Transport work system, transport robot control device, and control method for transport work system

Abstract

A conveyance work system (10) comprises a plurality of conveyance robots (16), a conveyance robot control device (14), and a work management device (12). The work management device (12) has: a request transmission unit (30) that transmits a first request or a second request for requesting transmission of a response including information of one or more conveyance robots (16) of the plurality of conveyance robots (16); and a work instruction unit (38) that transmits, on the basis of the information of said one or more conveyance robots included in the response, a work instruction for causing one conveyance robot, of said one or more conveyance robots (16), to execute work. The conveyance robot control device (14) has: a request responding unit (40) that, in response to the first request or the second request, transmits a response to the work management device (12); and a work command unit (48) that causes one conveyance robot (16), of said one or more conveyance robots (16), to execute work on the basis of the work instruction.

Description

[Technical Field]

[0001] The present disclosure relates to a transport operation system and the like. [Background technology]

[0002] Conventionally, a transport system that controls a transport robot to transport an item has been known. Patent Document 1 discloses a component mounting system that includes a self-propelled component supply device that transports components stored in a component storage device to a component mounting line, and a management computer that controls the self-propelled component supply device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2017-216379 Summary of the Invention [Problem to be solved by the invention]

[0004] Here, if the transport robot control device that controls the multiple transport robots and the work management device that manages the work to be performed by the multiple transport robots are separate entities, the work management device will not be able to understand the status of the transport work performed by the multiple transport robots, will not be able to efficiently issue work instructions to the multiple transport robots, and will not be able to efficiently transport goods.

[0005] Therefore, the present disclosure provides a transport operation system and the like that can transport items efficiently. [Means for solving the problem]

[0006] A transport work system according to one embodiment of the present disclosure comprises a plurality of transport robots that perform work to transport items, a transport robot control device that controls the plurality of transport robots, and a work management device capable of communicating with the transport robot control device, wherein the work management device has a request sending unit that sends a request to the transport robot control device to cause it to send a response including information about at least one of the plurality of transport robots, and a work instruction unit that sends a work instruction to the transport robot control device to cause one of the at least one transport robot to perform the work based on the information about the at least one transport robot included in the response, and the transport robot control device has a request reply unit that sends the response to the work management device in response to the request sent from the request sending unit, and a work command unit that causes one of the at least one transport robot to perform the work based on the work instruction sent from the work instruction unit.

[0007] A work management device according to one embodiment of the present disclosure is a work management device capable of communicating with a transport robot control device that controls multiple transport robots that perform work to transport items, and includes a request sending unit that sends a request to the transport robot control device to cause it to send a response including information about at least one of the multiple transport robots, and a work instruction unit that sends a work instruction to the transport robot control device to cause one of the at least one transport robot to perform the work based on the information about the at least one transport robot included in the response.

[0008] A transport robot control device according to one embodiment of the present disclosure is a transport robot control device that controls a plurality of transport robots that perform work to transport items, and a work management device capable of communicating with the transport robot control device has a request sending unit that sends a request to the transport robot control device to cause it to send a response including information about at least one of the plurality of transport robots, and a work instruction unit that sends a work instruction to the transport robot control device to cause one of the at least one transport robot to perform the work based on the information about the at least one transport robot included in the response, and is equipped with a request response unit that sends the response to the work management device in response to the request sent from the request sending unit, and a work command unit that causes one of the at least one transport robot to perform the work based on the work instruction sent from the work instruction unit.

[0009] A control method for a transport system according to one embodiment of the present disclosure is a control method for a transport work system including a plurality of transport robots that perform work to transport items, a transport robot control device that controls the plurality of transport robots, and a work management device that can communicate with the transport robot control device, wherein the work management device sends a request to the transport robot control device to have it send a response including information about at least one of the plurality of transport robots, and based on the information about the at least one transport robot included in the response, sends a work instruction to the transport robot control device to have one of the at least one transport robot perform the work, and the transport robot control device sends the response to the work management device in response to the request sent from the work management device, and has one of the at least one transport robot perform the work based on the work instruction sent from the work management device.

[0010] These comprehensive or specific aspects may be realized as a system, a method, an integrated circuit, a computer program, or a computer-readable recording medium such as a CD-ROM, or may be realized as any combination of the system, the method, the integrated circuit, the computer program, and the recording medium. The recording medium may also be a non-transitory recording medium. [Effects of the Invention]

[0011] The transport operation system and the like of the present disclosure can transport items efficiently.

[0012] Further advantages and effects of one aspect of the present disclosure will become apparent from the specification and drawings. Such advantages and / or effects are provided by some embodiments and features described in the specification and drawings, but not all of them necessarily need to be provided to obtain one or more identical features. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 1 is a diagram illustrating an example of the configuration of a transport operation system according to an embodiment. [Figure 2] FIG. 2 is a block diagram showing an example of the functional configuration of the transport operation system of FIG. [Figure 3] FIG. 3 is a flowchart showing an example of the operation of the transport operation system of FIG. [Figure 4] FIG. 4 is a flowchart showing another example of the operation of the transport operation system of FIG. DETAILED DESCRIPTION OF THE INVENTION

[0014] In order to solve the above-mentioned problems, a transport work system according to one embodiment of the present disclosure comprises a plurality of transport robots that perform work to transport items, a transport robot control device that controls the plurality of transport robots, and a work management device that can communicate with the transport robot control device, wherein the work management device has a request sending unit that sends a request to the transport robot control device to cause it to send a response including information about at least one of the plurality of transport robots, and a work instruction unit that sends a work instruction to the transport robot control device to cause one of the at least one transport robot to perform the work based on the information about the at least one transport robot included in the response, and the transport robot control device has a request reply unit that sends the reply to the work management device in response to the request sent from the request sending unit, and a work command unit that causes one of the at least one transport robot to perform the work based on the work instruction sent from the work instruction unit.

