Unmanned carrier system

Abstract

To provide an unmanned conveyance system capable of preventing a load erroneously weighed in a loading area from being conveyed to a working area.SOLUTION: An automated guided vehicle system includes an automated guided vehicle. The automated guided vehicle system transports the load loaded on the automated guided vehicle in the loading area to the work area. The unmanned conveyance system includes a weighing means for weighing the weight of a load loaded on an unmanned conveyance machine, and a collating means for collating the weight of the load weighed by the weighing means with a planned weight which is a weight determined by a production plan of a work area before conveying the load to the work area.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to an automated guided transport system including an automated guided transport vehicle, and in particular to one that transports a load loaded on the automated guided transport vehicle in a loading area to a work area. [Background technology]

[0002] Patent Document 1 below discloses an automated transport system equipped with an AGV (Automatic Guided Vehicle), which is an automated transport machine, which transports inventory, which is a load, from one location to another.

[0003] When an automated guided transport system is applied to a production factory, an operator weighs at least one type of raw material (ingredient) to a predetermined weight in a loading area within the production factory, loads the weighed raw material onto an automated guided transport vehicle as a load, moves the automated guided transport vehicle to a work area (including an unloading area) within the production factory to transport the load, and unloads the load in the work area. In the work area, a product is produced using the unloaded load (raw material). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2022-155615 Summary of the Invention [Problem to be solved by the invention]

[0005] Here, due to a weighing error in the loading area, a load with a weight different from the specified (planned) weight may be transported to the work area. In this case, the automated guided vehicle that has moved to the work area is moved back to the loading area, the load is temporarily returned to the loading area, the re-weighed load is loaded back onto the automated guided vehicle, and the automated guided vehicle is then moved back to the work area to unload it. Production using the load cannot begin until the specified weight of the load is unloaded into the work area, which causes a problem of reduced productivity in the production factory.

[0006] Therefore, an object of the present disclosure is to provide an unmanned transport system that can prevent an item that has been misweighed in the loading area from being transported to the work area. [Means for solving the problem]

[0007] A first aspect of the present disclosure relates to an automated guided vehicle system that includes an automated guided vehicle. The automated guided vehicle transports a load loaded onto the automated guided vehicle in a loading area to a work area. The automated guided vehicle system includes a weighing device that weighs the load loaded onto the automated guided vehicle, and a comparison device that compares the weight of the load weighed by the weighing device with a planned weight that is a weight determined in a production plan for the work area before the load is transported to the work area.

[0008] The second aspect has the following characteristics in addition to the first aspect: When multiple types of loads are loaded onto the unmanned transport vehicle, the weighing means measures the weight of each type of load, and the collating means collates each type of load.

[0009] The third aspect has the same features as the first aspect, but further includes the following: The weighing means is mounted on the automatic carrier vehicle.

[0010] The fourth aspect has the same features as the first aspect, but further includes the following: When a guide board is provided in the loading area to guide and stop the unmanned transport vehicle, the weighing means can be provided on the guide board.

[0011] A fifth aspect has the following characteristics in addition to the first aspect: A load loaded on an automated guided vehicle is transported sequentially to a plurality of work areas. A weighing means weighs the load after unloading in each work area. The automated guided vehicle system further includes another comparison means that is provided in each work area and compares the weight of the load after unloading weighed by the weighing means with another planned weight defined in the production plan.

[0012] A sixth aspect has the following features in addition to the first aspect: A load remaining in the work area is loaded onto an automated guided vehicle and returned to the loading area. A weighing means weighs the remaining weight of the load loaded onto the automated guided vehicle. A collating means collates the remaining weight weighed by the weighing means with a planned weight, which is a weight determined in a production plan for the work area, before the load is transported to the loading area.

[0013] A seventh aspect has the same features as any one of the first to sixth aspects, and further includes the following: the load is raw materials, and the work area is a production area where production is carried out using the raw materials unloaded from the automated guided vehicle. [Effects of the Invention]

[0014] According to the present disclosure, a configuration is adopted in which the weight of a load loaded onto an automated guided vehicle in the loading area is measured by a weighing device, and before the loaded load is transported to the work area, the measured weight is compared with the planned weight by a comparing device. This makes it possible to prevent a load that has been incorrectly weighed in the loading area from being transported to the work area. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is a schematic diagram showing an example of the configuration of a production factory to which an automated guided vehicle system according to an embodiment is applied; [Figure 2] FIG. 1 is a schematic diagram illustrating a configuration of an automated guided vehicle. [Figure 3] FIG. 10 is a diagram illustrating an example of a production plan. [Figure 4] FIG. 10 is a diagram showing an example of a display on a touch panel during loading. [Figure 5] FIG. 10 is a diagram showing an example of a display on a touch panel during unloading. [Figure 6] 10 is a flowchart showing the operation of the unmanned transport vehicle when writing to an RFID tag. [Figure 7] 10 is a flowchart showing the operation during loading. [Figure 8] 10 is a flowchart showing the operation during unloading. [Figure 9] FIG. 2 is a diagram illustrating an example of a hardware configuration of a control unit of an automated guided vehicle. DETAILED DESCRIPTION OF THE INVENTION

[0016] Hereinafter, an automated guided vehicle system according to an embodiment will be described with reference to the drawings, taking as an example a case where the system is applied to a production factory. Common or corresponding elements in each drawing are designated by the same reference numerals, and descriptions thereof will be simplified or omitted.

