities (see below) that constitute the mounting board production line L and a plurality of robot systems 31, 32, 33 are arranged. Each robot system includes at least one automated work robot and a management device for managing the operation of the automated work robot. For example, the automated work robot performs a support for a work of replenishing a member consumed in the production facility to the production facility (for example, a work of transporting the member to the vicinity of the production facility) or replenishment (for example, a work of replenishing the production facility instead of a work person). Therefore, in the production facilities described below, a transport robot 31A (for example, an Automated Guided Vehicle (AGV)) and a picking robot 32A are used as examples of the automated work robot, and components housed in an automatic warehouse 33A that constitutes the robot system 33 are automatically transported to the corresponding production facility. Here, the component housing body houses, for example, electronic components, and includes a tape in which components are sealed, a reel obtained by winding the tape, a tray, a stick, and the like. In the present embodiment, the reel is exemplified as the component housing body.

[0038] In the production site F, at least a production area Al and a warehouse area A2 for housing and storing electronic components and the like are arranged. The production area Al is provided, for example, at one side of the production site F to occupy a certain range. The production area Al of the present embodiment is an area for manufacturing mounting boards obtained by soldering electronic components to boards. The warehouse area A2 is arranged apart from the production area Al, for example, at the other side of the production site F to also occupy a certain range. A transport path R along which transport robots 31A travel is provided in the production area Al and the warehouse area A2. Each of the transport robots 31A travels along the transport path R to transport component housing bodies of electronic components and the like from the warehouse area A2 to the production area Al. The transport path R is defined by a physical object such as a marker or an inductive wire provided in the production site F, or path information or map information stored in a transport robot management device 31B (see Figure 2 ).

[0039] In the production site F, a stocker 2 for temporarily placing and storing component housing bodies is arranged. The stocker 2 is provided in the vicinity of the mounting board production line L and is arranged so that a moving route of a worker H who moves back and forth between the stocker 2 and the mounting board production line L is short.

[0040] In Figure 1 , the transport path R is represented in a simple straight line shape or a rectangular shape for convenience of explanation, but is not limited thereto. The transport path R is provided in various ways as needed (for example, in a zigzag shape, in an inclined direction, and the like). The production area Al and the warehouse area A2 can also have any position, occupied area, and the like, and are appropriately designed according to the specifications of the production site F. In addition, the work mentioned in the present embodiment refers not only to a process such as a certain processing on a predetermined object (workpiece), but also to an operation itself of an execution subject that performs the work.

[0041] The transport robots 31A constitute a robot system 31 and each include a main body and a plurality of wheels attached to the main body. The transport robots 31A automatically move, for example, by reading a magnetic tape provided on the transport path R with a predetermined magnetic sensor. In addition, an upper surface portion of the main body of the transport robot 31A can place a component housing body in which components and the like are housed. Thus, the transport robot 31A transports the component housing body in which various components are housed to a desired production facility in a state in which the component housing body is placed on the upper surface thereof. The transport robots 31A are centrally managed and operationally controlled in an integrated manner by the transport robot management device 31B (see Figure 2 ). The sensing method of the transport robots 31A is not limited to a method using magnetic force (electromagnetic induction), and various other methods such as an electromagnetic method, a laser method, and the like can be appropriately employed.

[0042] The mounting board production line L is provided in the production area Al. The mounting board production line L is configured with a plurality of production facilities. In the present embodiment, specifically, the production facilities are: a board supply device 11, a screen printing device 12, a printed solder inspection device 13, a component mounting device 14, a component mounting state inspection device 15, a reflow device 16, a mounting board inspection device 17, and a mounting board collection device 18. The screen printing device 12, the printed solder inspection device 13, the component mounting device 14, the component mounting state inspection device 15, the reflow device 16, and the mounting board inspection device 17 each include an in-built conveyer that conveys the boards, and are connected in the order of production processes. Each of these production facilities receives a board from the conveyer of the production facility of the upstream process, and conveys the board to the conveyer of the production facility of the next process when a predetermined operation is completed on the received board. Thus, the mounting board production line L automatically performs a series of production processes such as solder printing on a board, electronic component mounting on a board, reflow soldering, and the like.

[0043] The board supply device 11 is provided at the start point of the mounting board production line L, and sequentially supplies boards to the screen printing device 12. The screen printing device 12 performs screen printing of, for example, solder paste, at a prescribed position on the supplied board. The printed solder inspection device 13 inspects the position and state of the solder printed on the board. The component mounting device 14 has a work head that holds an electronic component supplied from a component receptacle conveyed by the conveyance robot 31A, and mounts the electronic component on the board, and the component mounting device 14 mounts the electronic component at the position on which the solder paste was printed by the screen printing device 12, by the work head. Further, the component mounting device 14 includes a component supply unit 14A for supplying the electronic component to the work head. A component receptacle W in which the electronic component is housed is provided in the component supply unit 14A, and the components of the component receptacle W are supplied to the position at which the work head of the component mounting device 14 can hold the components. When the electronic components of the component supply unit 14A are consumed and out of stock, or the remaining number thereof decreases, a work person H replaces it with a new component receptacle W. A tape reel that houses the electronic components, or a tray that houses the electronic components, is typically used as the component receptacle W. A plurality of component mounting devices 14 are provided in the present embodiment to mount various electronic components on the board.

[0044] The reflow device 16 performs soldering on a board on which electronic components are mounted. That is, the reflow device 16 is a so-called heating furnace that heats and melts solder of the board, and then cools and solidifies the solder to solder the electronic components to the board. The mounting board inspection device 17 inspects the mounting board soldered by the reflow device 16. Specifically, the soldering state of the electronic components on the board is inspected. The mounting board collection device 18 collects the board on which the electronic components are thus soldered, and places the board in a state in which the board is transportable to the outside of the mounting board production line L.

[0045] In the production area Al, a plurality of production facilities are collectively managed by the production management device 20 and the information management device 29 (described below; see Figure 2 ) as examples of work generation devices. The production management device 20 and the information management device 29 are connected to each of the plurality of production facilities through a wired or wireless network. The production management device 20 and the information management device 29 are configured in the same manner as the server, and each include a CPU, a memory, an external storage device, an interface circuit, and the like.

[0046] On the other hand, in the warehouse area A2, two automated warehouses 33A, a waste collection device 3, a consumable stock unit 4, a component stock unit 5, and the like are arranged side by side. Each of the automated warehouses 33A stores a plurality of component storage bodies W, identifies and manages the types of electronic components stored in the component storage bodies W, and the like, and automatically puts in and takes out requested electronic components and the like. In addition, the automated warehouse 33A of the present embodiment has a component entrance and exit 32C (32Ca, 32Cb) through which the requested component storage body W is automatically received or delivered by the transport robot 31A. The waste collection device 3 stores waste generated in the component mounting device 14 of the mounting board production line L. In the case where the component storage body W is a tape reel, when production of the mounting board is performed in the mounting board production line L, an empty used reel is generated as waste. The used reel is transported by the transport robot 31A. The consumable stock unit 4 accommodates and stores consumables used in the mounting board production line L, such as solder, adhesive, and the like. The component stock unit 5 similarly accommodates and stores equipment (for example, a component holding nozzle, a tape feeder, and a board lower support component) and the like used in the mounting board production line L.

[0047] In the warehouse area A2, a plurality of picking robots 32A are also arranged. Each picking robot 32A is provided at the front side of the automatic warehouse 33A, the waste collection device 3, the consumable inventory unit 4, and the component inventory unit 5 so as to be able to travel in the direction of the row. The picking robot 32A is an example of an automatic work robot having an arm unit for picking up a component storage body in which an electronic component or the like is stored and placing the component storage body at a prescribed position, and a movement unit provided below the arm for moving the arm to a predetermined position. The picking robot 32A picks up a component storage body taken out by the automatic warehouse 33A or the like or a consumable stored in the consumable inventory unit 4 or the like by its arm unit, and delivers it to the transport robot 31A waiting in the vicinity of the picking robot 32A.

[0048] In the warehouse area A2, two automatic warehouses 33A constitute a robot system 33, and are centrally managed and operationally controlled by an automatic warehouse management device 33B (see Figure 2 ). A plurality of picking robots 32A constitute a robot system 32, and are centrally managed and operationally controlled by a picking robot management device 32B (see Figure 2 ). The picking robot management device 32B and the automatic warehouse management device 33B are constituted in a similar manner to the server, and each has a CPU, a memory, an external storage device, an interface circuit, and the like.

[0049] As described above, in the production site F, the production facilities of the mounting board production line L and the plurality of robot systems 31, 32, and 33 that are different from each other are each operated as a system different from the others. Therefore, in the present embodiment, in order to support cooperation of the plurality of different robot systems, an integrated navigation system 1 is further constructed in combination with the navigation device 50.

[0050] Structure of integrated navigation system

[0051] Next, the structure of the integrated navigation system 1 according to the present embodiment will be described with reference to Figure 2 . Figure 2 is a structural block diagram of the integrated navigation system 1.

