Automatic conveying device, conveying system, and method for notifying abnormality of automatic conveying device

Abstract

To provide an automatic carrier device capable of promptly and highly accurately notifying an operator in a sheet metal working facility of an abnormality state when the device stops because an abnormality occurred when travelling in the sheet metal working facility.SOLUTION: An automatic carrier device 10-1 travels in a sheet metal working facility in which a plurality of sheet metal working machines 20, 30, 40, and 50 are installed. The automatic carrier device 10-1 comprises: an abnormality detection sensor 13-1 which detects an abnormality occurring when the automatic carrier device is travelling; a notification destination identification unit 122-1 which identifies a sheet metal working machine of a notification destination being in an abnormal state from among the plurality of sheet metal working machines when an abnormality is detected by the abnormality detection sensor 13-1; and a notification information transmission control unit 123-1 which wirelessly transmits abnormal state notification information to a sheet metal working machine of the notification destination identified by the notification destination identification unit 122-1.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an automatic conveying device, a conveying system, and an abnormality notification method for an automatic conveying device. [Background technology]

[0002] In many factories, warehouses, and other facilities, automated guided vehicles (AGVs), which are autonomous vehicles, are used to transport products and cargo. By using automated guided vehicles to perform transportation work, it is possible to reduce the labor and costs required by workers and improve work efficiency.

[0003] If an abnormality such as a collapse of the load occurs while the automatic conveying device is traveling with a load loaded, the abnormality is detected by a sensor mounted on the automatic conveying device and the device automatically stops traveling. When the automatic conveying device automatically stops, an operator can perform recovery work according to the nature of the abnormality, allowing the automatic conveying device to resume traveling.

[0004] In facilities such as large warehouses, the operation of equipment is automated and the facility is unmanned. In such facilities, a management device centrally manages the operating status of the automatic transport devices running inside. The management device wirelessly communicates with the automatic transport devices in the warehouse to detect when an abnormality occurs in the automatic transport device and the device stops, and outputs an alarm to prompt workers to perform recovery work.

[0005] However, if a management device were to manage the operation of all the automatic transport devices in a facility, the system configuration would become complicated, resulting in problems such as high costs for system construction and management. Furthermore, when the facility is large, it can take a long time for workers to reach a stopped automatic transport device, which can result in long hours of work required to restore the automatic transport device. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Application Publication No. 10-124145 Summary of the Invention [Problem to be solved by the invention]

[0007] In sheet metal processing facilities, depending on the processing content, some processing machines have workers stationed during operation. Therefore, if an automatic conveying device used in the sheet metal processing facility experiences an abnormality and stops, the workers in the facility are notified and prompted to perform recovery work, allowing the automatic conveying device to quickly resume operation.

[0008] As a means for notifying workers in a facility of an abnormality in an automatic transport device, there is a technique for sounding an alarm using an alarm device mounted on the automatic transport device or turning on a lamp to notify those in the vicinity. There is also a technique for displaying the details of the recovery work to be carried out by the worker on a display device of the automatic transport device (see Patent Document 1). By outputting information about the abnormality that has occurred in the automatic transport device in this way, nearby workers can recognize the abnormality in the automatic transport device and carry out recovery work.

[0009] However, in sheet metal processing facilities, depending on the type of sheet metal processing machine, there are areas where workers are stationed and areas where they are not, and in some locations, even if the automatic transport device lights up a lamp or displays information, the worker may not be able to notice it. Also, the processing work in sheet metal processing facilities is loud, and even if the automatic transport device sounds an alarm, the worker may not be able to notice it. In such cases, there is a problem that it takes a long time to restore the stopped automatic transport device.

[0010] One aspect of the present invention is an automatic conveying device, a conveying system, and an abnormality notification method for an automatic conveying device that can quickly and accurately notify workers in sheet metal processing equipment of an abnormal condition when an abnormality occurs and the automatic conveying device stops while traveling within the sheet metal processing equipment. [Means for solving the problem]

[0011] An automatic conveying device of one embodiment of the present invention comprises an abnormality detection sensor that travels within a sheet metal processing facility in which a plurality of sheet metal processing machines are installed and detects abnormalities that occur while the device is traveling, a notification destination identification unit that, when the abnormality is detected by the abnormality detection sensor, identifies a sheet metal processing machine from among the plurality of sheet metal processing machines to which an abnormal condition should be notified, and a notification information transmission control unit that wirelessly transmits information notifying the abnormal condition to the sheet metal processing machine identified by the notification destination identification unit.

[0012] A conveying system according to one aspect of the present invention comprises the automatic conveying device and a plurality of sheet metal processing machines, each of which includes an output unit that outputs information transmitted from the automatic conveying device.

[0013] In addition, one aspect of the present invention provides an abnormality notification method for an automatic conveying device, in which, when an abnormality occurs while an automatic conveying device traveling within a sheet metal processing facility in which multiple sheet metal processing machines are installed, the automatic conveying device identifies one of the multiple sheet metal processing machines to notify of the abnormal condition, and wirelessly transmits information to the identified sheet metal processing machine to notify of the abnormal condition.

