Automated Work System

Abstract

This automatic work system 100 comprises: a work robot 180 that transports objects on the basis of work instructions; a work information storage unit 130 that associates the work instruction details and information pertaining to an object that is the target of a work instruction and stores same; an information acquisition unit 194 that obtains identification information for the object; an information display unit 192; and an information verification unit 141 that, on the basis of the object identification information obtained by the information acquisition unit 194, reads the details of a work instruction pertaining to the object identification information, from the work information storage unit 130, and outputs same to the information display unit 192. As a result, work details for an object handled by the work robot can be readily confirmed.

Description

[Technical field]

[0001] The present disclosure relates to automated work systems. [Background technology]

[0002] Patent Document 1 discloses a work schedule creation system that creates a work schedule for workers to perform specified tasks. This work schedule creation system calculates actual work capacity for each time period based on the work schedule and the work capacity of the workers, and if there is a time period in which the actual work capacity is insufficient, it shifts the rest time of at least one worker to a time period in which the actual work capacity is sufficient. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-3392 A Summary of the Invention [Problem to be solved by the invention]

[0004] Patent Document 1 is based on the premise that a worker performs the predetermined tasks. However, in order to promote the digitalization and automation of facilities such as factories, it is required that at least a part of the predetermined tasks be performed by, for example, a robot capable of performing such tasks (hereinafter, a work robot). When having a work robot perform a task, it is desirable to be able to easily check the work content related to the items handled by the work robot depending on the situation. In such a situation, one of the objectives of the present disclosure is to provide an automated work system that can easily check the work content related to the items handled by the work robot. [Means for solving the problem]

[0005] One aspect of the present disclosure relates to an automated work system, which includes a work robot that transports an item based on a work instruction, a work information storage unit that stores the content of the work instruction and information related to the item that is the subject of the work instruction in association with each other, an information acquisition unit that acquires identification information of the item, an information display unit, and an information inquiry unit that reads the content of the work instruction related to the identification information of the item from the work information storage unit based on the identification information of the item acquired by the information acquisition unit, and outputs the content of the work instruction to the information display unit.

[0006] Another aspect of the present disclosure relates to an automated work system, the automated work system including a work robot that transports an item based on a work instruction, a work information storage unit that stores the content of the work instruction and information related to the item that is the subject of the work instruction in association with each other, an information acquisition unit that acquires identification information of the item, an information display unit, an information inquiry unit that reads the content of the work instruction related to the identification information of the item from the work information storage unit based on the identification information of the item acquired by the information acquisition unit and outputs the content to the information display unit, an input unit that can input to cancel the work corresponding to the work instruction displayed on the information display unit, a work change notification unit that notifies the user of the canceled work by the input unit, and a correction unit that performs processing to cancel the work notified by the work change notification unit. Effect of the Invention

[0007] According to the present disclosure, an automated working system can be obtained that allows easy confirmation of the work content related to the items handled by a working robot. Furthermore, according to the present disclosure, it is possible to cancel the work corresponding to the work instruction displayed on the information display unit.

[0008] The novel features of the present invention are set forth in the appended claims, but the present invention, both in terms of structure and content, together with other objects and features of the present application, will be better understood from the following detailed description taken in conjunction with the drawings. [Brief description of the drawings]

[0009] [Figure 1]1 is a system configuration diagram showing an example of an automated operation system according to the present disclosure. [Diagram 2] FIG. 1 is a system configuration diagram showing an example of a mounting line system. [Diagram 3] FIG. 2 is a schematic front view showing the configuration of the working robot. [Figure 4] FIG. 2 is a schematic perspective view showing a configuration of a worker terminal. [Diagram 5] FIG. 2 is a schematic diagram showing an example of work performed by an automated work system. [Figure 6] 6 is a diagram showing an example of work information corresponding to the work in FIG. 5. FIG. [Figure 7] 6 is a diagram showing an example of work information when an error occurs during the work in FIG. 5. FIG. [Figure 8] FIG. 13 is a diagram showing an example of an image displayed corresponding to the identification information of a part A. [Figure 9] 13 is a diagram showing an example of an image displayed corresponding to the identification information of a part B. FIG. [Figure 10] FIG. 13 is a diagram showing an example of an image displayed before a task is canceled. [Figure 11] FIG. 13 illustrates an example of an image displayed after a task has been canceled. [Figure 12] 13 is a diagram showing an example of an image displayed corresponding to the identification information of the work robot. FIG. [Figure 13] FIG. 13 is a diagram illustrating an example of work information when a task is canceled. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] An embodiment of the automated operation system according to the present disclosure will be described below with reference to an example. However, the present disclosure is not limited to the example described below.

