Transport control system and transport control method

Abstract

To suppress a decline in transport efficiency.SOLUTION: A transport control system 1 includes a transport control unit 17, a first acquisition unit 14, and a second acquisition unit 15. The first acquisition unit 14 acquires first information regarding a plurality of transport operations to be performed by a plurality of transport robots 2. The first information includes a plurality of pieces of task information corresponding to each of the plurality of transport operations, and reception order information regarding a reception order of the plurality of pieces of task information. The second acquisition unit 15 acquires second information indicating whether each of the plurality of transport operations corresponding to the plurality of pieces of task information is a first transport operation that needs to be executed in an order of reception, or a second transport operation whose execution order can be changed. The transport control unit 17 determines an order in which a transport work corresponding to target task information selected from the plurality of pieces of task information is to be executed based on the reception order information and the second information, so that a target robot selected from the plurality of transport robots is caused to execute the transport work corresponding to the target task information in a determined order.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a transfer control system and a transfer control method, and more particularly, to a transfer control system and a transfer control method for controlling the transfer of an object by a transfer robot. [Background technology]

[0002] Patent Document 1 discloses a warehouse management device that manages a warehouse where items are stored. A storage space within the warehouse is equipped with multiple shelves for storing items. The warehouse is equipped with a collection station where items are transferred from one shelf to another, and a picking station where ordered items are removed from the shelves. The warehouse management device moves the shelves arranged in the storage space to the collection station using a transport vehicle, and transfers items with a high shipping rate among the items stored on the shelves to the collection shelf. The warehouse management device then moves the collection shelf to the picking station, where a worker removes the ordered items from the items stored on the collection shelf. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-128266 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-mentioned warehouse management device, when multiple transport tasks for moving multiple shelves in a storage space to multiple consolidation stations are executed in sequence, if an earlier transport task cannot be executed due to some kind of trouble, later transport tasks cannot be executed even though they are executable, which could result in reduced transport efficiency.

[0005] An object of the present disclosure is to provide a transport control system and a transport control method that can suppress a decrease in transport efficiency. [Means for solving the problem]

[0006] A transport control system according to one aspect of the present disclosure includes a transport control unit, a first acquisition unit, and a second acquisition unit. The transport control unit controls multiple transport robots that each perform a transport task of transporting a transported object between a first zone having multiple first nodes and a second zone having multiple second nodes. The first acquisition unit acquires first information regarding multiple transport tasks to be performed by the multiple transport robots. The first information includes multiple pieces of task information corresponding to each of the multiple transport tasks and reception order information regarding the reception order of the multiple task information. The second acquisition unit acquires second information indicating whether each of the multiple transport tasks corresponding to the multiple task information is a first transport task that must be performed in the reception order or a second transport task whose execution order can be changed. When the plurality of task information includes two or more unprocessed task information having the same transport source or destination, if the two or more transport jobs corresponding to the two or more unprocessed task information are first transport jobs, the transport control unit causes the transport robot to execute the two or more transport jobs in an order determined based on the reception order information, and if the two or more transport jobs corresponding to the two or more unprocessed task information are second transport jobs, the transport control unit causes the transport robot to execute each of the two or more transport jobs at the timing when it becomes possible to execute them.

[0007] A transport control method according to one aspect of the present disclosure includes a transport control process, a first acquisition process, and a second acquisition process. The transport control process controls a plurality of transport robots that each perform a transport task of transporting a transport object between a first zone having a plurality of first nodes and a second zone having a plurality of second nodes. The first acquisition process acquires first information regarding a plurality of transport tasks to be performed by the plurality of transport robots. The first information includes a plurality of pieces of task information corresponding to each of the plurality of transport tasks and reception order information regarding the reception order of the plurality of task information. The second acquisition process acquires second information indicating whether each of the plurality of transport tasks corresponding to the plurality of task information is a first transport task that must be performed in the reception order or a second transport task that can be performed in a different order. When the plurality of task information includes two or more unprocessed task information having the same transport source or destination, if the two or more transport operations corresponding to the two or more unprocessed task information are first transport operations, the transport control process causes the transport robot to execute the two or more transport operations in an order determined based on the reception order information, and if the two or more transport operations corresponding to the two or more unprocessed task information are second transport operations, the transport control process causes the transport robot to execute the two or more transport operations at the timing when each of them becomes executable. [Effects of the Invention]

[0008] According to the present disclosure, it is possible to suppress a decrease in transport efficiency. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a block diagram of a transport system including a transport control system according to a first embodiment of the present disclosure. [Figure 2] FIG. 2 is an explanatory diagram of a manufacturing line to which the above-mentioned transfer control system is applied. [Figure 3] FIG. 3 is a flowchart illustrating the operation of the transport control system. [Figure 4] FIG. 4 is a schematic explanatory diagram of a component mounting system constructed by using the above-mentioned transport system. [Figure 5] FIG. 5 is an explanatory diagram of a setting screen in the transport control system. [Figure 6] FIG. 6 is a block diagram of a transport system including a transport control system according to the second embodiment of the present disclosure. [Figure 7] FIG. 7 is a flowchart illustrating the operation of the transport control system. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments will be described with reference to the drawings. The embodiments described below are all comprehensive or specific examples. The numerical values, components, component placement and connection configurations, and process sequences shown in the following embodiments are merely examples and are not intended to limit the present invention. Furthermore, among the components in the following embodiments, components that are not described in the independent claims that represent the highest concepts will be described as optional components.

[0011] It should be noted that the drawings are schematic diagrams and are not necessarily strict illustrations. In addition, in the drawings, substantially the same components are denoted by the same reference numerals, and duplicated explanations may be omitted or simplified.

[0012] (Embodiment 1) <Summary> 1 and 2, a transport control system 1 according to the first embodiment is a system for controlling a transport operation by a transport robot 2 for transporting a transport object 30 (see FIG. 4). The transport robot 2 transports the transport object 30, for example, by transporting a cart 31 on which the transport object 30 is placed.

[0013] A transport system 3 including the transport control system 1 and the transport robot 2 of the first embodiment is introduced into a facility F1 such as a factory, a logistics center (including a distribution center), an office, a store, a school, or a hospital. The transport robot 2 moves by running on a moving surface 200 using one or more wheels. The moving surface 200 is the surface on which the transport robot 2 moves. When the transport robot 2 moves within the facility F1, the moving surface 200 is the floor of the facility F1, and when the transport robot 2 moves outdoors, the moving surface 200 is the ground. The following describes a case where multiple transport robots 2 transport transported objects 30 in a facility F1 such as a factory that has multiple (e.g., three) manufacturing lines 101 to 103 and an automated warehouse 110 that automatically stores and retrieves items.

[0014] 2 is a plan view of a moving plane 200 along which the transfer robot 2 moves within the facility F1. On the moving plane 200, a plurality of (for example, three) manufacturing lines 101 to 103 for manufacturing products and an automated warehouse 110 are arranged.

[0015] The manufacturing lines 101 to 103 are, for example, component mounting lines that mount electronic components on circuit boards. The manufacturing lines 101 to 103 are provided with one or more supply areas for supplying materials such as electronic components, circuit boards, or other components, or solder, to the manufacturing lines 101 to 103, and one or more removal areas for removing finished or semi-finished products from the manufacturing lines 101 to 103. Each of the three manufacturing lines 101 to 103 is provided with a plurality of stations, each including one or more supply areas and one or more removal areas. In this embodiment, the manufacturing line 101 is provided with four stations ST1 to ST4, the manufacturing line 102 is provided with four stations ST5 to ST8, and the manufacturing line 103 is provided with four stations ST9 to ST12. These stations ST1 to ST12 are first nodes, which are the destination or source of the transport robot 2 to transport the transported object (material, semi-finished product, or finished product). Also, on the moving plane 200, a place including the stations ST1 to ST12, which are the first nodes, is the first zone Z1.

[0016] The automated warehouse 110 is a warehouse for storing materials such as electronic components to be supplied to the production lines 101 to 103, and articles such as finished or semi-finished products manufactured on the production lines 101 to 103, and is a warehouse in which the storage and retrieval of articles is automated. The automated warehouse 110 is provided with multiple (for example, two) gates GT1 and GT3 that are used as an inlet for putting articles into the automated warehouse 110 and an outlet for retrieving articles from the automated warehouse 110, and a gate GT2 for retrieving empty pallets used to place articles. When an article is to be stored in the automated warehouse 110 from the production lines 101 to 103, the transport robot 2 transports the article to gate GT1 or GT3, and the transported article is automatically stored inside the automated warehouse 110. Furthermore, when an item required for the production lines 101 to 103 is to be retrieved from the automated warehouse 110, the automated warehouse 110 automatically retrieves the specified item from gate GT1 or GT3, and the transport robot 2 transports the retrieved item to the destination station ST1 to ST12. Furthermore, when an empty pallet to be used for carrying an item (for example, a semi-finished product or finished product produced on the production lines 101 to 103, or waste discharged on the production lines 101 to 103) is to be retrieved from the automated warehouse 110, the automated warehouse 110 retrieves the empty pallet from gate GT2, and the transport robot 2 transports the retrieved empty pallet to the destination station ST1 to ST12. Here, the gates GT1 to GT3 provided in the automated warehouse 110 become second nodes, which are the destination or source of the item to be transported by the transport robot 2 (materials, semi-finished products, finished products, or empty pallets). Furthermore, on the moving surface 200, the location where the automated warehouse 110 is located and which includes the gates GT1 to GT3, which are the second node, is the second zone Z2. Note that the number and arrangement of stations ST1 to ST12 in the first zone Z1 and the number and arrangement of gates GT1 to GT3 in the second zone Z2 are examples and can be changed as appropriate. Note that in this embodiment, the portable platform on which the transported objects are placed is a pallet that is also used in cargo handling operations by the transport robot 2 and cargo handling devices such as a forklift, but the portable platform is not limited to a pallet. The portable platform may be a tray that is carried by a person, or a cart such as a basket cart with wheels.

[0017] The following describes a transport control system 1 that controls transport robots 2 that transport objects 30 between 12 first nodes (stations ST1 to ST12) in the first zone Z1 and three second nodes (gates GT1 to GT3) in the second zone Z2. Note that in this embodiment, the number of transport robots 2 is, for example, four, but the number of transport robots 2 may be two or more and can be changed as appropriate.