[0014] The above-mentioned automatic conveying device, conveying system, and method for notifying an abnormality of an automatic conveying device can notify workers in the sheet metal processing equipment quickly and accurately when an abnormality occurs while the automatic conveying device is traveling within the sheet metal processing equipment by wirelessly transmitting information notifying the abnormal condition to a sheet metal processing machine identified based on information about the sheet metal processing machine within the processing equipment and information about the current location of the automatic conveying device. [Effects of the Invention]

[0015] According to one aspect of the automatic conveying device, conveying system, and abnormality notification method for an automatic conveying device of the present invention, when an abnormality occurs while traveling within a sheet metal processing facility and the automatic conveying device stops, the abnormal condition can be quickly and accurately notified to workers within the sheet metal processing facility. [Brief explanation of the drawings]

[0016] [Figure 1]FIG. 1 is an overall view of a transport system 1 according to an embodiment. [Figure 2] FIG. 2 is a block diagram showing the configuration of the transport system 1 according to an embodiment. [Figure 3] FIG. 3 is a block diagram showing the configuration of the sheet metal processing machines 20, 30, 40, and 50 of the transfer system 1 according to one embodiment. [Figure 4] FIG. 4 is a flowchart showing the operation of the automatic transfer device in the transfer system 1 according to one embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0017] <Configuration of a transport system according to an embodiment> The configuration of a transport system according to an embodiment will be described below with reference to the accompanying drawings. Fig. 1 is an overall view of a transport system 1 according to an embodiment. Fig. 2 is a block diagram showing the configuration of the transport system 1 according to an embodiment.

[0018] As shown in FIG. 1, the conveying system 1 is mounted on a sheet metal processing facility and includes a plurality of automated guided vehicles (AGVs) 10-1, 10-2, and 10-3 that operate automatically, sheet metal processing machines 20, 30, 40, and 50 installed within the sheet metal processing facility, and a management device 60.

[0019] 2, the automatic conveying device 10-1 includes a traveling mechanism 11-1 and a CPU 12-1, and the traveling mechanism 11-1 operates under the control of a traveling control unit 121-1 mounted on the CPU 12-1 to travel with a load of parts, products, and other cargo to be processed within the sheet metal processing facility. The traveling mechanism 11-1 is a mechanism for traveling the automatic conveying device 10-1, and includes, for example, three or more wheels that support the automatic conveying device 10-1 and can rotate on a road surface, a drive source such as a motor that rotates and drives the wheels, a powertrain that transmits the driving force of the drive source to the wheels, and a mechanism for controlling the traveling direction of the automatic conveying device 10-1.

[0020] The automatic conveying device 10-1 also includes an abnormality detection sensor 13-1 that detects abnormalities that occur while the device is traveling, a notification destination identification unit 122-1 that, when an abnormality is detected by the abnormality detection sensor 13-1, identifies a sheet metal processing machine to which the abnormal condition should be notified from among the multiple sheet metal processing machines 20, 30, 40, and 50, and a notification information transmission control unit 123-1 that causes the sheet metal processing machine identified by the notification destination identification unit 122-1 to transmit information notifying the abnormal condition.

[0021] The abnormality detection sensor 13-1 is configured by, for example, a LiDAR sensor, an ultrasonic sensor, a radar sensor, or a camera device, and detects abnormalities that occur during travel, such as collapse of cargo loaded on the automatic conveying device 10-1.

[0022] The functions of the notification destination identification unit 122-1 and the notification information transmission control unit 123-1 are installed in the CPU 12-1. Each component (121-1, 122-1, 123-1) of the CPU 12-1 can be realized using a general-purpose microcomputer. Specifically, a dedicated computer program is installed and executed in the microcomputer. As a result, the general-purpose microcomputer functions as multiple information processing units (121-1, 122-1, 123-1). Note that, although an example of realization using a dedicated computer program and a general-purpose microcomputer is shown here, it is of course possible to provide dedicated hardware for executing each information processing instead of a general-purpose microcomputer. The dedicated hardware includes devices such as application-specific integrated circuits (ASICs) and conventional circuit components arranged to perform the functions described in the embodiments.

[0023] The automatic conveying device 10-1 also includes an automatic conveying device wireless communication unit 14-1 that, under the control of the notification information transmission control unit 123-1, performs wireless communication with the plurality of sheet metal processing machines 20, 30, 40, 50 and the management device 60. The automatic conveying device wireless communication unit 14-1 is a device capable of wireless communication, for example, via a wireless LAN (Local Area Network) conforming to the IEEE 802.11 standard or mobile communication.