[0011] The automated work system disclosed herein comprises a work robot that transports items based on work instructions, a work information memory unit that associates and stores the content of the work instruction with information related to the item that is the subject of the work instruction, an information acquisition unit that acquires identification information of the item, an information display unit, and an information inquiry unit that reads the content of the work instruction related to the identification information of the item from the work information memory unit based on the identification information of the item acquired by the information acquisition unit, and outputs it to the information display unit.

[0012] The work robot may be any form of mobile object that transports an article. For example, the work robot may be an Automated Guided Vehicle (hereinafter, AGV), a mobile robot, a robot that moves along rails, or a drone. The work robot may have a robot arm for moving an article. The work robot may have a loading platform for holding an article.

[0013] In this disclosure, an "item" refers to any item that can be transported by a work robot. For example, the item may be a part to be consumed in a manufacturing facility, a container that contains such parts, or a package to be transported in a transportation system.

[0014] The work information storage unit may be configured with any type of information processing device. For example, the work information storage unit may be configured with a server device. In this disclosure, a "server device" is a computer equipped with input devices such as input buttons and touch pads, output devices such as displays and speakers, a central processing unit (CPU), and storage devices such as read only memory (ROM) and random access memory (RAM).

[0015] The information acquisition unit may be configured with an information reading device of any type. For example, the information acquisition unit may be an optical reading device such as a scanner. The information acquisition unit may be provided in a terminal device of any type, or may be provided in the work robot.

[0016] The information display unit may display any information. The information display unit may be configured with a display unit of any form that the worker can recognize using the five senses (e.g., sight and hearing). For example, the information display unit may be an image display unit such as a touch panel. The information display unit may be provided integrally with the device in which the information acquisition unit is provided, or may be provided separately from the device. The information display unit may be provided in a terminal device of any form, or may be provided in the work robot.

[0017] The information reference unit may be configured as a functional unit of any type of information processing device. For example, the information reference unit may be configured as a functional unit of a server device.

[0018] In the automated working system of the present disclosure, the information acquisition unit acquires identification information of an item. Then, the information inquiry unit reads the contents of the work instructions related to the identification information of the item from the work information storage unit and outputs the contents to the information display unit. The information display unit displays the contents of the input work instructions. In this way, if the identification information of an item is known, the worker can easily know the contents of the work instructions related to the item. The worker who knows the contents of such work instructions can quickly decide how to respond to the item. As described above, according to the present disclosure, an automated working system can be obtained in which the contents of the work instructions related to the items handled by the work robot can be easily confirmed, and the worker can quickly respond depending on the situation.

[0019] The information acquisition unit and the information display unit may be provided in a worker terminal carried by the worker, which allows the worker to easily check the contents of the work instructions related to the items to be handled by the work robot via the worker terminal.

[0020] The working robot may transport items consumed in the manufacturing facility to the manufacturing facility. The automated operating system may further include a work instruction unit that issues work instructions based on information related to consumption of items in the manufacturing facility. Such a work instruction unit can issue an instruction to the working robot to transport items at an appropriate time, for example, depending on the degree of consumption of the items.

[0021] The work instruction unit may be configured with any type of information processing device. For example, the work instruction unit may be configured with a server device. The work instruction unit may be configured integrally with the work information storage unit, or may be configured separately from the work information storage unit.

[0022] The work instruction unit may also issue work instructions based on a production plan for the manufacturing facility, thereby making it possible to issue an instruction to the work robot to transport an item at an appropriate time depending on, for example, whether or not production preparation is required in the manufacturing facility.

[0023] The work information storage unit may store the content of a work instruction in association with information about the work robot that is the target of the work instruction. The information acquisition unit may also be capable of acquiring identification information of the work robot. The information inquiry unit may read the content of the work instruction related to the identification information of the work robot from the work information storage unit based on the identification information of the work robot acquired by the information acquisition unit, and output the content to the information display unit. As a result, if the identification information of the work robot is known, the worker can easily know the content of the work instruction related to that work robot.

[0024] The automated work system may further include an input unit capable of receiving input for canceling work corresponding to a work instruction displayed on the information display unit, a work change notification unit that notifies the user of the work canceled by the input unit, and a correction unit that performs processing for canceling the work notified by the work change notification unit. When an input for canceling work is input to the input unit, the work is notified by the work change notification unit. The notified work is canceled by the correction unit. In this way, the input unit, the work change notification unit, and the correction unit make it possible to cancel work corresponding to the work instruction displayed on the information display unit.

[0025] The modification unit may modify the content of the work information storage unit for the work notified by the work change notification unit. For example, the modification unit may change the status of the work stored in the work information storage unit. The modification unit may voluntarily cancel a work that is no longer required to be performed because the work has been canceled based on an input to the input unit.

