Simulation device, operation management device, and operation management program

Abstract

In the present invention, a virtual system (40) can communicate with a conveyance control device (30). The virtual system (40) is provided with a simulation unit (42). The simulation unit (42) performs a simulation for causing a virtual automatic conveyance machine (A) to travel on the basis of communication from a third communication unit (34) having the virtual automatic conveyance machine (A) as a transmission destination. The simulation unit (42) transmits, to the conveyance control device (30), travel status data including the travel position of the virtual automatic conveyance machine (A), such data serving as the simulation results.

Description

Simulation device, traffic control device, traffic control program

[0001] The present disclosure relates to a simulation device, a traffic management device, and a traffic management program.

[0002] The simulation means described in Patent Document 1 simulates a production system, such as the flow of work on a production line. The simulation means has a layout input means, a parameter definition means, and a program editing means. The layout input means is used to input layout information indicating the layout of the equipment. The parameter definition means is used to set various parameters required for simulation, such as the operating speed of the automated guided vehicle. The program editing means is used to edit a common control program. The common control program defines the operation of the work at the station where the work is placed, the transportation of the work between stations, etc. The simulation means simulates the production system by executing the common control program while referencing the layout information and various parameters described above.

[0003] JP 2008-59321 A

[0004] There are cases where it is desired to reproduce in an actual production system the results of a simulation performed by a simulation means such as that described in Patent Document 1. However, the simulation means described in Patent Document 1 does not pay any attention to how to efficiently apply the results of the simulation to an actual production system.

[0005] In order to solve the above problems, one aspect of the present disclosure is a simulation device capable of communicating with an operation management device, the simulation device comprising a control unit that generates data for running an automatic conveying device, and a communication unit that can communicate with the automatic conveying device as a communication partner, the simulation device comprising a simulation unit that performs a simulation of running the automatic conveying device in a virtual environment based on communication from the communication unit that has the automatic conveying device in a virtual environment as a destination, and transmits running status data including the running position of the automatic conveying device in a virtual environment to the operation management device as a result of the simulation.

[0006] Furthermore, one aspect of the present disclosure is an operation management device that includes a control unit that generates data for running an automatic conveying machine, and a communication unit that is capable of communicating with the automatic conveying machine as a communication partner and that is capable of communicating with a virtual system that virtualizes the running of the automatic conveying machine as a communication partner for the automatic conveying machine in the virtual environment, wherein the control unit executes a transmission process that transmits a signal for running the automatic conveying machine in the virtual environment to the automatic conveying machine in the virtual environment via the communication unit.

[0007] Furthermore, one aspect of the present disclosure is an operation management program applicable to an operation management device that includes a control unit that generates data for running an automatic conveying machine, and a communication unit that is capable of communicating with the automatic conveying machine as a communication partner and that is capable of communicating with a virtual system that virtualizes the running of the automatic conveying machine as a communication partner with the automatic conveying machine in a virtual environment, wherein the operation management program causes the control unit to execute a transmission process that transmits a signal for running the automatic conveying machine in a virtual environment to the automatic conveying machine in a virtual environment via the communication unit.

[0008] According to the above configuration, the simulation results can be efficiently applied to an actual production system.

[0009] Fig. 1 is a schematic diagram of a traffic management system including a traffic management device and a simulation device, Fig. 2 is a conceptual diagram showing layout information, and Fig. 3 is a sequence diagram showing a series of processes when a traffic management program is executed.

[0010] An embodiment of a traffic management system including a traffic management device and a simulation device will be described below with reference to the drawings. <Regarding the Traffic Management System> As shown in Fig. 1, a traffic management system 10 includes a transport instruction device 20 and a transport control device 30. The transport instruction device 20 and the transport control device 30 are configured as separate computers, for example. The transport control device 30 functions as a traffic management device.

[0011] The operation system 10 is capable of transmitting signals to other devices. The signals include instructions regarding the travel of the automatic conveying vehicle A. For example, the operation system 10 is capable of transmitting signals to an actual production factory 50. The production factory 50 includes multiple automatic conveying vehicles A and multiple pieces of equipment E. The operation system 10 is capable of transmitting signals to each of these automatic conveying vehicles A and each piece of equipment E. Each automatic conveying vehicle A and each piece of equipment E performs an operation in accordance with the received signal. In this embodiment, the production factory 50 refers to a collection of equipment E and automatic conveying vehicles A that are operated as a unit. In FIG. 1, the automatic conveying vehicles A and equipment E are schematically illustrated.

[0012] The operation system 10 can also send signals to the virtual system 40. The virtual system 40 is a simulation device that simulates the travel of the automatic conveyance vehicle A. In other words, the virtual system 40 functions as an emulator that simulates an actual production factory 50.

[0013] <Virtual System> The virtual system 40 includes a system communication unit 41 , a simulation unit 42 , an input device 43 , and an internal bus 44 .

[0014] The system communication unit 41 can communicate with the transport control device 30. The system communication unit 41 can send and receive signals to and from the transport control device 30. The system communication unit 41 can communicate with targets via a network interface device that uses one of multiple communication protocols (e.g., Internet Protocol (IP), Transmission Control Protocol (TCP), User Datagram Protocol (UDP), Hypertext Transfer Protocol (HTTP), etc.). In an actual production system, the communication method used when the operation system 10 and the automatic transport vehicle A communicate is wireless communication. The communication method used when the operation system 10 communicates with equipment E can be either wireless communication or wired communication. In the simulation, the communication method used when the operation system 10 and the system communication unit 41 of the virtual system 40 communicate can be wireless communication or wired communication. Specifications such as the communication bandwidth and communication speed may differ from those used in an actual production system.

[0015] The simulation unit 42 imagines automatic conveying vehicles A of the same type and number as the automatic conveying vehicles A in the actual production factory 50. The simulation unit 42 also imagines equipment E of the same type and number as the equipment E in the actual production factory 50. That is, in this embodiment, the simulation unit 42 imagines a three-dimensional space that imitates the actual production factory 50. Note that the "virtual space" is not limited to whether or not a three-dimensional space is actually imagined, as long as it can be used to imagine the travel of the automatic conveying vehicles A, etc.

[0016] Furthermore, when the simulation unit 42 receives a signal from the operation system 10 via the system communication unit 41, it performs a simulation in the virtual space of the virtual automated conveyance vehicle A and the virtual equipment E in response to the signal. In other words, the simulation unit 42 is configured to simulate the traveling of the automated conveyance vehicle A in the virtual three-dimensional space.

[0017] The input device 43 is a device such as a keyboard or a pointing device. However, the input device 43 may also be a touch panel tablet terminal. The input device 43 may also be a computer terminal such as a desktop personal computer, a laptop computer, or a PLC (Programmable Logic Controller). Furthermore, the virtual system 40 may have an output device such as a display in addition to the input device 43.