[0052] As shown in Figure 3 , the integrated navigation system 1 includes a production management device 20 (an example of a work generation device) and a navigation device 50. The navigation device 50 transmits data or information to and receives data or information from the production management device 20, the information management device 29, the robot system 31, the robot system 32, the robot system 33, and the notification / monitoring device 40, and performs integrated processing to realize cooperation of operations among the various robot systems. The various devices or robot systems are connected to each other via a wired or wireless network and through the navigation device 50, and transmit and receive predetermined information, signals, and the like.

[0053] The robot system 31 includes the above-described conveyance robot 31A and a conveyance robot management device 31B. The robot system 32 includes the above-described picking robot 32A and a picking robot management device 32B. The robot system 33 includes the above-described automated warehouse 33A and an automated warehouse management device 33B. The navigation device 50 sends a work order such as a task to be executed by the conveyance robot 31A, the picking robot 32A, and the automated warehouse 33A, respectively, to the conveyance robot management device 31B, the picking robot management device 32B, and the automated warehouse management device 33B. The conveyance robot management device 31B, the picking robot management device 32B, and the automated warehouse management device 33B cause the conveyance robot 31A, the picking robot 32A, and the automated warehouse 33A to execute a task corresponding to the work order based on the work order from the navigation device 50, respectively. The notification / monitoring device 40 is a device that centrally provides information including an operation state and the like related to the production site F to a worker H and the like or the outside. The worker terminal 41 is wirelessly connected to the notification / monitoring device 40.

[0054] The production management device 20 includes a conversion management unit 21, a maintenance management unit 22, a shortage prediction unit 23, an environment information storage unit 24, a production plan storage unit 25, a factory inventory information storage unit 26, an in-facility inventory information storage unit 27, and a facility operation information storage unit 28. Thus, the production management device 20 generates works related to production based on information transmitted from a plurality of production facilities disposed in the production site F.

[0055] The conversion management unit 21, the maintenance management unit 22, and the shortage prediction unit 23 generate works related to production in the mounting board production line L. Specifically, based on a production plan stored in the production plan storage unit 25, the conversion management unit 21 generates a work related to conveyance of electronic parts, members, and the like required for the next production, and transmits the work to the navigation device 50. The maintenance management unit 22 generates a work related to conveyance of members and the like for replacement based on facility operation information of the facility operation information storage unit 28, and transmits the work to the navigation device 50.

[0056] The shortage prediction unit 23 predicts a shortage time of electronic parts and consumables based on in-facility inventory information of the in-facility inventory information storage unit 27, a production plan of the production plan storage unit 25, and facility operation information of the facility operation information storage unit 28, and generates a work related to conveyance of the electronic parts and the consumables. Each of the conversion management unit 21, the maintenance management unit 22, and the shortage prediction unit 23 transmits the generated work to the navigation device 50. The navigation device 50 generates a task as a work order for the conveyance robot 31A, the automated warehouse 33A, and the picking robot 32A based on the transmitted work.

[0057] The job referred to in the present embodiment is an indication of a purpose level achieved by executing a plurality of predetermined tasks. Each task is an indication of a means level for achieving the job corresponding to the task. That is, a plurality of tasks are executed by the transport robot 31A, the automatic warehouse 33A, and the picking robot 32A as a series of command sets (job commands) for the purpose of completing one job. One job is achieved by a plurality of tasks.

[0058] In the present embodiment, an ID (identification information) is assigned to each of the jobs and the tasks. The jobs are managed and executed as parent IDs, and the tasks are managed and executed as child IDs associated with the parent IDs (see Figures 13 to 16 ). In addition, each of the jobs and the tasks is added with time information (e.g., a predetermined task time described below) of a scheduled execution or completion of the job or task and an ID of an automatic job robot for executing the task.

[0059] The environment information storage unit 24, the production plan storage unit 25, the factory inventory information storage unit 26, the in-facility inventory information storage unit 27, and the facility operation information storage unit 28 each store and hold predetermined information. Specifically, the environment information storage unit 24 stores and holds environment information necessary for the navigation device 50 to generate a task, such as the layout of the production facility, the automatic warehouse 33A, and the like in the production site F, and the travel range (e.g., the length of the movement line) of the transport robot 31A, the picking robot 32A, and the like. The production plan storage unit 25 stores and holds information (so-called production program) for presetting in which mounting board production line L to produce which type of mounting board, and when and how many to produce. The factory inventory information storage unit 26 stores and holds information on the number and the location of the electronic parts W2, the consumables, and the various components in the automatic warehouse 33A, the consumable inventory unit 4, and the component inventory unit 5.

[0060] The in-facility inventory information storage unit 27 stores and holds information on the remaining number of the electronic parts and the consumables set in the mounting board production line L. The facility operation information storage unit 28 stores and holds the operation state of the production facility, the number of the mounting boards produced, and the like. The information stored and held by the environment information storage unit 24, the production plan storage unit 25, the factory inventory information storage unit 26, the in-facility inventory information storage unit 27, and the facility operation information storage unit 28 is read in response to a request from the conversion management unit 21, the maintenance management unit 22, and the stock-out prediction unit 23.

[0061] The information management device 29 is provided between the integrated navigation system 1 and the production facility, and functions as an information interface. The information management device 29 collects information from the mounting board production line L, and causes the environment information storage unit 24, the production plan storage unit 25, the factory inventory information storage unit 26, the in-facility inventory information storage unit 27, and the facility operation information storage unit 28 of the production management device 20 described later to store and hold the information, respectively. At the same time, the information management device 29 also collects information such as the number of remaining electronic components W2, the number of operations of movable components in the production facility, and measurement / monitoring results.

[0062] The navigation device 50 includes a task management unit 51. The task management unit 51 of the navigation device 50 includes a task generation unit 52, an interruption processing unit 53, a cancellation processing unit 54, a task monitoring unit 55, and a storage unit (not shown). Thereby, the navigation device 50 generates a task as a work order to each of the plurality of different robot systems 31, 32, 33 based on a work, and transmits the task of the robot system to each corresponding robot system.

[0063] The task generation unit 52 generates a task for at least one of the robot systems 31, 32, 33 based on the transmitted work. When an interruption of the task occurs, the interruption processing unit 53 performs addition, rearrangement, or the like of the task. When a cancellation of the work occurs, the cancellation processing unit 54 cancels the task related to the task thereof.

[0064] For each task that has been transmitted to the transport robot 31A, the automatic warehouse 33A, and the picking robot 32A, the task monitoring unit 55 collects an execution state such as waiting for processing, processing, and stop due to a failure, respectively, from the corresponding robot system (specifically, the transport robot management device 31B, the picking robot management device 32B, and the automatic warehouse management device 33B). The task monitoring unit 55 stores the collection result in the storage unit in a state in which the execution state is associated with identification information (ID) of the corresponding automatic work robot (for example, the transport robot 31A, the automatic warehouse 33A, and the picking robot 32A). When the task monitoring unit 55 determines that it is optimal for the automatic work robots to cooperate with each other on the task, the task monitoring unit 55 notifies the other robots of the fact that one of the plurality of automatic work robots has ended.

[0065] On the other hand, each of the robot systems 31, 32, 33 (specifically, the transport robot management device 31B, the picking robot management device 32B, and the automatic warehouse management device 33B) receives the respective tasks transmitted from the navigation device 50. The transport robot management device 31B, the picking robot management device 32B, and the automatic warehouse management device 33B each respond to the reception by returning a predetermined time (a predetermined task time) to the navigation device 50. The transport robot management device 31B, the picking robot management device 32B, and the automatic warehouse management device 33B each determine whether to execute the task transmitted from the navigation device 50, and return the ID of the automatic work robot for executing the task to the navigation device 50 on the basis of the determination result. When the navigation device 50 receives the notification of the predetermined task time, the navigation device 50 stores the predetermined task time in association with the ID of the corresponding automatic work robot in the storage unit.

[0066] When the tasks transmitted from the navigation device 50 are each executed, the transport robot management device 31B, the picking robot management device 32B, and the automatic warehouse management device 33B notify the navigation device 50 of the ID of at least one task being processed, an execution state notification indicating the end of the task, and a start notification of the task. At this time, the transport robot management device 31B, the picking robot management device 32B, and the automatic warehouse management device 33B each transmit an error notification to the navigation device 50 in the case where a prescribed work has an error. When the navigation device 50 receives the execution state notification, the navigation device 50 stores the execution state of the task in association with the ID of the corresponding automatic work robot in the storage unit.