[0015] As a result, the work management device can obtain information about at least one of the multiple transport robots by sending a request to the transport robot control device. In other words, the work management device can have the transport robot control device transmit the information by sending a request, rather than waiting for the information to be transmitted unilaterally from the transport robot control device. This allows the work management device to efficiently obtain the information and efficiently transmit work instructions based on the information, thereby enabling efficient transport of items.

[0016] In the transport operation system, the request may indicate that the task should be performed by any one of the plurality of transport robots.

[0017] This allows the work management device to more reliably acquire information about any one of the multiple transport robots.

[0018] In addition, in the transport work system, the work management device may further have a condition suitability determination unit that determines whether or not there is a first transport robot among the at least one transport robot that meets a first condition for the transport robot that will perform the work, based on information about the at least one transport robot included in the response.

[0019] This makes it possible to determine whether a first transport robot that meets the first condition exists. If a first transport robot exists, the first transport robot can be made to perform the work. For example, it is possible to determine whether a transport robot suitable for performing the work exists, and if a transport robot suitable for performing the work exists, the transport robot can be made to perform the work, thereby making it possible to transport items more efficiently.

[0020] In addition, in the transport work system, the work management device may further have a transport robot selection unit that selects one first transport robot from among the multiple first transport robots to perform the work when the condition suitability determination unit determines that multiple first transport robots exist.

[0021] This allows one first transport robot to be selected from among the multiple first transport robots to perform a task. For example, it is possible to select the first transport robot that is most suitable for performing a task from among the multiple first transport robots and have that first transport robot perform the task, thereby allowing for more efficient transport of items.

[0022] In addition, in a transport work system, the information of the at least one transport robot may include information on the time when each of the at least one transport robot can start the work, and the first condition may be a condition that the time when the work can be started is a time before the deadline for starting the work.

[0023] This allows a transport robot, out of multiple transport robots, whose available time to start work is before the deadline for starting work to be assigned to perform the work. In other words, since a transport robot that can start work before the deadline for starting work can be assigned to perform the work, it is possible to prevent delays in the transport of goods and to transport goods more efficiently.

[0024] In addition, in the transport work system, the request may include a second condition for the transport robot that will perform the work, and the transport robot control device may further have a transport robot extraction unit that extracts a second transport robot from the plurality of transport robots that meets the second condition, and the information on the at least one transport robot may include information on the second transport robot.

[0025] This allows the second transport robot that meets the second condition to be extracted, and information about the second transport robot to be sent to the work management device. The second transport robot can then be made to perform the work. For example, a transport robot suitable for performing the work can be extracted, and the transport robot can be made to perform the work, thereby enabling more efficient transport of items.

[0026] In addition, in the transport work system, the work management device may further have a transport robot selection unit that, when there are multiple second transport robots, selects one second transport robot from among the multiple second transport robots to perform the work.

[0027] This allows one second transport robot to be selected from among the plurality of second transport robots to perform a task. For example, it is possible to select the second transport robot that is most suitable for performing a task from among the plurality of second transport robots, and have that second transport robot perform the task, thereby enabling more efficient transport of items.

[0028] In addition, in the transport work system, the second condition may be a condition that the time at which the work can be started is a time before the deadline for starting the work, and the transport robot extraction unit may extract the second transport robot based on information about the time at which each of the multiple transport robots can start the work.

[0029] This allows a transport robot, out of multiple transport robots, whose available time to start work is before the deadline for starting work to be assigned to perform the work. In other words, since a transport robot that can start work before the deadline for starting work can be assigned to perform the work, it is possible to prevent delays in the transport of goods and to transport goods more efficiently.

[0030] In addition, in the transport work system, the transport robot control device may further have a memory unit that stores status information of the multiple transport robots, and the request response unit may refer to the status information and send the response to the work management device.

[0031] As a result, since the status information of multiple transport robots is stored, the request reply section can efficiently refer to this status information without acquiring it from multiple transport robots, and can efficiently send replies to the work management device, thereby enabling items to be transported even more efficiently.

[0032] In addition, in the transport work system, the information of the at least one transport robot may preferentially include information of a transport robot that is on standby among the multiple transport robots, and if there is no transport robot on standby, may include information of a transport robot that is currently performing the work.

[0033] This makes it easier for transport robots that are not currently performing work and are on standby to perform work, thereby preventing delays in the transport of items and enabling more efficient transport of items.

[0034] In the transport work system, each of the plurality of transport robots may be an automated guided vehicle (AGV).

[0035] This allows each of the multiple transport robots to easily travel autonomously, thereby enabling more efficient transport of articles.

[0036] In the transport work system, each of the plurality of transport robots may be an autonomous transport robot (AMR).

[0037] This allows each of the multiple transport robots to move autonomously with ease, making it possible to transport articles more efficiently.