[0018] Furthermore, the transported object 30 transported by the transport robot 2 includes, for example, materials supplied from the automated warehouse 110 to the production lines 101 to 103, finished products or semi-finished products sent from the production lines 101 to 103 to the automated warehouse 110, or boxes for containing parts, finished products or semi-finished products. In other words, the transported object 30 may be the item to be transported itself, a pallet on which the item to be transported is placed, or an empty pallet on which no item is placed.

[0019] The transport control system 1 of this embodiment includes a transport control unit 17, a first acquisition unit 14, and a second acquisition unit 15.

[0020] The transfer control unit 17 controls a plurality of transfer robots 2 (2A to 2D) that each perform a transfer task of transferring a transfer target 30 between the first zone Z1 and the second zone Z2. A plurality of first nodes (stations ST1 to ST12) are set in the first zone Z1. A plurality of second nodes (gates GT1 to GT3) are set in the second zone Z2.

[0021] The first acquisition unit 14 acquires first information relating to a plurality of transport operations to be performed by a plurality of transport robots 2. The first information includes a plurality of pieces of task information corresponding to the plurality of transport operations, and reception order information relating to the reception order of the plurality of pieces of task information.

[0022] The second acquisition unit 15 acquires second information indicating whether each of the multiple transport tasks corresponding to the multiple task information is a first transport task that must be performed in the order of receipt, or a second transport task whose order of execution can be changed.

[0023] The transport control unit 17 determines the order in which to perform the transport work corresponding to the target task information selected from the plurality of task information based on the reception order information and the second information, and causes the target robot selected from the plurality of transport robots 2 to perform the transport work corresponding to the target task information in the determined order.

[0024] Here, the plurality of first nodes (stations ST1 to ST12) and the plurality of second nodes (gates GT1 to GT3) are nodes to which the transport robot 2 can move and are nodes that serve as the origin or destination when the transport robot 2 transports the transported object 30. That is, the plurality of task information includes at least one of first task information related to the transport operation of transporting the transported object 30 from the first zone Z1 to the second zone Z2 and second task information related to the transport operation of transporting the transported object 30 from the second zone Z2 to the first zone Z1. This allows the transport control system 1 to cause the plurality of transport robots 2 to perform the transport operation of transporting the transported object 30 in both directions between the first zone Z1 and the second zone Z2.

[0025] If the information indicates that the transport operation corresponding to the target task information is a first transport operation that must be executed in the order of receipt of the task information, the transport control unit 17 executes the transport operation corresponding to the target task information in the order of receipt. For example, in a transport operation such as transporting parts from the automated warehouse 110 to the production lines 101-103, if the transport operations are not executed in the order of receipt, production on the production lines 101-103 may be disrupted. Because a wide variety of items are shipped from the automated warehouse 110, if multiple transport operations are not executed in the order of receipt, the items may be transported to a destination other than the intended destination, causing a delay in production on the production lines 101-103. In this way, transport operations such as transporting parts to the production lines 101-103 are preferably set as first transport operations, and can be executed in the order of receipt.

[0026] On the other hand, if the transport operation corresponding to the target task information is a second transport operation whose execution order can be changed, the transport control unit 17 can execute the transport operation corresponding to the target task information (the second transport operation) before a transport operation whose execution order is earlier in the received order. For example, if gate GT2 of the automated warehouse 110 is a gate dedicated to the removal of empty pallets and there are multiple transport operations transporting empty pallets from this gate GT2 to multiple stations, these multiple transport operations carry the same items, so there is no problem in changing the order of execution. In other words, the transport operation transporting empty pallets is preferably the second transport operation. If the execution of the transport operation for an empty pallet that was received earlier is delayed for some reason, the transport operation for an empty pallet that was received later can be executed first. In this way, if the execution of a transport operation whose execution order is earlier than the target task information is delayed, the transport operation (the second transport operation) corresponding to the target task information that was received later in the received order can be executed first, thereby suppressing a decrease in transport efficiency due to restrictions on the receiving order. Therefore, according to this embodiment, a transport control system 1 that suppresses a decrease in transport efficiency can be realized.

[0027] <Overall structure> Hereinafter, a transfer system 3 including a transfer control system 1 according to this embodiment will be described in detail with reference to the drawings.

[0028] As described above, the transport system 3 includes the transport control system 1 and a plurality of (for example, four) transport robots 2. The plurality of transport robots 2 and the transport control system 1 are configured to be able to communicate with each other. In the present disclosure, "capable of communication" means that information can be exchanged directly or indirectly via a network NT1 or a relay device 4, etc., using an appropriate communication method such as wired communication or wireless communication. In this embodiment, the transport control system 1 and each of the plurality of transport robots 2 are capable of bidirectional communication, and information can be transmitted both from the transport control system 1 to the transport robot 2 and from the transport robot 2 to the transport control system 1.

[0029] In this embodiment, four transport robots 2 perform a transport operation of transporting transported objects 30 between 12 stations ST1 to ST12 and gates GT1 to GT3 of the automated warehouse 110. Gate GT2 is a gate dedicated to retrieving empty pallets. Gates GT1 and GT3 are gates for receiving and retrieving various items other than empty pallets. The amount of items transported through gate GT1 or GT3 varies among the 12 stations ST1 to ST12. Therefore, the transport control system 1 assigns each of the 12 stations ST1 to ST12 to either group GR1, which loads and unloads items into and from the automated warehouse 110 through gate GT1, or group GR2, which loads and unloads items into and from the automated warehouse 110 through gate GT3. The transport control system 1 assigns one or more transport robots 2 to each of the two groups GR1 and GR2. In this embodiment, for example, two transport robots 2 are assigned to each of the two groups GR1 and GR2. In the following, the two transport robots 2 assigned to group GR1 may be referred to as transport robots 2A and 2B, and the two transport robots 2 assigned to group GR2 may be referred to as transport robots 2C and 2D. Empty pallets to be transported to the 12 stations ST1 to ST12 are removed from a single gate GT2. Therefore, when transporting an empty pallet from gate GT2 to a station assigned to group GR1, transport robot 2A or 2B performs the transport work. Also, when transporting an empty pallet from gate GT2 to a station assigned to group GR2, transport robot 2C or 2D performs the transport work. Gates GT1 to GT3 are also used as gates for receiving empty pallets.

[0030] <Description of the transport robot> The configuration of the transport robot 2 of this embodiment will be described in more detail. As shown in Fig. 2, the transport robot 2 is an automated guided vehicle (AGV) for transporting a transported object 30, and autonomously travels to a destination (stations ST1 to ST12 or gates GT1 to GT3) by connecting a carriage 31 carrying the transported object 30. In this embodiment, the transport control system 1 communicates with the transport robot 2 via a network NT1 and a relay device 4, and indirectly controls the movement of the transport robot 2.

[0031] The transport robot 2 autonomously travels on a flat moving surface 200, which may be, for example, the floor of the facility F1. The transport robot 2 includes a storage battery, such as a lithium-ion battery or a nickel-metal hydride battery, and operates using electrical energy stored in the storage battery. In this embodiment, the transport robot 2 travels on the moving surface 200 with a cart 31 carrying the transported object 30 coupled thereto. This allows the transport robot 2 to transport the cart 31 carrying the transported object 30 from one location to another by, for example, towing or pushing the cart 31 carrying the transported object 30. Note that the transport robot 2 may also transport the object 30 by crawling under the cart 31 carrying the transported object 30 and lifting a portion of its body to lift the cart 31 carrying the transported object 30.

[0032] 1, the transport robot 2 includes a second control unit 20, a second communication unit 21, a detection unit 22, a traveling device 23, and a memory unit 24. The second control unit 20, the second communication unit 21, the detection unit 22, the memory unit 24, the traveling device 23, and the memory unit 24 are mounted on the main body of the transport robot 2.

[0033] The second communication unit 21 is configured to be able to communicate with the transport control system 1. In this embodiment, the second communication unit 21 communicates with any of a plurality of relay devices 4 installed within the area where the transport robot 2 is operated, by wireless communication using radio waves as a medium. Therefore, the second communication unit 21 and the transport control system 1 communicate indirectly via at least the network NT1 and the relay device 4.

[0034] That is, each relay device 4 is a device (access point) that relays communication between the second communication unit 21 and the transport control system 1. The relay device 4 communicates with the transport control system 1 via the network NT1. In this embodiment, as an example, wireless communication conforming to standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or low-power radio (specified low-power radio) that does not require a license is adopted for communication between the relay device 4 and the second communication unit 21. Furthermore, the network NT1 is not limited to the Internet, and may be, for example, a local communication network within the area where the transport robot 2 is operated or within the operating company of this area.

[0035] The detection unit 22 detects the behavior of the main body of the transport robot 2 and the surrounding conditions of the transport robot 2. In the present disclosure, "behavior" means movement, appearance, and the like. In other words, the behavior of the main body of the transport robot 2 includes the operating state of the transport robot 2, which indicates whether the transport robot 2 is transporting the transported object 30, the travel distance and speed of the transport robot 2, the acceleration acting on the main body of the transport robot 2, and the moving posture of the main body. Specifically, the detection unit 22 includes sensors such as a rotary encoder, an acceleration sensor, and a gyro sensor, and detects the behavior of the main body of the transport robot 2 using these sensors. The detection unit 22 also includes sensors such as an image sensor (camera), a sonar sensor, radar, and LiDAR (Light Detection and Ranging), and detects the surrounding conditions of the main body of the transport robot 2 using these sensors.

[0036] The detection unit 22 also has a position identification unit that identifies the current position of the transfer robot 2. As an example, the position identification unit estimates the current position based on information detected by LiDAR of surrounding objects and electronic map information inside the facility F1. The sensor unit may estimate the current position using a local positioning system (LPS) that uses a radio beacon. The position identification unit may also be implemented using a satellite positioning system such as a global positioning system (GPS).