[0017] Fig. 1 is a schematic diagram showing an example of the configuration of a production factory 1 to which an automated guided transport system according to an embodiment is applied. Fig. 2 is a schematic diagram showing the configuration of an automated guided transport machine provided in the automated guided transport system.

[0018] The production factory 1 includes a waiting area 11 where multiple automated guided vehicles 2 wait, a loading area 12 where at least one type of raw material M1, M2, and M3 (three types in this embodiment) is loaded onto the automated guided vehicles 2, a work area 13 where the raw materials M1, M2, and M3 loaded onto the automated guided vehicles 2 are unloaded, a host computer 14, and an automated guided vehicle command device 15. The host computer 14 comprehensively controls the operation of the production factory 1. The automated guided vehicle command device 15 comprehensively controls the automated guided vehicles 2 based on a transfer plan created by the host computer 14. The functions of the automated guided vehicle command device 15 may be executed by the host computer 14. The automated guided vehicle command device 15 may be omitted if necessary when the number of automated guided vehicles 2 in operation is small.

[0019] An AGV, for example, can be used as the automated guided vehicle 2. The automated guided vehicle 2 stores raw materials M (M1, M2, M3) in containers C (C1, C2, C3) and transports them. The automated guided vehicle 2 includes an RFID (Radio Frequency Identification) 21, a touch panel 22, weighing means 23, and a control unit 24. The control unit 24 comprehensively controls the operation of the automated guided vehicle 2. The control unit 24 includes a matching means 241, which will be described later. The touch panel 22 has a function that enables communication with the RFID 21, an RFID reader 122, which will be described later, and an RFID reader 132, which will be described later.

[0020] A transport plan created by the host computer 14 based on a production plan (see FIG. 3 ) is written to the RFID tag 21 via the automated guided vehicle command device 15 using an RFID writer (described later). As shown in FIG. 3 , the production plan includes, for example, the work area of ​​the production line, the production start time, the production end time, the production items, the required raw materials and the planned quantities of each raw material, and the planned production quantity. Although not shown, the transport plan also includes the ID of the automated guided vehicle 2, the work area 13, the production items, the transport route, the forwarding route, the loading start time, the transport start time, the unloading start time, the names of the raw materials to be loaded and the planned load amounts of each raw material, the loading order, the unloading order, the weight of each container C used when loading the raw material M onto the automated guided vehicle 2, and the allowable error when checking the load amounts. The planned load amount corresponds to the “planned weight” in the claims. The ID of the automated guided vehicle 2 and its allowable load amount are linked and registered in the host computer 14 as automated guided vehicle information.

[0021] The automated guided vehicle 2 selected by the host computer 14 in the transfer plan is an automated guided vehicle 2 among the automated guided vehicles 2 waiting in the waiting area 11, in accordance with the planned total load capacity (total planned load capacity of each raw material) described below, in which the total weight of the planned total load capacity and the containers used does not exceed the allowable load capacity of the automated guided vehicle 2 to be used, and the ID of that automated guided vehicle 2 is registered in the information of the transfer plan. Furthermore, if the allowable load capacity of the automated guided vehicle 2 that can be used in a single transfer is exceeded, the host computer 14 sets a transfer plan in which the transfer is divided into multiple trips.

[0022] The waiting area 11 is a waiting station where a plurality of unmanned transport vehicles 2 are kept waiting. At least one RFID writer 111 (three in this embodiment) is provided on the loading area 12 side of the waiting area 11. The RFID writer 111 has wireless communication means (not shown) capable of wireless communication with the host computer 14. In the example shown in FIG. 1, two types of unmanned transport vehicles 2a and 2b of different sizes are waiting. The above-mentioned IDs are respectively set for these unmanned transport vehicles 2a and 2b.

[0023] The RFID writer 111 writes the transportation plan into the RFID tags 21 of the automated guided vehicles 2a, 2b having IDs included in the transportation plan received from the host computer 14 via the automated guided vehicle command device 15. The automated guided vehicles 2 with the transportation plan written therein move to the loading area 12. Note that, depending on the planned total load, the automated guided vehicles 2 waiting in the waiting area 11 may be of the same type.

[0024] The loading area 12 is provided with a guide board 121 that guides the automated guided vehicle 2 from the waiting area 11 and stops it. A known guide board installed on the floor can be used as the guide board 121, and a detailed description thereof will be omitted here. The loading area 12 is provided with an RFID reader 122. The RFID reader 122 has wireless communication means (not shown) that can communicate with the automated guided vehicle 2 stopped on the guide board 121, and can read information written in the RFID 21 of the automated guided vehicle 2. The information read by the RFID reader 122 is displayed on the touch panel 22, for example, via wireless communication in the format shown in FIG. 4. FIG. 4 is a diagram showing an example display of the touch panel 22 during loading. Below, an example will be described in which three raw materials M1, M2, and M3 are loaded in the loading area 12.

[0025] The touch panel 22 displays, for example, the current status (loading status display), the destination (first work area) and the manufactured product (product X) at the destination, the time when loading begins (loading time), the time when transportation begins (transport time), and the current time (current time). Furthermore, the touch panel 22 displays the loading order numbers (1, 2, 3) from top to bottom, along with the names of the raw materials (M1, M2, M3) to be loaded in the loading area 12, the planned amounts (A1, A2, A3) indicating the planned loading amounts of each raw material, the planned total loading amounts for each loading order (A1, A1+A2, A1+A2+A3), a loading completion switch (complete) operated when loading of each raw material is complete, a reweighing switch (reweigh) for releasing the weighing hold and reweighing (described below), a real-time loading amount (α1, α2, α3) indicating the total loading amount of the raw materials M currently loaded on the automated guided vehicle 2, and an indication of the pass / fail of the verification result ("OK" if pass, "NG" if fail). The touch panel 22 also displays a switch (start transport) for notifying that the loading operation in the loading area 12 is complete. Here, "kg" is the unit of weight. The displayed real-time loaded amount is the weight of the raw material M, taking into account the weight of the container C, from the weight loaded on the automatic transport vehicle 2 measured by the weighing means 23.