[0067] Some of the tasks generated by the task generation unit 52 do not involve the designation of the automatic work robots belonging to the robot systems 31, 32, 33. For example, in the case where the task generation unit 52 or the navigation device 50 can confirm the information of the components stored in the automatic warehouse 33A from the information of the factory inventory information storage unit 26, the task generation unit 52 generates a task that designates the automatic warehouse 33A that stores the object component. On the other hand, in the case where the task generation unit 52 or the navigation device 50 cannot grasp the position or the state like the transport robot 31A, the task generation unit 52 generates a task that does not designate the transport robot 31A but only transmits the work content. When the transport robot management device 31B receives the task that does not designate the transport robot 31A but only transmits the work content, the transport robot management device 31B determines the transport robot 31A that is suitable for the work and causes the transport robot 31A to execute the task. That is, when the robot systems 31, 32, 33 are entrusted with the designation of the automatic work robots for executing the tasks, the task generation unit 52 generates a task that does not involve the designation of the automatic work robots and issues an instruction to the robot systems 31, 32, 33.

[0068] Process of navigation device

[0069] Next, a plurality of processes performed by the navigation device 50 will be further described. The navigation device 50 performs at least a task monitoring process, a task cooperation process, a recovery process, an optimization process, and a cancellation process to support cooperation of a plurality of different robot systems each of which includes at least one automated job robot operating in the production site F. Hereinafter, these processes are explained as examples, but the processes performed by the navigation device 50 are not limited to these processes. The navigation device 50 can perform various other processes.

[0070] Task monitoring process

[0071] The task monitoring process is a function of monitoring a task performed by an automated job robot to monitor a current progress state and an occurrence state of an abnormality, and is a process for notifying a system outside, such as the job worker H, the upstream device, of information in a case where an error occurs in a part of the automated job robot due to a failure, a breakdown, or the like.

[0072] In the present embodiment, as one example of the task monitoring process, the navigation device 50 has a function of monitoring progress of a task or work by comparing an actual start time and an end time of the task received from the robot system corresponding to the automated job robot with a scheduled task time (task progress management). In the task progress management, when a delay case where the actual time is delayed from the scheduled task time occurs, information on the delay is notified to the job worker H of the production site F, a person in charge of production management, or another robot system that cooperates with the job worker H. Further, the navigation device 50 includes an abnormality notification process of detecting and notifying a task abnormality as another function of the task monitoring process. In the abnormality notification process, a time elapsed from a start of the task is monitored, and in a case where an end notification of the task is not received even if the scheduled time is greatly exceeded, it is considered that the automated job robot performing the task is abnormal, and the information is notified to the job worker terminal 41 carried by the job worker H of the production site F. At this time, the abnormality notification also includes information on the task and information on work corresponding to the task. The job worker H grasps the abnormality through the job worker terminal 41, confirms occurrence of the abnormality, and responds to the abnormality.

[0073] Task cooperation process

[0074] The task cooperation process is a process for performing sequential control, such as making a job of one automated job robot not interfere with a job of another automated job robot.

[0075] In the present embodiment, as one example of the task cooperation processing, when the navigation device 50 receives at least one execution state notification from the robot system corresponding to any of the automated work robots, the navigation device 50 transmits an instruction related to a conditional task based on a condition that the one task ends to the robot system corresponding to another automated work robot. The robot system that receives the instruction instructs the automated work robot managed by the robot system to execute the conditional task, which is set to the automated work robot. In this way, the automated work robot of the corresponding robot system executes the conditional task based on the transmission of the instruction.

[0076] For example, the conditional task referred to herein corresponds to a task that is executed later in a time series among at least two tasks in which a correlation (for example, a master-slave relationship) is recognized in the time series. That is, unless a task (a prerequisite task described below) ends, the conditional task cannot be started. Reference will be made to Figures 3 to 12 The conditional task is described in detail.

[0077] Recovery processing

[0078] The recovery processing is, for example, processing that enables the production site F to operate without stopping the production of the entire production site F even in a case where an error occurs in some of the automated work robots due to a failure or the like and part of the work becomes impossible to execute. In the present embodiment, the interruption processing unit 53 of the navigation device 50 appropriately executes the recovery processing depending on the occurrence situation of the error.

[0079] For example, in a case where the interruption processing unit 53 of the navigation device 50 receives an error notification related to a predetermined work from the robot system corresponding to any of the automated work robots, the interruption processing unit 53 generates, by the task generation unit 52, a replacement task of a task transmitted to the automated work robot (for example, the transport robot 31A) that has transmitted the error notification. The interruption processing unit 53 of the navigation device 50 transmits the generated replacement task to the robot system corresponding to another automated work robot of the same kind as the error automated work robot (for example, the transport robot 31A).

[0080] Optimization processing

[0081] The optimization processing is processing that combines a plurality of works so as to efficiently execute the plurality of works in a case where at least one work occurs later than a predetermined work. In the present embodiment, as some of the optimization processing, for example, the navigation device 50 appropriately executes first and second optimization processing depending on the generation state of the plurality of works.

[0082] For example, in the first optimization process, the navigation device 50 determines whether a second work to be executed earlier than the first work is generated. Here, the first work and the second work are both generated by the production management device 20, and the second work is a work to be executed before the first work starts. In a case where it is determined that the second work is generated as a result of the determination, the navigation device 50 generates a task based on the second work for each of the automated job robots. The navigation device 50 optimizes (integrates) the task of the automated job robot based on the second work and the task of the automated job robot based on the first work by, for example, according to a predetermined cooperation condition between the tasks, thereby generating an integrated task. After the integrated task is generated, the navigation device 50 transmits the integrated task to the robot system corresponding to the automated job robot to update the task.

[0083] In the second optimization process, when the navigation device 50 determines that the second work to be executed earlier than the first work has been generated as described above, the navigation device 50 further determines the time order, the priority order, or the like of the task based on the first work or the task based on the second work. The navigation device 50 changes the execution order of the task based on the first work and the task based on the second work based on the determination result to update these tasks. The navigation device 50 transmits the task whose execution order has been changed to the robot system corresponding to the corresponding automated job robot.

[0084] Cancel process

[0085] The cancel process is a process of deleting, correcting, or restoring a task when a cancel notification is received in the above-described optimization process.

[0086] In the present embodiment, as one example of the cancel process, first, when the cancel processing unit 54 of the navigation device 50 receives a cancel notification of the first work in the generation (optimization process) of the integrated task based on both the first work and the second work, the cancel processing unit 54 determines whether the scheduled task is to be deleted, corrected, or restored based on the overall situation of the tasks of the automated job robots.

[0087] As a result of the determination, when the cancel processing unit 54 of the navigation device 50 determines to delete the scheduled task, the cancel processing unit 54 deletes the scheduled unprocessed task. That is, upon receiving the cancel notification, the cancel processing unit 54 of the navigation device 50 deletes the unprocessed task of the automated job robot (for example, the picking robot 32A as an example of the second automated job robot) different from the automated job robot (for example, the transport robot 31A as an example of the first automated job robot) that plans to execute the task based on the first work. The navigation device 50 notifies the job notification of the unprocessed task to the robot system 32 corresponding to the picking robot 32A (the second automated job robot). As a result, due to the optimization processing of the navigation device 50, the picking robot 32A (the second automated job robot) does not execute the unprocessed task that becomes unnecessary due to the cancellation, thereby improving the job efficiency of the automated job robot.

[0088] On the other hand, when the cancel processing unit 54 of the navigation device 50 determines to correct the scheduled task, the cancel processing unit 54 corrects the scheduled task. That is, the navigation device 50 corrects a part of the unprocessed task of the transport robot 31A (the first automated job robot) upon receiving the cancel notification. The navigation device 50 notifies the corrected unprocessed task to the robot system 31 corresponding to the transport robot 31A (the first automated job robot). Therefore, it is possible to continue the production by correcting some tasks without stopping the production site F.

[0089] On the other hand, when the cancel processing unit 54 of the navigation device 50 determines to restore the scheduled task, the cancel processing unit 54 restores the scheduled task. That is, the cancel processing unit 54 of the navigation device 50 generates a recovery task for restoring to a state before the execution of the processed task of the picking robot 32A (the second automated job robot) by the task generation unit 52 upon receiving the cancel notification. The navigation device 50 notifies the recovery task to the robot system 32 corresponding to the picking robot 32A (the second automated job robot).

[0090] As a result, the navigation device 50 of the present embodiment can effectively support the complex cooperation of the operations between the robot systems each including at least one automated job robot provided by a plurality of different suppliers (manufacturers) in the production site F (for example, a factory), and improve the versatility and scalability of the system. Furthermore, even the automated job robots of different system specifications can cooperate with each other, and even in the case where some of the automated job robots have an error due to a failure or the like, the production site F can be operated as smoothly as possible without causing the production of the entire production site F to stop.

[0091] Next, referring to Figures 3 to 6The operation of the present embodiment will be described in more detail in accordance with specific examples (hereinafter also referred to as "scenarios") of using the navigation device 50 configured as described above. The first to third scenarios will be described below.

[0092] First Scenario

[0093] First, the operation of the first scenario will be described with reference to Figure 3 The present embodiment will be described based on the first scenario. Figure 4 is a table illustrating the contents of the work and tasks when the component delivery request work has occurred. Figure 5 is a flowchart illustrating the abnormality notification processing. Figure 6 is a flowchart illustrating the cooperative processing. Figure 3 is a flowchart illustrating the recovery processing.