[0037] The main body of the transport robot 2 is provided with drive wheels 201 (see FIG. 4) that also serve as steering wheels. The main body of the transport robot 2 is also provided with driven wheels that can rotate in all directions. The transport robot 2 travels on a moving surface 200 using multiple wheels including the drive wheels 201 and driven wheels. Here, the traveling device 23 receives control commands from the second control unit 20 and controls the drive wheels 201 provided on the main body, thereby causing the transport robot 2 to travel in a desired direction. The transported object 30 is placed on, for example, a cart 31 having wheels 301, and the main body of the transport robot 2 is provided with a coupling unit 202 for coupling the cart 31. The coupling unit 202 may be a unit that mechanically couples the cart 31 with, for example, a hook, or may be a unit that couples a coupled part made of magnetic material provided on the cart 31 with electromagnetic force generated by an electromagnet.

[0038] The storage unit 24 is realized by a non-transitory recording medium such as a rewritable non-volatile semiconductor memory. The storage unit 24 stores, for example, identification information of the transport robot 2, electronic map information of the facility F1 in which the transport robot 2 travels, and the like. The map information includes, for example, the locations of the production lines 101-103 and the automated warehouse 110 arranged within the facility F1, and the position information of the multiple stations ST1-ST12 and the multiple gates GT1-GT3. Note that if the transport robot 2 transmits detection information from the detection unit 22 to a higher-level system (e.g., the transport control system 1) and travels in accordance with travel instructions received from the higher-level system, it is not essential for the transport robot 2 to store map information. In other words, the storage unit 24 that stores map information is not an essential component of the transport robot 2 and can be omitted as appropriate.

[0039] The second control unit 20 mainly comprises a computer system having one or more processors and a memory. Therefore, the functions of the second control unit 20 are realized by the one or more processors executing a program stored in the memory. The program may be pre-stored in the memory, provided via a telecommunications line such as the Internet, or provided by being recorded on a non-transitory recording medium such as a memory card.

[0040] The second control unit 20 controls the traveling device 23 to move the transport robot 2 to a desired location within the facility F1 based on command information provided by the transport control system 1 and the detection result of the detection unit 22, and performs a transport operation to transport the transported object 30. Furthermore, the second control unit 20 periodically transmits status information representing the status of the transport robot 2 from the second communication unit 21 to the transport control system 1 based on the detection result of the detection unit 22. Note that the second control unit 20 may receive a transmission request from the transport control system 1 and transmit the status information representing the status of the transport robot 2 from the second communication unit 21 to the transport control system 1.

[0041] The transported object 30 transported by the transport robot 2 of this embodiment may include a component supplying device that supplies components to the production lines 101 to 103. The component supplying device has one or more feeders for supplying components. One or more manufacturing devices are installed in the production lines 101 to 103. There are various types of manufacturing devices, and one example of a manufacturing device is a mounting body including a mounting head that mounts components supplied from the component supplying device onto an object (e.g., a circuit board). In other words, at least one of the production lines 101 to 103 is a component mounting system 300 (see FIG. 4 ) including at least one component mounter 120 that mounts components onto a circuit board. The component mounter 120 includes a component supplying device that supplies components and a mounting body 130 that includes a mounting head that mounts the components supplied from the component supplying device onto the circuit board. In this embodiment, the transport robot 2 receives command information from the transport control system 1 and transports the component supplying device, which serves as the transported object 30, to the mounting body 130. That is, the component supply device is transported to the mounting main body 130 by the transport robot 2 provided in the transport system 3. This makes it possible to construct a component supply system in which components are supplied from the component supply device to the mounting main body 130. Note that the transported object 30 transported by the transport robot 2 is not limited to a component supply device, but may be a component itself, and can be changed as appropriate depending on the location or purpose of use of the transport robot 2.

[0042] <Description of the transport control system> The transport control system 1 is realized by, for example, a computer system. The transport control system 1 controls transport operations performed by a plurality of transport robots 2. The transport control system 1 may be located inside or outside the facility F1.

[0043] The transport control system 1 includes a first control unit 10, a first communication unit 11, a reception unit 12, a display unit 13, and a storage unit 19.

[0044] The first communication unit 11 communicates with each of the multiple transport robots 2 via the network NT1 and the relay device 4. As a communication method between the first communication unit 11 and the relay device 4, an appropriate communication method such as wireless communication or wired communication is adopted.

[0045] The display unit 13 is used to present information to a user who uses the transport control system 1. The display unit 13 presents, for example, a setting screen for setting the second information to the user. The display unit 13 is realized by a display device such as a liquid crystal display or an organic EL display.

[0046] The reception unit 12 has a function of accepting operations by a user using the transport control system 1. For example, the reception unit 12 accepts the setting contents of the second information entered by the user on a setting screen for setting the second information. The reception unit 12 also accepts the setting contents of the third information entered by the user on a setting screen for setting the third information. In this embodiment, the reception unit 12 is implemented by, for example, a pointing device such as a mouse, a keyboard, or a combination thereof. If the transport control system 1 has a touch panel display, the touch panel display may function as the reception unit 12 and the display unit 13. The reception unit 12 may also be implemented by a voice recognition unit that accepts operations via voice input from the user. The reception unit 12 and the display unit 13 may also be implemented by an application program running on another computer terminal. In this case, a setting file containing the setting contents created on the other computer terminal is uploaded to the transport control system 1, and the transport control system 1 operates based on the setting contents included in the setting file.

[0047] The storage unit 19 is realized by a non-transitory recording medium such as a rewritable non-volatile semiconductor memory. The storage unit 19 stores, for example, first information and second information including a plurality of pieces of task information and reception order information input by a user of the transport control system 1 or a higher-level system. The storage unit 19 may store, for example, transport amount information and route information, takt time information, number of units information, and the like input by a user of the transport control system 1 or a higher-level system.

[0048] The transport amount information is information relating to the transport amount of transported objects 30 transported between each of the plurality of stations ST1 to ST12 (first nodes) and the second zone Z2, the automated warehouse 110. The transport amount is, for example, the number of pallets containing the transported objects 30 transported between each of the stations ST1 to ST12 and the second zone Z2, the automated warehouse 110, but it may also be the number or weight of the transported objects 30, or the number of transports.

[0049] The route information is information relating to the transport route along which the transport robot 2 moves between each of the plurality of stations ST1 to ST12 and each of the plurality of gates GT1 to GT3 provided in the automated warehouse 110. The route information is, for example, information relating to the transport distance between each of the stations ST1 to ST12 and each of the plurality of gates GT1 to GT3. The information relating to the transport distance is, for example, a value expressing the distance between each of the stations ST1 to ST12 and each of the plurality of gates GT1 to GT3 as a ratio to the shortest distance between the station and the gate, and this ratio is called a transport distance ratio.

[0050] The takt time information is information relating to the takt time required for the transport operation between each of the plurality of stations ST1 to ST12 and the plurality of gates GT1 to GT3.

[0051] The number information is information about the number of transport robots 2 that perform transport work in each of the plurality of groups (for example, two groups GR1 and GR2) when the plurality of stations ST1 to ST12 are divided into a plurality of groups.

[0052] The first control unit 10 mainly comprises a computer system including, for example, a memory and a processor. That is, the functions of the first control unit 10 (for example, the functions of the first acquisition unit 14, the second acquisition unit 15, the transport control unit 17, and the setting unit 18) are realized by the processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory, may be provided via a telecommunications line such as the Internet, or may be recorded on a non-transitory recording medium such as a memory card and provided.

[0053] The first acquisition unit 14 acquires first information regarding a plurality of transport operations to be performed by the plurality of transport robots 2, for example, based on information received by the first communication unit 11 from a host system, and stores the acquired first information in the storage unit 19. The host system accepts requests to perform transport operations input by a user using a terminal device such as a mobile terminal, and stores a plurality of pieces of task information corresponding to the plurality of transport operations input by the user, along with reception order information regarding the order in which the information was input by the user (reception order). The first acquisition unit 14 acquires the plurality of pieces of task information and reception order information regarding the reception order of the plurality of pieces of task information from the host system. Here, each piece of task information includes at least information about the station or gate from which the piece of task information is to be transferred and information about the gate or station to which the piece of task information is to be transferred. The reception order information includes information regarding the order in which each piece of task information was received, and the reception order information may be the time at which each piece of task information was received (hereinafter, this time may also be referred to as the reception time).

[0054] The second acquisition unit 15 acquires the second information based on, for example, the setting contents accepted by the acceptance unit 12, and stores the acquired second information in the storage unit 19. Note that the second acquisition unit 15 may acquire the second information based on information received by the first communication unit 11 from a higher-level system. The second information includes information indicating whether each of the multiple transport operations corresponding to the multiple pieces of task information is a first transport operation that must be performed in the order of acceptance, or a second transport operation that can be performed in a different order.

[0055] The transport control unit 17 causes the transport robot 2 to execute the plurality of pieces of task information included in the first information based on the first information acquired by the first acquisition unit 14 and the second information acquired by the second acquisition unit 15. When the first information includes a plurality of pieces of task information, the transport control unit 17 determines the order in which to execute the transport work corresponding to each piece of task information that has not yet been executed among the plurality of pieces of task information based on the reception order information and the second information, and causes the transport robot 2 to execute the plurality of pieces of task information in accordance with the determined order. Note that the transport control unit 17 does not need to determine the order in which to execute all of the plurality of pieces of task information. The transport control unit 17 only needs to determine at least the task information to be assigned first to the plurality of transport robots 2, and when one of the transport robots 2 finishes the transport process, it needs to determine the task information that the transport robot 2 will next execute.

[0056] More specifically, the transport control unit 17 determines the order in which to perform the multiple transport operations corresponding to the target task information selected from the multiple pieces of task information, based on the reception order information of the target task information and the second information. If the second information about the target task information indicates that the transport operation corresponding to the target task information is a first transport operation, the transport control unit 17 causes the transport robot 2 to perform the transport operations corresponding to the target task information in the order based on the reception order. Note that if at least one or both of the transport source and the transport destination of the target task information differ from task information other than the target task information, the transport control unit 17 may cause the transport robot 2 to perform the transport operation corresponding to the target task information regardless of the reception order. Furthermore, if the second information about the target task information indicates that the transport operation corresponding to the target task information is a second transport operation, the transport control unit 17 causes the transport robot 2 to perform the transport operation corresponding to the target task information at an executable timing, regardless of the reception order. That is, if a transport task that is earlier in the received order than the transport task corresponding to the target task information cannot be executed for some reason, and the transport task corresponding to the target task information is executable, the transport control unit 17 causes the target robot to execute the transport task corresponding to the target task information first. Note that the circumstances under which a transport task cannot be executed include when the transport robot 2 is stopped or delayed due to an error such as contact with an obstacle, when multiple transport robots 2 are trying to move to one station or one gate, and so on.