[0026] The worker follows the display on the touch panel 22 to weigh the raw materials M1, M2, M3 while putting them into containers C1, C2, C3, and sequentially loads the weighed raw materials M1, M2, M3 onto the automated conveying machine 2. The raw materials M1, M2, M3 may be weighed on the automated conveying machine 2 using the weighing means 23, or may be weighed on a work bench (not shown). When loading the raw materials M1, M2, M3, the touch panel 22 may be configured to highlight a line indicating the current work procedure in an easy-to-understand manner, for example.

[0027] However, if a measurement error occurs in the raw materials M1, M2, and M3 during loading and the raw materials M1, M2, and M3 are transported to the work area 13, the raw materials M1, M2, and M3 must be returned to the loading area 12, which reduces productivity.

[0028] Therefore, in this embodiment, the automated guided vehicle 2 is configured to include a weighing device 23 and a collating device 241. Since a known device such as a weight sensor can be used as the weighing device 23, a detailed description thereof will be omitted here. During loading, the collating device 241 collates the weights of the raw materials M1, M2, and M3 weighed by the weighing device 23 with the planned amounts of each raw material M1, M2, and M3 included in the transportation plan. Specifically, the worker loads each raw material M1, M2, and M3 onto the automated guided vehicle 2 according to the loading order shown in FIG. 4. For loading order 1, the worker loads raw material M1 onto the automated guided vehicle 2 using container C1, since "M1" is displayed on the touch panel 22 as the raw material name corresponding to loading order 1 and "A1" is displayed as the planned amount corresponding to loading order 1. When raw material M1 is loaded, "A1" is displayed as the real-time loading amount corresponding to loading order 1, and when loading of raw material M1 is completed, the loading completion switch corresponding to loading order 1 (raw material M1) is pressed. Then, the real-time loading amount (α1) weighed by the weighing means 23 is stored, and the checking means 241 checks whether the stored real-time loading amount (α1) matches the planned total loading amount (A1). For example, if the checking result is within the allowable error, the judgment is good and "OK" is displayed, and if the checking result exceeds the allowable error, the judgment is bad and "NG" is displayed at the position of the checking result corresponding to loading order 1 on the touch panel 22. Note that a weight match in the checking means 241 does not mean an exact match, but means that the difference between the stored real-time loading amount (α1) and the planned total loading amount (A1) is within the allowable error when checking the loading amount written in the transportation plan of the RFID 21. The information written to RFID 21 also includes the weight of the container C to be used, and the control unit 24 can use this information, so the real-time load capacity (α1) can be the weight minus the weight of container C1 (the same applies to containers C2 and C3).

[0029] If the procedure is such that empty containers C2 and C3 are not loaded on the automated guided vehicle 2 when loading of only raw material M1 is completed in loading order 1, the real-time loaded amount is the weight obtained by subtracting the weight of container C1 from the value measured by the weighing means 23. If the procedure is such that empty containers C2 and C3 are also loaded on the automated guided vehicle 2 when loading of only raw material M1 is completed in loading order 1, the real-time loaded amount is the weight obtained by subtracting the weights of containers C1, C2, and C3 from the value measured by the weighing means 23.

[0030] If the collation result is negative, the operator can determine whether the amount of raw material M1 loaded is excessive or insufficient by comparing the planned total loading amount A1 with the real-time loading amount α1 in the row corresponding to loading order 1 displayed on the touch panel 22. The operator presses the "reweigh" switch, which cancels the retention of the real-time loading amount α1 weighed by the weighing means 23. Next, the operator corrects the loading amount of raw material M1 and presses the loading completion switch corresponding to loading order 1 (raw material M1) again. This causes the real-time loading amount reweighed by the weighing means 23 to be retained, and the collation means 241 re-collates whether the retained real-time loading amount α1 matches the planned total loading amount A1, and the success or failure of the re-collation is displayed in the collation result position corresponding to loading order 1 on the touch panel 22. If the collation result is positive (OK), the row for loading order 2 on the touch panel 22 is highlighted, and loading proceeds to order 2.

[0031] Next, loading order 2 will be described. The procedure for loading order 2 is basically the same as loading order 1. The worker loads raw material M2 onto the automated guided vehicle 2, and when the loading of raw material M2 is completed, presses the loading completion switch, and the real-time loading amount α2 is held. In this state, two types of raw materials M1 and M2 are loaded on the automated guided vehicle 2. The verification means 241 verifies whether the held real-time loading amount (α2) matches the planned amount (A1+A2), and the pass / fail of the verification result is displayed on the touch panel 22 in the verification result position corresponding to loading order 2. If the verification result matches and is OK (OK), the row for loading order 3 on the touch panel 22 is highlighted, and loading order 3 proceeds.

[0032] On the other hand, if the matching result for loading order 2 is negative (NG), as with loading order 1, the worker can determine whether the loading amount of raw material M2 is excessive or insufficient by comparing the planned total loading amount (A1+A2) of the row corresponding to loading order 2 displayed on the touch panel 22 with the real-time loading amount (α2). The worker can release the retention of the real-time loading amount α2 weighed by the weighing means 23 by pressing the "reweigh" switch. Next, the worker can correct the loading amount of raw material M2 and press the loading completion switch corresponding to loading order 2 (raw material M2) again to perform matching again. If the matching result is positive (OK), the worker proceeds to the next loading order 3.