[0094] As Figure 1 indicated, the first scenario is an example in a case where the component delivery request work ID 100 has occurred from the stock-out prediction unit 23 of the production management device 20. In the first scenario, the component delivery request work ID 100 is transmitted from the stock-out prediction unit 23 of the production management device 20 to the navigation device 50.

[0095] In this scenario, the numeral "100" is assigned as the ID of the component delivery request work, but is not limited thereto. As long as it can be distinguished from other works, various alphabetic characters, combinations of alphabetic characters and numerals, and the like can be adopted.

[0096] The contents of the component delivery request work ID 100 in this scenario are set to, for example, "deliver the electronic component W2a to the component supply unit 14A of the component mounting device 14 before time T1". The component delivery request work ID 100 is transmitted to the navigation device 50. The task generation unit 52 of the navigation device 50 generates the task of each autonomous mobile robot, that is, the task of the delivery robot 31A, the task of the automatic warehouse 33A, and the task of the picking robot 32A, in accordance with this component delivery request work ID 100. The task generation unit 52 sets the sub-IDs of each task of the automatic warehouse 33A in the 10 series, the sub-IDs of each task of the delivery robot 31A in the 30 series, and the sub-IDs of each task of the picking robot 32A in the 50 series, so that the tasks can be distinguished from each other. The above-mentioned symbol "T1" indicates a scheduled time (hour, minute, second, and the like). The above-mentioned symbol "W2a" represents the electronic component W2 in the first scenario.

[0097] Specifically, the task of "delivering the electronic component W2a to the component inlet and outlet 32Ca" is generated (see Figure 1) as a task of the robot system 33 (e.g., the automatic warehouse 33A). In this task, "10" is assigned as a sub-ID associated with the ID (parent ID) of the component transport request work, i.e., ID 100, and managed as ID 100-10 combined with the ID of the work.

[0098] In this scenario, the sub-IDs as identifiers of each task are assigned numbers corresponding to their order. Specifically, the number assigned to the preceding task is smaller than the number assigned to the subsequent task, but is not limited thereto. As long as it is manageable, the tasks can be in any order, for example, the order thereof can be managed by a separately provided sequence control unit or the like. The same applies to the second and third scenarios described below.

[0099] In addition, as a task of the robot system 31 (e.g., the transport robot 31A), two tasks including "move to the component receiving position P1a" and "wait at the component receiving position P1a" are generated (see Figure 1 ). Also, ID 100-30 and 100-31 are assigned to the respective tasks. Further, as a subsequent task of ID 100-52 to be described below, a task "move to the stop position P2 after the end of ID 100-52" is similarly generated, and ID 100-32 is assigned to the subsequent task (see Figure 1 ).

[0100] In addition, as a task of the robot system 32 (e.g., the picking robot 32A), two tasks including "move to the work position P3a" and "wait at the work position P3a" are generated (see Figure 4 ). Also, ID 100-50 and 100-51 are assigned to the respective tasks. Further, as a subsequent task of ID 100-10 and ID 100-31 described above, a task "transport the electronic component W2a of the component in-out 32Ca to the component receiving position P1a when ID 100-10 and ID 100-31 end" is similarly generated, and ID 100-52 is assigned to the subsequent task.

[0101] In this scenario, when the work and the task are configured in this way, the navigation device 50 sends the task to the robot systems 31, 32, 33. Each of the robot systems 31, 32, 33 returns the required task time including the time required from the start to the end of the task to the navigation device 50. In addition, each of the robot systems 31, 32, 33 returns the identification information (robot ID) of the automatic work robot to which the task is assigned to the navigation device 50. The navigation device 50 stores the required task time returned from the robot systems 31, 32, 33, and monitors the progress of the task executed by the robot systems 31, 32, 33. If the required task time can be calculated by the navigation device 50, a notification from the robot system is not required.

[0102] Next, an abnormality notification process, which is an example of the function of monitoring the progress of the task, will be described. The task monitoring process is executed by the task monitoring unit 55 of the navigation device 50. The task monitoring process is a process of monitoring whether a task that has started to be executed ends normally. That is, in a case where a task that has started to be executed has not ended even if the time of the task greatly exceeds the initially scheduled time, it is considered that some kind of abnormality or failure has occurred in the work robot that executes the task, and the occurrence of the abnormality or failure is notified to the work personnel in the production site F. Figure 5 The flow of the task monitoring process is shown. First, the task that is currently in progress, that is, the task that has started and has not ended, is extracted (S11). Next, it is checked whether the task in progress greatly exceeds the scheduled end time (S12). The task monitoring unit 55 sets the time after the required task time elapses from the start of the task as the scheduled end time of the task, and determines the task that has not ended even if the scheduled time elapses from the scheduled end time as greatly exceeding the scheduled end time. As a result of the determination, in a case where it is determined that there is no task that greatly exceeds the scheduled end time (No in S12), the process ends or returns to another process (End / Return). In a case where it is determined that there is a task that greatly exceeds the scheduled end time (Yes in S12), the task monitoring unit 55 notifies the work personnel terminal 41 possessed by the work personnel H in the production site F of the abnormality (S15). At this time, the robot ID that executes the task or the name and the position registered in the robot ID, and the information of the task and the work being executed are also notified to the work personnel. As a result, the work personnel can quickly come to the work robot that needs to be checked, and can promptly perform appropriate treatment.

[0103] In this scenario, as shown in Figures 7 to 9 the navigation device 50 executes the above-described task cooperation process.

[0104] That is, the navigation device 50 receives a notification that a predetermined task has ended from the robot system corresponding to any automatic work robot (S21). At this time, the navigation device 50 receives information on the ID of the task and the end time of the task. For the ended task, it is determined whether there is a conditional task (for example, a task that has a master-slave relationship with the ended task and is subordinate to the task) (S22). As a result of the determination, in a case where it is determined that there is no conditional task (No in S22), the end processing or return to another processing is performed (end / return). On the other hand, in a case where it is determined that there is a conditional task (Yes in S22), the navigation device 50 determines whether a predetermined cooperation condition between tasks is satisfied (S23). As a result of the determination, in a case where it is determined that the cooperation condition is not satisfied (No in S23), the end processing or return to another processing is performed (end / return). On the other hand, in a case where it is determined that the cooperation condition is satisfied (Yes in S23), the navigation device 50 transmits a start instruction of the conditional task to the robot system corresponding to the automatic work robot that performs the conditional task (S24).

[0105] In a case where an abnormality occurs during task execution, the navigation device 50 performs the above-described recovery processing to the extent possible.

[0106] That is, the navigation device 50 receives an error notification related to a predetermined work from the robot system corresponding to any automatic work robot (S31). The navigation device 50 determines, on the basis of the content of the error notification, whether the error is an error related to component transport (S32). As a result of the determination, in a case where it is determined that it is not related to component transport (No in S32), the end processing or return to another processing is performed (end / return). On the other hand, in a case where it is determined that it is related to component transport (Yes in S32), it is determined whether there is a recoverable (for example, replaceable or combinable) electronic component W2 (S33). As a result of the determination, in a case where it is determined that there is no recoverable electronic component W2 (No in S33), the end processing or return to another processing is performed (end / return). On the other hand, in a case where it is determined that there is a recoverable electronic component W2 (Yes in S33), the navigation device 50 generates a replacement task by the task generation unit 52 and transmits the generated replacement task to the robot system corresponding to the automatic work robot to update the task (S34). The navigation device 50 corrects the related task and transmits the corrected task to the robot system corresponding to the automatic work robot to update the task (S35).

[0107] Second scenario

[0108] Next, the content of the work and the task when two component transport request works have occurred will be described with reference to Figure 7 This embodiment is described on the basis of the second scenario. Figure 8 is a table that exemplarily shows the content of the work and the task when two component transport request works have occurred.Figure 9 is a table illustrating a state in which two component delivery request jobs are optimized based on the order of the jobs. Figure 7 is a flowchart illustrating the optimization of two component delivery request jobs. The same or equivalent parts as the first scenario described above are denoted by the same reference numerals in the drawing, and the description thereof will be omitted or simplified.

[0109] As shown in Figure 1 , the second scenario is an example of a case in which a component delivery request job (second job) ID 200 for another electronic component W2b is generated before the start of the component delivery request job (first job) ID 100 in the first scenario. The component delivery request job ID 200 is a job to be executed earlier than the component delivery request job ID 100. Similarly, the component delivery request job ID 200 is also transmitted from the stock-out prediction unit 23 of the production management device 20 to the navigation device 50.