[0057] The setting unit 18 assigns each of the stations ST1 to ST12 to one of two groups GR1 and GR2 based on, for example, at least one of transport amount information and route information. The two groups GR1 and GR2 correspond one-to-one to the two gates GT1 and GT3.

[0058] Preferably, the setting unit 18 allocates each of the stations ST1 to ST12 to a group GR1 or GR2 based on, for example, the transport amount information so that the transport amount of the article transported through each of the two gates GT1 and GT3 is equal. This allows the two groups GR1 and GR2 to be set so that the transport amount of the transported object 30 transported between the stations ST1 to ST12 and the second zone Z2 is distributed to the two gates GT1 and GT3. Therefore, by distributing the workload of the transport robot 2 transporting the transported object 30, it is possible to avoid a situation in which the transport efficiency is reduced, and it is possible to improve the transport efficiency of transporting the transported object 30.

[0059] Furthermore, it is preferable that the setting unit 18 allocates each of the plurality of stations ST1 to ST12 to the group GR1 or GR2 based on, for example, route information so as to shorten the transport distance or transport time between each of the plurality of stations ST1 to ST12 and the second zone Z2. Note that the setting unit 18 may also take into consideration takt time information and allocate each of the plurality of stations ST1 to ST12 to one of the two groups GR1 and GR2 so as to make the time required for the transport operation equal to or less than the required takt time.

[0060] That is, the setting unit 18 assigns each of the multiple first nodes (stations ST1 to ST12) to one of multiple groups (groups GR1, GR2) that correspond one-to-one to the multiple second nodes (gates GT1, GT3) based on at least one of the transport amount information and the route information. Here, the transport amount information includes information regarding the transport amount of the transported objects 30 transported between the multiple first nodes and the second zone Z2. The route information includes information regarding the transport route for transporting the transported objects 30 between the multiple first nodes and the multiple second nodes. By the setting unit 18 assigning each of the multiple first nodes to one of the multiple groups, the transport amount can be made uniform among the multiple groups, and delays in the execution of the transport work due to the concentration of transport work at a specific second node can be suppressed.

[0061] <Explanation of component mounting system> In the transport system 3 of this embodiment, the transported object 30 transported by the transport robot 2 includes, as an example, a component supply device (see FIG. 4) having one or more feeders. The component supply device, which is the transported object 30, is used to supply components to a mounting body 130 of a component mounter 120 arranged in at least one of the production lines 101 to 103. The "component mounter" here is a machine that mounts components on an object such as a board. The mounting body 130 includes a mounting head that mounts components on the board.

[0062] That is, in this embodiment, the transport robot 2 is controlled by the transport control system 1 to transport a component supply device, which is the transported object 30, to the installation location of the mounting body 130 of the component mounter 120. In this way, it is possible to configure the component mounting system 300. In other words, the component mounting system 300 is a system including at least one component mounter 120 that mounts components on a board. The component supply device, which is one of the transported objects 30, is transported to the mounting body 130 by the transport robot 2 provided in the transport system 3. Note that the component supply device may be provided integrally with the cart 31.

[0063] <Description of transportation work allocation process> A transport control method in which the transport control system 1 of this embodiment assigns transport tasks to multiple transport robots 2 will be described with reference to Fig. 3 etc. Note that the flowchart shown in Fig. 3 is merely an example of the transport control method performed by the transport control system 1, and the order of processes may be changed as appropriate, and processes may be added or omitted as appropriate.

[0064] For simplicity, the following description will be given of a case in which a load 30 is transported between six stations ST1 to ST6 in the first zone Z1 and three gates GT1 to GT3 in the second zone Z2. The setting unit 18 assigns the stations ST1 to ST3 to group GR1, which transports the load 30 via gate GT1, and assigns the stations ST4 to ST6 to group GR2, which transports the load 30 via gate GT3. Of the four transport robots 2A to 2D, two transport robots 2A and 2B perform transport work for group GR1, and the remaining two transport robots 2C and 2D perform transport work for group GR2. Based on the second information settings received by the reception unit 12, the second acquisition unit 15 acquires second information indicating that the transport work having gates GT1 and GT2 as the source or destination is a first transport work that must be performed in the order of reception. Furthermore, the second acquisition unit 15 acquires second information that a transport operation having gate GT2, from which empty pallets are transported, as a transport source is a second transport operation, based on the setting contents of the second information received by the reception unit 12. Furthermore, the second acquisition unit 15 may acquire second information that a transport operation having a station, of the six stations ST1 to ST6, to which only empty pallets are transported, as a transport destination is a second transport operation whose order of execution can be changed, based on the setting contents of the second information received by the reception unit 12.

[0065] The first acquisition unit 14 of the transport control system 1 acquires, for example, from a host system, first information regarding multiple transport tasks to be performed by the transport robots 2A to 2D at a predetermined timing (for example, every second) or at any timing transmitted by the host system.

[0066] Here, Table 1 below shows the first information acquired by the first acquisition unit 14 at a certain point in time. Table 1 lists multiple pieces of task information corresponding to multiple transport operations included in the first information, and this table will also be referred to as a task list hereinafter. In the task list, multiple pieces of task information are arranged in order of reception time. Each piece of task information includes task number information indicating the reception order of the task information, information indicating the status of the transport operation corresponding to the task information, information about the source node, and information about the destination node. Each piece of task information also includes information indicating which group (GR1 or GR2) the transport operation corresponding to the task information belongs to, and information about the transport robot 2 to which the transport operation is assigned. In the example of Table 1, the first acquisition unit 14 receives six pieces of task information, numbered 0001 to 0006, at the same reception time. The status of the transport operation includes three states: waiting for transport, transporting, and transport completed. "Waiting for transport" indicates a state in which the transport robot 2 to which the task information is to be assigned has not yet been determined; "Transporting" indicates a state in which the transport robot to which the task information has been assigned is performing the transport work; and "Transport completed" indicates a state in which the transport robot 2 has completed the transport work.

[0067] [Table 1]

[0068] The transport control unit 17 determines whether or not the transport work corresponding to all task information present in the task list has been processed (step S1), and if all transport work has been processed (step S1: Yes), ends the process of assigning the transport work to the transport robot 2.

[0069] If at least some of the multiple transport operations have not been completed (step S1: No), the transport control unit 17 selects one of the unprocessed task information items in the task list as the target task information (step S2). For example, the transport control unit 17 acquires the unprocessed task information items in the task list in ascending order of task number as the target task information.

[0070] The transport control unit 17 determines whether the target task information is task information waiting for transport (step S3), and if it is not task information waiting for transport, that is, if the transport is in progress or has been completed (step S3: No), the process returns to step S1 and continues.

[0071] On the other hand, if the target task information is task information awaiting transport (step S3: Yes), the transport control unit 17 determines whether or not a first condition is met, that is, that there is unprocessed task information of the same transport source that has an earlier received order (step S4). Note that unprocessed task information that has an earlier received order refers to task information awaiting transport that has an older received time than the target task information (in other words, a smaller task number).

[0072] If it is determined in step S4 that there is unprocessed task information with an earlier reception order (step S4: Yes), the transport control unit 17 determines whether the transport source of the target task information is gate GT2, that is, whether the transport work corresponding to the target task information is the second transport work (step S5).

[0073] If it is determined in step S5 that the target task information is not the second task information, that is, the first task information (step S5: No), the transport control unit 17 executes the unprocessed task information, which has an earlier reception order than the target task information, first, and therefore returns to step S1 to continue the process.

[0074] If it is determined in step S5 that the target task information is the second task information (step S5: Yes), the transport control unit 17 executes the target task information first regardless of the order of reception, and proceeds to step S6.

[0075] If it is determined in step S4 that there is no unprocessed task information with an earlier reception order (step S4: No), or if it is determined in step S5 that the target task information is the second task information (step S5: Yes), the transport control unit 17 determines whether there is a transport robot 2 moving to the source of the target task information (step S6).

[0076] Here, if there is a transport robot 2 moving to the transfer origin of the target task information (step S6: Yes), when the transport work corresponding to the target task information is executed, multiple transport robots 2 will move to one transfer origin simultaneously, and the later-arriving transport robot 2 will wait. Also, if a later-arriving transport robot 2 arrives at the transfer origin first because it was located closer to the transfer origin, there is a possibility that the execution order of the multiple transport works corresponding to the multiple task information cannot be guaranteed. Therefore, if there is a transport robot 2 moving to the transfer origin of the target task information, the transport control unit 17 does not perform the process of assigning the target task information to the transport robot 2, and returns to step S1 to continue the process.

[0077] On the other hand, if there is no transport robot moving to the transfer source of the target task information (step S6: No), the transport control unit 17 determines whether there is a transport robot 2 that can transfer in the group related to the transfer work corresponding to the target task information (step S7). That is, the transport control unit 17 determines whether there is a transport robot 2 that is not performing the transfer work among the multiple transport robots 2 assigned to the group including the transfer source node or the transfer destination node of the transfer work corresponding to the target task information.

[0078] If it is determined in step S7 that there is a transport robot 2 that can transport the work (step S7: Yes), the transport control unit 17 assigns the transport work corresponding to the target task information to the transport robot 2 that can transport the work (target robot) (step S8). After instructing the target robot to execute the target task information, the transport control unit 17 returns to step S1 and continues the process.

[0079] If it is determined in step S7 that there is no transport robot 2 that can transport the work (step S7: No), the transport control unit 17 determines whether there is a transport robot 2 in another group that can transport the work corresponding to the target task information (step S9). Here, if there is no transport robot 2 in another group that can transport the work corresponding to the target task information (step S9: No), the transport control unit 17 returns to step S1 and continues the process.

[0080] On the other hand, if there is a transport robot 2 in the other group that can perform the transport work corresponding to the target task information (step S9: Yes), the transport control unit 17 assigns the transport work corresponding to the target task information to the transport robot 2 in the other group that can perform the transport (step S8). After instructing the target robot in the other group to execute the target task information, the transport control unit 17 returns to step S1 and continues the process.