[0033] Next, loading order 3 will be described. When the operator loads the last raw material M3 onto the automated guided vehicle 2 and presses the loading completion switch after loading is complete, the real-time loading amount α3 is retained. In this state, three types of raw materials M1, M2, and M3 are loaded on the automated guided vehicle 2. The verification means 241 verifies whether the retained real-time loading amount (α3) matches the planned amount (A1+A2+A3) and displays the verification result (OK or NG) on the touch panel 22. Through this procedure, the loading amounts of raw materials M1, M2, and M3 are weighed and verified by type. When the verification results for all loading orders are OK, a transport start button is displayed and becomes operable. When the operator presses the transport start button, the automated guided vehicle 2 moves from the loading area 12 to the work area 13a, and the raw materials M1, M2, and M3 are transported to the work area 13a.

[0034] Working area 13a is a production line that produces product X using three types of raw materials M1, M2, and M3, while working area 13b is a production line that produces product Y using two types of raw materials M4 and M5 (see FIG. 3).

[0035] Similar to the loading area 12, the work area 13 is provided with a guide board 131 that guides the automated guided vehicle 2 from the loading area 12 and stops it. The guide board 131 may be similar to the guide board 121, and a detailed description thereof will be omitted here. Similar to the loading area 12, the work area 13 is provided with an RFID reader 132. The RFID reader 132 has wireless communication means (not shown) that can communicate with the automated guided vehicle 2 stopped on the guide board 131, and can read information written in the RFID 21 of the automated guided vehicle 2. The information read by the RFID reader 132 is displayed on the touch panel 22 via wireless communication or the like in the format shown in FIG. 5. FIG. 5 is a diagram showing an example of the display on the touch panel 22 during unloading. Note that the loading order and unloading order of the raw materials M are displayed in reverse in FIGS. 4 and 5. This takes into account the case where the loading direction and unloading direction of the automated guided vehicle 2 are the same. In this case, raw material M1, which is loaded first, is loaded toward the back of the automated guided vehicle 2, and raw material M3, which is loaded last, is loaded toward the front. For this reason, when unloading, the raw material M3, which is loaded at the front, is displayed in the order of unloading first. If the loading direction and unloading direction of the automated guided vehicle 2 are opposite, it is preferable to display the loading order and unloading order to be the same. Below, an example will be explained in which three raw materials M1, M2, and M3 loaded on the automated guided vehicle 2 are unloaded in the work area 13a in the order of raw materials M3, M2, and M1.

[0036] The touch panel 22 displays, for example, the current status (unloading status display), the destination (work area 13a, which is the first work area) and the manufactured product (product X) at the destination (work area 13a), the time when unloading will begin (unloading time), the time when transportation will begin (transport time), and the current time (current time). Furthermore, the touch panel 22 displays the unloading order numbers (1, 2, 3) from top to bottom, along with the names of the raw materials to be unloaded in the work area 13a (M3, M2, M1) corresponding to this unloading order, the planned unloading amount of each raw material (A3, A2, A1), the planned total remaining load amount for each unloading order (A1+A2, A1, 0), an unloading completion switch (completed) that is operated when unloading of each raw material is complete, a re-weighing switch (re-weighing) to release the weighing hold and re-weigh as described below, the real-time remaining load amount (β1, β2, β3) that indicates the total load amount of raw materials M currently loaded on the unmanned transport vehicle 2, and an indication of whether the comparison result is good or bad ("OK" if good, "NG" if bad), etc., displayed in a matrix. The touch panel 22 also displays the pass / fail of the comparison results, just as when loading. If the difference between the planned total remaining load amount and the real-time remaining load amount at the end of each unloading sequence is within the allowable error, the judgment is pass and "OK" is displayed. If the difference exceeds the allowable error, the judgment is fail and "NG" is displayed. The touch panel 22 also displays a switch (start of forwarding) to notify that the unloading work in the work area 13a has been completed. Here, "kg" is the unit of weight. The displayed planned total remaining load amount (A1+A2, A1, 0) is the planned weight of the remaining raw materials M loaded on the automated guided vehicle 2 when the work for each unloading sequence is completed. The displayed real-time remaining load amount is the weight of the raw materials M loaded on the automated guided vehicle 2, measured by the weighing means 23, taking into account the weight of the container C. The method of correcting for the weight of the container C is the same as when loading raw materials. Furthermore, the touch panel 22 also displays a "reweigh" switch to enable re-verification in the same way as when loading if the verification result is negative.

[0037] The worker unloads the raw materials M3, M2, and M1 from the automated guided vehicle 2 according to the display on the touch panel 22. The worker works in a procedure similar to that used for loading. Specifically, the worker unloads raw material M3 from the automated guided vehicle 2 into the work area 13a according to the unloading order shown in FIG. 5, i.e., according to unloading order 1 that is highlighted first, and when unloading is complete, presses the unloading completion switch. This causes the real-time remaining payload amount β1 weighed by the weighing means 23 to be stored. The collating means 241 collates whether the stored real-time remaining payload amount (β1) matches the planned total remaining payload amount (A1+A2), and displays the collation result (OK or NG) on the touch panel 22. If the collation result is negative (NG), the worker checks whether the unloaded raw material M3 is the raw material M3 in unloading order 1 displayed on the touch panel 22, and if it is incorrect, unloads the raw material M3, reloads the incorrectly unloaded raw material M, and presses the "re-weigh" switch to perform re-collation. If the collation result is positive (OK), the row for unloading order 2 on the touch panel 22 is highlighted, and the worker proceeds to unloading order 2.