[0024] The automatic conveying device 10-1 also has a location information acquisition unit 15-1 that acquires the current location information of its own vehicle, a processing machine information memory unit 16-1 that stores information on multiple sheet metal processing machines 20, 30, 40, and 50, and a driving information memory unit 17-1 that stores driving information including location information of the starting point and destination point related to driving, and when an abnormality is detected by the abnormality detection sensor 13-1, the notification destination identification unit 122-1 identifies the sheet metal processing machine to which the abnormality condition should be reported based on the current location information acquired by the location information acquisition unit 15-1, the information stored in the processing machine information memory unit 16-1, the information stored in the driving information memory unit 17-1, and the operating status of the sheet metal processing machines 20, 30, 40, and 50.

[0025] The position information acquisition unit 15-1 performs known map matching processing or dead reckoning processing using, for example, LiDAR (Light Detection and Ranging) to acquire position information of the automatic transfer device 10-1 within the sheet metal processing facility.

[0026] The processing machine information storage unit 16-1 and the travel information storage unit 17-1 are, for example, memories provided in a general-purpose microcomputer, or auxiliary storage devices (including magnetic disk drives and optical disk drives) connected to the microcomputer.

[0027] The automatic conveying device 10-1 also has an automatic conveying device alarm 18-1 that sounds an alarm to notify the surrounding area of ​​the occurrence of an abnormality when an abnormality is detected by the abnormality detection sensor 13-1, and an automatic conveying device warning light 19-1 that turns on a lamp.

[0028] The automatic transfer devices 10-2 and 10-3 have the same configuration as the automatic transfer device 10-1, and therefore detailed description of each component will be omitted.

[0029] The sheet metal processing machine 20 is a blanking machine that cuts and drills metal sheets. The sheet metal processing machines 30 and 40 are stand-alone bending machines that are manually operated by an operator to bend metal sheets. The sheet metal processing machine 50 is an automatic bending machine that automatically bends metal sheets.

[0030] 3 is a block diagram showing the configuration of sheet metal processing machines 20, 30, 40, and 50. Sheet metal processing machine 20 includes a processing mechanism unit 21, a processing control unit 22, a processing machine wireless communication unit 23, and a processing machine display unit 24 and a processing machine warning light 25 as output units.

[0031] The processing mechanism unit 21 is a mechanism that processes the sheet metal to be processed. The processing control unit 22 controls the operation of the processing mechanism unit 21. The processing machine wireless communication unit 23 communicates wirelessly with the automatic conveying devices 10-1, 10-2, and 10-3. When the processing machine display unit 24 receives information reporting an abnormal condition from the automatic conveying devices 10-1, 10-2, and 10-3 via the processing machine wireless communication unit 23, it displays text information reporting the abnormal condition of the corresponding automatic conveying device based on the information. The processing machine warning light 25 turns on when it receives information reporting an abnormal condition from the automatic conveying devices 10-1, 10-2, and 10-3 via the processing machine wireless communication unit 23.

[0032] The configurations of the sheet metal processing machines 30, 40, and 50 are similar to that of the sheet metal processing machine 20, and therefore detailed description thereof will be omitted.

[0033] 2, the management device 60 is configured to be able to communicate wirelessly with the automatic conveyance devices 10-1, 10-2, and 10-3, and is configured to be able to connect by wire or wirelessly to the sheet metal processing machines 20, 30, 40, and 50. The management device 60 monitors and controls the operations of the automatic conveyance devices 10-1, 10-2, 10-3 and the sheet metal processing machines 20, 30, 40, and 50.

[0034] <Operation of the conveyance system 1 according to one embodiment> Next, a description will be given of the operation of the conveyance system 1 according to this embodiment. In this embodiment, the processing machine information storage unit 16-1 of the automatic conveyance device 10-1, the processing machine information storage unit 16-2 of the automatic conveyance device 10-2, and the processing machine information storage unit 16-3 of the automatic conveyance device 10-3 store in advance installation location information and information on the days of the week and time periods when workers are present for each of the sheet metal processing machines 20, 30, 40, and 50.

[0035] In this embodiment, the processing machine information storage units 16-1, 16-2, and 16-3 store information indicating that, for example, from 9:00 to 17:00 on weekdays, workers are assigned only to sheet metal processing machines 30 and 40, but not to sheet metal processing machines 20 and 50, and that from 17:00 on weekdays to 9:00 the next day and on holidays, no workers are assigned to any of the sheet metal processing machines 20, 30, 40, and 50.

[0036] 4 is a flowchart showing the operations of the automatic conveyance devices 10-1, 10-2, and 10-3 in the conveyance system 1 according to one embodiment. Here, the operations when the automatic conveyance device 10-1 travels from a position near the sheet metal processing machine 20 to a position near the sheet metal processing machine 50 will be specifically described as an example.