[0110] The content of the component delivery request job ID 200 in this scenario is set to, for example, "deliver the electronic component W2b to the component supply unit 14A of the component mounting device 14 by time T2". The task generation unit 52 of the navigation device 50 generates a task for each of the automatic job robots in accordance with the component delivery request job ID 200. Similarly to the first scenario, the task generation unit 52 sets the sub-IDs of each task of the automatic warehouse 33A in the 10 series, the sub-IDs of each task of the delivery robot 31A in the 30 series, and the sub-IDs of each task of the picking robot 32A in the 50 series. The above symbol "T2" represents a predetermined time, and is set to a time earlier than the above T1. The above symbol "W2b" represents the electronic component W2 in the second scenario.

[0111] Specifically, a task of "deliver the electronic component W2b to the component in-out port 32Cb" is generated as a task of the robot system 33 (e.g., the automatic warehouse 33A) (see Figure 1 ). The ID 200-10 is assigned to this task.

[0112] As a task of the robot system 31 (e.g., the delivery robot 31A), two tasks including "move to the component reception position P1b" and "wait at the component reception position P1b" are generated (see Figure 1 ). Also, the IDs 200-30 and 200-31 are assigned to the respective tasks. Further, as a subsequent task of the ID 200-52 to be described below, a task of "move to the stop position P2 after the end of the ID 200-52" is similarly generated, and the ID 200-32 is assigned to this subsequent task.

[0113] In addition, as a task of the robot system 32 (e.g., the picking robot 32A), two tasks including "move to the work position P3b" and "wait at the work position P3b" are generated (see Figure 8 ). Also, the IDs 200-50 and 200-51 are assigned to the respective tasks. Furthermore, as a subsequent task of the above-mentioned IDs 200-10 and 200-31, a task of "transport the electronic component W2b of the component in-out port 32Cb to the component receiving position Plb when the IDs 200-10 and 200-31 end" is similarly generated, and the ID 200-52 is assigned to the subsequent task.

[0114] In this way, first, the task generation unit 52 of the navigation device 50 generates the component transport request work ID 200 as a second work in this scenario and the tasks 200-10 to 200-52 based on the work. Next, the task generation unit 52 performs an optimization process on the component transport request work ID 100 as a first work and the component transport request work ID 200 as a second work. That is, the task generation unit 52 combines the tasks to efficiently execute the order of the component transport request work IDs 100 and 200.

[0115] As shown in Figure 9 , with respect to the tasks of the transport robot 31A, the tasks 200-30 and 200-31 are arranged in a chronological order in a preceding order so as to be able to be executed earlier than the tasks IDs 100-31 and 100-32. Between the tasks IDs 200-30, 200-31, and the tasks IDs 100-31, 100-32, the task 100-32 and the task 200-30 are integrated, thereby generating a new task of "move to the component receiving position Pla after the end of the ID 200-52" and assigning the ID 200-34 to the new task.

[0116] In addition, with respect to the tasks of the picking robot 32A, the group of the tasks IDs 200-50, 200-51, 200-52 as a whole is executed earlier than the group of the tasks IDs 100-50, 100-51, 100-52. Therefore, the navigation device 50 integrates the tasks by changing the execution order of the tasks IDs 100-50, 100-51, 100-52 and the tasks IDs 200-50, 200-51, 200-52 as a whole, respectively. With respect to the tasks of the automatic warehouse 33A, the IDs 100-10 and 200-10 are not changed before and after the optimization process.

[0117] As described above, in order to integrate the component transport request work ID 100 and the component transport request work ID 200, in the present scenario, the navigation device 50 integrates the tasks as Figures 10 to 12The execution of the above optimization processing is shown.

[0118] That is, the navigation device 50 generates a new task based on a new work (component delivery request work ID 200) that is executed earlier than the start of a predetermined work (component delivery request work ID 100) (S41). The navigation device 50 searches for a similar work among existing and unprocessed works (S42). The navigation device 50 determines whether there is a similar work through the search (S43). As a result of the determination, in a case where it is determined that there is no similar work (No in S43), the navigation device 50 transmits the newly generated task to the robot system corresponding to the automated work robot (S46).

[0119] On the other hand, in a case where it is determined that there is a similar work, the navigation device 50 performs optimization processing on the task of the predetermined automated work robot based on the similar work (S44). After the optimization processing is performed, the navigation device 50 determines whether the optimized task should be applied to the automated work robot (S45). As a result of the determination, in a case where it is determined that it should not be applied (No in S45), the navigation device 50 transmits the newly generated task as it is to the automated work robot (S46). On the other hand, in a case where it is determined that it should be applied (Yes in S45), the navigation device 50 transmits the optimized task to the robot system corresponding to the automated work robot (S47).

[0120] Third Scenario

[0121] Next, the contents of the work and the task when at least one of the two component delivery request works is canceled will be described with reference to Figure 10 This embodiment is described based on the third scenario. Figure 11 is a table that exemplifies the contents of the work and the task when at least one of the two component delivery request works is canceled. Figure 12 is a table that shows the state in which the cancellation processing is performed when one of the two component delivery request works is canceled. Figure 10 is a flowchart that shows the cancellation processing of one of the two component delivery request works.

[0122] The same or equivalent parts as the above first scenario and the second scenario are denoted by the same reference numerals in the drawings, and the description thereof is omitted or simplified.

[0123] As shown in Figure 11 and Figure 1 , the third scenario is an example of a case in which the two component delivery request works ID 100, ID 200 in the second scenario are integrated, and the component delivery request work ID 100 is canceled due to a delay of the delivery robot 31A. In this scenario, some of the tasks of the component delivery request work ID 100 are executed by the automated work robot, and the remaining tasks are executed by the work personnel H instead, so that the component delivery request work ID 200 is completed.

[0124] That is, in this scenario, the cancellation of the component delivery request job ID 100 occurred during the execution of the component delivery request job ID 100. As a task of the robot system 33 (e.g., the automatic warehouse 33A) at this time, a task of "execution recovery task" is generated. The task is newly assigned with the ID R100-10. The content of the task ID R100-10 is "electronic component W2 in the housing component inlet / outlet 32Ca", "instruct the workman H to remove the electronic component W2 from the component inlet / outlet 32Ca", and the like (see Figure 11 ). At this time, as shown in Figure 11 , the tasks ID 100-10 and ID 200-10 have been executed by the automatic warehouse 33A (see the tasks in the dashed line frame in Figure 1 ). Therefore, after the cancellation process, the executed tasks are ignored, and no task is assigned to one of the automatic warehouses 33A.

[0125] In addition, as a task of the robot system 31 (e.g., the delivery robot 31A), by canceling the component delivery request job ID 100, the previously integrated IDs 100-34, 100-31, 100-32 are deleted. Instead, a task of "move to the stop position P2 after the end of ID 200-52" is newly generated, and the ID 200-35 is assigned to this task (see Figure 12 ). As a result, the task ID 200-35 is scheduled as a subsequent task of the tasks 200-30 and 200-31 in time. The navigation device 50 notifies the newly generated task to the robot system 31 corresponding to the delivery robot 31A.

[0126] As for the tasks of the robot system 32 (e.g., the picking robot 32A), the tasks ID 200-50, ID 200-51, ID 200-52 based on the component delivery request job ID 200 are not changed. These tasks ID 200-50, ID 200-51, ID 200-52 are executed as they are by the picking robot 32A even after the component delivery request job ID 100 is canceled. The tasks ID 100-50, ID 100-51, ID 100-52 based on the component delivery request job ID 100 are not included in the tasks regenerated by the task generation unit 52 of the navigation device 50, and thus are deleted as a whole. As for this deletion, the navigation device 50 notifies the robot system 32 corresponding to the picking robot 32A that the tasks ID 100-50, ID 100-51, ID 100-52 have been deleted.

[0127] As described above, in order to execute the process involving the cancellation of the component delivery request job ID 100, in the present scenario, the navigation device 50 executes the above-described cancellation process as shown in Figures 13 to 16 .

[0128] That is, the navigation device 50 extracts an unprocessed task related to the canceled work (S51). Based on the result of the extraction, the navigation device 50 determines whether the task is integrated with another work (S52). As a result of the determination, in a case where it is determined that it is not integrated, the navigation device 50 notifies the robot system corresponding to the automatic work robot to delete the unprocessed task related to the canceled work. On the other hand, in a case where it is determined that it is integrated, the task generation unit 52 of the navigation device 50 regenerates the task of the remaining work that is not canceled (S53). At this time, optimization processing is also appropriately performed.

[0129] After the regeneration, the navigation device 50 specifies a task to be corrected or a task to be deleted due to the regeneration of the task (S54). After identifying these tasks, the task generation unit 52 of the navigation device 50 generates a recovery task (S55). After generating the recovery task, the navigation device 50 notifies the robot system corresponding to the automatic work robot of the task to be corrected, the task to be deleted, and the recovery task (S57).

[0130] As described above, according to the navigation device 50 and the navigation method of the present embodiment, a work related to production is generated based on information transmitted from a plurality of production facilities deployed in the production site F (i.e., a work generation step). The navigation device 50 generates a task as a work command to each of the robot systems 31, 32, 33 based on the work, and transmits the task of the robot systems 31, 32, 33 to each corresponding robot system (i.e., a work instruction step). Therefore, it is possible to effectively support complex cooperation of operations between robot systems provided by a plurality of different suppliers (manufacturers) in a production site (F) such as a factory, and to improve the versatility and scalability as a system.