[0038] Next, unloading order 2 will be described. The procedure for unloading order 2 is basically the same as for unloading order 1. The worker unloads raw material M2 from the automated guided vehicle 2 according to the display of unloading order 2, and when the worker presses the unloading completion switch after unloading is complete, the real-time remaining load amount β2 is retained. In this state, one type of raw material M1 is loaded on the automated guided vehicle 2. The verification means 241 verifies whether the retained real-time load amount (β2) matches the planned amount (A1) and displays the verification result (OK or NG) on the touch panel 22. If the verification result is NG, the worker confirms whether the unloaded raw material M2 is the raw material M2 in unloading order 2 displayed on the touch panel 22. If it is incorrect, the worker unloads raw material M2, reloads the incorrectly unloaded raw material M, and presses the "reweigh" switch to perform re-verification. If the verification result is OK, the row for unloading order 3 on the touch panel 22 is highlighted, and the process proceeds to unloading order 3.

[0039] Next, unloading sequence 3 will be explained. The worker unloads the last raw material M1 from the automated guided vehicle 2 in accordance with the display of unloading sequence 3 on the touch panel 22, and when the worker presses the unloading completion switch after unloading is complete, the real-time remaining load amount is maintained at 0. In this state, there are no raw materials on the automated guided vehicle 2. The comparison means 241 compares whether the maintained real-time remaining load amount (β) matches the planned amount (0), and displays the comparison result (OK or NG) on the touch panel 22. If the comparison result is negative, the worker performs the same check as in unloading procedure 1 and unloading procedure 2.

[0040] When the comparison results for all unloading orders are OK, the forwarding start button can be operated. When the worker presses the forwarding start button, the automated guided vehicle 2 moves from the work area 13a to the waiting area 11 and goes into standby mode. This allows the loading amounts of raw materials M1, M2, and M3 to be compared in the work area 13a as well, so that, in addition to the comparison in the loading area 12, a double check can be performed.

[0041] If, for some reason, the raw material M is transported to the work area 13a with a loading error in the loading area 12, it is possible that the verification result will not be correct no matter how many times the raw material M is re-verified at any stage of the unloading sequence 1 through 3. To address this issue, a "reload" switch indicating a loading error can be provided (displayed) on the touch panel 22. If the "reweigh" switch is pressed a predetermined number of times in each unloading procedure, reloading is deemed necessary, and the "reload required" switch on the touch panel 22 can be activated. If the raw material M transported this time is determined to be unusable due to a loading error, and an operator reloads the unloaded raw material M onto the automated guided vehicle 2 and presses the "reload required" switch, the automated guided vehicle 2 may move to the loading area 12 and reload the loaded raw material M. Furthermore, the automated guided vehicle command device 15 may be configured to notify the host computer 14 of an abnormality in the transport plan, allowing the host computer 14 to modify the transport plan.

[0042] Next, the operation of the control unit 24 in the waiting area 11 will be described with reference to FIG. 6. FIG. 6 is a flowchart when writing to the RFID of the automated guided vehicle 2. In step 102, according to the transfer plan created by the host computer 14, the automated guided vehicle command device 15 commands the automated guided vehicle 2 having the required ID to move to a predetermined position where the RFID writer 111 can write to the RFID 21. The automated guided vehicle 2 moves to the predetermined position in accordance with the command. Next, in step 104, the RFID writer 111 writes the transfer plan to the RFID 21 of the automated guided vehicle 2 having the ID included in the transfer plan received from the host computer 14 via the automated guided vehicle command device 15. Next, in step 106, the automated guided vehicle 2 to which the transfer plan has been written moves to the loading area 12.

[0043] Next, with reference to FIG. 7, the operation of the control unit 24 during loading in the loading area 12 will be described. FIG. 7 is a flowchart showing the operation during loading. When the automated guided vehicle 2 arrives at the guide panel 121 in the loading area 12, in step S202, a loading status display as shown in FIG. 4 is displayed on the touch panel 22 based on the transportation plan written in the RFID 21. Next, in step S204, the work order N indicating the loading order is set to 1. Next, in step S206, the row indicating the work order N on the touch panel 22 is highlighted. This highlighting makes it clear to the worker the work order to be performed. The worker can load the planned amount of raw material M in the highlighted row. Furthermore, it is made impossible to operate the switches of rows of work orders that are not highlighted.

[0044] Next, in step S208, the weighing means 23 measures the weight of the load (load amount). Next, in step S210, the weight of the container C is corrected from the weight measured by the weighing means 23, and the real-time load amount, which is the weight of the raw material M loaded on the automated guided vehicle 2, is calculated. Next, in step S212, the real-time load amount calculated in step S210 is displayed in a predetermined position in the row of the highlighted operation sequence N, and the "Done" switch is made operable. Next, in step S214, it is determined whether the "Done" switch in the row indicating the highlighted operation sequence N on the touch panel 22 has been pressed. If it is determined not (NO) in step S214, the process returns to step S208. On the other hand, if it is determined (YES) in step S214 that the "Done" switch has been pressed, the process proceeds to step S216. That is, the loop from step S208 to step S214 is repeated until the worker completes the loading operation of operation sequence N.