[0038] In addition, in order to solve the above-mentioned problems, a work management device according to one embodiment of the present disclosure is a work management device capable of communicating with a transport robot control device that controls multiple transport robots that perform work to transport items, and includes a request sending unit that sends a request to the transport robot control device to cause it to send a response including information about at least one transport robot among the multiple transport robots, and a work instruction unit that sends a work instruction to the transport robot control device to cause one of the at least one transport robot to perform the work based on the information about the at least one transport robot included in the response.

[0039] This provides the same effects as the above-described transport operation system.

[0040] In addition, in order to solve the above-mentioned problems, a transport robot control device according to one embodiment of the present disclosure is a transport robot control device that controls a plurality of transport robots that perform work to transport items, and a work management device that can communicate with the transport robot control device has a request sending unit that sends a request to the transport robot control device to cause it to send a response including information about at least one of the plurality of transport robots, and a work instruction unit that sends a work instruction to the transport robot control device to cause one of the at least one transport robot to perform the work based on the information about the at least one transport robot included in the response, and is equipped with a request response unit that sends the response to the work management device in response to the request sent from the request sending unit, and a work command unit that causes one of the at least one transport robot to perform the work based on the work instruction sent from the work instruction unit.

[0041] This provides the same effects as the above-described transport operation system.

[0042] In addition, in order to solve the above-mentioned problems, a transport robot work control method according to one embodiment of the present disclosure is a control method for a transport work system including a plurality of transport robots that perform work to transport items, a transport robot control device that controls the plurality of transport robots, and a work management device that can communicate with the transport robot control device, wherein the work management device sends a request to the transport robot control device to have it send a response including information about at least one of the plurality of transport robots, and based on the information about the at least one transport robot included in the response, sends a work instruction to the transport robot control device to have one of the at least one transport robot perform the work, and the transport robot control device sends the response to the work management device in response to the request sent from the work management device, and has one of the at least one transport robot perform the work based on the work instruction sent from the work management device.

[0043] This provides the same effects as the above-described transport operation system.

[0044] Hereinafter, the embodiments will be specifically described with reference to the drawings.

[0045] The embodiments described below are all comprehensive or specific examples. The numerical values, shapes, materials, components, component placement and connection configurations, steps, and step order shown in the following embodiments are merely examples and are not intended to limit the present disclosure. Furthermore, among the components in the following embodiments, components that are not described in the independent claims that represent the highest concepts are described as optional components.

[0046] In addition, each drawing is a schematic diagram and is not necessarily an exact illustration. In addition, the same components are denoted by the same reference numerals in each drawing.

[0047] (Embodiment) 1 is a diagram showing an example of the configuration of a transport work system 10 according to the present embodiment. With reference to FIG. 1, an example of the configuration of the transport work system 10 will be described.

[0048] As shown in FIG. 1, the transport work system 10 in this embodiment includes a work management device 12, a transport robot control device 14, a plurality of transport robots 16, a plurality of supply units 18, an item stock section 20, a worker instruction terminal 22, and a mounting line system 24.

[0049] The work management device 12 is a device that manages transport work, which is work to transport items, and is located at a position where it can communicate with the transport robot control device 14. For example, the items are components that constitute part of a product produced in the mounting line system 24, or containers that house the components. In this embodiment, the items are cassette boxes that house components to be mounted on boards in the mounting line system 24. The work management device 12 does not communicate directly with the multiple transport robots 16, but instead obtains information about the multiple transport robots 16 from the transport robot control device 14. The work management device 12 manages the transport work performed by the multiple transport robots 16 based on the information obtained from the transport robot control device 14.

[0050] The transport robot control device 14 is a device that controls the multiple transport robots 16, and is arranged in a position where it can communicate with each of the multiple transport robots 16. The transport robot control device 14, together with the multiple transport robots 16, etc., constitutes a fleet management system (FMS). The transport robot control device 14 is a device separate from the work management device 12. The transport robot control device 14 transmits information acquired from the multiple transport robots 16 to the work management device 12, and causes the multiple transport robots 16 to perform transport work based on work instructions from the work management device 12.

[0051] Each of the multiple transport robots 16 is a robot that performs transport work, and performs the transport work based on commands from the transport robot control device 14. In this embodiment, each of the multiple transport robots 16 transports items using a supply unit 18. Specifically, each of the multiple transport robots 16 is coupled to a supply unit 18 on which an item is loaded, and transports the item by towing and moving the supply unit 18. Each of the multiple transport robots 16 waits in a standby area A1 when not performing a transport work. In this embodiment, each of the multiple transport robots 16 is an automated guided vehicle (AGV).

[0052] Each of the plurality of supply units 18 is a unit used for transport operations by the transport robot 16, is capable of loading an article, and is connectable to the transport robot 16. In this embodiment, each of the plurality of supply units 18 supplies a tape-like material stored in a cassette box to the destination mounting line system 24. When not being used for transport operations, each of the plurality of supply units 18 waits in the preparation area A2.

[0053] The item stock section 20 stocks items to be transported by the transport robot 16, and is arranged adjacent to the preparation area A2. The item stock section 20 stocks a plurality of items. For example, the item stock section 20 is a shelf or the like.