[0037] The automatic conveying device 10-1 stores in advance, as travel information, in the travel information storage unit 17-1, information indicating that the starting point is a position close to the sheet metal processing machine 20 and that the destination point is close to the sheet metal processing machine 50. When the automatic conveying device 10-1 starts traveling under the control of the travel control unit 121-1 with a workpiece processed by the sheet metal processing machine 20 loaded as cargo ("YES" in S1), the position information acquisition unit 15-1 starts processing to acquire position information of the vehicle, and the abnormality detection sensor 13-1 starts processing to detect an abnormality that has occurred in the vehicle.

[0038] If the cargo loaded on the automatic conveying device 10-1 collapses near the sheet metal processing machine 20 while the device is traveling and the device stops traveling, the abnormality detection sensor 13-1 turns ON and detects an abnormality in the automatic conveying device 10-1. When the abnormality detection sensor 13-1 detects an abnormality ("YES" in S2), the automatic conveying device alarm 18-1 sounds an alarm and the automatic conveying device warning light 19-1 lights up to output warning information and notify the surrounding area of ​​the occurrence of the abnormality.

[0039] Furthermore, when an abnormality is detected by the abnormality detection sensor 13-1, the notification destination identification unit 122-1 identifies the sheet metal processing machine to which the abnormal condition should be notified from among the multiple sheet metal processing machines 20, 30, 40, and 50, based on the information stored in the processing machine information storage unit 16-1 and the current location information acquired by the location information acquisition unit 15-1 (S3).

[0040] The notification destination identification unit 122-1 identifies the sheet metal processing machines to which to notify an abnormal condition in the following order of priority: (1) the sheet metal processing machine installed in the position closest to the position indicated by the current position information of the stopped automatic conveying device, (2) the sheet metal processing machine where the worker is located, (3) the sheet metal processing machine corresponding to the start position and the sheet metal processing machine corresponding to the end position of the travel, and (4) all sheet metal processing machines within the sheet metal processing facility.

[0041] The notification destination specification unit 122-1 first specifies, as the notification destination of the abnormal state, the sheet metal processing machine with the highest priority (1) that is installed in a position closest to the position indicated by the current position information of the stopped automatic conveyance device. Specifically, the notification destination specification unit 122-1 specifies the sheet metal processing machine 20 as the notification destination based on the installation position information of each sheet metal processing machine stored in the processing machine information storage unit 16-1 and the current position information of the automatic conveyance device 10-1 acquired by the position information acquisition unit 15-1.

[0042] When the notification destination identification unit 122-1 identifies the sheet metal processing machine 20 as the destination to notify of the abnormal condition, the notification information transmission control unit 123-1 causes the automatic conveying device wireless communication unit 14-1 to send information notifying the sheet metal processing machine 20 of the abnormal condition of the automatic conveying device 10-1 (S4).

[0043] In the sheet metal processing machine 20, the processing machine wireless communication unit 23 receives the information transmitted from the automatic conveying device 10-1, and based on the received information, the processing machine display unit 24 displays text information notifying of an abnormal state of the automatic conveying device 10-1, and the processing machine warning light 25 turns on. The text information displayed by the processing machine display unit 24 may include current location information of the automatic conveying device 10-1, such as "A load collapse has occurred in the vicinity of the sheet metal processing machine 20 on automatic conveying device No. 1."

[0044] If there is an operator near the sheet metal processing machine 20, and the operator recognizes the information displayed on the processing machine display unit 24 and performs work to address the abnormality of the automatic transfer device 10-1 within a predetermined time after the automatic transfer device 10-1 sends information notifying the occurrence of an abnormality, the abnormality of the automatic transfer device 10-1 will be resolved ("YES" in S5). When the abnormality of the automatic transfer device 10-1 is resolved, the detection state of the abnormality detection sensor 13-1 will be turned OFF.

[0045] When the detection state of the abnormality detection sensor 13-1 becomes OFF, the automatic conveying device alarm 18-1 stops sounding the alarm, the automatic conveying device warning light 19-1 turns off, and the travel control unit 121-1 resumes travel. Also, when the detection state of the abnormality detection sensor 13-1 becomes OFF, the notification destination specification unit 122-1 causes the sheet metal processing machine 20 that sent the information notifying the abnormal state to send information notifying that the abnormality of the automatic conveying device 10-1 has been resolved (S6), and the process returns to step S2.

[0046] In the sheet metal processing machine 20, the processing machine wireless communication unit 23 receives the information transmitted from the automatic conveying device 10-1, and based on the received information, the processing machine display unit 24 stops displaying the text information informing of an abnormal state of the automatic conveying device 10-1, and the processing machine warning light 25 turns off.

[0047] Also, in step S5, if the abnormality of the automatic conveying device 10-1 is not resolved within a predetermined time after the automatic conveying device 10-1 sends information notifying the occurrence of an abnormality ("NO" in S5), the notification destination identification unit 122-1 checks whether the notification information has been sent to all sheet metal processing machines 20, 30, 40, and 50 (S7).