[0045] In step S216, the display of the real-time payload amount for the row indicating the highlighted work order N on the touch panel 22 is maintained. Next, in step S218, the maintained real-time payload amount is compared (the difference is calculated) with the planned total payload amount displayed in the highlighted row of work order N. Next, in step S220, the comparison result is determined. If the absolute value of the difference calculated in step S224 is within a predetermined allowable error, it is determined to be good, and if it exceeds the allowable error, it is determined to be bad. If it is bad (NO), the process proceeds to step S222, while if it is good (YES), the process proceeds to step S228.

[0046] In step S222, a negative comparison result ("NO") is displayed in the position on the touch panel 22 that indicates the comparison result of the highlighted row, and the "reweigh" switch is made operable. Next, in step S224, it is determined whether the "reweigh" switch has been pressed. If it is determined in step S224 that the "reweigh" switch has not been pressed (NO), the process returns to step S222. If it is determined in step S224 that the "reweigh" switch has been pressed (YES), the process proceeds to step S226. In step S226, the display of the real-time payload weight in the row that indicates the highlighted work order N on the touch panel 22 is released. That is, if the payload weight changes, the display of the real-time payload weight will change. Then, the process returns to step S208. In this way, the payload weight can be corrected.

[0047] In step S228, the matching result "OK" is displayed in the position on the touch panel 22 that indicates the matching result of the highlighted row, and the process proceeds to step S230. In step S230, the work order N is incremented by one (N=N+1), and the process proceeds to step S232. In step S232, it is determined whether the work order N is greater than the number of raw materials to be loaded on the automated guided vehicle 2. If the determination in step S232 is negative (NO), it is determined that there are raw materials that have not been loaded, and the process returns to step S206. On the other hand, if the determination in step S232 is positive (YES), it is determined that the planned number of raw materials has been loaded, and the process proceeds to step S234. The number of raw materials to be loaded can be obtained from the raw material information written in the RFID 21 of the automated guided vehicle 2.

[0048] In step S234, the transfer start switch on the touch panel 22 is made operable, and the process proceeds to step S236. Making it operable includes, for example, making the transfer start switch on the touch panel 22 invisible until step S234, and then displaying "Transfer Start" in step S234 and making it operable. In step S236, it is determined whether the "Transfer Start" switch has been pressed. If it is determined "No" in step S236 (NO), the process returns to step S236. If it is determined "Transfer Start" switch has been pressed in step S236 (YES), the process proceeds to step S238. In step S238, the automated guided vehicle 2 moves to the specified work area 13. This starts transfer by the automated guided vehicle 2, and this routine ends.

[0049] Next, with reference to FIG. 8, the operation of the control unit 24 when unloading in the work area 13 will be described. FIG. 8 is a flowchart showing the operation when unloading. When the automated guided vehicle 2 arrives at the guide panel 131 in the work area 13, in step S302, an unloading status display as shown in FIG. 5 is displayed on the touch panel 22 based on the transportation plan written in the RFID 21. Next, in step S304, the work order N indicating the unloading order is set to 1. Next, in step S306, the row indicating the work order N on the touch panel 22 is highlighted. This highlighting makes it clear to the worker the work order to be performed. The worker can unload the planned amount of raw material M in the highlighted row. Furthermore, it is made impossible to operate the switches in rows of work orders that are not highlighted.

[0050] Next, in step S308, the number of reweighing attempts F, which indicates the number of reweighing attempts, is set to 1. Next, in step S310, the weighing means 23 measures the weight of the load. Next, in step S312, the weight of the container C is corrected from the weight measured by the weighing means 23, and the real-time remaining payload, which is the weight of the raw material M remaining on the automated guided vehicle 2, is calculated. Next, in step S314, the real-time remaining payload calculated in step S312 is displayed in a predetermined position on the row of the highlighted operation sequence N, and the "Done" switch is made operable. Next, in step S316, it is determined whether the "Done" switch on the row indicating the highlighted operation sequence N on the touch panel 22 has been pressed. If it is determined as No (NO) in step S316, the process returns to step S310. If it is determined as Yes (YES) in step S316 that the "Done" switch has been pressed, the process proceeds to step S318. That is, the loop from step S310 to step S316 is repeated until the worker completes the unloading work of work order N.

[0051] In step S318, the display of the real-time remaining payload amount for the row indicating the highlighted work order N on the touch panel 22 is maintained. Next, in step S320, the maintained real-time remaining payload amount is compared (the difference is calculated) with the planned total remaining payload amount displayed in the highlighted row of work order N. Next, in step S322, the comparison result is determined. In step S322, if the absolute value of the difference calculated in step S320 is within a predetermined allowable error, it is determined to be good, and if it exceeds the allowable error, it is determined to be bad. If it is good (YES), proceed to step S324; if it is bad (NO), proceed to step S336.

[0052] In step S324, the matching result "OK" is displayed in the position on the touch panel 22 that indicates the matching result of the highlighted row, and the process proceeds to step S326. In step S326, 1 is added to the operation sequence N (N=N+1), and the process proceeds to step S328. In step S328, it is determined whether the operation sequence N is greater than the number of raw materials planned to be unloaded from the automated guided vehicle 2. If the determination in step S328 is negative (NO), it is determined that there are raw materials that have not been unloaded, and the process returns to step S306. If the determination in step S328 is positive (YES), it is determined that the planned number of raw materials has been unloaded, and the process proceeds to step S330. The number of raw materials planned to be unloaded can be obtained from the raw material information written in the RFID 21 of the automated guided vehicle 2.