[0054] The worker instruction terminal 22 is a terminal for giving instructions to the worker 1, and is capable of communicating with the transport robot control device 14. For example, when the transport robot 16 performs a transport task, the transport robot control device 14 issues an instruction to the worker 1 via the worker instruction terminal 22, and the worker 1 who received the instruction loads the items stocked in the item stock section 20 onto the supply unit 18. Note that, for example, the transport robot 16 or the like, rather than the worker 1, may load the items stocked in the item stock section 20 onto the supply unit 18. For example, the worker instruction terminal 22 is a mobile terminal such as a smartphone or a tablet.

[0055] The mounting line system 24 is a production system that produces products using components transported by the transport robot 16. In this embodiment, the products are mounted boards, and the mounting line system 24 cuts out components from tape-like materials stored in cassette boxes transported by the transport robot 16 and mounts the components on boards to produce mounted boards. The mounting line system 24 includes multiple production lines L1 to L3, and each of the multiple production lines L1 to L3 produces a mounted board.

[0056] An example of the configuration of the transport work system 10 has been described above.

[0057] Fig. 2 is a block diagram showing an example of the functional configuration of the transport work system 10 of Fig. 1. An example of the functional configuration of the transport work system 10 will be described with reference to Fig. 2.

[0058] 2, the transport work system 10 further includes a production plan storage unit 26. The production plan storage unit 26, the work management device 12, the transport robot control device 14, the worker instruction terminal 22, and the mounting line system 24 are communicatively connected via a wired or wireless network.

[0059] The production plan storage unit 26 stores production plan information related to the production plan of the products to be produced by the mounting line system 24. For example, the production plan information includes information indicating the type of product, the number of products to be produced, information on the parts that make up the product, the scheduled production start time, and the scheduled production end time. For example, the production plan storage unit 26 is realized by a memory or the like.

[0060] The work management device 12 includes a work information generation unit 28, a request transmission unit 30, a condition suitability determination unit 32, a transport robot selection unit 34, a cancellation unit 36, and a work instruction unit 38. For example, the work management device 12 is realized by a processor, a memory, etc.

[0061] Based on the production plan information, the work information generation unit 28 generates work information related to the transport work to be performed by the multiple transport robots 16. The work information is information indicating the content of the transport work, and includes, for example, information indicating the type of item to be transported, the quantity of items to be transported, the scheduled start time of the transport work (deadline for starting the transport work), the scheduled end time of the transport work (deadline for finishing the transport work), and the destination of the items.

[0062] The request sending unit 30 sends a first request or a second request to the transport robot control device 14 to send a response including information about at least one transport robot 16 among the multiple transport robots 16. For example, the information is execution information regarding the execution of transport work by at least one transport robot 16 among the multiple transport robots 16. For example, the execution information includes information indicating the execution status, such as whether the transport work is being performed or is on standby, information indicating the reservation status, information indicating the period during which the transport work can be performed, and information indicating the time when the transport work can be started.

[0063] The first request is a request indicating that a task is to be performed by one of the multiple transport robots 16. In other words, the first request is a request to transmit a response including information about at least one of the multiple transport robots 16, and is a request indicating that a transport task is to be performed by one of the multiple transport robots 16. The second request is a request including a second condition for the transport robot that performs the transport task. In this embodiment, the second condition is a condition that the time at which the transport task can be started is before the deadline for starting the transport task.

[0064] The request sending unit 30 also sends a reservation request to the transfer robot control device 14 to reserve a transfer robot 16 from among the multiple transfer robots 16 that will perform the transfer task.

[0065] Based on the information about at least one transport robot 16 included in the response from the transport robot control device 14, the condition suitability determination unit 32 determines whether or not there is a first transport robot among the at least one transport robot 16 that satisfies the first condition for the transport robot that will perform the work. In this embodiment, the first condition is that the time at which the transport work can be started is before the deadline for starting the transport work. For example, the time at which the transport robot 16 can start moving from a standby state in the standby area A1. In other words, for a transport robot 16 that is currently performing a transport work, this is the time at which the transport robot 16 can start moving again after returning to the standby area A1.

[0066] When the condition suitability determination unit 32 determines that there are multiple first transport robots, the transport robot selection unit 34 selects one first transport robot from among the multiple first transport robots to perform the transport work. Furthermore, when there are multiple second transport robots extracted by the transport robot extraction unit 42, the transport robot selection unit 34 selects one second transport robot from among the multiple second transport robots to perform the transport work. The second transport robot will be described later.

[0067] The cancellation unit 36 ​​transmits a cancellation request to the transport robot control device 14 to cancel the reservation of the transport robot 16 that has been reserved based on the reservation request.

[0068] The work instruction unit 38 transmits a work instruction to the transport robot control device 14 to cause one of the at least one transport robots 16 to perform a transport task, based on the information of the at least one transport robot 16 included in the response from the transport robot control device 14. In this embodiment, the work instruction unit 38 transmits a work instruction to the reserved transport robot 16 to perform a transport task, based on the information of the at least one transport robot 16 included in the response from the transport robot control device 14.

[0069] The transport robot control device 14 includes a request reply unit 40, a transport robot extraction unit 42, a status information update unit 44, a storage unit 46, a work command unit 48, and a wireless communication unit 50. For example, the transport robot control device 14 is realized by a processor, a memory, etc.