[0048] At this point, there are sheet metal processing machines 30, 40, and 50 to which notification information has not been sent, and since notification information has not yet been sent to all sheet metal processing machines ("NO" in S7), the notification destination identification unit 122-1 performs a process to identify a new sheet metal processing machine to which notification information should be sent (S8).

[0049] Here, the notification destination specification unit 122-1 specifies (2) the sheet metal processing machine where the worker is located, which has the next highest priority after the above (1), as a new notification destination of the abnormal condition. Specifically, the notification destination specification unit 122-1 specifies the sheet metal processing machines 30 and 40 as the notification destinations based on the information on the day of the week and time period when the worker is present, which is stored in the processing machine information storage unit 16-1, and the current date and time information, for example, information on "1:00 p.m. on a weekday."

[0050] When the notification destination identification unit 122-1 identifies the sheet metal processing machines 30 and 40 as new notification destinations for the abnormal condition, the notification information transmission control unit 123-1 causes the automatic conveying device wireless communication unit 14-1 to send information notifying the abnormal condition to the sheet metal processing machines 30 and 40 (S4).

[0051] In sheet metal processing machine 30, processing machine wireless communication unit 33 receives information transmitted from automatic conveyance device 10-1, and processing machine display unit 34 displays text information notifying of an abnormal state of automatic conveyance device 10-1 based on the received information, and processing machine warning light 35 turns on. In sheet metal processing machine 40, processing machine wireless communication unit 43 receives information transmitted from automatic conveyance device 10-1, and based on the received information, processing machine display unit 44 displays text information notifying of an abnormal state of automatic conveyance device 10-1, and processing machine warning light 45 turns on.

[0052] If there is an operator near the sheet metal processing machine 30 or 40, and the operator recognizes the displayed information and takes action to address the abnormality of the automatic conveyance device 10-1 within a predetermined time after the automatic conveyance device 10-1 transmits the information notifying the occurrence of the abnormality, the abnormality of the automatic conveyance device 10-1 will be resolved ("YES" in S5). When the abnormality of the automatic conveyance device 10-1 is resolved, the detection state of the abnormality detection sensor 13-1 will be turned OFF.

[0053] When the detection state of the abnormality detection sensor 13-1 becomes OFF, the automatic conveying device alarm 18-1 stops sounding the alarm, the automatic conveying device warning light 19-1 turns off, and the travel control unit 121-1 resumes travel. Also, when the detection state of the abnormality detection sensor 13-1 becomes OFF, the notification destination specification unit 122-1 causes the sheet metal processing machines 20, 30, and 40 that sent the information notifying of the abnormal state to send information notifying that the abnormality of the automatic conveying device 10-1 has been resolved (S6), and the process returns to step S2.

[0054] In the sheet metal processing machines 20, 30, 40, the processing machine wireless communication units 23, 33, 43 receive the information transmitted from the automatic conveying device 10-1, and based on the received information, the processing machine display units 24, 34, 44 stop displaying the text information notifying of an abnormal state of the automatic conveying device 10-1, and the processing machine warning lights 25, 35, 45 are turned off.

[0055] Here again, in step S5, if the abnormality of the automatic conveying device 10-1 is not resolved within a predetermined time after the automatic conveying device 10-1 sends information notifying the occurrence of an abnormality ("NO" in S5), the notification destination identification unit 122-1 checks whether the notification information has been sent to all sheet metal processing machines 20, 30, 40, and 50 (S7).

[0056] At this point, there is a sheet metal processing machine 50 to which notification information has not been sent, and notification information has not yet been sent to all sheet metal processing machines ("NO" in S7), so the notification destination identification unit 122-1 performs a process to identify a new sheet metal processing machine to which notification information will be sent (S8).

[0057] Here, the notification destination specification unit 122-1 specifies (3) the sheet metal processing machine corresponding to the start position of the travel and the sheet metal processing machine corresponding to the end position, which have the second highest priority after (2) above, as new notification destinations for the abnormal condition. Specifically, the notification destination specification unit 122-1 specifies the sheet metal processing machine 20 closest to the start point and the sheet metal processing machine 50 closest to the destination point as new notification destination candidates based on the position information of the start point and the position information of the destination point stored in the travel information storage unit 17-1 for the travel currently being performed. Here, since the sheet metal processing machine 20 has already transmitted notification information, it is excluded from the notification destination candidates, and only the sheet metal processing machine 50 is specified as the new notification destination.

[0058] When the notification destination identification unit 122-1 identifies the sheet metal processing machine 50 as the new notification destination for the abnormal condition, the notification information transmission control unit 123-1 causes the automatic conveying device wireless communication unit 14-1 to send information notifying the sheet metal processing machine 50 of the abnormal condition (S4).