[0081] Here, a specific example of a transport control method in which the transport control unit 17 allocates transport tasks will be described below.

[0082] When the transfer control unit 17 acquires a task list such as that shown in Table 1 above, it assigns the transfer tasks with the smallest task numbers, 0001 and 0002, of the transfer tasks with numbers 0001 to 0003 for group GR1 to the transfer robots 2A and 2B for group GR1. The transfer control unit 17 also assigns the transfer tasks with the smallest task numbers, 0004 and 0005, of the transfer tasks with numbers 0004 to 0006 for group GR2 to the transfer robots 2C and 2D for group GR2. The task list at this time is as shown in Table 2.

[0083] [Table 2]

[0084] Thereafter, when the first acquisition unit 14 acquires new task information with task numbers 0007 to 0010, the task list at this time becomes as shown in Table 3.

[0085] [Table 3]

[0086] Here, when the transport robots 2A and 2B for group GR1 finish their transport tasks, the transport control unit 17 assigns the transport tasks No. 0003 and No. 0007 to the transport robots 2A and 2B, respectively. Also, when the transport robots 2C and 2D for group GR2 finish their transport tasks, the transport control unit 17 assigns the transport task No. 0006 to the transport robot 2C. The task list at this time is as shown in Table 4.

[0087] [Table 4]

[0088] If all of the transport operations corresponding to the unprocessed task information in the task list are the first transport operation, the transport control unit 17 assigns the task information with the next earliest reception time, 0008, to the transport robot 2. Because the task information with 0008 is task information related to the transport operation of group GR1, it can only be assigned to the transport robots 2A and 2B for group GR1. After the transport robot 2A or 2B completes the transport operation, the task information is assigned to the transport robot 2A or 2B. Therefore, the transport control unit 17 cannot assign the task information with 0009 to the transport robot 2D for group GR2 until the transport robot 2A or 2B completes the transport operation with 0003 or 0007, which may result in reduced transport efficiency. Even if the transport robot 2D for group GR2 is configured to be able to assist the transport operation of group GR1, if there is task information waiting for transport in group GR2, the transport control unit 17 will not assign the task information corresponding to the transport operation of group GR1 to the transport robot 2D for group GR2. This is to keep the transport robot 2D for group GR2 waiting in a waiting area or the like so that when the transport work corresponding to the task information waiting for transport in group GR2 becomes available for execution, this transport work can be immediately assigned to the transport robot 2D for group GR2.

[0089] In contrast, in this embodiment, the second acquisition unit 15 acquires second information indicating that the transport work having gate GT2 as the transport origin is the second transport information, and therefore the transport work Nos. 0008 to 0010 having gate GT2 as the transport origin are the second information. Therefore, the transport control unit 17 can assign task information No. 0009 to the transport robot 2D for group GR2 even when the assignment of task information No. 0008 has not been completed. Therefore, the transport control unit 17 can cause the transport robot 2D to perform the transport work corresponding to task information No. 0009 even when the assignment of task information No. 0008 has not been completed, thereby improving transport efficiency.

[0090] The second information may be set in association with the node of the transfer source. For example, when there are multiple pieces of unprocessed task information with the same transfer source, if the second information is set in association with the node of the transfer source and indicates that a transfer operation having the node as the transfer source is a first transfer operation, the transfer control unit 17 assigns the multiple pieces of task information to the transfer robot 2 in the order in which they are received. On the other hand, if the second information is set in association with the node of the transfer source and indicates that a transfer operation having the node as the transfer source is a second transfer operation, the transfer control unit 17 may assign the multiple transfer operations corresponding to the multiple pieces of task information having the node as the transfer source to the transfer robot 2 in an executable order.

[0091] Furthermore, the second information may be set in association with a destination node. For example, when there are multiple pieces of unprocessed task information with the same destination, if the second information is set in association with the destination node and indicates that a transport operation having the node as the destination is a first transport operation, the transport control unit 17 assigns the multiple pieces of task information to the transport robot 2 in the order in which they are received. On the other hand, if the second information is set in association with the destination node and indicates that a transport operation having the node as the destination is a second transport operation, the transport control unit 17 may assign the multiple transport operations corresponding to the multiple pieces of task information having the node as the destination to the transport robot 2 in an executable order.

[0092] Furthermore, the second information may be set in association with the task information. For example, when there is a plurality of pieces of task information whose source or destination is a specific node, if second information indicating that the transport operation is a first transport operation is set in association with the plurality of pieces of task information, the transport control unit 17 assigns the plurality of pieces of task information to the transport robot 2 in the order in which they are received. On the other hand, if second information indicating that the transport operation is a second transport operation is set in association with a plurality of pieces of task information whose source or destination is a specific node, the transport control unit 17 may assign the plurality of transport operations corresponding to the plurality of pieces of task information to the transport robot 2 in an executable order.

[0093] Furthermore, the second information may be set in association with the transported object 30. For example, when there are multiple pieces of task information for transporting the same transported object 30, if second information indicating that the transport operation is a first transport operation is set in association with the multiple pieces of task information, the transport control unit 17 assigns the multiple pieces of task information to the transport robot 2 in the order in which they are received. On the other hand, if second information indicating that the transport operation is a second transport operation is set in association with multiple pieces of task information for transporting the same transported object 30, the transport control unit 17 may assign the multiple transport operations corresponding to the multiple pieces of task information to the transport robot 2 in an executable order.

[0094] In this way, the second information only needs to be set in association with at least one of a plurality of first nodes and a plurality of second nodes (i.e., source and destination nodes), a plurality of task information, and the transported object 30, thereby reducing the possibility of transport efficiency being reduced due to restrictions on the order in which task information is received.

[0095] As described above, the first zone Z1 is equipped with the production lines 101-103, and the second zone Z2 is equipped with materials used on the production lines 101-103 and at least one of semi-finished products and finished products manufactured on the production lines 101-103. The transported object 30 includes a portable platform for carrying at least one of the materials, semi-finished products, and finished products. Preferably, second information indicating a second transport operation is associated with at least one of the empty platform and the transport operation for transporting the empty platform. The portable platform may be, for example, a pallet or tray, but may also be a wheeled cart or other vehicle. When there are multiple task information corresponding to the transport operation of transporting empty pallets from gate GT2 of the automated warehouse 110 to stations ST1-ST12, the order in which the multiple task information is assigned can be reversed without causing any problems. Therefore, by performing the transport operation of transporting empty pallets in an executable order, a decrease in transport efficiency can be suppressed.

[0096] <Explanation of the second information setting process> The setting process in which the user sets the second information will be described with reference to the setting screen of FIG.

[0097] Fig. 5 shows an example of a setting screen A1 displayed on the display unit 13 of the transport control system 1. Note that the symbols and leading lines shown on the setting screen A1 in Fig. 5 are shown only for the purpose of explanation and are not actually displayed on the display unit 13.

[0098] The setting screen A1 displays a group setting area W1 and a second information setting area W2 side by side so that they fit on one screen. The group setting area W1 is an area for setting the grouping of the multiple stations ST1 to ST12 on the setting screen A1. The second information setting area W2 is an area for setting whether the transport work originating from each of the gates GT1 to GT3 is transport information that guarantees the order of receipt. Setting whether the transport information guarantees the order of receipt means setting whether the transport work is a first transport work that must be performed in the order of receipt, or a second transport work that can be changed in order of execution. In the second information setting area W2, for example, second information is set to indicate whether the transport work originating from each of the gates GT1 to GT3 is a first transport work or a second transport work.

[0099] In the group setting area W1, an input box B1 and a map display area MP1 are displayed side by side. The input box B1 is an input box for inputting, in tabular form, the nodes (stations ST1 to ST12 and gates GT1 and GT3) and the number of transport robots 2 included in each of the two groups GR1 and GR2. The input box B1 displays, as initial values, the results of the setting unit 18 allocating the stations ST1 to ST12 to the two groups GR1 and GR2 based on transport amount information, task information, etc. The first control unit 10 also creates image data for the map display area MP1, which displays the initial allocation results of the stations ST1 to ST12 as a schematic map, and displays the image data on the display unit 13.

[0100] Here, when the user inputs changes to the allocation of stations ST1 to ST12 into input box B1, the changes input by the user are received by reception unit 12, and first control unit 10 changes the grouping based on the changes. Then, first control unit 10 creates image data for map display area MP1 that displays the changed grouping as a schematic map, and causes display unit 13 to display it.

[0101] That is, when the reception unit 12 receives setting information for allocating each of the plurality of stations ST1 to ST12 into two groups GR1 and GR2 corresponding to the two gates GT1 and GT3, respectively, the grouping based on the setting information is displayed as a map in the map display area MP1. Note that in the map display area MP1, the grouping of the plurality of stations ST1 to ST12 and the plurality of gates GT1 and GT3 may be changed by dragging the lines indicating the boundaries of each group with a mouse or the like. Also, the grouping may be changed by performing an operation of selecting more than one of the plurality of stations ST1 to ST12 and the plurality of gates GT1 and GT3 in the map display area MP1 (for example, a dragging operation with the mouse, or a selection operation in combination with the shift key or control key on the keyboard).

[0102] Here, in the map display area MP1, multiple stations ST1 to ST12 and gates GT1 to GT3 are displayed with markers such as white circles, and stations and gates assigned to the same group are surrounded by dashed lines, so that the user can easily visually understand the grouping of multiple stations ST1 to ST12 and gates GT1, GT3.

[0103] The second information setting area W2 displays a display box B2 that displays information about a gate selected by the user from among the gates GT1 to GT3. For example, when the user clicks a marker corresponding to gate GT2 displayed in the map display area MP1 with a mouse or the like, the second information setting for gate GT2 is displayed in the second information setting area W2. Therefore, while checking the information displayed in the second information setting area W2, the user sets whether to perform order assurance for the transfer operation originating from gate GT2, i.e., whether to designate the transfer operation originating from gate GT2 as the first transfer operation (with order assurance) or the second transfer operation (without order assurance). At this time, the reception unit 12 receives the second information setting content input by the user on the second information setting screen A1, and the second acquisition unit 15 acquires the second information based on the setting content received by the reception unit 12. In other words, the second acquisition unit 15 acquires the second information input by the user on the second information setting screen A1, and the user can set the second information to a desired value.