[0026] An example of an automated working system according to the present disclosure will be specifically described below with reference to the drawings. The above-mentioned components can be applied to the components of the example of the automated working system described below. The components of the example of the automated working system described below can be modified based on the above description. In addition, the matters described below may be applied to the above embodiment. Among the components of the example of the automated working system described below, components that are not essential to the automated working system according to the present disclosure may be omitted.

[0027] -Automated operation system configuration- FIG. 1 is an overall configuration diagram of an automated working system 100 of this embodiment. The automated working system 100 of this embodiment is configured as a mounting board manufacturing system. The automated working system 100 includes a production plan storage unit 110, a work instruction unit 120, a work information storage unit 130, a worker terminal management unit 140, a working robot control unit 150, an automated warehouse 160, a mounting line system 170, a working robot 180, and a worker terminal 190. The automated warehouse 160, the mounting line system 170, and the working robot 180 may be located in the same work area (for example, the same factory floor).

[0028] The production plan memory unit 110, work instruction unit 120, work information memory unit 130, worker terminal management unit 140, work robot control unit 150, automated warehouse 160, and mounting line system 170 are connected to each other via a wired or wireless communication network N1. The work robot control unit 150 and the work robot 180 can wirelessly communicate with each other in a known manner (for example, using wireless LAN). The worker terminal management unit 140 and the worker terminal 190 can wirelessly communicate with each other in a known manner (for example, using wireless LAN).

[0029] (Production plan storage section) The production plan storage unit 110 stores information related to a production plan in the mounting line system 170 (hereinafter, production plan information). The production plan storage unit 110 may be configured as any type of information processing device (e.g., a server device). The production plan information includes information and schedules required for manufacturing mounted boards. For example, the production plan information includes information such as the board name, the number of boards to be produced, component information, data and programs used in the mounting line system 170, the scheduled production start time, and the scheduled production end time.

[0030] (Work instruction department) Work instructing unit 120 issues instructions regarding work to be performed by work robot 180. Work instructing unit 120 may be configured as any type of information processing device (e.g., a server device). Work instructing unit 120 includes a task generating unit 121, an instructing unit 122, an information updating unit 123, a task correcting unit 124, and an error information managing unit 125.

[0031] The task generation unit 121 generates tasks for each piece of equipment included in the automated operation system 100. The task generation unit 121 is a functional unit that is realized by the central processing unit executing a program stored in a storage device in an information processing device that constitutes the operation instruction unit 120. In this embodiment, the task generation unit 121 generates a task for continuing the production of mounted boards (hereinafter, production task), a task for preparing for the production of mounted boards (hereinafter, preparation task), and a task for instructing the mounting line system 170 to change the model (hereinafter, model change task). Each task is an example of the content of a work instruction.

[0032] Here, the production tasks include tasks for replenishing items consumed in the mounting line system 170, such as components and boards, and for collecting waste generated in the mounting line system 170. The production tasks are generated based on information related to the consumption of items in the mounting line system 170 (e.g., storage bodies 200 and components stored therein). Examples of production tasks include a task for instructing the work of transporting replenishing components or boards from the automated warehouse 160 or a storage location to the mounting line system 170, and a task for instructing the work of collecting emptied storage bodies 200 from the mounting line system 170.

[0033] The preparation tasks include tasks related to preparation for manufacturing mounted boards that are scheduled to be produced in the future. The preparation tasks are generated based on a production plan in the mounting line system 170. Examples of the preparation tasks include a task that instructs the work of transporting items to be used in manufacturing the mounted boards that are scheduled to be produced to the mounting line system 170 or a nearby preparation area, and a task that instructs the work of transporting items that are not scheduled to be used from the mounting line system 170 or the preparation area to the automated warehouse 160 or a storage location.

[0034] The model change task includes a task for preparing for the production of a mounted board of a different type from that currently being produced. The model change task is generated based on information provided by the mounting line system 170 and production plan information. One example of a model change task is a task for receiving information related to the completion of production of a mounted board from the mounting line system 170, acquiring the type of mounted board to be produced next from the production plan information, and issuing an instruction to change the model. When an instruction to change the model is issued, the mounting line system 170 performs, for example, a change in the width of the board transport rail, a change in the component supply position, or a change in the tool to be used, depending on the type of mounted board to be produced next.

[0035] The instruction unit 122 transmits the tasks generated by the task generation unit 121 to the working robot control unit 150, the automated warehouse 160, the mounting line system 170, or the like. The instruction unit 122 is a functional unit realized by the central processing unit executing a program stored in a storage device in an information processing device constituting the work instruction unit 120. The instruction unit 122 may transmit tasks to the working robot control unit 150 or the like at optimal timing based on the progress of various tasks, the progress of manufacturing work in the mounting line system 170, the status of the working robot 180, and the like. The transmission of a task is an example of a work instruction.