[0018] The internal bus 44 interconnects the system communication unit 41, the simulation unit 42, and the input device 43 so that they can communicate with one another. Although not shown, the virtual system 40 also includes peripheral circuits such as a power supply circuit and a clock circuit.

[0019] <Transportation Instruction Device> The transport instruction device 20 includes a first control unit 21 , a first storage unit 22 , a first communication unit 23 , and a first internal bus 24 .

[0020] The first control unit 21 is a circuit including one or more processors. Note that the first control unit 21 may be a circuit including one or more dedicated hardware circuits such as an application specific integrated circuit (ASIC), or a combination thereof.

[0021] The first storage unit 22 is a storage medium readable by the first control unit 21. The first storage unit 22 stores various processes executed by the first control unit 21 in the form of program data. The first storage unit 22 also stores in advance various control values ​​required for the various processes executed by the first control unit 21. Therefore, the above-mentioned first control unit 21 executes various processes based on the program data stored in the first storage unit 22.

[0022] The first communication unit 23 is capable of communicating with the transport control device 30. The communication method of the first communication unit 23 is determined by various standards such as IEEE 802.11. The first internal bus 24 connects the first control unit 21, the first storage unit 22, and the first communication unit 23 so that they can communicate with each other. Although not shown, the transport instruction device 20 also includes peripheral circuits such as a battery, a power supply circuit, and a clock circuit.

[0023] <Processing Executed by Transportation Instructing Device> The following describes processing executed by the transportation instructing device 20. The following describes an example where the operation system 10 selects the virtual system 40 as a communication partner.

[0024] The first control unit 21 is capable of executing a plan acquisition process. The plan acquisition process is a process for acquiring a simulation plan. The simulation plan includes the number of products to be manufactured in the simulation, the number of automatic conveying machines A in the virtual environment, and the travel parameters of each automatic conveying machine A in the virtual environment. In other words, the simulation plan is information necessary for the virtual system 40 to execute a simulation. Furthermore, the number of automatic conveying machines A in the virtual environment may be one or more.

[0025] The first control unit 21 executes a plan acquisition process by acquiring information about the simulation plan input via an input device (not shown) of the transport instruction device 20. When the operation system 10 selects the actual production factory 50 as the communication partner, the first control unit 21 acquires the same content as the simulation plan as a manufacturing plan in the plan acquisition process.

[0026] The travel parameters include the type, performance information, and operation information of each virtual automated guided vehicle A. The type of automated guided vehicle A is either an AGV (Automatic Guided Vehicle) or an AMR (Autonomous Mobile Robot). An AGV is a travel method that travels along a guide such as a magnetic tape. An AMR is a travel method that does not require a guide for travel. All types of automated guided vehicles A can travel independently. Note that depending on the automated guided vehicle A used, products can be loaded and unloaded independently.

[0027] The performance information of the automatic guided vehicle A includes, for example, values ​​of the travel speed, acceleration, and turning speed of the automatic guided vehicle A under virtual conditions. The travel speed of the automatic guided vehicle A here refers to a speed selected from the maximum speed and minimum speed at which the automatic guided vehicle A can travel most stably. In this way, the travel parameters are information including the travel speed of the automatic guided vehicle A. When multiple automatic guided vehicles A are virtualized, AGVs and AMRs may be mixed, and multiple types of AGVs with different travel parameters or multiple types of AMRs with different travel parameters may be mixed.

[0028] An example of the operation information of the automatic conveying machine A is information on whether forward movement, backward movement, right turn, left turn, stop, precision stop, emergency stop, lift-up, lift-down, etc. In the travel parameters, information on whether each of the above operations can be performed is defined as operation information.

[0029] The first control unit 21 is capable of executing a layout acquisition process. The layout acquisition process is a process for acquiring layout information. The layout information includes type information of equipment E in the simulation, position information of multiple pieces of equipment E in the simulation, and information about a route R that can be traveled by the automatic conveying device A. The first control unit 21 executes the layout acquisition process by acquiring information about the layout information input via an input device (not shown) that the conveying instruction device 20 has.

[0030] As shown in FIG. 2 , the type information of the equipment E is, for example, any one of an elevator EV, a processing equipment M, an inspection device, etc. The type information also includes information regarding the time from when the equipment E starts operating to when one cycle of operation is completed. Here, the time until one cycle of operation is completed is, for example, the time it takes for the elevator EV to ascend and descend from a predetermined floor to another floor, if the equipment E is an elevator EV. Furthermore, the time until one cycle of operation is completed is, for example, the time it takes for the processing equipment M to start processing and finish processing, if the equipment E is processing equipment M. The position information is information indicating the positional relationships, etc., of each equipment E, product loading platform LP, product unloading platform DP, etc. within the factory. Note that the time until one cycle of operation is completed is not limited to the above example.

[0031] 2, the position information of the plurality of pieces of equipment E indicates the positions of the plurality of pieces of equipment E in the simulation. The position information of the plurality of pieces of equipment E is shown, for example, as a map. That is, the position information of the plurality of pieces of equipment E reflects the position of each piece of equipment E and the distance between each piece of equipment E. Here, the position information of the plurality of pieces of equipment E will be described as indicating the positional relationship between six pieces of equipment M, namely, a first processing equipment M1 to a sixth processing equipment M6, one elevator EV, a loading platform LP, and a unloading platform DP.

[0032] The travelable route R of the automated guided vehicle A is determined based on the position information of multiple facilities E. The travelable route R indicates a hypothetical route that the automated guided vehicle A can travel on a map. In this example, ten travelable routes R, namely, a first route R1 to a tenth route R10, are set. The first route R1 is a route from the loading platform LP to the first processing facility M1. The second route R2 is a route from the first processing facility M1 to the elevator EV. The third route R3 is a route from the elevator EV to the second processing facility M2. The fourth route R4 is a route from the elevator EV to the third processing facility M3. The fifth route R5 is a route from the second processing facility M2 to the fourth processing facility M4. The sixth route R6 is a route from the third processing facility M3 to the fourth processing facility M4. The seventh route R7 is a route from the third processing facility M3 to the fifth processing facility M5. The eighth route R8 is a route from the fourth processing equipment M4 to the sixth processing equipment M6. The ninth route R9 is a route from the fifth processing equipment M5 to the sixth processing equipment M6. The tenth route R10 is a route from the fifth processing equipment M5 to the unloading platform DP. In other words, the layout information includes information about the processing equipment M located on the drivable route R.