[0053] In step S330, the forwarding start switch on the touch panel 22 is made operable, and the process proceeds to step S332. Making it operable includes, for example, hiding the transport start switch on the touch panel 22 until step S330, and then displaying "Forwarding Start" in step S330 and making it operable. In step S332, it is determined whether the "Forwarding Start" switch has been pressed. If it is determined "No" in step S332 (NO), the process returns to step S332. If it is determined "Forwarding Start" switch has been pressed in step S332 (YES), the process proceeds to step S334. In step S334, a forwarding operation is performed to move the automated guided vehicle 2 to the waiting area 11, and this routine ends.

[0054] On the other hand, if the result of step S324 is negative (NO), then in step S336, the negative comparison result ("NO") is displayed in the position indicating the comparison result of the highlighted row on the touch panel 22, and the "reweigh" switch is made operable.

[0055] Next, in step S338, it is determined whether the "reweigh" switch has been pressed. If the determination in step S338 is negative (NO), the process returns to step S338. If the determination in step S338 is negative (YES), the process proceeds to step S340. In step S340, the display of the real-time remaining payload amount for the row indicating the highlighted work order N on the touch panel 22 is released. In other words, the display of the real-time remaining payload amount changes when the payload amount changes. Next, in step S342, 1 is added to the number of reweighing attempts F (F=F+1), and the process proceeds to step S344.

[0056] In step S344, it is determined whether the number of re-weighings F has exceeded a predetermined number (predetermined value). If it is determined in step S344 that the number of re-weighings F has not exceeded the predetermined number (predetermined value) (NO), it is determined that some error occurred during unloading and can be corrected during the unloading work, and the process returns to step S310. This makes it possible to correct the amount of unloading.

[0057] If it is determined in step S344 above that the number of reweighings F exceeds a predetermined number (predetermined value) (YES), it is determined that some error occurred during loading and cannot be corrected during unloading, and the process proceeds to step S346. In step S346, the "reloading required" switch is made operable. Next, in step S348, it is determined whether the "reloading required" switch has been pressed. If the determination in step S348 is negative (NO), the process returns to step S348. On the other hand, if it is determined in step S348 that the "reloading required" switch has been pressed (YES), the process proceeds to step S350. During the loop operation of step S348, for example, an operator may perform work such as loading the unloaded raw materials onto automatic guided vehicle 2 in order to recover all of the unloaded raw materials, since there was a loading error in the raw materials unloaded this time.

[0058] In step S350, the control unit 24 notifies the host computer 14 via the automated guided vehicle command device 15 that an incident has occurred in this transport that requires reloading. At the same time, the automated guided vehicle 2 starts moving to the loading area 12 for redelivery, and this routine ends.

[0059] As shown by the two-dot chain (phantom) arrows in FIG. 1 , raw materials may be transported to multiple work areas 13a and 13b. In this case, raw materials M1, M2, M3, M4, and M5 required for production in work areas 13a and 13b are sequentially loaded in loading area 12, and the loaded amounts of raw materials M1, M2, M3, M4, and M5 are weighed and verified for each type, as described above. When all verification results are OK, automated guided vehicle 2 moves from loading area 12 to work area 13a and unloads raw materials M1, M2, and M3. At this time, as described above, by weighing and verifying the loaded amounts of raw materials M1, M2, and M3 after unloading them from automated guided vehicle 2 to work area 13a, it is possible to prevent unloading of raw materials into work area 13a. Similarly, by weighing and verifying the loaded amounts of raw materials M4 and M5 after unloading them into work area 13b, it is possible to prevent unloading of raw materials into work area 13b.

[0060] The specific structure of the control unit 24 is not limited, but may be as follows, for example. FIG. 9 is a diagram showing an example of the hardware configuration of the control unit 24. The function of the matching means 241 of the control unit 24 can be realized by the processing circuit shown in FIG. 9. This processing circuit may be dedicated hardware 24a. This processing circuit may include a processor 24b and a memory 24c. This processing circuit may be partially formed as dedicated hardware 24a and further include a processor 24b and a memory 24c. In the example of FIG. 9, part of the processing circuit is formed as dedicated hardware 24a, and the processing circuit also includes a processor 24b and a memory 24c. At least a part of the processing circuit may be at least one dedicated hardware 24a. In this case, the processing circuit may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof. The processing circuit may include at least one processor 24b and at least one memory 24c. In this case, each function of the control unit 24, including the matching means 241, is realized by software, firmware, or a combination of software and firmware. The software and firmware are written as programs and stored in the memory 24c. The processor 24b reads and executes the programs stored in the memory 24c to realize the functions of each unit of the control unit 24, including the matching means 241. The processor 24b is also called a CPU (Central Processing Unit), central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, or DSP. The memory 24c corresponds to, for example, non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, or EEPROM. In this way, the processing circuit can realize each function of the control unit 24 by hardware, software, firmware, or a combination thereof.

[0061] As described above, in this embodiment, the weights of the raw materials M1, M2, and M3 loaded on the automated guided vehicle 2 in the loading area 12 are weighed by the weighing means 23, and before the loaded raw materials M1, M2, and M3 are transported to the work area 13, the weighed weight is checked against the planned weight by the checking means 241. This makes it possible to prevent raw materials M1, M2, and M3 that have been incorrectly weighed in the loading area 12 from being transported to the work area 13. Therefore, this does not lead to a decrease in productivity of the production factory 1.