[0036] The information updating unit 123 updates the information stored in the work information storage unit 130. The information updating unit 123 is a functional unit that is realized in an information processing device that constitutes the work instruction unit 120 by the central processing unit executing a program stored in a storage device. The information updating unit 123 updates the status of tasks in the work information storage unit 130 according to the task progress of the work robot control unit 150 and the automated warehouse 160. When the information updating unit 123 receives information about the work robot 180 assigned to a task from the work robot control unit 150, it updates the task execution means in the work information storage unit 130. The status and task execution means will be described in detail later.

[0037] The task modification unit 124 executes a process of canceling a task related to the canceled work when a notification of work cancellation is received from the work change notification unit 142 (described later) of the worker terminal management unit 140. The task modification unit 124 is a functional unit that is realized by the central processing unit executing a program stored in a storage device in an information processing device constituting the work instruction unit 120. The task modification unit 124 changes the status of the canceled task in the work information storage unit 130 to "canceled". In other words, the task modification unit 124 modifies the content of the work information storage unit 130 for the work notified by the work change notification unit 142. The task modification unit 124 is an example of a modification unit.

[0038] The error information management unit 125 notifies the operator of the error via the operator terminal 190. The error information management unit 125 is a functional unit that is realized by the central processing unit executing a program stored in a storage device in an information processing device that constitutes the work instruction unit 120. The error information management unit 125 collects information on errors transmitted from each of the devices 171 to 177 of the mounting line system 170, the automated warehouse 160, or the work robot 180, and outputs the information to the operator terminal 190 of the operator registered for each piece of equipment that transmitted the information or for each error content. More specifically, the output error information is first transmitted to the operator terminal management unit 140, and then output to the corresponding operator terminal 190. Examples of the content of such error information include identification information and information indicating the position of the equipment in which the error occurred, the content of the error, or an error code.

[0039] (Work information storage unit) The work information storage unit 130 stores work information, which will be described in detail later. The work information storage unit 130 may be configured as any type of information processing device (for example, a server device). The work information storage unit 130 stores each task generated by the task generation unit 121 in association with information about the storage body 200 that is the target of the task. The work information storage unit 130 stores each task generated by the task generation unit 121 in association with information about the working robot 180 that is the target of the task.

[0040] (Worker terminal management unit) The worker terminal management unit 140 executes processing according to an input from the worker terminal 190. The worker terminal management unit 140 may be configured as an information processing device of any type (for example, a server device). The worker terminal management unit 140 includes an information inquiry unit 141 and a work change notification unit 142.

[0041] The information inquiry unit 141 outputs information to the worker terminal 190 in response to a request from the worker. Specifically, when there is an input from the worker terminal 190 to inquire about a work target (for example, a part in the storage body 200) or the state of the working robot 180, the information inquiry unit 141 outputs work information related to the corresponding work target or working robot 180 to the worker terminal 190. On the worker terminal 190 receiving this output, the corresponding information is displayed on a screen 192 described below. The information inquiry unit 141 is a functional unit realized by the central processing unit executing a program stored in a storage device in an information processing device constituting the worker terminal management unit 140.

[0042] When the work change notification unit 142 receives an input of work cancellation from the worker terminal 190, it notifies the work instruction unit 120 of the work cancellation information. When this notification is made, as described above, the task correction unit 124 executes a process of canceling the task related to the canceled work. The work change notification unit 142 is a functional unit that is realized by the central processing unit executing a program stored in a storage device in an information processing device constituting the worker terminal management unit 140.

[0043] (Work robot control unit) The work robot control unit 150 mainly has the following three functions. That is, the work robot control unit 150 has a function of controlling the work robot 180 to perform work related to a task based on a task input from the work instruction unit 120 (hereinafter, the task execution function), a function of monitoring the work status of multiple work robots 180 and controlling traffic within the work area, and a function of notifying the work instruction unit 120, the mounting line system 170, etc. of the state of the work robot 180 and the status of the task. The work robot control unit 150 may be configured with any type of information processing device (for example, a server device). When the task execution function is activated, the work robot control unit 150 determines the work robot 180 that will execute the task. Information on the work robot 180 assigned to the task is stored in the work information storage unit 130 in association with the task.

[0044] (Automated warehouse) The automated warehouse 160 stores items (in this example, predetermined parts, or storage units 200 that store the parts) consumed in the mounting line system 170. The automated warehouse 160 has racks (not shown) in which the storage units 200 are stored, and an in-warehouse transport mechanism (not shown) that transports the storage units 200 between the racks and an entry / exit position for loading and unloading the storage units 200. The automated warehouse 160 transports the storage units 200 placed at a predetermined entry / exit position by a worker or a work robot 180 to the racks and stores them, or removes the storage unit 200 that is the subject of a retrieval instruction from the racks and transports it to the entry / exit position.