[0033] The first control unit 21 executes a table allocation request acquisition process. In the table allocation request acquisition process, the first control unit 21 calculates a table allocation request based on the simulation plan and layout information. The table allocation request is the number of automatic conveying machines A required for each piece of equipment E over time. Specifically, the table allocation request indicates the number of automatic conveying machines A required by each piece of equipment E at a certain time in order to achieve the number of products to be manufactured in the simulation plan. In this embodiment, the first control unit 21 calculates the table allocation request itself. Therefore, "acquire" is not limited to cases where information is obtained from another device, but also includes cases where the first control unit 21 calculates information itself.

[0034] The first control unit 21 executes a unit allocation plan acquisition process. The first control unit 21 calculates a unit allocation plan based on the unit allocation request. The unit allocation plan indicates when each automatic conveying vehicle A will arrive at equipment E. For example, assume that the unit allocation request calculated in the unit allocation request acquisition process indicates that the first processing equipment M1 requires two automatic conveying vehicles A at a certain time. In this case, in the unit allocation plan acquisition process, the first control unit 21 determines which automatic conveying vehicle A should be moved to the first processing equipment M1. By repeating this process, it is determined when each automatic conveying vehicle A will arrive at equipment E. In the unit allocation plan acquisition process, the first control unit 21 calculates a unit allocation plan so that, for example, the travel distance of each automatic conveying vehicle A is shortened.

[0035] <Regarding the transport control device> As shown in FIG. 1 , the transport control device 30 includes a second control unit 31, a second storage unit 32, a second communication unit 33, a third communication unit 34, and a second internal bus 35.

[0036] The second control unit 31 generates data for driving the automatic conveyor A. The second control unit 31 is a circuit including one or more processors. Note that the second control unit 31 may be a circuit including one or more dedicated hardware circuits such as an application specific integrated circuit (ASIC), or a combination thereof.

[0037] The second storage unit 32 is a storage medium readable by the second control unit 31. The second storage unit 32 stores various processes executed by the second control unit 31 in the form of program data. Specifically, the second storage unit 32 stores an operation management program P that executes a series of operations for operation control. Note that the operation management program P can also be used when the communication partner of the transport control device 30 is the actual production factory 50. The second storage unit 32 also stores in advance various control values ​​required for the various processes executed by the second control unit 31. Therefore, the above-described second control unit 31 executes various processes based on the program data stored in the second storage unit 32.

[0038] The second communication unit 33 is capable of communicating with the transport instruction device 20. The communication method of the second communication unit 33 is the same as that of the first communication unit 23. Specifically, the second communication unit 33 receives layout information, a simulation plan, and a table allocation plan from the transport instruction device 20. The received information is stored in the second storage unit 32 based on the operation of the second control unit 31.

[0039] The third communication unit 34 is capable of communicating with the actual production factory 50. Specifically, the third communication unit 34 is capable of communicating with the actual automatic conveying machine A and the actual equipment E. The third communication unit 34 is capable of transmitting route information regarding the travel route to each actual automatic conveying machine A, and is also capable of receiving travel status data including the travel position of the automatic conveying machine A from the automatic conveying machine A.

[0040] Furthermore, the communication partner of the third communication unit 34 can be changed to the virtual system 40 by the operator of the transport control device 30. The third communication unit 34 can send and receive signals to and from the system communication unit 41. The third communication unit 34 can also communicate with the virtual system 40 using the virtual automatic transport vehicle A as its communication partner. In this way, when the third communication unit 34 uses the virtual automatic transport vehicle A as its communication partner, the third communication unit 34 executes transmission using a communication protocol that is newly set in the virtual automatic transport vehicle A. In other words, by communicating with the virtual system 40, the third communication unit 34 can simulate communication with the virtual automatic transport vehicle A.

[0041] The third communication unit 34 can communicate with the target via a network interface device that utilizes any one of a number of communication protocols (e.g., Internet Protocol (IP), Transmission Control Protocol (TCP), User Datagram Protocol (UDP), Hypertext Transfer Protocol (HTTP), etc.).

[0042] The second internal bus 35 interconnects the second control unit 31, the second storage unit 32, the second communication unit 33, and the third communication unit 34 so that they can communicate with one another. Although not shown, the transport control device 30 also includes peripheral circuits such as a power supply circuit and a clock circuit.

[0043] <Processing Executed by the Transfer Control Device> As described above, the transfer control device 30 can communicate with the virtual system 40. When the transfer control device 30 is communicating with the virtual system 40, the transfer control device 30 causes the virtual system 40 to simulate the virtual operation of the automated transfer device A. In other words, the simulation unit 42 of the virtual system 40 simulates the virtual operation of the automated transfer device A based on communication from the third communication unit 34, which has the virtual automated transfer device A as the destination. In the simulation, the virtual system 40 simulates the operation of the automated transfer device A in a virtual three-dimensional space. Also, as described above, the transfer control device 30 can select the actual production factory 50 as its communication partner. In this case, the transfer control device 30 can transmit the simulation results, including the travel route of the automated transfer device A simulated in the virtual system 40, to the actual production factory 50 as an actual manufacturing plan. In other words, by enabling communication with the actual production factory 50, the transfer control device 30 can reproduce the content simulated using the virtual system 40 in the actual production factory 50.

[0044] The transport control device 30 can also receive signals from the virtual system 40. In other words, the simulation unit 42 of the virtual system 40 transmits the driving situation data obtained as a result of the simulation to the second control unit 31 of the transport control device 30 via the system communication unit 41.

[0045] The following describes the processing executed by the transport control device 30. Note that the following describes a representative example in which the operation system 10, i.e., the transport control device 30, selects the virtual system 40 as a communication partner.

[0046] The second control unit 31 is capable of executing a layout acquisition process, a parameter acquisition process, a unit allocation plan acquisition process, a route determination process, a transmission process, a specific information acquisition process, and a storage process.

[0047] The layout acquisition process is a process for acquiring layout information regarding the positions of multiple facilities E and the drivable routes R between the facilities E. The second control unit 31 acquires the layout information stored in the first storage unit 22 of the transport instruction device 20 by receiving it via the second communication unit 33.

[0048] The parameter acquisition process is a process for acquiring travel parameters including the travel speed of the automatic conveying machine A. The second control unit 31 acquires the travel parameters stored in the first storage unit 22 of the conveyance instruction device 20 by receiving them via the second communication unit 33.

[0049] The unit allocation plan acquisition process is a process for acquiring the unit allocation plan. The second control unit 31 acquires the unit allocation plan by receiving the unit allocation plan stored in the first storage unit 22 of the transport instruction device 20 via the second communication unit 33.

[0050] The route determination process determines a travel route for each virtual automated guided vehicle A based on a vehicle allocation plan. For example, as shown in FIG. 2 , the vehicle allocation plan specifies the times at which a certain automated guided vehicle A will arrive at the loading platform LP, the first processing equipment M1, the elevator EV, the third processing equipment M3, the fifth processing equipment M5, and the unloading platform DP. In this case, the second control unit 31 first selects a travel route that satisfies the vehicle allocation plan in the route determination process. For example, the second control unit 31 selects the first route R1, the second route R2, the fourth route R4, the seventh route R7, and the tenth route R10 as travel routes that satisfy the vehicle allocation plan. The second control unit 31 then performs the route determination process by determining the time at which each selected travel route will be traveled.