[0070] In response to a request transmitted from the request transmitting unit 30, the request reply unit 40 transmits a reply including information on at least one of the multiple transport robots 16 to the work management device 12. For example, when a first request is transmitted from the request transmitting unit 30, the request reply unit 40 transmits a reply including information on one of the multiple transport robots 16. Specifically, for example, when a first request is transmitted from the request transmitting unit 30, the request reply unit 40 transmits a reply including information on a standby transport robot 16 among the multiple transport robots 16. Furthermore, for example, when a second request is transmitted from the request transmitting unit 30, the request reply unit 40 transmits a reply including information on a second transport robot 16 extracted by the transport robot extraction unit 42 from the multiple transport robots 16.

[0071] The transport robot extraction unit 42 extracts a second transport robot that meets the second condition from among the multiple transport robots 16. In this embodiment, the transport robot extraction unit 42 extracts the second transport robot based on information about the time when each of the multiple transport robots 16 is able to start transport work.

[0072] The status information update unit 44 updates the status information of the multiple transport robots 16. For example, the status information includes the identification number of each of the multiple transport robots 16, execution information of each of the multiple transport robots 16, and the like.

[0073] The storage unit 46 stores status information, etc. When the status information of the plurality of transfer robots 16 is updated by the status information update unit 44, the storage unit 46 stores the updated status information.

[0074] The work command unit 48 causes one of the plurality of transport robots 16 to perform the transport work based on the work instruction sent from the work instructing unit 38. In this embodiment, the work command unit 48 sends a command to a transport robot 16 that has been reserved in advance among the plurality of transport robots 16 to perform the transport work.

[0075] The wireless communication unit 50 is a communication module for wireless communication between the transport robot control device 14 and each of the plurality of transport robots 16 .

[0076] An example of the functional configuration of the transport work system 10 has been described above.

[0077] Fig. 3 is a flowchart showing an example of the operation of the transport work system 10 of Fig. 1. With reference to Fig. 3, an example of the operation of the transport work system 10 will be described.

[0078] 3, first, the work management device 12 generates work information (step S1). For example, the work information generation unit 28 calculates, based on the production plan information, which items should be transported, when, to which production line, and in what quantities, and generates work information including this information.

[0079] After generating the work information, the work management device 12 transmits a first request (simple request) to the transfer robot control device 14 (step S2).

[0080] When the transport robot control device 14 receives the first request from the work management device 12, it refers to the status information of the multiple transport robots 16 (step S3) and transmits a response including information on at least one of the multiple transport robots 16 to the work management device 12 (step S4). In one example of this operation, the request reply unit 40 transmits a response including the identification number (robot ID) of each of the multiple transport robots 16 and the time when each of the multiple transport robots 16 can start transport work.

[0081] When the work management device 12 receives the response from the transfer robot control device 14, it determines, based on the response, whether or not there is a first transfer robot among the multiple transfer robots 16 that meets the first condition (step S5). As described above, in this embodiment, the first condition is that the time at which the transfer operation can be started is before the deadline for starting the transfer operation. The condition suitability determination unit 32 determines that a first transfer robot exists if there is a transfer robot 16 among the multiple transfer robots 16 that can start the transfer operation before the deadline for starting the transfer operation. On the other hand, the work management device 12 determines that a first transfer robot does not exist if there is no transfer robot 16 among the multiple transfer robots 16 that can start the transfer operation before the deadline for starting the transfer operation.

[0082] If the first transport robot does not exist (No in step S5), the work management device 12 deletes the generated work information (step S6) and instructs the worker 1 to transport the item (step S7). In other words, if the first transport robot does not exist, the worker 1 performs the transport work instead of the multiple transport robots 16.

[0083] If a first transport robot is present (Yes in step S5), the work management device 12 selects a first transport robot to perform the transport task (step S8). For example, if there are multiple first transport robots, the transport robot selection unit 34 selects a first transport robot to perform the transport task from among the multiple first transport robots. For example, the transport robot selection unit 34 selects, among the multiple first transport robots, a first transport robot that can start the transport task earliest or a first transport robot with the most remaining battery power, as the first transport robot to perform the transport task. Furthermore, for example, if there is one first transport robot, the transport robot selection unit 34 selects that one first transport robot as the first transport robot to perform the transport task.

[0084] After selecting the first transport robot to perform the transport task, the work management device 12 transmits a reservation request to the transport robot control device 14 to reserve the first transport robot to perform the transport task (step S9).

[0085] When the transport robot control device 14 receives a reservation request from the work management device 12, it reserves the first transport robot indicated by the reservation request and updates the status information of the first transport robot (step S10). For example, the status information update unit 44 updates information indicating the reservation status of the first transport robot selected by the transport robot selection unit 34.

[0086] After transmitting the reservation request, the work management device 12 transmits a work instruction for causing the first transport robot reserved by the reservation request to perform the transport work (step S11). For example, the work instruction includes work information indicating the content of the transport work to be performed by the first transport robot.

[0087] When the transport robot control device 14 receives the work instruction from the work management device 12, it causes the reserved first transport robot to perform the transport work (step S12). For example, the work command unit 48 transmits a command to the reserved first transport robot to cause the first transport robot to perform the transport work. The first transport robot that receives the command performs the transport work based on the work information.

[0088] After causing the first transport robot to perform the transport task, the transport robot control device 14 updates the status information of the first transport robot (step S13). For example, the status information update unit 44 updates information indicating the execution status of the transport task of the first transport robot.

[0089] An example of the operation of the transport work system 10 has been described above.