[0045] (Mounting line system) FIG. 2 shows an example of a mounting line system 170. The mounting line system 170 is an example of a manufacturing facility. The mounting line system 170 includes, in order from the upstream side (left side in FIG. 2) in the board transport direction, a board supply device 171, a screen printer 172, a first component mounting device 173, a second component mounting device 174, a reflow device 176, and a board recovery device 177. Each device has a board transport mechanism such as a belt conveyor, and constitutes the mounting line system 170 that manufactures mounted boards while transporting the board from upstream to downstream by the board transport mechanism. The screen printer 172, the first component mounting device 173, and the second component mounting device 174 are connected to a management unit 178 included in the mounting line system 170 via a wired or wireless communication network N2.

[0046] The board supplying device 171 takes out a board from a rack that stores a plurality of boards and supplies it to a downstream device. The screen printing machine 172 prints a paste-like cream solder on the board through a screen mask. The first and second component mounting devices 173, 174 each pick up components supplied from the component supplying unit by a component suction nozzle attached to the mounting head, and mount the components on the mounting points of the board on which the cream solder is printed. A dolly 175 that holds a storage body 200 is attached to the first and second component mounting devices 173, 174. The working robot 180 takes out the storage body 200 that stores a predetermined component from the automatic warehouse 160, transports it to the first or second component mounting device 173, 174 of the mounting line system 170, and transfers the storage body 200 to the dolly 175 equipped to the component mounting device 173, 174.

[0047] The reflow device 176 heats the board on which the components are mounted to melt the cream solder and then solidifies it to solder the components to the board. The board recovery device 177 has a function of recovering the mounted board on which the components are soldered and storing it in a rack. The management unit 178 is connected to the communication network N1 and exchanges information such as tasks and progress with the work instruction unit 120.

[0048] (Working robot) 3 is a schematic front view showing the configuration of a working robot 180. The working robot 180 of this embodiment is configured as an AGV. The working robot 180 is an unmanned mobile body that transports storage objects 200 and the like from a starting point to a destination. The working robot 180 comprises a roughly box-shaped robot body 181, a loading platform 182 that is provided on the upper part of the robot body 181 and holds at least one storage object 200, and a wheeled, crawler, or legged (walking, etc.) moving mechanism provided on the lower part of the robot body 181. The working robot 180 comprises a robot arm 183 that performs various tasks such as picking.

[0049] As shown in FIG. 3, the working robot 180 and the storage unit 200 are each provided with identifiers 184, 201 that can be read by the worker terminal 190. Specifically, a robot identifier 184 indicating identification information for the working robot 180 is provided on the robot body 181 of the working robot 180. A part identifier 201 indicating identification information for a part within the storage unit 200 is provided on the side of the storage unit 200. The robot identifier 184 and the part identifier 201 may each be configured with an identifier in any form (for example, a barcode, a two-dimensional code, etc.). The position at which the robot identifier 184 is provided is not limited to the robot body 181. The position at which the part identifier 201 is provided is not limited to the side of the storage unit 200.

[0050] (Worker terminal) FIG. 4 is a schematic perspective view showing the configuration of the worker terminal 190. The worker terminal 190 of this embodiment is configured as a handheld terminal. The worker terminal 190 includes a terminal body 191, a screen 192 provided on the terminal body 191, operation keys 193 provided on the terminal body 191, and a reading unit 194 provided on the terminal body 191 for acquiring identification information of the storage body 200 and the working robot 180. The reading unit 194 optically reads the robot identifier 184 and the part identifier 201. The screen 192 is configured as a touch panel. The worker terminal 190 accepts input from the worker via the screen 192 or the operation keys 193. The screen 192 is an example of an information display unit and an example of an input unit. The operation keys 193 are an example of an input unit. The reading unit 194 is an example of an information acquisition unit.

[0051] -Automated operation system operation- Examples of work performed by the automated operating system 100 and the corresponding work information will be described with reference to Figures 5 and 6. Figure 5 is a schematic diagram showing an example of work performed by the automated operating system 100. Figure 6 is a diagram showing an example of work information stored in the work information storage unit 130 in association with the work.

[0052] Here, as shown in Fig. 6, the work information is composed of a task number, a task, a work object, a task execution means, and a status, each of which is associated with the task number. A task includes at least information on the task number, the work content, the work location (or the work equipment), and the work deadline (in this example, the time by which the work must be completed). In this example, the work object is parts A to C that are the targets of the work. The task execution means is information that indicates the entity that executes the task. The status is information that indicates the state of the task (for example, whether it is before execution or has been completed, etc.).