[0051] The transmission process is a process of transmitting a signal for causing the virtual automated guided vehicle A to travel based on the travel route determined in the route determination process. The second control unit 31 executes the transmission process by transmitting the signal to the virtual automated guided vehicle A via the third communication unit 34. Specifically, the second control unit 31 transmits the signal to the virtual system 40. The virtual system 40, which receives the signal, causes the virtual automated guided vehicle A to travel or operate in accordance with the content of the signal. In other words, "the second control unit 31 transmitting a signal to the virtual system 40" is synonymous with the second control unit 31 transmitting a signal to the virtual automated guided vehicle A. In other words, in this embodiment, "transmitting a signal to the virtual system 40" includes "transmitting a signal to the virtual automated guided vehicle A." The signal for causing the virtual automated guided vehicle A to travel can also be considered data for causing the virtual automated guided vehicle A to travel.

[0052] In the transmission process, the second control unit 31 can transmit route information regarding the travel route to the virtual system 40 via the third communication unit 34. Note that the route information includes, in addition to the travel route, operation information of the automatic guided vehicle A linked to time.

[0053] The virtual system 40 receives the signal via the system communication unit 41. The simulation unit 42 of the virtual system 40 causes each automated guided vehicle A in the virtual environment to travel based on the travel route. That is, the virtual system 40 executes a simulation of the automated guided vehicle A traveling in the virtual environment based on the signal received in the transmission process. "The virtual system 40 executes a simulation" means that the virtual system 40 causes each automated guided vehicle A in the virtual environment to travel along the travel route based on the signal transmitted from the second control unit 31, and executes the operation information included in the route information.

[0054] Furthermore, while the simulation unit 42 is executing the simulation, the second control unit 31 can receive driving status data, including the driving position of each automatic conveying machine A, from the virtual system 40 via the third communication unit 34. In other words, the simulation unit 42 of the virtual system 40 can transmit driving status data of the virtual automatic conveying machine A to the conveyance control device 30 via the system communication unit 41. As a result, the second control unit 31 can receive driving status data, including the driving position of each automatic conveying machine A under the virtual environment, from the virtual automatic conveying machine A via the third communication unit 34.

[0055] Furthermore, the signal transmitted and received by the second control unit 31 via the third communication unit 34 is one of the simulation results. Specifically, the signal related to the running status data is also one of the simulation results. Therefore, when the simulation unit 42 transmits the running status data of the hypothetical automatic conveying machine A to the conveyance control device 30 via the system communication unit 41, this is equivalent to transmitting the simulation result to the conveyance control device 30.

[0056] Furthermore, while the simulation unit 42 is executing the simulation, the second control unit 31 can send a signal to the virtual system 40 to change the virtual driving details of each automatic guided vehicle A based on the virtual driving status data of each automatic guided vehicle A. Specifically, the second control unit 31 can send a signal to change the virtual driving details of each automatic guided vehicle A so that multiple automatic guided vehicles A are not located in the same place at the same time. The signal sent and received by the second control unit 31 via the third communication unit 34 is stored in the second storage unit 32 as one of the simulation results.

[0057] The specific information acquisition process is a process for acquiring specific information. The specific information is information regarding the travel of the automatic conveying machine A in a virtual environment that is not shown in the allocation plan. The specific information includes, for example, information regarding a sudden allocation request for the automatic conveying machine A in a virtual environment. The sudden allocation request is an instruction that includes placing a specific automatic conveying machine A in a virtual environment at a specified position.

[0058] While the simulation unit 42 of the virtual system 40 is executing a simulation, a signal related to such specific information may be input to the simulation unit 42. For example, suppose that the simulation unit 42 receives the specific information via the input device 43 of the virtual system 40. In this case, the virtual system 40 transmits the specific information to the transport control device 30. Then, the second control unit 31 receives the specific information via the third communication unit 34 and executes a specific information acquisition process.

[0059] In the storage process, the second control unit 31 stores the hypothetical travel details of the automated guided vehicle A after being changed in accordance with the travel situation data in the second storage unit 32. That is, the second control unit 31 stores the simulation results in the second storage unit 32. The simulation results are not limited to the travel details, and may also include the total travel time, standby time, and instruction waiting time of each automated guided vehicle A in the hypothetical situation.

[0060] <Regarding Operation Control Executed by the Transport Control Device> An example of operation control executed by the transport control device 30 will be described as shown in Fig. 3. In the following description, it is assumed that the layout information has the content as shown in Fig. 2.

[0061] First, the second control unit 31 executes a layout acquisition process by executing the operation management program P stored in the second storage unit 32 of the transport control device 30. Specifically, the second control unit 31 receives layout information stored in the first storage unit 22 of the transport instruction device 20 via the second communication unit 33. As described above, this layout information includes type information of the equipment E in the virtual space simulated by the virtual system 40, position information of the multiple pieces of equipment E in the simulation, and information on the possible travel route R of the automatic transport vehicle A.

[0062] Next, the second control unit 31 executes a parameter acquisition process. Specifically, the second control unit 31 receives a simulation plan including the travel parameters and the like stored in the first storage unit 22 of the transportation instruction device 20 via the second communication unit 33.

[0063] Next, the second control unit 31 executes a unit allocation plan acquisition process. Specifically, the second control unit 31 receives the unit allocation plan stored in the first storage unit 22 of the transport instruction device 20 via the second communication unit 33.

[0064] Next, the second control unit 31 executes a route determination process. Specifically, the second control unit 31 determines route information regarding the virtual travel route of each automated guided vehicle A based on the allocation plan as described above.

[0065] Then, the second control unit 31 executes a transmission process. Specifically, the second control unit 31 transmits route information regarding the travel route determined in the route determination process to the virtual system 40 via the third communication unit 34. In other words, the transmission process is a process of transmitting a signal for causing the virtual automated guided vehicle A to travel via the third communication unit 34 to the virtual automated guided vehicle A based on the allocation plan. The second control unit 31 can execute the transmission process multiple times as necessary. The route information includes the travel route and operation information of each virtual automated guided vehicle A. Then, the simulation unit 42 of the virtual system 40 starts a simulation. That is, the virtual system 40 causes each virtual automated guided vehicle A to travel along the route information.