[0059] In sheet metal processing machine 50, processing machine wireless communication unit 53 receives the information transmitted from automatic conveyance device 10-1, and processing machine display unit 54 displays text information notifying of an abnormal state of automatic conveyance device 10-1 based on the received information, and processing machine warning light 55 turns on. If an operator is present near sheet metal processing machine 50 and recognizes the displayed information and performs work to address the abnormality of automatic conveyance device 10-1 within a predetermined time after automatic conveyance device 10-1 transmits the information notifying of the occurrence of an abnormality, the abnormality of automatic conveyance device 10-1 is resolved ("YES" in S5). When the abnormality of automatic conveyance device 10-1 is resolved, the detection state of abnormality detection sensor 13-1 becomes OFF.

[0060] When the detection state of the abnormality detection sensor 13-1 becomes OFF, the automatic conveying device alarm 18-1 stops sounding the alarm, the automatic conveying device warning light 19-1 turns off, and the travel control unit 121-1 resumes travel. Also, when the detection state of the abnormality detection sensor 13-1 becomes OFF, the notification destination specification unit 122-1 causes the sheet metal processing machines 20, 30, 40, and 50 that sent the information notifying of the abnormal state to send information notifying that the abnormality of the automatic conveying device 10-1 has been resolved (S6), and the process returns to step S2.

[0061] In the sheet metal processing machines 20, 30, 40, 50, the processing machine wireless communication units 23, 33, 43, 53 receive the information transmitted from the automatic conveying device 10-1, and based on the received information, the processing machine display units 24, 34, 44, 54 stop displaying the text information notifying of an abnormal state of the automatic conveying device 10-1, and the processing machine warning lights 25, 35, 45, 55 are turned off.

[0062] Again in step S5, if the abnormality of the automatic conveying device 10-1 is not resolved within a predetermined time after the automatic conveying device 10-1 transmits information notifying the occurrence of an abnormality ("NO" in S5), the notification destination specification unit 122-1 checks whether the notification information has been transmitted to all of the sheet metal processing machines 20, 30, 40, and 50 (S7). If there is any sheet metal processing machine to which the notification information has not been transmitted at this point ("NO" in S7), the notification destination specification unit 122-1 executes the process of transmitting the notification information to all of the sheet metal processing machines in the sheet metal processing facility in accordance with (4) above.

[0063] Here, since the notification information has already been sent to all of the sheet metal processing machines 20, 30, 40, and 50 ("YES" in S7), the notification destination specification unit 122-1 specifies the management device 60 as the notification destination. When the notification destination specification unit 122-1 specifies the management device 60 as the notification destination of the abnormal state, the notification information transmission control unit 123-1 causes the automatic conveyance device wireless communication unit 14-1 to transmit information notifying the management device 60 of the abnormal state of the automatic conveyance device 10-1 (S9).

[0064] The management device 60 outputs the information transmitted from the automatic transport device 10-1 to notify the manager of the abnormal state of the automatic transport device 10-1. The manager recognizes the output information and performs processing to deal with the abnormality of the automatic transport device 10-1. The automatic transport devices 10-2 and 10-3 also perform processing similar to that of the automatic transport device 10-1 while traveling.

[0065] According to the above embodiments, the automatic conveying devices 10-1, 10-2, 10-3 that travel within a sheet metal processing facility in which multiple sheet metal processing machines are installed are equipped with abnormality detection sensors 13-1, 13-2, 13-3 that detect abnormalities that occur while traveling, notification destination identification units 122-1, 122-2, 122-3 that, when an abnormality is detected by the abnormality detection sensors 13-1, 13-2, 13-3, identify a sheet metal processing machine from among the multiple sheet metal processing machines to which an abnormal condition should be notified, and notification information transmission control units 123-1, 123-2, 123-3 that wirelessly transmit information notifying of the abnormal condition to the sheet metal processing machine identified by the notification destination identification units 122-1, 122-2, 122-3. By providing the automatic transport devices 10-1, 10-2, and 10-3 with such a configuration, when an abnormality occurs in an automatic transport device traveling within a sheet metal processing facility and the automatic transport device stops, the abnormal condition can be quickly and efficiently notified to nearby workers without introducing an expensive management system. Since there are processing machines within a sheet metal processing facility that are likely to have workers stationed during operation depending on the processing content, when an automatic transport device stops, the abnormal condition can be notified to a nearby worker, who can then take appropriate action to quickly resume the operation of the automatic transport device.

[0066] In addition, the automatic conveying devices 10-1, 10-2, 10-3 further include position information acquisition units 15-1, 15-2, 15-3 that acquire current position information of their own vehicles, processing machine information storage units 16-1, 16-2, 16-3 that store information on multiple sheet metal processing machines, and driving information storage units 17-1, 17-2, 17-3 that store driving information including position information of the starting point of the drive and position information of the destination point.When an abnormality is detected by the abnormality detection sensors 13-1, 13-2, 13-3, the notification destination identification units 122-1, 122-2, 122-3 identify the sheet metal processing machine to which the abnormality should be notified based on the current position information acquired by the position information acquisition units 15-1, 15-2, 15-3, the information stored in the processing machine information storage units 16-1, 16-2, 16-3, or the information stored in the driving information storage units 17-1, 17-2, 17-3. By providing the automatic conveying devices 10-1, 10-2, and 10-3 with this configuration, when an abnormality occurs in an automatic conveying device running within a sheet metal processing facility and the device stops, it is possible to accurately determine the sheet metal processing machine that is located as close as possible to the automatic conveying device and is likely to have an operator present, and identify the destination to report to.