[0104] (Embodiment 2) The transport control system 1 according to the second embodiment differs from the first embodiment in that it further includes a third acquisition unit 16, as shown in FIG.

[0105] The third acquisition unit 16 acquires third information relating to the priority of each of the plurality of pieces of task information.

[0106] When the transport task corresponding to the target task information is the first transport task, the transport control unit 17 prioritizes the first information over the third information and determines the order in which the transport tasks corresponding to the target task information are to be performed based on the reception order information. Furthermore, when the transport task corresponding to the target task information is the second transport task, the transport control unit 17 prioritizes the third information over the first information and determines the order in which the transport tasks corresponding to the target task information are to be performed based on the reception order information and the third information. When the transport task corresponding to the target task information is the second transport task, the transport control unit 17 determines the order in which the transport tasks corresponding to the target task information are to be performed so that the multiple transport tasks corresponding to the multiple task information are performed in descending order of priority. Furthermore, when multiple transport tasks have the same priority, the transport control unit 17 determines the order in which the transport tasks corresponding to the target task information are to be performed so that the transport tasks are performed in descending order of reception order.

[0107] When the transport task corresponding to the target task information is a second transport task, the transport control unit 17 determines the order in which to perform the transport tasks corresponding to the target task information based on the reception order information of the plurality of task information and third information related to the priority of each of the plurality of task information. Therefore, when the priority of the transport task corresponding to the target task information is higher than that of a transport task that is earlier in the reception order, the transport control unit 17 can execute the transport task corresponding to the target task information first. As a result, when the implementation of a transport task that is earlier in the reception order than the target task information is delayed, the transport control unit 17 can execute the target task information that is later in the reception order first, thereby suppressing a decrease in transport efficiency due to restrictions on the reception order.

[0108] Here, the operation of the transport control system 1 according to the second embodiment will be described based on the flowchart in Fig. 7. Note that the flowchart shown in Fig. 7 is merely an example of a transport control method performed by the transport control system 1, and the order of processes may be changed as appropriate, and processes may be added or omitted as appropriate.

[0109] For simplicity, the following description will be given of a case in which a transported object 30 is transported between six stations ST1 to ST6 in the first zone Z1 and three gates GT1 to GT3 in the second zone Z2. In this embodiment, the stations ST1 to ST6 are not grouped, and three transport robots 2A to 2C are configured to perform transport operations between the stations ST1 to ST6 and the gates GT1 to GT3. The second acquisition unit 15 has acquired second information indicating that the transport operations originating from gates GT1 and GT3 and the transport operations destinations from gates GT1 and GT3 are first transport operations that must be performed in the order of reception. The second acquisition unit 15 has acquired second information indicating that the transport operation originating from gate GT2, which unloads an empty pallet, is a second transport operation. The third acquisition unit 16 has acquired third information regarding the priority of each of the multiple task information items based on the settings received by the reception unit 12. In this embodiment, a priority is set for each of the multiple task information items.

[0110] The receiving unit 12 receives the setting contents input by the user on the setting screen for the third information, similar to the second information, and the third acquisition unit 16 acquires the third information based on the setting contents received by the receiving unit 12. That is, the third acquisition unit 16 acquires the third information input by the user on the setting screen for the third information. This allows the user to set the priority to a desired value. The third acquisition unit 16 may also acquire the third information from a higher-level system.

[0111] The first acquisition unit 14 of the transport control system 1 acquires, for example, from a host system, first information regarding multiple transport tasks to be performed by the transport robots 2A to 2C at a predetermined timing (for example, every second) or at any timing transmitted by the host system.

[0112] Here, Table 5 below shows the first information acquired by the first acquisition unit 14 at a certain point in time. The task list shown in Table 5 displays a list of multiple pieces of task information corresponding to multiple transport operations included in the first information. In this task list, the multiple pieces of task information are arranged in order of reception time. Each piece of task information includes task number information indicating the reception order of the task information, information indicating the status of the transport operation corresponding to the task information, information indicating the priority of the task information, information about the source node, and information about the destination node. The information indicating the priority is, for example, expressed as a numerical value, with a larger value indicating a higher priority. Each piece of task information also includes information about the transport robot 2 to which the transport operation is assigned. In the example of Table 5, the first acquisition unit 14 receives six pieces of task information, numbered 0001 to 0006, at the same reception time.

[0113] [Table 5]

[0114] The transport control unit 17 determines whether or not the transport work corresponding to all task information present in the task list has been processed (step S11), and if all transport work has been processed (step S11: Yes), ends the process of assigning the transport work to the transport robot 2.

[0115] If the transportation work corresponding to all task information in the task list has not been completed (step S11: No), the transportation control unit 17 selects one of the unprocessed task information in the task list as the target task information (step S12). For example, the transportation control unit 17 acquires the unprocessed task information in the task list in ascending order of task number as the target task information.

[0116] The transport control unit 17 determines whether the target task information is task information waiting for transport (step S13), and if it is not task information waiting for transport, that is, if it is in transport or transport has been completed (step S13: No), it returns to step S11 and continues processing.

[0117] On the other hand, if the target task information is task information waiting to be transported (step S13: Yes), the transport control unit 17 determines whether a second condition is met, that is, there exists unprocessed task information that has a different transport source and has a higher priority than the target task information (step S14).

[0118] If it is determined in step S14 that there is unprocessed task information with a high priority (step S14: Yes), the transport control unit 17 will assign the unprocessed task information with a high priority to the transport robot 2 first, and will not assign the target task information to the transport robot 2, but will return to step S11 to continue processing.

[0119] If it is determined in step S14 that there is no unprocessed task information with a higher priority (step S14: No), the transport control unit 17 determines whether a third condition is met, that is, that there is unprocessed task information of the same transport source that has an earlier reception order (step S15). Note that unprocessed task information with an earlier reception order refers to task information awaiting transport that has an earlier reception time than the target task information.

[0120] If it is determined in step S15 that there is unprocessed task information with an earlier reception order (step S15: Yes), the transport control unit 17 determines whether the transport source of the target task information is gate GT2, that is, whether the transport work corresponding to the target task information is the second transport work (step S16).

[0121] If it is determined in step S16 that the transport operation corresponding to the target task information is not the second transport operation, i.e., the first transport operation (step S16: No), the transport control unit 17 determines the order in which to perform the transport operations corresponding to the target task information, prioritizing the first information over the third information. That is, the transport control unit 17 determines the order in which to perform the transport operations corresponding to the target task information based on the reception order information, and executes the unprocessed task information that has an earlier reception order than the target task information first, and therefore returns to step S11 to continue processing.

[0122] If it is determined in step S16 that the target task information is the second task information (step S16: Yes), the transport control unit 17 determines the order in which to perform the transport work corresponding to the target task information, prioritizing the third information over the first information. That is, the transport control unit 17 determines the order in which to perform the transport work corresponding to the target task information based on the reception order information and the third information (priority). Specifically, the transport control unit 17 determines whether a fourth condition is met, that is, that there is unprocessed task information that is task information of the same transport source and has a higher priority than the target task information (step S17).

[0123] If it is determined in step S17 that there is unprocessed task information that has the same transport source and higher priority than the target task information (step S17: Yes), the transport control unit 17 executes the unprocessed task information that has higher priority than the target task information first, and therefore returns to step S11 to continue processing.

[0124] If it is determined in step S15 that there is no unprocessed task information with an earlier reception order (step S15: No), or if it is determined in step S17 that there is no unprocessed task information with the same transport source and a higher priority than the target task information (step S17: No), the transport control unit 17 determines whether there is a transport robot 2 moving to the transport source of the target task information (step S18).

[0125] Here, if there is a transport robot moving to the transfer source of the target task information (step S18: Yes), the transport control unit 17 does not perform the process of assigning the target task information to the transport robot 2, and returns to step S11 to continue the process. On the other hand, if there is no transport robot moving to the transfer source of the target task information (step S18: No), the transport control unit 17 determines whether there is a transport robot 2 that can transfer the task (step S19).

[0126] If it is determined in step S19 that there is a transport robot 2 that can transport the work (step S19: Yes), the transport control unit 17 assigns the transport work corresponding to the target task information to the transport robot 2 that can transport the work (target robot) (step S20). After instructing the target robot to perform the transport work corresponding to the target task information, the transport control unit 17 returns to step S11 and continues the process.

[0127] If it is determined in step S19 that there is no transfer robot 2 that can transfer (step S19: No), the transfer control unit 17 returns to step S11 and continues the process.

[0128] Here, a specific example of a transport control method in which the transport control unit 17 allocates transport tasks will be described below.

[0129] When the transfer control unit 17 acquires a task list such as that shown in Table 5 above, it assigns the transfer task with the highest priority, 0003, to the transfer robot 2A, and the transfer task with the next highest priority, 0004, to the transfer robot 2B. Since the remaining transfer tasks all have the same priority, the transfer control unit 17 assigns the transfer task with the lowest task number, 0001, to the transfer robot 2C. The task list at this time is as shown in Table 6.

[0130] [Table 6]

[0131] Thereafter, when the first acquisition unit 14 acquires new task information with task numbers 0007 to 0009, the task list at this time becomes as shown in Table 7.

[0132] [Table 7]

[0133] Here, when the transfer robots 2A to 2C finish a transfer task, the transfer control unit 17 assigns a new transfer task to the transfer robots 2A to 2C. When the transfer task corresponding to the target task information is the first transfer task, the transfer control unit 17 determines the execution order in the same manner as in the first embodiment and assigns the transfer task No. 0007 to the transfer robot 2A. When the transfer task corresponding to the target task information is the second transfer task, the transfer control unit 17 assigns the transfer task No. 0009, which has the highest priority among the unprocessed transfer tasks, to the transfer robot 2A. The transfer task No. 0008 has the next highest priority among the unprocessed transfer tasks, but the transfer origin of the transfer task No. 0008 is the same as the transfer origin of the transfer task No. 0009 assigned to the transfer robot 2A, so the transfer control unit 17 postpones the transfer task No. 0008. Since the remaining transport tasks have the same priority, the transport control unit 17 assigns them to the transport robots 2 in ascending order of task number, assigning transport task 0002 to transport robot 2B and transport task 0005 to transport robot 2C. The task list at this time is as shown in Table 8.