[0066] The simulation unit 42 of the virtual system 40 transmits virtual driving status data of the automated guided vehicles A to the second control unit 31 at predetermined intervals via the system communication unit 41. In other words, the second control unit 31 receives driving status data, including the driving positions of each automated guided vehicle A, from the automated guided vehicles A via the third communication unit 34. The second control unit 31 transmits and receives these signals simultaneously and in parallel with respect to all the automated guided vehicles A. As described above, the second control unit 31 stores the signals transmitted and received via the third communication unit 34 in the second storage unit 32 as one of the simulation results. Note that FIG. 3 omits the transmission process and part of the transmission of driving status data from the virtual system 40 to the transport control device 30. Note that the simulation unit 42 of the virtual system 40 may transmit driving status data in response to a request for driving status data from the transport control device 30, rather than at predetermined intervals.

[0067] Also, assume that at a certain point in time, specific information is input to the simulation unit 42 via the input device 43. The virtual system 40 transmits the specific information to the second control unit 31. Then, the transport control device 30 receives the specific information via the third communication unit 34 and executes the specific information acquisition process.

[0068] For example, in the example shown in FIG. 3 , the specific information is an instruction to place one of the virtual automated guided vehicles A at the third processing facility M3. When the second control unit 31 receives the specific information, it calculates the virtual travel route of the virtual automated guided vehicle A as follows. First, the second control unit 31 selects the virtual automated guided vehicle A closest to the third processing facility M3 based on the current positions of each virtual automated guided vehicle A and the layout information. Then, the second control unit 31 determines the shortest travelable route R from the virtual automated guided vehicle A to the third processing facility M3 as the travel route. Then, the second control unit 31 transmits the determined travel route to the virtual system 40 via the third communication unit 34. That is, the second control unit 31 transmits a signal to the virtual system 40 via the third communication unit 34 to cause the virtual automated guided vehicle A to travel based on the specific information. The simulation unit 42 of the virtual system 40 causes the virtual automated guided vehicle A to travel based on the received travel route. At this time, even if a driving route determined in the route determination process is defined for the automatic transport vehicle A under this hypothetical situation at the same time, the second control unit 31 will prioritize driving along the driving route based on the above-mentioned specific information.

[0069] Furthermore, the second control unit 31 can transmit a signal to the virtual system 40 to change the virtual driving details of the automatic guided vehicle A based on the driving situation data. The signal is a signal for the second control unit 31 to change the virtual driving details of the automatic guided vehicle A so that multiple automatic guided vehicles A are not located in the same place at the same time.

[0070] For example, as shown in FIG. 2 , assume that a certain automated guided vehicle A attempts to travel via the fourth route R4 and the seventh route R7 in a virtual environment based on route information determined in the route determination process. At the same time, assume that another automated guided vehicle A attempts to reach the third processing facility M3 via the sixth route R6 in accordance with a travel route instruction based on specific information. In this case, two automated guided vehicles A may be present at the same location at the same time near the third processing facility M3. Therefore, in such a case, the second control unit 31 sends an instruction to one of the automated guided vehicles A in the virtual environment to stop traveling. The automated guided vehicle A in the virtual environment stops traveling until it receives another instruction to start traveling from the second control unit 31. In this way, the second control unit 31 changes the travel details of the virtual automated guided vehicle A in accordance with the received travel status data of the virtual automated guided vehicle A.

[0071] 3 , thereafter, the simulation unit 42 of the virtual system 40 continues to transmit virtual running status data of the automated guided vehicle A at predetermined intervals to the second control unit 31. When the user requests the end of the simulation, the second control unit 31 ends the simulation of the virtual system 40. In other words, the simulation unit 42 of the virtual system 40 ends the simulation.

[0072] Then, the second control unit 31 executes a storage process. In this storage process, the travel details of the automated conveying machine A after being changed in accordance with the travel situation data are stored in the second storage unit 32. In other words, the second control unit 31 stores the simulation results after the change is made to the route information in the second storage unit 32. Thereafter, when the user requests the end of the travel control, the second control unit 31 ends the series of processes for travel control.

[0073] In this way, the second control unit 31 of the transport control device 30 causes the virtual system 40 to simulate route information from the start to the end of each automatic transport vehicle A's travel. The final simulation result by the second control unit 31 is an arrangement of the initial simulation result so that the automatic transport vehicle A can travel optimally. The final simulation result by the second control unit 31 is also an arrangement so that specific information input by the user can be reflected.

[0074] <Effects of the Present Embodiment> (1) In the above embodiment, in the transmission process, the second control unit 31 transmits a signal to the virtual automatic conveying machine A via the third communication unit 34 to cause the virtual automatic conveying machine A to travel based on the travel route. Such a signal is simulated to instruct the travel route of the virtual automatic conveying machine A. Therefore, the signal transmitted to the virtual automatic conveying machine A via the third communication unit 34 can be applied to the actual automatic conveying machine A simply by changing the transmission destination. Therefore, when applying the simulation results to the actual production factory 50, the simulation results can be applied as is without requiring further processing such as conversion of the communication method or the program language. In other words, the above configuration reduces the effort and time required to apply the simulation results to the actual automatic conveying machine A. As a result, the simulation results can be efficiently applied to the actual automatic conveying machine A.

[0075] In particular, with the above configuration, since communication between the transport control device 30 and the virtual automated transport device A is simulated, it is possible to simulate the content and state of communication as well. For example, it is possible to reproduce in the simulation situations where the content of communication is inaccurate or where communication is delayed due to poor communication conditions. In other words, with the above configuration, it is possible to simulate the communication state and verify the operation of the transport control device 30 in that situation.

[0076] Furthermore, if the travel of the automatic guided vehicle A were to be simulated in the actual production factory 50, production activities in the production factory 50 would need to be stopped, which could result in losses. Furthermore, if the travel of the automatic guided vehicle A were to be simulated in the actual production factory 50, the layout of the factory would need to be changed as needed during the simulation, which could increase the number of steps and effort required. In the configuration of this embodiment, the travel of the automatic guided vehicle A is virtualized in a virtual space, making it easy to consider more efficient travel routes for the automatic guided vehicle A and more efficient layouts of the equipment E. Furthermore, the simulation results developed in the virtual system 40 can be applied directly to the actual automatic guided vehicle A in the actual production factory 50 simply by switching the communication partner to the production factory 50. This facilitates operational optimization of the production factory 50 that uses the automatic guided vehicle A.

[0077] (2) According to the above embodiment, the virtual system 40 performs a simulation of running the virtual automatic conveying vehicle A based on communication from the third communication unit 34, with the virtual automatic conveying vehicle A as the destination. The simulation unit 42 also transmits the results of the simulation to the conveyance control device 30. In this way, the communication from the third communication unit 34, with the virtual automatic conveying vehicle A as the destination, is a simulation of a signal transmitted to the actual automatic conveying vehicle A. According to this configuration, the simulation unit 42 can apply the signal directly to the virtual automatic conveying vehicle A in the simulation. Therefore, the virtual system 40 can perform a simulation including the content and state of the communication.