[0067] In the above-described embodiment, the sheet metal processing machines to be notified of an abnormality are identified in the following order of priority: (1) the sheet metal processing machine located closest to the position indicated by the current position information of the stopped automatic transport device; (2) the sheet metal processing machine where the worker is located; (3) the sheet metal processing machine corresponding to the start position and the end position of the travel; and (4) all sheet metal processing machines in the sheet metal processing facility. However, this is not limited to this, and the sheet metal processing machine to be notified may be identified based on at least one of the above conditions (1) to (4). By using any of these conditions, an abnormality in the automatic transport device can be efficiently notified to nearby workers.

[0068] Furthermore, the notification destination specification units 122-1, 122-2, and 122-3 may specify the sheet metal processing machine to which the abnormality is to be notified based on predetermined conditions, such as time of day, day of the week, type of abnormality that occurred, operating status of the sheet metal processing machine, or a combination of these. In this case, the conditions (1) to (4) above may be used, or the sheet metal processing machine to which the abnormality is to be notified may be specified based on specific conditions related to a predetermined time of day, day of the week, type of abnormality that occurred, or operating status of the sheet metal processing machine. For example, the notification destination specification units 122-1, 122-2, and 122-3 may determine that, although most sheet metal processing machines are unmanned after 5:00 p.m. on holidays and weekdays, at least one worker is present at the sheet metal processing machine corresponding to the start position and end position of the travel of the automatic transport device where the abnormality occurred, and specify the notification destination based on the condition (3) above. Furthermore, when the notification destination specification units 122-1, 122-2, 122-3 determine that the abnormality is due to an electrical failure inside the automatic conveying device and that only a maintenance person with specific knowledge can handle the abnormality, they specify only the management device 60 as the notification destination. Furthermore, the notification destination specification units 122-1, 122-2, 122-3 acquire operation status information, including NC button operations and touch history on the operation screen, from the processing control units 22, 32, 42, 52 of each sheet metal processing machine 20, 30, 40, 50 via the automatic conveying device wireless communication units 14-1, 14-2, 14-3, and when they recognize based on the acquired information that a product that undergoes 10 bending processes is being bent in sheet metal processing machine 30, which is a stand-alone bending machine, for example, that the second bending process is being performed, they determine that there is a high possibility that an operator is near sheet metal processing machine 30 and specify sheet metal processing machine 30 as the notification destination. By performing the processing in this manner, it is possible to determine with even higher accuracy which sheet metal processing machines are likely to have workers present and identify the notification destinations.

[0069] In the above-described embodiment, if the abnormality is not resolved within a predetermined time after the notification destination specification units 122-1, 122-2, and 122-3 have transmitted information notifying an abnormal condition to the specified sheet metal processing machine, the notification destination specification units 122-1, 122-2, and 122-3 change the specification conditions for the destination in accordance with a priority and specify a new sheet metal processing machine as the destination. When the notification destination specification units 122-1, 122-2, and 122-3 specify a new sheet metal processing machine as the destination, the notification information transmission control units 123-1, 123-2, and 123-3 wirelessly transmit information notifying an abnormal condition to the specified sheet metal processing machine. Having such a configuration in the automatic transport devices 10-1, 10-2, and 10-3 allows for reliable notification of an abnormality in the automatic transport device to an operator. In the above-described embodiment, the specification conditions for the destination are changed in accordance with a predetermined priority using the above conditions (1) to (4). However, this is not limited to this, and a new destination may be specified using other preset conditions.

[0070] Furthermore, in the above-described embodiment, when an abnormality is detected in the automatic conveyance device 10-1, 10-2, 10-3, the automatic conveyance device 10-1, 10-2, or 10-3 directly transmits abnormal state notification information to the sheet metal processing machine 20, 30, 40, 50. However, this is not limited to this, and the automatic conveyance device 10-1, 10-2, or 10-3 may transmit abnormal state notification information and information about the sheet metal processing machine to be notified to the management device 60, and the management device 60 may transmit the abnormal state notification information to the relevant sheet metal processing machine.