[0131] When the navigation device 50 according to the present embodiment receives a notification of a predetermined task time that is replied in response to the reception of the task of each robot system from the corresponding robot system, the navigation device 50 stores the predetermined task time in association with the identification information (ID) of the corresponding robot system in the storage unit. Therefore, even in robot systems provided by different suppliers, it is possible to comprehensively manage the work time of each work of the robot system.

[0132] When the navigation device 50 according to the present embodiment receives an execution state notification indicating the start, execution, or end of the task transmitted from each robot system, the navigation device 50 stores the execution state of the task in association with the identification information of the corresponding robot system in the storage unit. Therefore, even in robot systems provided by different suppliers, it is possible to manage the integrated work progress of each work of the robot system.

[0133] In a case where the navigation device 50 does not receive a start notification of a task from any robot system after a predetermined time elapses from a task scheduled time corresponding to the identification information of the robot system, the navigation device 50 of the present embodiment transmits an abnormality notification including the task and the work corresponding to the task to the worker terminal 41. Thus, in a case where the progress management of the robot system is abnormal, the abnormality notification is transmitted to the worker H. Thus, even in the robot systems provided by different vendors, the worker H can grasp the abnormality situation in early integration and quickly deal with the abnormality.

[0134] When the navigation device 50 according to the present embodiment receives an execution state notification indicating that at least one task has ended in any of the robot systems, the navigation device 50 transmits a start instruction of a conditional task based on the end of the at least one task to another robot system that executes the conditional task. Thus, by execution sequence management, the work of one robot system does not interfere with the work of the other robot system, and time-efficient production can be achieved even in the robot systems provided by different vendors.

[0135] When the navigation device 50 according to the present embodiment receives an error notification regarding a scheduled work from any of the robot systems, the navigation device 50 generates a replacement task of the same content as a task transmitted to an error robot system (for example, the transport robot 31A of the robot system 31) that transmitted the error notification, and transmits the replacement task to another robot system that controls an automatic work robot of the same type as the error robot system (for example, the transport robot 31A). Thus, for example, in a case where some of the robot systems generate an error due to a failure or the like and become partially inoperable, the production site F can be operated as much as possible without stopping the production of the entire production site F even in the robot systems provided by different vendors.

[0136] When the navigation device 50 according to the present embodiment receives an error notification regarding a scheduled work from any of the robot systems, the navigation device 50 generates a replacement task for changing a movement destination of another robot system, and transmits the replacement task to the another robot system that is moving toward a setting place of an automatic work robot corresponding to an error robot system that transmitted the error notification (for example, the transport robot 31A of the robot system 31) and that is a robot system of a different type from the error robot system (for example, the transport robot 31A). Thus, even in the robot systems provided by different vendors, an automatic work robot of the another robot system that is working in the vicinity of the automatic work robot (for example, the transport robot 31A) of the error robot system executes the replacement task, so that a time loss due to movement can be minimized.

[0137] After sending the alternative task to the other robot system, the navigation device 50 according to the present embodiment revises the conditional task based on the end of the alternative task, and sends the revised conditional task to the robot system that executes the conditional task. Thus, even when an alternative task that is changed from a predetermined task is generated, the influence of the generation of the alternative task on other tasks can be minimized by revising the conditional task associated with the alternative task.

[0138] When a second work that is executed earlier than a first work is generated before the start of the first work generated by the production management device (work generation device) 20, the navigation device 50 according to the present embodiment generates a task based on the second work, and sends an integrated task to the first robot system, in which a task of the robot system based on the second work (for example, the transport robot 31A that is an automatic work robot as the first robot system) and a task of the robot system based on the first work (for example, the transport robot 31A that is an automatic work robot as the first robot system) are combined so as to be able to be executed in the order of the second work and the first work. Thus, in the case where at least one work occurs later, even in robot systems provided by different vendors, a plurality of works can be combined and executed efficiently.

[0139] When a second work that is executed earlier than a first work is generated before the start of the first work generated by the production management device (work generation device) 20, the navigation device 50 according to the present embodiment generates a task based on the second work, and sends a task of the robot system based on the first work (for example, the transport robot 31A that is an automatic work robot as the first robot system) and a task of the robot system based on the second work (for example, the transport robot 31A that is an automatic work robot as the first robot system) to the first robot system after changing the execution order of these tasks. Thus, in the case where at least one work occurs later, even in robot systems provided by different vendors, the execution order of the tasks of the robot system based on the work can be changed appropriately, and a plurality of works can be executed efficiently.

[0140] When the navigation device 50 according to the present embodiment receives the cancellation notification of the first work, the navigation device 50 deletes the unprocessed task of the robot system (e.g., the transport robot 31A of the automated work robot as the first robot system) different from the robot system (e.g., the picking robot 32A of the automated work robot as the second robot system) at the time of receiving the cancellation notification, and notifies the second robot system of the deletion notification of the unprocessed task. Thus, even in the robot systems provided by different vendors, the other (second) robot system does not need to perform the unprocessed task that becomes unnecessary due to the cancellation, and thus the work efficiency of the robot system can be improved.

[0141] When the navigation device 50 according to the present embodiment receives the cancellation notification of the first work, the navigation device 50 revises some of the unprocessed tasks of the robot system (e.g., the transport robot 31A of the automated work robot as the first robot system) at the time of receiving the cancellation notification, and notifies the first robot system of the revised unprocessed tasks. Thus, even in the robot systems provided by different vendors, the unprocessed tasks of the other (second) robot system are revised along with the cancellation, and are transmitted to the robot system before being executed. Thus, the work efficiency of the robot system can be improved.

[0142] When the navigation device 50 according to the present embodiment receives the cancellation notification of the first work, the navigation device 50 generates a recovery task for returning to the state before the execution of the processed task of the robot system (e.g., the picking robot 32A of the automated work robot as the second robot system) different from the robot system (e.g., the transport robot 31A of the automated work robot as the first robot system) at the time of receiving the cancellation notification, and notifies the second robot system of the recovery task. Thus, even if the robot systems are provided by different vendors, the state of the robot system is returned to the state before the execution of the processed task of the other (second) robot system by the recovery task. As a result, the execution state of the robot system is restored to the previous normal state, and the production site F can be operated as much as possible without stopping the production.

[0143] Variations of various application examples related to the conditional task

[0144] Next, referring to Figure 13 Examples of the navigation device 50 processing the conditional task will be described with reference to a plurality of application examples (configuration examples). Figure 14 、 Figure 15 、 Figure 16 and Figure 13 are diagrams that schematically show application examples of the navigation device 50 processing the conditional task.

[0145] Configuration Example 1

[0146] As Figure 2 shown, the navigation device 50 generates at least one prerequisite task C1 and one conditional task X1 as tasks (the tasks as job commands to the robot systems (see Figure 13 ) to send the generated tasks to the robot systems. In Figures 13 to 16 the example shown, the prerequisite task C1 is sent to the robot system A, and the conditional task X1 is sent to the robot system B, but the prerequisite task C1 and the conditional task X1 can be sent to the same robot system (e.g., the robot system B). In Figure 2 the description below, each of the robot systems A, B, and D can be any of the robot systems 31, 32, 33 shown in Figure 14 , or can be another robot system.

[0147] Here, the prerequisite task C1 is a task that serves as a prerequisite condition to start the execution of the conditional task X1. The conditional task X1 is a task that has the end of the execution of the prerequisite task C1 as a start condition, and in principle, cannot start without the execution of the prerequisite task C1. That is, the prerequisite task C1 and the conditional task X1 have a master-slave relationship, and the time periods in which the tasks are executed differ in the time series. In a case where the end of the prerequisite task C1 is detected in the robot system A, the navigation device 50 sends a start instruction of the conditional task X1 to the robot system B. In other words, the robot system B waits until the start instruction of the conditional task X1 is received from the navigation device 50 to execute the conditional task X1.

[0148] As a result, the navigation device 50 can instruct the robot systems to execute the conditional task X1, which is a task that is not executed unless the prerequisite task C1 has been executed, thereby effectively supporting the continuous execution of multiple tasks in the robot systems.

[0149] Configuration Example 2

[0150] As Figure 14 shown, the navigation device 50 can generate multiple prerequisite tasks C1 and C2, and can send the prerequisite task C1 to the robot system A and the prerequisite task C2 to the robot system D. In addition, the navigation device 50 sends the conditional task X2 to the robot system B, which has the end of the execution of both the prerequisite tasks C1 and C2 as a start condition. In Figure 13 the example shown, the prerequisite tasks C1 and C2 are sent to different robot systems A and D, and the conditional task X2 is sent to the robot system B, but the prerequisite tasks C1 and C2 and the conditional task X2 can be sent to the same robot system (e.g., the robot system B). The number of multiple prerequisite tasks can be three or more.