[0053] The task number, task, work object, and initial status are determined by the task generating unit 121. On the other hand, when the executing entity can be specified in advance (for example, when the executing entity is the automated warehouse 160), the task executing means is determined by the task generating unit 121, but when the executing entity cannot be specified in advance (for example, when one of the working robots 180 becomes the executing entity), the task executing means is determined by a functional unit other than the task generating unit 121. As a specific example of the latter case, the working robot control unit 150 reads the work information from the work information storage unit 130, selects a working robot 180 suitable for the task, and determines this working robot 180 as the task executing means. Information on the working robot 180 that has become the task executing means is sent to the work instruction unit 120, and is written to the work information storage unit 130 by the information updating unit 123.

[0054] 5 and 6 involves moving between four locations P001-P004 in order, and performing predetermined tasks on parts A-C at each of the locations P001-P004. Here, the tasks performed by the working robot 180 will be explained as being all assigned by the working robot control unit 150 to the working robot 180 designated "R01". For the task deadlines 1-9, the smaller the number, the earlier the deadline.

[0055] Specifically, first, the work robot 180 moves to a first location P001 where the automated warehouse 160 (denoted as "S1" in FIG. 6) is located by work deadline 1 (T0001). There is no work target for this task. Once this movement is complete, the information update unit 123 updates the status corresponding to task number T0001 to "completed" (see FIG. 7). Note that in the following, a description of the status update after the task is completed will be omitted.

[0056] The automated warehouse 160 will take out two storage units 200 (T0002, T0003) by the same work deadline 1 as above. One of the storage units 200 (the storage unit 200 on the right side in FIG. 5) contains part A, and the other storage unit 200 contains part B. The task corresponding to task number T0002 has part A as the work object. The task corresponding to task number T0003 has part B as the work object.

[0057] Next, the working robot 180 loads two storage objects 200 from the automated warehouse 160 onto the loading platform 182 by work deadline 2 (T0004, T0005). The task corresponding to task number T0004 has part A as the work object. The task corresponding to task number T0005 has part B as the work object.

[0058] Next, the work robot 180 moves to the second location P002 where the first component mounting device 173 (denoted as "M1" in FIG. 6) is located by the work deadline 3 (T0006). The work target of this task is parts A and B.

[0059] Next, the work robot 180 unloads the storage body 200 storing component B onto the first component mounting device 173 by work deadline 4 (T0007), and loads the empty storage body 200 that previously stored component C from the first component mounting device 173 (T0008). The task corresponding to task number T0007 has component B as the work object. The task corresponding to task number T0008 has component C as the work object.

[0060] Next, the work robot 180 moves to a third location P003 where a second component mounting device 174 (denoted as "M2" in FIG. 6) is located by the work deadline 5 (T0009). The work target of this task is parts A and C.

[0061] Next, the working robot 180 unloads the container 200 containing the component A to the second component mounting device 174 by the work deadline 6 (T0010). This task has the component A as the work target.

[0062] Next, the work robot 180 moves to a fourth location P004 where a collection station 210 (denoted as "E1" in FIG. 6) is located by the work deadline 7 (T0011). The task in question has part C as the work target.

[0063] Next, the work robot 180 unloads the empty storage container 200 that contained the part C into the collection station 210 by the work deadline 8 (T0012). In this task, the part C is the work target.

[0064] Finally, the work robot 180 moves to a prescribed standby position by the task deadline 9 (T0013). There is no work target for this task. Once this movement is complete, the work robot 180 becomes available to accept tasks again.

[0065] -About when an error occurs- A case where an error occurs in the automated operating system 100 and an operator's intervention is required will be described with reference to examples in reference to Figs. 7 to 13.

[0066] Figure 7 shows a case where an error occurs in the task with task number T0007 in the work described above with reference to Figures 5 and 6. In this example, an error occurs in the work robot 180, and information about the error is sent from the work robot control unit 150 to the work instruction unit 120. When the work instruction unit 120 receives this information, the instruction unit 122 issues an instruction to stop the tasks affected by the error. In this example, all tasks after the error occurrence use the work robot 180 as the task execution means, so an instruction to stop all of the tasks is issued.

[0067] On the other hand, the working robot 180 in which the error has occurred notifies surrounding workers that an error has occurred. At this time, the error information management unit 125 also outputs error information corresponding to the working robot 180 in question to the worker terminal 190 via the worker terminal management unit 140. The worker terminal 190 that receives this output notifies the worker who carries it that an error has occurred. Possible means for notifying the worker by the working robot 180 or the worker terminal 190 include, for example, emitting a warning sound or light. The worker who has received such a notification uses the reading unit 194 of the worker terminal 190 to read the part identifier 201 of the storage body 200 placed by the working robot 180 in which the error has occurred, or the robot identifier 184 of the working robot 180 in question. As a result, the reading unit 194 acquires the identification information of the part in the storage body 200 in question, or the identification information of the working robot 180 in question.