[0071] The present invention is not limited to the above-described embodiment, and various modifications are possible without departing from the gist of the present invention. [Explanation of symbols]

[0072] 1. Transport system 10-1, 10-2, 10-3 Automatic transport device 11-1, 11-2, 11-3 Traveling mechanism 12-1, 12-2, 12-3 CPU 13-1, 13-2, 13-3 Abnormality detection sensors 14-1, 14-2, 14-3 Automatic transport device wireless communication section 15-1, 15-2, 15-3 Location information acquisition section 16-1, 16-2, 16-3 Processing machine information storage section 17-1, 17-2, 17-3 Driving information storage unit 18-1, 18-2, 18-3 Automatic transport device alarm 19-1, 19-2, 19-3 Automatic transport device warning light 20 Sheet metal processing machine (blank processing machine) 21, 31, 41, 51 Processing mechanism section 22, 32, 42, 52 Processing control section 23, 33, 43, 53 Processing machine wireless communication unit 24, 34, 44, 54 Processing machine display section 25, 35, 45, 55 Processing machine warning light 30, 40 Sheet metal processing machine (single bending machine) 50 Sheet metal processing machine (automatic bending machine) 60 Management device 121-1, 121-2, 121-3 Travel control unit 122-1, 122-2, 122-3 Notification destination specification unit 123-1, 123-2, 123-3 Notification information transmission control section

Claims

1. It travels through a sheet metal processing facility where multiple sheet metal processing machines are installed, An abnormality detection sensor that detects abnormalities that occur during driving; a notification destination specifying unit that specifies a sheet metal processing machine to be notified of an abnormal state from among the plurality of sheet metal processing machines when the abnormality is detected by the abnormality detection sensor; a notification information transmission control unit that wirelessly transmits information notifying the abnormal state to the sheet metal processing machine as a notification destination identified by the notification destination identification unit, The notification destination identification unit of the automatic conveying device identifies at least one of the sheet metal processing machine where the worker is located, the sheet metal processing machine corresponding to the start position of the travel, or the sheet metal processing machine corresponding to the end position as the destination to which the abnormal condition should be notified.

2. It travels through a sheet metal processing facility where multiple sheet metal processing machines are installed, An abnormality detection sensor that detects abnormalities that occur during driving; a notification destination specifying unit that specifies a sheet metal processing machine to be notified of an abnormal state from among the plurality of sheet metal processing machines when the abnormality is detected by the abnormality detection sensor; a notification information transmission control unit that wirelessly transmits information notifying the abnormal state to the sheet metal processing machine as a notification destination identified by the notification destination identification unit, The notification destination identification unit is an automatic conveying device that identifies the sheet metal processing machine to which the abnormality will be notified based on pre-set conditions such as time of day, day of the week, the type of abnormality that occurred, information indicating whether the sheet metal processing machine is in operation, or a combination of these.

3. It travels through a sheet metal processing facility where multiple sheet metal processing machines are installed, An abnormality detection sensor that detects abnormalities that occur during driving; a notification destination specifying unit that specifies a sheet metal processing machine to be notified of an abnormal state from among the plurality of sheet metal processing machines when the abnormality is detected by the abnormality detection sensor; a notification information transmission control unit that wirelessly transmits information notifying the abnormal state to the sheet metal processing machine as a notification destination identified by the notification destination identification unit, the notification destination specifying unit, when the abnormality is not resolved within a predetermined time after information notifying the abnormal state is transmitted to the specified notification destination sheet metal processing machine, changes the notification destination specification conditions and specifies a new notification destination sheet metal processing machine; The notification information transmission control unit, when the notification destination identification unit identifies the new destination sheet metal processing machine, wirelessly transmits information to the identified sheet metal processing machine to notify it of the abnormal condition, in an automatic conveying device.

4. A vehicle that travels within a sheet metal processing facility where multiple sheet metal processing machines are installed, An abnormality detection sensor that detects abnormalities that occur during driving; a notification destination specifying unit that specifies a sheet metal processing machine to be notified of an abnormal state from among the plurality of sheet metal processing machines when the abnormality is detected by the abnormality detection sensor; a notification information transmission control unit that wirelessly transmits information notifying the abnormal state to the sheet metal processing machine as a notification destination identified by the notification destination identification unit, The notification destination identification unit identifies, in descending order of priority, the sheet metal processing machine installed in the position closest to the position indicated by the current position information of the stopped automatic conveying device, the sheet metal processing machine corresponding to the start position or end position of the travel, and all sheet metal processing machines within the sheet metal processing equipment as the destination to notify of the abnormal condition.

5. The automatic conveying device according to any one of claims 1 to 4 and the plurality of sheet metal processing machines are provided, A conveying system in which each of the plurality of sheet metal processing machines includes an output unit that outputs information transmitted from the automatic conveying device.

6. An automatic transport device that travels within a sheet metal processing facility where multiple sheet metal processing machines are installed. When an abnormality occurs during travel, at least one of the sheet metal processing machines where the worker is located, the sheet metal processing machine corresponding to the start position of the travel, or the sheet metal processing machine corresponding to the end position is identified as the sheet metal processing machine to be notified of the abnormal state, An abnormality notification method for an automatic conveying device, which wirelessly transmits information notifying the abnormal state to the specified sheet metal processing machine as the notification destination.

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