[0062] Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above embodiments and can be modified in various ways without departing from the spirit of the present disclosure. In the above embodiments, an example has been described in which the weighing unit 23 is mounted on the unmanned carrier 2. However, the weighing unit 23 can also be provided on the guide board 121. In this case, the guide board 121 and the unmanned carrier 2 are provided with wireless communication means for mutual communication, and the weight measured by the weighing unit 23 (real-time payload) is transmitted to the unmanned carrier 2 and displayed on the touch panel 22. This allows the number of weighing units 23 to be reduced when there are a large number of unmanned carriers 2. Furthermore, the touch panel 22 can be retrofitted to the unmanned carrier 2, increasing the flexibility in the selection of unmanned carriers 2.

[0063] In the above embodiment, the load weight is displayed on the touch panel 22 and checked, but the load weight may be displayed on a handheld terminal carried by the worker and checked. As the handheld terminal, for example, a tablet terminal may be used, taking into consideration the amount of information to be displayed.

[0064] In the above embodiment, an AGV is used as the automated guided vehicle 2. However, the present disclosure can also be applied to an automated guided vehicle that does not have wheels or an automated guided vehicle that is suspended from the ceiling. Alternatively, a tablet terminal may be detachably attached to the automated guided vehicle 2, so that the tablet terminal moves along with the automated guided vehicle 2 and can be used by a worker when loading or unloading.

[0065] In the above embodiment, the RFID writer 111 is provided in the waiting area 11, but it may also be provided in the loading area 12. For example, if there is only one type of unmanned transport vehicle 2, any unmanned transport vehicle 2 on standby may be moved to the loading area 12 and writing may be performed using the RFID writer provided in the loading area 12.

[0066] Furthermore, in the above embodiment, the loading area 12 and the work area 13 are provided with the RFID reader 122 and the RFID reader 132, but if the information in the RFID 21 can be directly read by the control unit 24 having the functions shown in Figures 7 and 9, the RFID reader 122 and the RFID reader 132 may be omitted. The functions shown in Figures 7 and 9 may be provided in a handheld terminal or an automated guided vehicle command device 15, rather than in the control unit 24.

[0067] However, for example, due to maintenance or trouble in the work area 13a, raw materials M1, M2, and M3 may remain and not be used up. In this case, it is desirable to return the remaining raw materials M1, M2, and M3 from the work area 13a to the loading area 12 and reuse the raw materials, in the reverse order of the above embodiment. In this case, a worker in the work area 13a transmits the return of the raw materials to the host computer 14 as a production plan using, for example, a handheld terminal. The host computer 14 creates a transportation plan corresponding to the return of the raw materials received as the production plan and wirelessly transmits it to the RFID writer 111 in the waiting area 11. Thereafter, as in the above embodiment, the transportation plan is written to the RFID tag 21 of the waiting automated guided vehicle 2. Unlike the above embodiment, the automated guided vehicle 2 moves to the work area 13a and weighs the remaining weights of the raw materials M1, M2, and M3 loaded in the work area 13a by type using the weighing means 23, and compares the weighed remaining weights with the expected amounts. When all the comparison results are OK, the transport start button is pressed, and the automated guided vehicle 2 moves to the loading area 12, where the remaining raw materials M1, M2, and M3 are unloaded in order. The planned amount can be measured using a weighing means (not shown) in the work area 13a. As a result of the above, the raw materials remaining in the work area 13a can be returned to the loading area 12 and reused. [Explanation of symbols]

[0068] 1... production plant, 11... waiting area, 111... RFID writer, 12... loading area, 121... induction panel, 122... RFID reader, 13, 13a, 13b... work area, 14... host computer, 15... unmanned transport vehicle command device, 2, 2a, 2b... unmanned transport vehicle, 21... RFID, 22... touch panel, 23... weighing means, 24... control unit, 241... verification means, M1, M2, M3... raw materials

Claims

1. An automated guided transport system including an automated guided transport vehicle, which transports an object loaded on the automated guided transport vehicle in a loading area to a work area, a weighing means for measuring the weight of an object loaded on the automated guided vehicle; a comparison means for comparing the weight of the load measured by the weighing means with a planned weight, which is a planned loading weight determined in a production plan, before the load is transported to the work area; An unmanned transport system comprising:

2. 2. The automated guided vehicle system according to claim 1, wherein a plurality of types of loads are loaded onto the automated guided vehicle, The weighing means measures the weight of each type of load, The verification means is an unmanned transport system that verifies each type of load.

3. 2. The automated guided vehicle system according to claim 1, wherein the weighing means is mounted on the automated guided vehicle.

4. 2. The automated guided vehicle system according to claim 1, further comprising a guide panel for guiding and stopping the automated guided vehicle in the loading area, The weighing means is provided on the guide board of the automated guided transport system.

5. 2. The automated guided vehicle system according to claim 1, wherein an object loaded on the automated guided vehicle is transported to a plurality of work areas in sequence, The weighing means measures the weight of the load after unloading in each work area, The automated guided vehicle system further comprises another checking means provided in each work area for checking the weight of the load after unloading, measured by the weighing means, against another planned weight determined in the production plan.

6. 2. The automated guided vehicle system according to claim 1, wherein the automated guided vehicle loads the load remaining in the work area onto the automated guided vehicle and returns the load to the loading area, the weighing means measures the remaining weight of the load loaded on the automatic transport vehicle, The comparison means compares the remaining weight measured by the weighing means with a planned weight, which is a weight determined in a production plan for the work area, before the load is transported to the loading area.

7. 7. The automated guided transport system according to claim 1, wherein the load is a raw material, The work area is a production area where production is carried out using the raw materials unloaded from the automated guided vehicle.

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