[0078] In the above embodiment, when automatic conveying device A is actually driven, transport control device 30 receives driving situation data including the driving position of automatic conveying device A. According to the above embodiment, simulation unit 42 transmits driving situation data including the virtual driving position of automatic conveying device A to transport control device 30 as a result of the simulation. Therefore, transport control device 30 can receive driving situation data including the virtual driving position of automatic conveying device A from virtual system 40, just as when automatic conveying device A is actually driven. In other words, virtual system 40 can simulate communication content and communication conditions that are closer to reality.

[0079] (3) In the above embodiment, the second control unit 31 can execute a specific information acquisition process to acquire specific information, which is information related to the travel of the automated guided vehicle A that is not represented in the vehicle allocation plan. Then, the second control unit 31 transmits a signal to virtually travel the automated guided vehicle A based on the specific information. According to this configuration, the second control unit 31 can cause the virtual system 40 to simulate unexpected travel of the automated guided vehicle A that is not defined in the vehicle allocation plan, based on the specific information.

[0080] For example, in the example of the above embodiment, the second control unit 31 transmits a travel route based on the specific information to the virtual automated guided vehicle A. This allows the virtual system 40 to virtually simulate the automatic guided vehicle A traveling in an emergency outside the travel route determined in the route determination process. Even when simulating the occurrence of such an unexpected phenomenon, in the above embodiment, the user does not have to go through the trouble of adjusting the vehicle allocation plan and the travel route.

[0081] (4) In the above embodiment, the second control unit 31 transmits a signal to change the virtual travel of the automatic guided vehicles A based on the travel status data so that multiple automatic guided vehicles A are not located in the same place at the same time. With this configuration, the virtual system 40 can simulate a situation in which two or more automatic guided vehicles A are located in the same place at the same time, i.e., a situation in which there is a high possibility of collision between the automatic guided vehicles A, does not occur.

[0082] (5) In the above embodiment, it is possible to execute a storage process for storing the travel details of the automated guided vehicle A after changing them in accordance with the travel situation data in the second storage unit 32. According to the above configuration, the travel details stored in the second storage unit 32 can be used to instruct the actual travel route of the automated guided vehicle A.

[0083] (6) In the above embodiment, the simulation unit 42 creates a virtual three-dimensional space and simulates the travel of the automatic conveying device A in the virtual three-dimensional space. This configuration makes it easy for the simulation unit 42 to perform a simulation that takes into account the size of the housing of the automatic conveying device A, the spacing between pieces of equipment E, and the like.

[0084] <Modifications> The above embodiment and the following modifications can be implemented in combination with each other within the scope of technical compatibility.

[0085] In the above embodiment, the transport control device 30 may have the function of the virtual system 40. In this case, the virtual system 40 does not need to have the system communication unit 41. When the transport control device 30 also functions as the virtual system 40, it is sufficient that the second control unit 31 is assumed to be sending a signal to the virtual system 40 via the third communication unit 34. In other words, when the transport control device 30 also functions as the virtual system 40, the transport control device 30 may actually be configured not to have the system communication unit 41, and the second control unit 31 may be able to communicate with the virtual system communication unit 41 via the third communication unit 34. Note that, in order to have the virtual system 40 simulate the travel of the automatic transport device A with communication content and communication conditions that are closer to reality, it is preferable that the second control unit 31 communicate with the actual system communication unit 41 via the third communication unit 34.

[0086] In the above embodiment, the situation in which the transport control device 30 and the virtual system 40 are applied can be changed as appropriate. For example, assume that a production factory 50 is already in operation. It is then desired to evaluate whether the transport control device 30 operates normally in this operating production factory 50. In this case, the second control unit 31 of the transport control device 30 performs a simulation using a virtual automated transport device A, rather than an actual automated transport device A. At this time, the second control unit 31 also simulates communication with the automatic transport device A. By virtualizing communications that are likely to occur frequently between the transport control device 30 and the automatic transport device A in this way, it is possible to simulate, for example, the communication situation when an error occurs in the automatic transport device A or the communication situation when communication with the automatic transport device A is interrupted. If the transport control device 30 is evaluated to operate normally through this simulation, the communication target can be switched from the virtual automated transport device A, which was the communication target in the simulation, to the actual automated transport device A, thereby applying the transport control device 30 to the production factory 50. In this case, as described above, even communication is simulated virtually, so there is little possibility that an event different from the simulation results will occur in the production factory 50 due to a problem that occurs when communication is actually performed. In other words, there is a high possibility that the simulation results can be applied to the production factory 50 as they are, and the simulation results can be applied to the production factory 50 efficiently.

[0087] In the above embodiment, the configuration related to communication between the transport control device 30 and the virtual system 40 may be changed. For example, the preferred communication method often differs when the second control unit 31 communicates with the virtual automated transport vehicle A as a communication partner from when the second control unit 31 communicates with the actual automated transport vehicle A as a communication partner. Therefore, when the second control unit 31 communicates with the virtual automated transport vehicle A via the third communication unit 34, the second control unit 31 may be capable of communicating using a communication method that differs in one or more of the communication means, communication bandwidth, and communication speed from when the second control unit 31 communicates with the actual automated transport vehicle A via the third communication unit 34. This configuration makes it easier to realize a configuration for simulating the travel of the automatic transport vehicle A in the virtual system 40 compared to, for example, using the same communication method. In other words, as long as the communication content between the transport control device 30 and the virtual system 40 can be simulated, the communication method, etc., of the transport control device 30 and the virtual system 40 may be changed. It is preferable that at least the communication protocol be the same when the second control unit 31 communicates with the virtual automatic conveying device A as the communication partner and when the second control unit 31 communicates with the actual automatic conveying device A. In addition, as a configuration for using different communication methods, for example, a configuration in which the conveying control device 30 has multiple communication ports may be adopted, or a configuration in which a device for changing the communication method is attached to the communication port of the conveying control device 30 may be adopted.

[0088] Note that when the second control unit 31 communicates with the virtual automatic conveying vehicle A as a communication partner via the third communication unit 34, there is a higher degree of freedom in communication than, for example, when the second control unit 31 communicates with the actual automatic conveying vehicle A as a communication partner via the third communication unit 34. As a specific example, because the virtual automatic conveying vehicle A does not actually move, wired communication can be employed for communication between the conveying control device 30 and the virtual system 40. In other words, even if it is not realistic to employ wired communication for communication between the conveying control device 30 and the actual automatic conveying vehicle A, wired communication may be employed for communication between the conveying control device 30 and the virtual system 40, and then simulation may be performed in the virtual system 40.