[0090] For example, when the transport robot control device 14 transmits a response including information about one transport robot 16 to the work management device 12, and the one transport robot 16 satisfies the first condition, the transport robot 16 may be reserved without the work management device 12 transmitting a reservation request. In this case, for example, the one transport robot 16 may be reserved at the time when the transport robot control device 14 transmits a response including information about the one transport robot 16 to the work management device 12.

[0091] Fig. 4 is a flowchart showing another example of the operation of the transport work system 10 of Fig. 1. With reference to Fig. 4, another example of the operation of the transport work system 10 will be described. The operation shown in Fig. 4 differs from the example of the operation shown in Fig. 3 in that the transport robot control device 14 extracts a second transport robot that meets a second condition from among the multiple transport robots 16 and transmits a response including information about the extracted second transport robot. Below, the differences from the example of the operation shown in Fig. 3 will be mainly described.

[0092] As shown in FIG. 4, after generating the work information, the work management device 12 transmits a second request (a request including a second condition) to the transfer robot control device 14 (step S21).

[0093] When the transfer robot control device 14 receives the second request from the work management device 12, it refers to the status information of the multiple transfer robots 16 (step S3) and extracts a second transfer robot from the multiple transfer robots 16 that meets the second condition (step S22). As described above, in this embodiment, the second condition is that the time at which the transfer operation can be started is before the deadline for starting the transfer operation. The transfer robot extraction unit 42 extracts a second transfer robot from the multiple transfer robots 16 that can start the transfer operation before the deadline for starting the transfer operation. Note that if there is no second transfer robot from the multiple transfer robots 16 that can start the transfer operation before the deadline for starting the transfer operation, the transfer robot extraction unit 42 does not extract a second transfer robot.

[0094] When the transport robot control device 14 extracts the second transport robot, it transmits a response including information about the second transport robot to the work management device 12 (step S4). For example, if multiple second transport robots are extracted, the request reply unit 40 transmits a response including information about the multiple second transport robots, and if one second transport robot is extracted, it transmits a response including information about one second transport robot. Note that, for example, if no second transport robot exists, the request reply unit 40 transmits a response indicating that no second transport robot exists.

[0095] When the work management device 12 receives the response from the transport robot control device 14, it determines whether or not the second transport robot extracted by the transport robot control device 14 exists based on the response (step S23).

[0096] If the second transport robot extracted by the transport robot control device 14 does not exist (No in step S23), the work management device 12 deletes the generated work information (step S6) and instructs the worker 1 to transport the item (step S7). In other words, if the second transport robot does not exist, the worker 1 transports the item instead of the multiple transport robots 16.

[0097] If there is a second transport robot extracted by the transport robot control device 14 (Yes in step S23), the work management device 12 selects a second transport robot to perform the transport task (step S24). For example, if there are multiple second transport robots 16 extracted by the transport robot control device 14, the transport robot selection unit 34 selects a second transport robot to perform the transport task from among the multiple second transport robots. For example, the transport robot selection unit 34 selects, among the multiple second transport robots, a second transport robot that can start the transport task earliest or a second transport robot with the most remaining battery power, as the second transport robot to perform the transport task. Furthermore, for example, if there is one second transport robot extracted by the transport robot control device 14, the transport robot selection unit 34 selects one second transport robot as the second transport robot to perform the transport task.

[0098] After selecting the second transport robot to perform the transport work, the work management device 12 transmits a reservation request to the transport robot control device 14 to reserve the second transport robot to perform the transport work (step S9).

[0099] When the transport robot control device 14 receives the reservation request from the work management device 12, it reserves the second transport robot indicated by the reservation request and updates the status information of the second transport robot (step S10). For example, the status information update unit 44 updates information indicating the reservation status of the second transport robot selected by the transport robot selection unit 34.

[0100] After transmitting the reservation request, the work management device 12 transmits a work instruction for causing the second transport robot reserved by the reservation request to perform the transport work (step S11). For example, the work instruction includes work information indicating the content of the transport work to be performed by the second transport robot.

[0101] When the transport robot control device 14 receives the work instruction from the work management device 12, it causes the reserved second transport robot to perform the transport work (step S12). For example, the work command unit 48 transmits a command to the reserved second transport robot to cause the second transport robot to perform the transport work. The second transport robot that receives the command performs the transport work based on the work information.

[0102] After causing the second transport robot to perform the transport task, the transport robot control device 14 updates the status information of the second transport robot (step S13). For example, the status information update unit 44 updates information indicating the execution status of the transport task of the second transport robot.

[0103] An example of another operation of the transport work system 10 has been described above.

[0104] For example, when there is one second transport robot, the transport robot control device 14 may reserve the one second transport robot even if the work management device 12 does not send a reservation request. In this case, for example, the one second transport robot may be reserved at the time when the transport robot control device 14 sends a response including information about the second transport robot to the work management device 12.

[0105] Another example of the operation of the transport work system 10 has been described above.

[0106] According to the above-described transport work system 10, the work management device 12 can acquire information about at least one of the multiple transport robots 16 by sending a first request or a second request to the transport robot control device 14. In other words, the work management device 12 can cause the transport robot control device 14 to transmit the information by sending the first request or the second request, rather than waiting for the information to be unilaterally transmitted from the transport robot control device 14. This allows the work management device 12 to efficiently acquire the information and efficiently transmit work instructions based on the information, thereby enabling efficient transport of items.