[0151] When prerequisite task C1 in robot system A and prerequisite task C2 in robot system D have both ended, navigation device 50 sends a start instruction for conditional task X2 to robot system B. In other words, robot system B waits until it receives the start instruction for conditional task X2 from navigation device 50 before executing conditional task X2.

[0152] As a result, the navigation device 50 can instruct the robot system to perform conditional task X2, which is a fine-grained operation that will not be performed unless multiple prerequisite tasks C1 and C2 have been performed, thereby effectively supporting the continuous execution of multiple tasks in the robot system.

[0153] Configuration Example 3

[0154] like Figure 13 As shown, the navigation device 50 determines whether the start conditions of conditional task X1 are met. If the start conditions of conditional task X1 are met, it sends a start instruction for conditional task X1 to the robot system. The start conditions of conditional task X1 may include not only prerequisite tasks C1 or prerequisite tasks C1 and C2, but also conditions for performing a predetermined operation in the robot system instructed to perform conditional task X1.

[0155] Therefore, even when a new robot system is added to the integrated navigation system 1 and the robot system performs a prerequisite task, the navigation device 50 only needs to modify the start conditions of the condition task X1, thus improving the system's versatility. Furthermore, the navigation device 50 does not start the execution of the condition task X1 until the start conditions are met, thus enabling the condition task X1 to be executed at a predetermined, precise timing.

[0156] Configuration Example 4

[0157] like Figure 14 As shown, the navigation device 50 sends a prerequisite task C1 to a first robot system (e.g., robot system A) and a conditional task X1 to a second robot system (e.g., robot system B). That is, the destination of the prerequisite task C1 and the destination of the conditional task X1 can be different from each other.

[0158] As a result, the navigation device 50 can instruct the robot system B to perform conditional task X1, which is a task that will not be performed unless the prerequisite task C1 has already been performed in a different robot system A. This enables multiple different robot systems to cooperate in order to effectively support the continuous execution of multiple tasks.

[0159] Configuration Example 5

[0160] like Figure 15As shown, the navigation device 50 sends a first prerequisite task (e.g., prerequisite task C1) to a first robot system (e.g., robot system A) that is different from the robot system B performing conditional task X2. The navigation device 50 sends a second prerequisite task (e.g., prerequisite task C2) to a second robot system (e.g., robot system D) that is different from the robot system B performing conditional task X2.

[0161] As a result, even when each two robot systems performing multiple prerequisite tasks and performing conditional tasks are different from each other, the navigation device 50 can enable the robot systems to cooperate in a time sequence to effectively support the continuous execution of multiple tasks.

[0162] Configuration Example 6

[0163] like Figure 15 As shown, when the navigation device 50 receives a notification from the first robot system (e.g., robot system A) that the prerequisite task C1 cannot be performed, the navigation device 50 sends a start instruction for the conditional task X1 to the second robot system (e.g., robot system B). When robot system B receives the start instruction from the navigation device 50, robot system B begins to perform conditional task X1.

[0164] Therefore, even if a malfunction occurs in robot system A, the operation is delayed, or the prerequisite task C1 is canceled, navigation device 50 can prevent robot system B from failing to start executing conditional task X1. Thus, navigation device 50 can semi-forcefully start executing conditional task X1, thereby preventing a deterioration in overall work efficiency.

[0165] Configuration Example 7

[0166] like Figure 15 As shown, when the navigation device 50 receives a notification from the first robot system (e.g., robot system A) that the prerequisite task C1 cannot be executed, the navigation device 50 modifies the prerequisite conditions (i.e., the start conditions) of the condition task X1 and sends the condition task X1 with modified start conditions to the second robot system (e.g., robot system B). Robot system B receives and holds the condition task X1 (i.e., the condition task X1 with modified start conditions) sent from the navigation device 50. After receiving the execution instruction for the condition task X1 with modified start conditions, robot system B begins to execute the condition task X1.

[0167] Therefore, in the event of a malfunction, operation delay, or cancellation of prerequisite task C1 in robot system A, navigation device 50 can manage the execution of condition task X1 even if the start of prerequisite task C1 is excluded, thereby ensuring the smooth start of condition task X1.

[0168] Configuration Example 8

[0169] As Figure 15 indicated, in a case where the navigation device 50 receives a notification that the prerequisite task C1 cannot be executed from the first robot system (e.g., the robot system A), the navigation device 50 corrects the type of the conditional task X1 to a normal task (i.e., a task without master-slave relationship), and transmits the conditional task whose type is corrected to the second robot system (e.g., the robot system B). The robot system B receives and holds the normal task transmitted from the navigation device 50. Upon receiving an execution instruction of the normal task, the robot system B starts execution of the task.

[0170] Accordingly, in a case where a failure, a work delay, or a cancellation of the prerequisite task C1 occurs in the robot system A, the navigation device 50 can switch the conditional task X1 to a normal task (see above) in a case where the prerequisite task C1 is excluded, and thus can control the execution of the conditional task X1 to start smoothly.

[0171] Configuration Example 9

[0172] As Figure 16 indicated, in a case where the navigation device 50 receives a notification that the prerequisite task C1 cannot be executed from the first robot system (e.g., the robot system A), the navigation device 50 transmits an execution cancellation instruction of the conditional task X1 to the second robot system (e.g., the robot system B).

[0173] Accordingly, in a case where a failure, a work delay, or a cancellation of the prerequisite task C1 occurs in the robot system A, the navigation device 50 can correctly interrupt the execution of the conditional task X1 based on the prerequisite task C1, and thus can prevent the progress of other tasks from being stopped.

[0174] Configuration Example 10

[0175] As ​ indicated, in a case where the navigation device 50 receives a notification that a part of the plurality of prerequisite tasks C1, C2 (e.g., the prerequisite task C2) cannot be executed from the first robot system (e.g., the robot system A), when the navigation device 50 determines that the remaining prerequisite task (e.g., the prerequisite task C1) ends, the navigation device 50 transmits a start instruction of the conditional task X2 to the second robot system (e.g., the robot system B).

[0176] Accordingly, in a case where a failure, a work delay, or a cancellation of the prerequisite task C2 occurs in the robot system A, in a case where the prerequisite task C2 is excluded, as long as the remaining prerequisite task C1 can be executed, the navigation device 50 can execute the conditional task X2, and thus can control the execution of the conditional task X2 to start smoothly.

[0177] Configuration Example 11

[0178] The navigation device 50 generates the identification information of the task according to a predetermined rule, and generates the task including the identification information. In particular, preferably, the navigation device 50 generates the identification number of each task in association with the identification number of the work superior to the task. Here, for example as described above, the predetermined rule is a rule in which the sub-IDs of the tasks of the automatic warehouse 33A are set in the 10 series, the sub-IDs of the tasks of the transport robot 31A are set in the 30 series, and the sub-IDs of the tasks of the picking robot 32A are set in the 50 series.

[0179] As a result, the navigation device 50 can generate the task including the task identification number, and thus can appropriately manage the task.

[0180] Configuration example 12

[0181] The navigation device 50 generates a conditional task including the identification information of a premise task and the identification information of the conditional task in association with each other. That is, the conditional task is generated in a state including not only the identification number of the conditional task but also the identification number of the premise task.

[0182] As a result, since the identification information included in the data structure (not shown) of the conditional task includes the identification information of the premise task, the navigation device 50 can appropriately manage whether the premise task has ended before instructing the start of the conditional task.

[0183] Although the embodiments have been described above with reference to the drawings, it is needless to say that the present disclosure is not limited to such examples. It is obvious to those skilled in the art that various changes, modifications, substitutions, additions, deletions, and equivalents can be conceived within the scope of the claims, and it should be understood that such changes and the like also belong to the technical scope of the present invention. The components in the above-described embodiments can be arbitrarily combined within the scope of the present invention without departing from the spirit of the present invention.

[0184] Industrial applicability

[0185] The present disclosure is useful as an integrated navigation system and a work instruction method, which can effectively support complex cooperation of operations between automatic work robots provided by a plurality of different suppliers in a production site such as a factory, and improve the versatility and scalability as a system.