[0089] In the above embodiment, the virtual system 40 does not necessarily have to include an input device 43. If the virtual system 40 does not have an input device 43, for example, the specific information may be input via the system communication unit 41 of the virtual system 40. In this case, it is not necessary to use communication means such as wireless communication or wired communication in the transport control device 30. If the transport control device 30 also functions as the virtual system 40, it is sufficient that it is assumed that the second control unit 31 communicates with the virtual system 40 via the third communication unit 34 using a communication protocol.

[0090] In the above embodiment, the specific configuration of the transport instruction device 20 is not limited to the example of the above embodiment. The transport instruction device 20 may be able to acquire information such as layout information, table allocation requests, and table allocation plans from another device, or may store such information in advance.

[0091] In the above embodiment, the operation system 10 does not need to include the transport instruction device 20. In that case, the transport control device 30 may also function as the transport instruction device 20. For example, information such as layout information, table allocation requests, and table allocation plans may be directly input to the transport control device 30. Furthermore, the second storage unit 32 may store information such as layout information, table allocation requests, and table allocation plans in advance. Furthermore, the second storage unit 32 may store program data and control values ​​required for executing each process. Note that, when the transport control device 30 also functions as the transport instruction device 20, the transport control device 30 does not necessarily need to include the second communication unit 33.

[0092] In the above embodiment, the vehicle allocation plan only needs to include information on when each automatic conveying machine A will arrive at facility E. The vehicle allocation plan may also include information on which operation each automatic conveying machine A will execute after arriving at facility E.

[0093] In the above embodiment, the type of facility E in the layout information is not limited to the example in the above embodiment. For example, the layout information may include a charging facility for the automatic guided vehicle A as facility E. In this case, the charging time of each automatic guided vehicle A, specifically, the stay time of each hypothetical automatic guided vehicle A at the charging facility, may be included as a simulation result.

[0094] In the above embodiment, in the plan acquisition process, the first control unit 21 may acquire at least the travel parameters of the automatic conveying machine A. Furthermore, for example, in the plan acquisition process, the first control unit 21 may acquire information other than that of the above embodiment. For example, in the plan acquisition process, the first control unit 21 may acquire a simulated production time. In this case, the number of products that can be manufactured within the production time can be acquired as a simulation result.

[0095] In the above embodiment, the loading plan acquisition process executed by the second control unit 31 may be changed. For example, the timing at which the second control unit 31 acquires the loading plan may be determined by the first control unit 21. As a specific example, the second control unit 31 may receive the loading plan via the second communication unit 33 in response to the first control unit 21 transmitting the loading plan to the transport control device 30 via the first communication unit 23. In other words, the second control unit 31 may acquire the loading plan starting from the transmission of the loading plan by the first control unit 21. In this regard, the layout acquisition process and parameter acquisition process executed by the second control unit 31 may also be changed in a similar manner.

[0096] In the above embodiment, the layout acquisition process executed by the second control unit 31 is not limited to the process in which the second control unit 31 acquires layout information from data stored in the first storage unit 22. In the layout acquisition process, the second control unit 31 may acquire information from other external devices, external servers, etc. Also, for example, if the layout information is stored in the second storage unit 32, the second control unit 31 may execute the layout acquisition process by acquiring the layout information from the second storage unit 32. This also applies to the parameter acquisition process and the unit allocation plan acquisition process executed by the second control unit 31. Also, the specific information acquisition process is not limited to the process in which the second control unit 31 acquires information from the virtual system 40.

[0097] The performance information of the automatic conveying device A described in the above embodiment only needs to include the travel speed of the automatic conveying device A, and may not include other information, or may include additional information. For example, the performance information of the automatic conveying device A may include information such as various dimensions and the load capacity of the automatic conveying device A. Similarly, the travel method of the automatic conveying device A, the operation information of the automatic conveying device A, and the type information of the equipment E may also include information other than that described in the above embodiment, or may not include some of the information.

[0098] In the above embodiment, the transport control device 30 may include a control unit other than the second control unit 31. In that case, for example, the control units that execute the processes executed by the transport control device 30 may be different from each other.

[0099] In the above embodiment, the communication methods of the first communication unit 23, the second communication unit 33, and the third communication unit 34 are not limited to the examples in the above embodiment. In the above embodiment, the second control unit 31 may execute the specific information acquisition process before first executing the transmission process. In this case, the specific information may include, for example, information about the virtual travel of the automated guided vehicle A that is not represented in the allocation plan, and the timing of the occurrence of an event based on the information about the travel. In that case, the second control unit 31 may transmit a signal indicating a travel route based on the specific information to the virtual system 40 in accordance with the timing of the occurrence of the event.

[0100] In the above embodiment, the way in which the driving details of the automatic conveying device A after being changed in accordance with the driving situation data are stored may be changed. For example, data on the driving details of the automatic conveying device A after being changed in accordance with the driving situation data may be stored in a device other than the second storage unit 32 in addition to or instead of the second storage unit 32. Specific examples of devices other than the second storage unit 32 include the first storage unit 22 included in the transport instruction device 20 and a storage device included in the virtual system 40. As an example, data related to the behavior of the transport control device 30 among the above data may be stored in the second storage unit 32, and data related to the simulation environment among the above data may be stored in a storage device of the virtual system 40.

[0101] In the above embodiment, the transport control device 30 does not need to include the second storage unit 32. That is, the second control unit 31 can omit the storage process. For example, the second control unit 31 of the transport control device 30 may output the simulation results to an external device such as the transport instruction device 20. In this regard, the signals transmitted and received via the third communication unit 34 may also be output to an external device such as the transport instruction device 20. Furthermore, if the transport control device 30 does not include the second storage unit 32, the second control unit 31 may acquire program data and control values ​​necessary to execute each process from an external device such as the transport instruction device 20.

[0102] In the layout information, each drivable route R may be defined according to the type of automatic guided vehicle A. For example, a distinction may be made between a drivable route R that can only be traveled by an automatic guided vehicle A whose travel method is AMR, and a drivable route R that can be traveled by any automatic guided vehicle A. In this case, in the route determination process, the second control unit 31 may determine a travel route from the drivable route R defined for each automatic guided vehicle A.

[0103] In the above embodiment, the route determination process is not limited to being calculated and acquired by the second control unit 31. For example, the route determination process may be executed by acquiring a predetermined hypothetical travel route of each automated guided vehicle A from an external device, an external server, or the like. Furthermore, for example, if the hypothetical travel route of each automated guided vehicle A is stored in the second storage unit 32, the second control unit 31 may execute the route determination process by acquiring the travel route from the second storage unit 32.

[0104] In the above embodiment, the transport control device 30 does not need to execute the route determination process. For example, each automated guided vehicle A may determine a travel route based on a vehicle allocation plan. In this case, the transport control device 30 may transmit the vehicle allocation plan to each automated guided vehicle A in the virtual environment. Regardless of whether the route determination process is executed or not, the transmission process may be a process of transmitting a signal for causing the automated guided vehicle A to travel in the virtual environment via the second communication unit 33 based on the vehicle allocation plan.