[0134] [Table 8]

[0135] In this way, when the transport work corresponding to the target task information is the second transport work, the transport control unit 17 determines the order in which to execute the target task information, taking into consideration the priority set in association with each of the plurality of task information. Since the transport control unit 17 determines the task information to be assigned to the transport robot 2, taking into consideration the priority set in association with each of the plurality of task information, task information with a higher priority can be assigned to the transport robot 2 before task information that was received earlier but has a lower priority. Therefore, the transport work corresponding to task information with a higher priority can be executed before the transport work corresponding to task information with a lower priority, which prevents the efficiency of the transport work from decreasing due to restrictions on the order of reception, and allows the transport work to be performed efficiently.

[0136] In this embodiment, the third information indicating the priority of the transport task may be set in association with at least one of the plurality of first nodes (stations ST1 to ST6), the plurality of second nodes (gates GT1 to GT3), the plurality of task information, and the time information relating to the completion deadlines of the plurality of transport tasks corresponding to the plurality of task information. The third information may set the priority of the transport task according to the priority of the item to be transported to the first node that is the source or destination of the transport. The third information may also be set in association with the completion deadline, for example, so that the shorter the time until the completion deadline, the higher the priority.

[0137] Although the transport control system 1 of the second embodiment includes the second acquisition unit 15, the second acquisition unit 15 is not essential and can be omitted as appropriate. In this case, the transport control unit 17 may determine the order in which to execute the target task information based on the first information and the third information. That is, the transport control unit 17 may rearrange the order in which the transport tasks are executed so that even if a transport task received later has a higher priority than a transport task received earlier, this transport task is executed first.

[0138] (Variation) The above embodiment is merely one of various embodiments of the present disclosure. The above embodiment can be modified in various ways depending on the design, etc., as long as the object of the present disclosure can be achieved. Furthermore, functions similar to those of the transport control system 1 may be embodied in a transport control method, a computer program, or a non-transitory recording medium on which a program is recorded, etc.

[0139] A transfer control method according to one embodiment includes a transfer control process, a first acquisition process, and a second acquisition process. In the transfer control process, a plurality of transfer robots 2 are controlled. The plurality of transfer robots 2 perform transfer tasks to transfer objects 30 between a first zone Z1 having a plurality of first nodes (stations ST1 to ST12) and a second zone Z2 having a plurality of second nodes (gates GT1 to GT3). In the first acquisition process, first information regarding the plurality of transfer tasks to be performed by the plurality of transfer robots 2 is acquired. The first information includes a plurality of pieces of task information corresponding to each of the plurality of transfer tasks and reception order information regarding the reception order of the plurality of task information. In the second acquisition process, second information indicating whether each of the plurality of transfer tasks corresponding to the plurality of task information is a first transfer task that must be performed in the order of reception or a second transfer task that can be changed in order of execution is acquired. In the transport control process, the order in which transport work corresponding to target task information selected from multiple task information is performed is determined based on the reception order information and the second information, and the target robot selected from multiple transport robots 2 is made to perform the transport work corresponding to the target task information in the determined order.

[0140] A transport control method according to one embodiment further includes a third acquisition process. In the third acquisition process, third information relating to the priority of each of a plurality of pieces of task information is acquired. In the transport control process, if the transport work corresponding to the target task information is a first transport work, the first information is prioritized over the third information, and the order in which the transport work corresponding to the target task information is performed is determined based on the acceptance order information. In addition, in the transport control process, if the transport work corresponding to the target task information is a second transport work, the third information is prioritized over the first information, and the order in which the transport work corresponding to the target task information is performed is determined based on the acceptance order information and the third information.

[0141] A (computer) program according to one aspect is a program for causing a computer system to execute the above-described transport control method.

[0142] Modifications of the above embodiment are listed below. The modifications described below can be applied in appropriate combinations.

[0143] The entity that executes the transport control system 1 or transport control method of the present disclosure includes a computer system. The computer system is primarily composed of a processor and memory as hardware. The processor executes a program stored in the computer system's memory to realize the functions of the entity that executes the transport control system 1 or transport control method of the present disclosure. The program may be pre-stored in the computer system's memory, provided via a telecommunications line, or provided in a non-transitory recording medium readable by the computer system, such as a memory card, optical disk, or hard disk drive. The processor of the computer system is composed of one or more electronic circuits, including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). The integrated circuits, such as ICs and LSIs, are referred to by different names depending on the degree of integration, and include integrated circuits called system LSIs, very large-scale integrations (VLSIs), or ultra-large-scale integrations (ULSIs). Furthermore, field-programmable gate arrays (FPGAs), which are programmable after the LSI is manufactured, or logic devices that allow the reconfiguration of internal connections or internal circuit partitions of the LSI, can also be used as processors. The electronic circuits may be integrated into one chip or distributed across multiple chips. The chips may be integrated into one device or distributed across multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

[0144] Furthermore, it is not essential for the transport control system 1 that multiple functions are concentrated in one housing, and the components of the transport control system 1 may be distributed across multiple housings. Furthermore, at least some of the functions of the transport control system 1 may be realized by the cloud (cloud computing) or the like.

[0145] Conversely, at least some of the functions of the transport system 3, which are distributed among multiple devices in the first embodiment, may be integrated into one housing.

[0146] Furthermore, in the above-described conveyance control system 1, stations ST1 to ST12 are locations where the transported object 30 is transferred on the production lines 101 to 103, and the second area is the automated warehouse 110, but the second area may be the production line. In this case, the production line, which is the second area, is provided with a plurality of gates, and at least one of the transported object 30 is carried in and out between stations ST1 to ST12 and the second area through any of the plurality of gates. In other words, at least one of parts, semi-finished products, finished products, etc. is carried in and out through the gate between the production line, which is the stations ST1 to ST12, and the production line, which is the second area.

[0147] In the above embodiment, when comparing two values ​​such as measurement data, "greater than" may also mean "greater than or equal to." In other words, whether or not the two values ​​are equal when comparing two values ​​can be arbitrarily changed depending on the setting of the reference value, etc., so there is no technical difference between "greater than" and "greater than or equal to." Similarly, "equal to or less than" may also mean "less than."

[0148] (summary) As described above, the transport control system (1) of the first aspect includes a transport control unit (17), a first acquisition unit (14), and a second acquisition unit (15). The transport control unit (17) controls multiple transport robots (2). The multiple transport robots (2) perform transport tasks to transport objects (30) between a first zone (Z1) having multiple first nodes (ST1 to ST12) and a second zone (Z2) having multiple second nodes (GT1 to GT3). The first acquisition unit (14) acquires first information regarding multiple transport tasks to be performed by the multiple transport robots (2). The first information includes multiple pieces of task information corresponding to each of the multiple transport tasks and reception order information regarding the reception order of the multiple task information. The second acquisition unit (15) acquires second information indicating whether each of the multiple transport tasks corresponding to the multiple task information is a first transport task that must be performed in the order of reception or a second transport task that can be performed in a different order. The transport control unit (17) determines the order in which to perform the transport work corresponding to the target task information selected from the plurality of task information based on the reception order information and the second information, and causes the target robot selected from the plurality of transport robots (2) to perform the transport work corresponding to the target task information in the determined order.

[0149] According to this aspect, the transport control unit (17) determines the order in which to perform the transport operations corresponding to the target task information based on the reception order information and the third information, and therefore the order in which to perform the transport operations corresponding to the target task information can be different from the order based on the reception order information. Therefore, when the transport control unit (17) cannot perform a transport operation that is earlier in the order than the target task information in the order based on the reception order information, it becomes possible for the transport control unit (17) to perform the target task information first, thereby suppressing a decrease in transport efficiency.

[0150] In the transport control system (1) of the second aspect, in the first aspect, when the transport work corresponding to the target task information is the second transport work, the transport control unit (17) causes the target robot to execute the transport work corresponding to the target task information when it becomes executable, regardless of the order of reception.

[0151] According to this aspect, when the transport work corresponding to the target task information is the second transport work, the transport control unit (17) causes the target robot to execute the transport work corresponding to the target task information at a timing when the transport work becomes executable. Therefore, when a transport work that is earlier in the order than the target task information cannot be executed based on the order information, the transport control unit (17) can execute the target task information first, thereby suppressing a decrease in transport efficiency.

[0152] In the transport control system (1) of the third aspect, in the first or second aspect, the second information is set in association with at least one of the plurality of first nodes (ST1 to ST12), the plurality of second nodes (GT1 to GT3), the plurality of task information, and the transported object (30).

[0153] According to this aspect, it is possible to suppress a decrease in transport efficiency.

[0154] In the conveyance control system (1) of the fourth aspect, in the third aspect, the production lines (101-103) are installed in the first zone (Z1), and at least one of materials to be used in the production lines (101-103) and semi-finished products or finished products manufactured in the production lines (101-103) are placed in the second zone (Z2). The conveyed object (30) includes a portable platform for placing at least one of the materials, semi-finished products, and finished products. Second information indicating that the empty platform and / or the conveyance task for conveying the empty platform is a second conveyance task is set in association with the empty platform.

[0155] According to this aspect, the transport operations for transporting empty mounting tables may be performed in any order, and therefore, by setting the transport operation for transporting empty mounting tables as the second transport operation, a decrease in transport efficiency can be suppressed.

[0156] In the transport control system (1) of the fifth aspect, in the third or fourth aspect, the second acquisition unit (15) acquires the second information input by the user on the second information setting screen.

[0157] According to this aspect, the user can set the second information to an arbitrary value.

[0158] The transport control system (1) of a sixth aspect is any of the second to fifth aspects, further comprising a third acquisition unit (16). The third acquisition unit (16) acquires third information relating to the priority of each of the plurality of pieces of task information. The transport control unit (17) prioritizes the first information over the third information when the transport task corresponding to the target task information is the first transport task, and determines the order in which the transport tasks corresponding to the target task information are to be performed based on the acceptance order information. The transport control unit (17) prioritizes the third information over the first information when the transport task corresponding to the target task information is the second transport task, and determines the order in which the transport tasks corresponding to the target task information are to be performed based on the acceptance order information and the third information.