[0068] (If part identification information is obtained) When the identification information of a part in storage 200 placed by working robot 180 in error is acquired, the identification information is transmitted to worker terminal management unit 140. In worker terminal management unit 140 which has received the identification information, information inquiry unit 141 reads a task related to the identification information of the part from work information storage unit 130, and outputs it to screen 192 of worker terminal 190.

[0069] Fig. 8 shows an example of an image displayed on screen 192 of worker terminal 190 when identification information of part A is acquired. Fig. 9 shows an example of an image displayed on screen 192 of worker terminal 190 when identification information of part B is acquired. In both images, when the worker selects "OK", the display ends, and when the worker selects "Cancel work", the task whose status is "not yet executed" or "error" enters a preliminary stage before being canceled.

[0070] When the worker selects "Cancel work" in the image of FIG. 8, the display on screen 192 of worker terminal 190 switches to the image shown in FIG. 10. The image of FIG. 10 is an example of an image displayed before a task is canceled, and is intended to alert the worker to the fact that he or she is canceling a task. If the worker selects "Yes" in this image, the tasks displayed at the top of the image (in this example, all of the uncompleted work for part A) are canceled, and if the worker selects "Back", the image of FIG. 8 is displayed again. Selection of "Cancel work" in the image of FIG. 8 and selection of "Yes" in the image of FIG. 10 are examples of inputs for canceling work corresponding to the work instructions displayed on the information display unit.

[0071] If the worker selects "Yes" in the image of Fig. 10, the display on screen 192 of worker terminal 190 switches to the image shown in Fig. 11. The image of Fig. 11 is an example of an image displayed after a task is canceled, and is intended to inform the worker of information about an incomplete task that the worker needs to perform himself / herself. In this example, task number T0010 is an incomplete task that the worker needs to perform himself / herself, and its status is "Waiting for worker". If the worker selects "Confirm" in this image, the display of the image will end.

[0072] (When the identification information of the work robot is acquired) When the identification information of the work robot 180 in which an error is occurring is obtained, the identification information is sent to the worker terminal management unit 140. In the worker terminal management unit 140 which has received the identification information, the information inquiry unit 141 reads the task related to the identification information of the work robot 180 from the work information storage unit 130, and outputs it to the screen 192 of the worker terminal 190.

[0073] FIG. 12 shows an example of an image displayed on screen 192 of worker terminal 190 when identification information for working robot 180 is acquired. This image displays information about tasks with approaching deadlines for parts A and B, which are the objects to be worked on by working robot 180. When the worker selects "OK" on this image, the display closes, and when the worker selects "part A," the display switches to the image shown in FIG. 8, and when the worker selects "part B," the display switches to the image shown in FIG. 9. After that, the work can proceed in the same manner as described above.

[0074] (Processing within the automated work system when canceling a task) When a worker inputs a request to cancel a task to the automated operation system (in this example, when the worker selects "Yes" in the image of FIG. 10), information for canceling the task is notified from the operation change notification unit 142 to the operation instruction unit 120. When this notification is made, the task correction unit 124 executes a process for canceling the task.

[0075] 13 shows an example of work information stored in the work information storage unit 130 when the worker inputs a task cancellation when the above-mentioned error occurs. Here, it is assumed that the worker inputs a task cancellation command to cancel the incomplete tasks related to both parts A and B. In this case, the status of the task with task number T0007 where the error occurred (i.e., the incomplete task related to part B) and the status of the task with task number T0010 (i.e., the incomplete task related to part A) are rewritten to "cancelled" by the task correction unit 124.

[0076] Here, the task with task number T0009 is an incomplete task related not only to part A, which is the target of task cancellation, but also to part C, but the status has been rewritten to "canceled" by the task modification unit 124. This process is for changing the status of part C, which does not need to be transported to the third location P003 (see FIG. 5), so that it is transported directly from the second location P002 to the fourth location P004, because the worker himself is now performing the task with task number T0010. In this way, the task modification unit 124 has a function of voluntarily canceling a task that no longer needs to be executed due to the task being canceled based on the worker's input.

[0077] The embodiments of the present invention may be modified without departing from the scope of the invention. The above embodiments describe an example in which a part identifier 201 indicating identification information of a part and a robot identifier 184 indicating identification information of a work robot 180 are used, but instead of the identifiers 184, 201, a storage device storing identification information, for example, a wireless tag such as an RFID (Radio Frequency Identification) capable of reading stored information via wireless communication, may be used. When a wireless tag is used, a reader capable of acquiring information on the wireless tag via wireless communication is used as the reader 194 of the worker terminal 190.