[0186] List of reference numerals

[0187] 1. Integrated navigation system

[0188] 2. Stock shelf

[0189] 3. Waste collection device

[0190] 4. Consumable stock unit

[0191] 5. Component stock unit

[0192] 10. Production facility

[0193] 11. Board supply device

[0194] 12. Screen printing device

[0195] 13. Printed solder inspection device

[0196] 14. Component mounting device

[0197] 14A. Component supply unit

[0198] 15. Component mounting state inspection device

[0199] 16. Reflow device

[0200] 17. Mounting board inspection device

[0201] 18. Mounting board collection device

[0202] 20. Production management device

[0203] 21. Conversion management unit

[0204] 22. Maintenance management unit

[0205] 23. Shortage prediction unit

[0206] 24. Environment information storage unit

[0207] 25. Production plan storage unit

[0208] 26. Factory inventory information storage unit

[0209] 27. In-facility inventory information storage unit

[0210] 28. Facility operation information storage unit

[0211] 29. Information management device

[0212] 31. Robot system

[0213] 31A. Transport robot

[0214] 31B. Transport robot management device

[0215] 32. Robot system

[0216] 32A. Picking robot

[0217] 32B. Picking robot management device

[0218] 33. Robot system

[0219] 33A. Automated warehouse

[0220] 33B. Automated warehouse management device

[0221] 40. Notification / monitoring device

[0222] 41. Work staff terminal

[0223] 50. Navigation device

[0224] 51. Task management unit

[0225] 52. Task generation unit

[0226] 53. Interruption processing unit

[0227] 54. Cancellation processing unit

[0228] 55. Task monitoring unit

Claims

1. An integrated navigation system configured to support cooperation of a plurality of different robot systems each of which includes at least one automated work robot operating in a production site, the integrated navigation system comprising: a work generation device configured to generate production-related works based on information transmitted from a plurality of production facilities deployed in the production site; and a navigation device configured to generate tasks as work commands to each of a plurality of different robot systems based on the works generated by the work generation device, and transmit the tasks of the robot systems to each corresponding robot system, wherein the navigation device is configured to: generate a conditional task and at least one prerequisite task as the tasks, transmit the prerequisite task to a first robot system, and transmit the conditional task to a second robot system, determine whether a start condition of the conditional task is satisfied, in a case where it is determined that the start condition of the conditional task is satisfied, transmit a start instruction of the conditional task to the second robot system, in a case where the navigation device receives a notification from the first robot system that the prerequisite task cannot be executed, transmit the start instruction of the conditional task to the second robot system, in a case where a second work that is executed earlier than a first work generated by the work generation device is generated, generate a task based on the second work, transmit an integrated task to a first robot system in which a task of the first robot system based on the second work and a task of the first robot system based on the first work are combined together so as to be able to be executed in an order of the second work and the first work, and in response to receiving a cancellation notification of the first work, extract an unprocessed task related to the first work, based on a result of the extraction, determine whether the task is integrated with a task of another work, as a result of the determination, in a case where it is determined that the task is not integrated, notify a robot system corresponding to the automated work robot to delete the unprocessed task related to the first work, in a case where it is determined that the task is integrated, regenerate the task with a remaining work that is not cancelled.

2. The integrated navigation system according to claim 1, wherein the navigation device is configured to: determine whether a preset cooperation condition between the tasks is satisfied, and in a case where it is determined that the cooperation condition between the tasks is satisfied, transmit the start instruction of the conditional task to the second robot system.

3. The integrated navigation system according to claim 1, wherein the conditional task is a task that is executed later in a time series among at least two tasks in which a correlation is identified in the time series.

4. The integrated navigation system according to claim 1, wherein a mounting board is produced in the production site.

5. The integrated navigation system according to claim 1, wherein the prerequisite task is a first prerequisite task, ​ The navigation device is configured to transmit a second precondition task different from the first precondition task to a third robot system different from the second robot system that performs the conditional task. 6.The integrated navigation system of claim 1, wherein The navigation device is configured to modify a start condition of the conditional task in a case where the navigation device receives a notification from the first robot system that the precondition task cannot be performed, and transmit the conditional task whose start condition is modified to the second robot system. 7.The integrated navigation system of claim 1, wherein The navigation device is configured to modify a type of the conditional task to a normal task in a case where the navigation device receives a notification from the first robot system that the precondition task cannot be performed, and transmit the conditional task whose type is modified to the second robot system. 8.The integrated navigation system of claim 1, wherein The navigation device is configured to transmit an execution cancel indication of the conditional task to the second robot system in a case where the navigation device receives a notification from the first robot system that the precondition task cannot be performed. 9.The integrated navigation system of claim 1, wherein The navigation device is configured to transmit a start indication of the conditional task to the second robot system when the navigation device determines that the remaining precondition task ends in a case where the navigation device receives a notification from the first robot system that a part of the plurality of precondition tasks cannot be performed. 10.The integrated navigation system of claim 1, wherein The navigation device is configured to generate a task including identification information of the task. 11.The integrated navigation system of claim 10, wherein The navigation device is configured to generate a conditional task including identification information of the precondition task and identification information of the conditional task, the identification information of the precondition task and the identification information of the conditional task being associated with each other. 12.The integrated navigation system of claim 1, wherein The navigation device is configured to store the predetermined task time in association with identification information of the corresponding robot system in a storage unit in response to receiving a notification of the predetermined task time replied from the corresponding robot system in response to receiving a task of each of the robot systems. 13.The integrated navigation system of claim 1, wherein The navigation device is configured to store an execution status of a task in association with identification information of the corresponding robot system in a storage unit in response to receiving an execution status notification indicating a start, execution in progress, or end of the task transmitted from each of the robot systems. 14.The integrated navigation system of claim 12, wherein The navigation device is configured to transmit an abnormality notification including the task and the work corresponding to the task to a worker terminal even in a case where the navigation device does not receive a start notification of the task from any of the robot systems after a predetermined time or more from the predetermined task time corresponding to the identification information of the robot system.

15. The integrated navigation system according to claim 1, wherein The navigation device is configured to transmit a start instruction of a conditional task based on the end of the at least one task to another robot system that executes the conditional task in response to receiving an execution state notification indicating that the at least one task ends in any of the robot systems.

16. The integrated navigation system according to claim 1, wherein The navigation device is configured to generate a replacement task having the same content as a task transmitted to an error robot system that transmitted an error notification regarding a predetermined work and transmit the replacement task to another robot system that controls an automatic work robot of the same type as the error robot system in response to receiving the error notification from any of the robot systems.

17. The integrated navigation system according to claim 1, wherein The navigation device is configured to generate a replacement task for changing a movement destination of an automatic work robot corresponding to another robot system that is moving toward a setting place of an automatic work robot corresponding to an error robot system that transmitted an error notification regarding a predetermined work and transmit the replacement task to the another robot system in response to receiving the error notification from any of the robot systems.

18. The integrated navigation system according to claim 17, wherein The navigation device is configured to revise a conditional task based on the end of the replacement task after transmitting the replacement task to the another robot system and transmit the revised conditional task to a robot system that executes the conditional task.

19. The integrated navigation system according to claim 1, wherein The navigation device is configured to: generate a task based on a second work that is executed earlier than a first work in a case where the second work is generated before the start of the first work generated by the work generation device, and transmit a task of the first robot system based on the first work and a task of the first robot system based on the second work to the first robot system in a state where the execution order of the task of the first robot system based on the first work and the task of the first robot system based on the second work is exchanged.

20. The integrated navigation system according to claim 1, wherein The navigation device is configured to delete an unprocessed task of a second robot system different from the first robot system at the time of receiving a cancellation notification of the first work in response to receiving the cancellation notification of the first work and notify the second robot system of a deletion notification of the unprocessed task.

21. The integrated navigation system according to claim 1, wherein the navigation device is configured to, in response to receiving the cancellation notification of the first work, revise a part of the unprocessed task of the first robot system at the time of receiving the cancellation notification, and notify the revised unprocessed task to the first robot system.

22. The integrated navigation system according to claim 1, wherein the navigation device is configured to, in response to receiving the cancellation notification of the first work, generate a recovery task for returning to a state before execution of a processed task of a second robot system different from the first robot system at the time of receiving the cancellation notification, and notify the recovery task to the second robot system.

23. A work instruction method supporting cooperation of a plurality of different robot systems each including at least one automatic work robot operating in a production site, the work instruction method comprising: a work generation step of generating a work related to production based on information transmitted from a plurality of production facilities deployed in the production site; and a work instruction step of generating a task as a work command to each of the plurality of different robot systems based on the work, and transmitting the task of the robot system to each corresponding robot system, generating a conditional task and at least one premise task as the task, transmitting the premise task to a first robot system and the conditional task to a second robot system, determining whether a start condition of the conditional task is satisfied, in a case where it is determined that the start condition of the conditional task is satisfied, transmitting a start instruction of the conditional task to the second robot system, in a case where a notification that the premise task cannot be executed is received from the first robot system, transmitting the start instruction of the conditional task to the second robot system, in a case where a second work executed earlier than a first work generated in the work generation step is generated before the first work starts, generating a task based on the second work, transmitting an integrated task in which a task of the first robot system based on the second work and a task of the first robot system based on the first work are combined together so as to be able to be executed in an order of the second work and the first work to the first robot system, in response to receiving a cancellation notification of the first work, extracting an unprocessed task related to the first work, based on an extraction result, determining whether the task is integrated with a task of another work, as a result of the determination, in a case where it is determined that the task is not integrated, notifying a robot system corresponding to the automatic work robot to delete the unprocessed task related to the first work, in a case where it is determined that the task is integrated, regenerating the task with a remaining work that is not cancelled. ​

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