[0159] According to this aspect, when the transport task corresponding to the target task information is the second transport task, the transport control unit (17) determines the order in which to perform the transport tasks corresponding to the target task information based on the reception order information and the third information, so that the transport tasks can be performed in an order different from the order based on the reception order information. Therefore, when the order based on the reception order information does not allow the transport control unit (17) to perform a transport task that is earlier in order than the transport task corresponding to the target task information, the transport control unit (17) can perform the transport task corresponding to the target task information first, thereby suppressing a decrease in transport efficiency.

[0160] In the seventh aspect of the transport control system (1), in the sixth aspect, the third information is set in association with at least one of a plurality of first nodes (ST1 to ST12), a plurality of second nodes (gates GT1 to GT3), a plurality of task information, and time information relating to the completion deadlines of a plurality of transport tasks corresponding to the plurality of task information.

[0161] According to this aspect, it is possible to suppress a decrease in transport efficiency.

[0162] In the transport control system (1) of the eighth aspect, in the sixth or seventh aspect, the third acquisition unit (16) acquires the third information input by the user on the setting screen for the third information.

[0163] According to this aspect, the user can set the third information to an arbitrary value.

[0164] The transport control system (1) of a ninth aspect is the same as any one of the first to eighth aspects, and further includes a setting unit (18). The setting unit (18) allocates each of the plurality of first nodes (ST1 to ST12) to one of a plurality of groups (GR1, GR2) that correspond one-to-one to the plurality of second nodes (GT1 to GT3) based on at least one of transport amount information and route information. The transport amount information includes information regarding the transport amount of the transported objects (30) transported between the plurality of first nodes (ST1 to ST12) and the second zone (Z2). The route information includes information regarding the transport route for transporting the transported objects (30) between the plurality of first nodes (ST1 to ST12) and the plurality of second nodes (GT1 to GT3).

[0165] According to this aspect, by dividing the groups so that the transport amount is distributed among a plurality of groups (GR1, GR2), it is possible to reduce the possibility that transport work will be concentrated at a specific second node (GT1 to GT3).

[0166] In a tenth aspect of the transport control system (1), in any one of the first to ninth aspects, the plurality of task information includes at least one of first task information and second task information. The first task information includes at least one of the first task information and the second task information. The first task information is task information related to a transport operation of transporting the transported object (30) from the first zone (Z1) to the second zone (Z2). The second task information is task information related to a transport operation of transporting the transported object (30) from the second zone (Z2) to the first zone (Z1).

[0167] According to this embodiment, when the objects (30) are transported in both directions between the first zone (Z1) and the second zone (Z2), a decrease in transport efficiency can be suppressed.

[0168] The transfer control method of the eleventh aspect includes a transfer control process, a first acquisition process, and a second acquisition process. The transfer control process controls a plurality of transfer robots (2). The plurality of transfer robots (2) perform transfer tasks of transferring objects (30) between a first zone (Z1) having a plurality of first nodes (ST1 to ST12) and a second zone (Z2) having a plurality of second nodes (GT1 to GT3). The first acquisition process acquires first information related to a plurality of transfer tasks to be performed by the plurality of transfer robots (2). The first information includes a plurality of pieces of task information corresponding to each of the plurality of transfer tasks and reception order information related to the reception order of the plurality of task information. The second acquisition process acquires second information indicating whether each of the plurality of transfer tasks corresponding to the plurality of task information is a first transfer task that must be performed in the order of reception or a second transfer task that can be changed in order of execution. In the transport control process, the order in which transport work corresponding to target task information selected from a plurality of task information is performed is determined based on the reception order information and the second information, and the transport work corresponding to the target task information is performed by a target robot selected from a plurality of transport robots (2) in the determined order.

[0169] According to this aspect, it is possible to suppress a decrease in transport efficiency.

[0170] A twelfth aspect of the transport control method is the eleventh aspect of the transport control method, further including a third acquisition process. In the third acquisition process, third information relating to the priority of each of a plurality of pieces of task information is acquired. In the transport control process, if the transport work corresponding to the target task information is a first transport work, the first information is prioritized over the third information, and the order in which the transport work corresponding to the target task information is performed is determined based on the reception order information. In the transport control process, if the transport work corresponding to the target task information is a second transport work, the third information is prioritized over the first information, and the order in which the transport work corresponding to the target task information is performed is determined based on the reception order information and the third information.

[0171] According to this aspect, it is possible to suppress a decrease in transport efficiency.

[0172] Not limited to the above aspects, various configurations (including modified examples) of the transport control system (1) according to the first or second embodiment can be embodied as a transport control method for the transport control system (1), a (computer) program, or a non-transitory recording medium on which the program is recorded, etc.

[0173] The configurations according to the second to tenth aspects are not essential for the transport control system (1) of the first aspect, and can be omitted as appropriate. [Explanation of symbols]

[0174] 1. Transport control system 2. Transport robot 14 First acquisition part 15 Second acquisition part 16 Third acquisition part 17 Transport control section 18 Setting section 30 Transported object 101~103 Production lines GR1,GR2 Group GT1~GT3 Gates (second node) Stations ST1 to ST12 (first node) Z1 Zone 1 Z2 Zone 2

Claims

1. The apparatus includes a transport control unit, a first acquisition unit, and a second acquisition unit, the transport control unit controls a plurality of transport robots that respectively perform transport operations to transport objects between a first zone in which a plurality of first nodes are set and a second zone in which a plurality of second nodes are set; the first acquisition unit acquires first information related to a plurality of transport operations to be executed by the plurality of transport robots; the first information includes a plurality of pieces of task information corresponding to the plurality of transportation operations, and reception order information regarding the reception order of the plurality of pieces of task information; the second acquisition unit acquires second information indicating whether each of the plurality of transport operations corresponding to the plurality of task information is a first transport operation that must be performed in the order of reception or a second transport operation that can be changed in order of execution; When the plurality of pieces of task information include two or more pieces of unprocessed task information having the same transfer source or transfer destination, If the two or more transport operations corresponding to the two or more pieces of unprocessed task information are the first transport operations, the transport control unit causes the transport robot to execute the two or more transport operations in an order determined based on the reception order information, If the two or more transport operations corresponding to the two or more pieces of unprocessed task information are the second transport operations, the transport control unit causes the transport robot to execute the two or more transport operations at timings when the two or more transport operations become executable. Conveyor control system.

2. The second information is set in association with at least one of the plurality of first nodes, the plurality of second nodes, the plurality of task information, and the transported object. The transport control system according to claim 1 .

3. A manufacturing line is installed in the first zone, and materials used in the manufacturing line and at least one of semi-finished products or finished products manufactured in the manufacturing line are placed in the second zone; the transported object includes a portable platform for placing at least one of the material, the semi-finished product, and the finished product; the second information indicating that the empty table is the second transport operation is set in association with at least one of the empty table and the transport operation of transporting the empty table; The transport control system according to claim 2 .

4. The second acquisition unit acquires the second information input by a user on a setting screen for the second information. The transport control system according to claim 2 or 3.

5. Further comprising a third acquisition unit, the third acquisition unit acquires third information related to a priority of each of the plurality of pieces of task information; the transport control unit prioritizes the first information over the third information when the two or more transport operations are the first transport operations, and determines an order in which the two or more transport operations are to be performed based on the reception order information; the transport control unit prioritizes the third information over the first information when the two or more transport operations are the second transport operations, and determines the order in which the two or more transport operations are to be performed based on the reception order information and the third information. The transport control system according to any one of claims 1 to 4.

6. The third information is set in association with at least one of the plurality of first nodes, the plurality of second nodes, the plurality of task information, and time information relating to the completion deadlines of the plurality of transport operations corresponding to the plurality of task information. The transport control system according to claim 5 .

7. The third acquisition unit acquires the third information input by a user on a setting screen for the third information. The transport control system according to claim 5 or 6.

8. A setting unit is further provided which assigns each of the plurality of first nodes to one of a plurality of groups corresponding one-to-one to the plurality of second nodes based on at least one of transport amount information and route information; the transport amount information includes information regarding transport amounts of the transported objects transported between the plurality of first nodes and the second zone; the route information includes information regarding a transport route for transporting the transported object between the plurality of first nodes and the plurality of second nodes; The transport control system according to any one of claims 1 to 7.

9. The plurality of task information includes: the task information includes at least one of first task information relating to a transport operation of transporting the transported object from the first zone to the second zone and second task information relating to a transport operation of transporting the transported object from the second zone to the first zone; The transport control system according to any one of claims 1 to 8.

10. A method of controlling transportation, a first acquisition process, and a second acquisition process, In the transport control process, a plurality of transport robots are controlled to perform transport operations of transporting objects between a first zone having a plurality of first nodes and a second zone having a plurality of second nodes, In the first acquisition process, first information relating to a plurality of transport operations to be performed by the plurality of transport robots is acquired; the first information includes a plurality of pieces of task information corresponding to the plurality of transportation operations, and reception order information regarding the reception order of the plurality of pieces of task information; In the second acquisition process, second information is acquired that indicates whether each of the plurality of transport operations corresponding to the plurality of task information is a first transport operation that must be performed in the order of the reception or a second transport operation that can be changed in order of execution, When the plurality of pieces of task information include two or more pieces of unprocessed task information having the same transfer source or transfer destination, If the two or more transport operations corresponding to the two or more pieces of unprocessed task information are the first transport operations, the transport control process causes the transport robot to execute the two or more transport operations in an order determined based on the reception order information, If the two or more transport operations corresponding to the two or more pieces of unprocessed task information are the second transport operations, the transport control process causes the transport robot to execute the two or more transport operations at timings when the two or more transport operations become executable. Transport control method.

11. Further comprising a third acquisition process, In the third acquisition process, third information relating to a priority of each of the plurality of pieces of task information is acquired; In the transport control process, if the two or more transport operations are the first transport operations, the first information is given priority over the third information, and an order in which the two or more transport operations are to be performed is determined based on the reception order information and the second information; In the transport control process, if the two or more transport operations are the second transport operations, the third information is given priority over the first information, and an order in which the two or more transport operations are to be performed is determined based on the reception order information. The transport control method according to claim 10.

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