[0107] Furthermore, since the first request indicates that the transport robot 16 is to be assigned to perform the transport task, the work management device 12 can more reliably acquire information about any one of the transport robots 16.

[0108] Furthermore, it can be determined whether or not a first transport robot that meets the first condition exists. If a first transport robot exists, the first transport robot can be made to perform the transport task. For example, it can be determined whether or not a transport robot suitable for performing the transport task exists, and if a transport robot suitable for performing the transport task exists, the transport robot can be made to perform the transport task, thereby enabling more efficient transport of items.

[0109] Furthermore, one first transport robot to perform the transport task can be selected from among the plurality of first transport robots. For example, the first transport robot that is most suitable for performing the transport task can be selected from among the plurality of first transport robots, and the selected first transport robot can be made to perform the transport task, thereby enabling more efficient transport of items.

[0110] Furthermore, among the multiple transport robots 16, the transport robot 16 that can start the transport work before the deadline for starting the transport work can be made to perform the transport work. In other words, the transport robot 16 that can start the transport work before the deadline for starting the transport work can be made to perform the transport work, so that delays in the transport of goods can be suppressed and goods can be transported more efficiently.

[0111] Furthermore, a second transport robot that meets the second condition can be extracted. Then, the second transport robot can be made to perform the transport task. For example, a transport robot suitable for performing the transport task can be extracted, and the transport robot can be made to perform the transport task, so that the items can be transported more efficiently.

[0112] Furthermore, one second transport robot to perform the transport task can be selected from among the plurality of second transport robots. For example, the second transport robot that is most suitable for performing the transport task can be selected from among the plurality of second transport robots, and the second transport robot can be made to perform the transport task, thereby enabling more efficient transport of items.

[0113] Furthermore, among the multiple transport robots 16, the transport robot 16 that can start the transport work before the deadline for starting the transport work can be made to perform the transport work. In other words, the transport robot 16 that can start the transport work before the deadline for starting the transport work can be made to perform the transport work, so that delays in the transport of goods can be suppressed and goods can be transported more efficiently.

[0114] Furthermore, since the status information of multiple transport robots 16 is stored, the request reply unit 40 can efficiently refer to this status information without acquiring it from multiple transport robots 16, and can efficiently send replies to the work management device 12, thereby enabling even more efficient transport of goods.

[0115] Furthermore, since each of the plurality of transport robots 16 is an automated guided vehicle (AGV), each of the plurality of transport robots 16 can be easily made to travel autonomously, thereby enabling articles to be transported more efficiently.

[0116] (Other variations) While the transport operation system according to one or more aspects has been described above based on the embodiments, the present disclosure is not limited to these embodiments. As long as the modifications do not deviate from the spirit of the present disclosure, modifications that would occur to those skilled in the art may also be included within the scope of the present disclosure.

[0117] In the example of operation in the above-described embodiment, the request reply unit 40 transmits a reply including the identification numbers (robot IDs) of the multiple transport robots 16 and the times when each of the multiple transport robots 16 is ready to start transport work. However, this is not limiting. For example, the request reply unit 40 may preferentially transmit information about a transport robot 16 that is waiting in the waiting area A1 among the multiple transport robots 16, and if there is no waiting transport robot 16 in the waiting area A1, may transmit information about a transport robot 16 that is currently performing a transport work. That is, for example, the information about at least one transport robot 16 included in the reply may preferentially include information about a waiting transport robot 16 among the multiple transport robots 16, and if there is no waiting transport robot 16, may include information about a transport robot 16 that is currently performing a transport work. In this case, it is easier to have a waiting transport robot 16 that is not currently performing a transport work perform the work, thereby preventing delays in the transport of items and more efficiently transporting items.

[0118] In the above-described embodiment, the case where each of the multiple transport robots 16 is an automated guided vehicle (AGV) has been described, but this is not limiting. For example, each of the multiple transport robots may be an autonomous mobile robot (AMR). In this case, each of the multiple transport robots 16 can be easily moved autonomously, thereby enabling more efficient transport of goods.

[0119] In the above-described embodiment, the case where each of the multiple transport robots 16 transports an item by towing and moving the supply unit 18 has been described, but this is not limiting. For example, each of the multiple transport robots may transport an item by pushing and moving the supply unit. Also, for example, each of the multiple transport robots may transport an item by loading an item onto itself and moving without using a supply unit.

[0120] In the above-described embodiment, the first condition is that the time when the transport operation can be started is before the deadline for starting the transport operation. However, the present invention is not limited to this. For example, the first condition may be that the transport robot 16 is on standby. In this case, a transport robot 16 that is not performing a transport operation and is on standby is the first transport robot that satisfies the first condition. For example, in this case, the work management device 12 may send a work instruction to the first transport robot to perform the transport operation without sending a reservation request to reserve the first transport robot. Also, for example, the first condition may be that the remaining battery charge is the highest. In this case, the transport robot 16 with the highest remaining battery charge is the first transport robot that satisfies the first condition.

[0121] In the above-described embodiment, the second condition is that the time when the transport operation can be started is before the deadline for starting the transport operation. However, the second condition is not limited to this. For example, the second condition may be that the transport robot 16 is on standby. In this case, a transport robot 16 that is not performing a transport operation and is on standby is the second transport robot that meets the second condition. For example, in this case, the work management device 12 may send a work instruction to the second transport robot to perform the transport operation without sending a reservation request to reserve the second transport robot. Furthermore, for example, the second condition may be that the remaining battery power is the highest. In this case, the transport robot 16 with the highest remaining battery power is the second transport robot that meets the second condition.