[0078] Furthermore, in this embodiment, the work robot 180 is equipped with a robot arm 183, but the work robot is not limited to this and may be a robot not equipped with a robot arm, or an unmanned vehicle that carries or pulls a cart or a unit used in work.

[0079] Although the present invention has been described with respect to the presently preferred embodiments, such disclosure should not be interpreted as limiting. Various variations and modifications will no doubt become apparent to those skilled in the art to which the present invention pertains upon reading the above disclosure. Accordingly, the appended claims should be interpreted to cover all variations and modifications without departing from the true spirit and scope of the present invention. [Industrial Applicability]

[0080] The present disclosure can be used in automated operation systems. [Explanation of symbols]

[0081] 100:Automated Work System 110: Production plan memory unit 120: Work instruction department 121: Task generation unit 122: Instruction part 123: Information update department 124: Task correction section 130: Work information storage unit 140: Worker terminal management unit 141: Information Inquiry Department 142: Work change notification section 150: Working robot control unit 160: Automated warehouse 170: Mounting line system 171:Substrate supply device 172: Screen printing machine 173: First component mounting device 174: Second component mounting device 175: Cart 176: Reflow equipment 177: Substrate recovery device 178: Management Department 180:Working robot 181: Robot body 182: Cargo bed 183:Robot arm 184: Robot Identifier 190: Operator terminal 191: Terminal body 192: Screen (information display section, input section) 193: Operation keys (input section) 194: Reading unit (information acquisition unit) 200: Storage unit 201: Part Identifier 210: Collection Station N1: Communication network N2: Communication network

Claims

1. A work robot that transports items based on a work instruction; a work information storage unit that stores the contents of a work instruction and information about an item that is the subject of the work instruction in association with each other; An information acquisition unit that acquires identification information of an item; An information display unit; an information inquiry unit that reads the content of the work instruction related to the identification information of the item from the work information storage unit based on the identification information of the item acquired by the information acquisition unit, and outputs the content to the information display unit; An automated work system comprising:

2. The automated working system according to claim 1 , wherein the information acquisition unit and the information display unit are provided in a worker terminal carried by a worker.

3. the working robot transports items consumed in a manufacturing facility to the manufacturing facility, The automated operating system according to claim 1 or 2, further comprising a work instruction unit that issues work instructions based on information regarding consumption of goods in the manufacturing facility.

4. 4. The automated operating system according to claim 3, wherein the work instruction unit issues work instructions based also on a production plan for the manufacturing facility.

5. the work information storage unit stores the content of a work instruction in association with information about the work robot that is the subject of the work instruction; the information acquisition unit is also capable of acquiring identification information of the work robot, 5. The automated working system according to claim 1, wherein the information inquiry unit reads out contents of the work instruction related to the identification information of the work robot from the work information storage unit based on the identification information of the work robot acquired by the information acquisition unit, and outputs the contents to the information display unit.

6. A work robot that transports items based on a work instruction; a work information storage unit that stores the contents of a work instruction and information about an item that is the subject of the work instruction in association with each other; An information acquisition unit that acquires identification information of an item; An information display unit; an information inquiry unit that reads the content of the work instruction related to the identification information of the item from the work information storage unit based on the identification information of the item acquired by the information acquisition unit, and outputs the content to the information display unit; an input unit capable of inputting an instruction to cancel a task corresponding to the task instruction displayed on the information display unit; a task change notification unit that notifies the user of the task that has been canceled by the input unit; a modification unit that performs processing to cancel the work notified by the work change notifying unit; An automated work system comprising:

7. The automated working system according to claim 6 , wherein the information acquisition unit and the information display unit are provided in a worker terminal carried by a worker.

8. The automated working system according to claim 6 or 7, wherein the working robot transports items consumed in a manufacturing facility to the manufacturing facility, and further comprises a work instruction unit that issues work instructions based on information regarding consumption of items in the manufacturing facility.

9. 9. The automated operating system according to claim 8, wherein the work instruction unit issues work instructions based also on a production plan for the manufacturing facility.

10. the work information storage unit stores the content of a work instruction in association with information about the work robot that is the subject of the work instruction; the information acquisition unit is also capable of acquiring identification information of the work robot, The automated working system according to any one of claims 6 to 9, wherein the information inquiry unit reads out contents of the work instruction related to the identification information of the work robot from the work information storage unit based on the identification information of the work robot acquired by the information acquisition unit, and outputs the contents to the information display unit.

11. The automated work system according to any one of claims 6 to 10, wherein the modification unit modifies the contents of the work information storage unit for the work notified by the work change notification unit.

Images