[0122] In the above-described embodiments, each component may be configured with dedicated hardware, or may be realized by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a CPU (Central Processing Unit) or processor reading and executing a software program recorded on a recording medium such as a hard disk or semiconductor memory. Here, the software that realizes the devices and the like of the above-described embodiments is a program that causes a computer to execute each step included in the flowcharts shown in Figures 3 and 4. [Industrial Applicability]

[0123] The present disclosure is applicable to systems for transporting components for producing mounted boards on which components are mounted. [Explanation of symbols]

[0124] 10. Transport Work System 12 Work management device 14. Transport robot control device 16 Transport robot 18 Supply Unit 20 Goods Stock Department 22 Worker instruction terminal 24 Mounting Line System 26 Production plan memory section 28 Work information generation section 30 Request sending section 32 Condition suitability determination section 34 Transport robot selection section 36 Cancellation Section 38 Work instruction department 40 Request Response Section 42 Transport Robot Extraction Unit 44 Status information update section 46 Memory section 48 Operation Command Center 50 Radio Communication Department

Claims

1. a plurality of transport robots that perform work to transport items; a transport robot control device that controls the plurality of transport robots; a work management device capable of communicating with the transport robot control device, The work management device a request sending unit that sends a request to the transport robot control device to cause the transport robot control device to send a response including information about the plurality of transport robots; a work instruction unit that transmits a work instruction to the transport robot control device to cause one of the plurality of transport robots to perform the work based on information about the plurality of transport robots included in the response, The transport robot control device a storage unit that stores status information including information on a time when each of the plurality of transport robots is able to start the work; a request reply unit that refers to the status information in response to the request sent from the request sending unit and sends the reply to the work management device; a work command unit that causes one of the plurality of transport robots to perform the work based on the work instruction transmitted from the work instruction unit, The work management device further comprises: a condition suitability determination unit that determines whether or not a first transport robot that satisfies a first condition for a transport robot that performs the work exists among the plurality of transport robots based on information about the plurality of transport robots included in the response; and a transport robot selection unit that selects one first transport robot to perform the work from among the plurality of first transport robots when the condition suitability determination unit determines that a plurality of first transport robots exist, Transport work system.

2. the request indicates a desire to have any one of the plurality of transport robots perform the task; The transport work system according to claim 1 .

3. the information about the plurality of transport robots includes information about a time when each of the plurality of transport robots is able to start the work; The first condition is a condition that the time when the work can be started is a time before a deadline for starting the work. The transport work system according to claim 1 .

4. The information on the plurality of transport robots includes, among the plurality of transport robots, information on a standby transport robot, and when there is no standby transport robot, includes information on a transport robot currently performing the work. The transport work system according to any one of claims 1 to 3.

5. Each of the plurality of transport robots is an automated guided vehicle (AGV). The transport work system according to any one of claims 1 to 4.

6. Each of the plurality of transport robots is an autonomous mobile transport robot (AMR). The transport work system according to any one of claims 1 to 4.

7. a transfer robot control device that controls a plurality of transfer robots that perform work to transfer items, the work management device being capable of communicating with the transfer robot control device, the work management device comprising: a request sending unit that sends a request to the transfer robot control device to cause the transfer robot control device to send a response including information on the plurality of transfer robots; a work instruction unit that sends a work instruction to the transfer robot control device to cause one of the plurality of transfer robots to perform the work, based on the information on the plurality of transfer robots included in the response; a condition suitability determination unit that determines whether or not there is a first transfer robot among the plurality of transfer robots that satisfies a first condition for the transfer robot that performs the work, based on the information on the plurality of transfer robots included in the response; and a transfer robot selection unit that selects one first transfer robot from the plurality of first transfer robots to perform the work, when the condition suitability determination unit determines that there are multiple first transfer robots; a storage unit that stores status information including information on a time when each of the plurality of transport robots is able to start the work; a request reply unit that refers to the status information in response to the request sent from the request sending unit and sends the reply to the work management device; a work command unit that causes any one of the plurality of transport robots to perform the work based on the work instruction transmitted from the work instruction unit, Transport robot control device.

8. a plurality of transport robots that perform work to transport items; a transport robot control device that controls the plurality of transport robots; A control method for a transport work system including a work management device capable of communicating with the transport robot control device, The work management device transmitting a request to the transport robot control device to cause it to transmit a response including information on the plurality of transport robots; transmits, to the transport robot control device, a work instruction for causing one of the plurality of transport robots to perform the work based on the information of the plurality of transport robots included in the response; The transport robot control device storing status information including information on the time when each of the plurality of transport robots is able to start the work; In response to the request transmitted from the work management device, referencing the status information and transmitting the response to the work management device; causing any one of the plurality of transport robots to perform the work based on the work instruction transmitted from the work management device; The work management device further comprises: determining whether or not a first transport robot that satisfies a first condition for a transport robot that performs the work is present among the plurality of transport robots based on information about the plurality of transport robots included in the response; When it is determined that a plurality of first transport robots exist, one first transport robot to perform the work is selected from the plurality of first transport robots. A method for controlling a transport operation system.

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