[0105] In the above embodiment, the transmission process executed by the second control unit 31 may be changed. For example, the second control unit 31 may execute a transmission process to transmit a signal for causing the virtual automatic guided vehicle A to travel via the second communication unit 33 to the virtual automatic guided vehicle A, without using a vehicle allocation plan. As an example, assume that the first storage unit 22 of the transport instruction device 20 stores route information instead of a vehicle allocation plan. In this case, the second control unit 31 may execute a transmission process to transmit a signal for causing the virtual automatic guided vehicle A to travel via the second communication unit 33 to the virtual automatic guided vehicle A, based on the route information acquired from the first storage unit 22.

[0106] In the above embodiment, the second control unit 31 may omit the specific information acquisition process. That is, the simulation executed by the virtual system 40 may at least simulate the travel of the automated conveyance vehicle A defined in the travel plan.

[0107] In the above embodiment, the second control unit 31 may change the virtual travel details of the automated guided vehicle A based on the travel situation data. In other words, the change in travel details is not limited to a change that prevents multiple automated guided vehicles A from being located in the same place at the same time. Note that the second control unit 31 does not necessarily have to change the virtual travel details of the automated guided vehicle A based on the travel situation data.

[0108] In the above embodiment, the interval at which the second control unit 31 receives the driving status data from the virtual system 40 does not have to be at a predetermined interval. For example, the driving status data may be transmitted from the virtual system 40 to the second control unit 31 when the virtual automated guided vehicle A reaches a predetermined position.

[0109] In the above embodiment, the second control unit 31 does not necessarily have to receive the driving condition data. As long as the second control unit 31 is capable of executing the transmission process, the effect described in (1) can be obtained.

[0110] In the above embodiment, the second control unit 31 may be capable of receiving machining status data for the virtual machining equipment M from the virtual machining equipment M via the third communication unit 34. The second control unit 31 may transmit a signal to change the travel details of the virtual automatic conveying device A in accordance with the machining status data. For example, the machining status data may include information indicating whether the machining equipment M is currently machining. The second control unit 31 may then receive machining status data from the machining equipment M indicating that the machining equipment M is currently machining. In this case, the second control unit 31 instructs the virtual automatic conveying device A to take a travel route that avoids the transportation of the automatic conveying device A. In other words, the second control unit 31 may be capable of transmitting a signal to change the travel details of the automatic conveying device A in accordance with the machining status data. Furthermore, when the second control unit 31 is capable of receiving machining status data, the acquired specific information may include information about the equipment E, such as instructions for a sudden operation of the equipment E.

[0111] According to the above configuration, the virtual system 40 can simulate a sudden error in the equipment E. Furthermore, in the simulation, the virtual system 40 can imagine the travel of the automatic conveying device A when the error occurs. And, according to the above configuration, in the simulation, the travel of the automatic conveying device A in the virtual state is changed in accordance with the processing status data. Therefore, even if the user himself / herself adjusts the travel route of the automatic conveying device A in the virtual state, a more appropriate travel route is selected by the second control unit 31.

[0112] In the above embodiment, the specific information may include a parameter indicating whether the power of the automatic conveying machine A is in an on state or an off state. For example, suppose that specific information is input to the virtual system 40 at a certain point in time. The specific information here includes the fact that the power of a certain automatic conveying machine A in the virtual state is in an off state. Note that the power of the automatic conveying machine A in the virtual state is assumed to be in an off state by stopping all functions.

[0113] The virtual system 40 that has received the specific information transmits the specific information to the second control unit 31. Then, the transport control device 30 executes a specific information acquisition process by receiving the specific information via the third communication unit 34. In response to this, the second control unit 31 stops transmitting the travel route to the automatic transport device A that is powered off.

[0114] Also, assume that at a certain point in time, specific information is input to the virtual system 40. The specific information here includes information that the power of the automatic conveyance machine A, which was in the power-off state in the virtual environment, has been changed to the power-on state.

[0115] The virtual system 40, which has received the specific information, transmits the specific information to the second control unit 31. The transport control device 30 then receives the specific information via the third communication unit 34 and executes a specific information acquisition process. In response to this, the second control unit 31 resumes transmitting the travel route to the automatic transport vehicle A whose power has been changed to the on state. With this type of specific information, it is possible to reproduce the virtual stop of travel of the automatic transport vehicle A that is not represented in the allocation plan.

[0116] In the above embodiment, the traveling condition data may further include other information. For example, the traveling condition data may include data other than those described in the above embodiment, such as the remaining battery charge of each automated conveying machine A under virtual circumstances and whether or not a product is loaded. For example, if the traveling condition data includes the remaining battery charge of each automated conveying machine A under virtual circumstances, the second control unit 31 may include the remaining battery charge data of each automated conveying machine A as a simulation result.

[0117] In the above embodiment, the computer that executes the operation management program P is not limited to the transport control device 30. Furthermore, the device that has the operation management program P is not limited to the transport control device 30.

[0118] <Other Technical Ideas> The simulation means described in JP 2008-59321 A simulates a production system such as the flow of work on a production line. The simulation means has a layout input means, a parameter definition means, and a program editing means. The layout input means is for inputting layout information indicating the layout of the equipment. The parameter definition means is for setting various parameters required for the simulation, such as the operating speed of the automated guided vehicle. The program editing means is for editing a common control program. The common control program defines the operation of the work at the station where the work is placed, the transportation of the work between stations, etc. The simulation means simulates the production system by executing the common control program while referencing the layout information and various parameters described above.

[0119] The simulation means described in JP 2008-59321 A does not focus on communication between the automatic conveying machine and the operation management device that manages the automatic conveying machine. Therefore, when applying the simulation results to an actual production system, the simulation means described in JP 2008-59321 A may cause problems due to communication between the automatic conveying machine and the operation management device.

[0120] In view of these issues, it is preferable to adopt the present technology, which simulates even communications virtually, thereby preventing problems arising from communications between the automatic conveyance machine and the operation management device when applying the simulation results to an actual production system.

[0121] A...Automatic transporter E...Facility P...Operation management program R...Drivable route 10...Operation system 20...Transport instruction device 30...Transport control device 31...Second control unit 34...Third communication unit 40...Virtual system

Claims

1. A simulation device capable of communicating with an operation management device, the simulation device comprising: a control unit that generates data for running an automatic conveying machine; and a communication unit that is capable of communicating with the automatic conveying machine as the communication partner, the simulation device comprising: a simulation unit that performs a simulation of running the automatic conveying machine in a virtual environment based on communication from the communication unit that has the automatic conveying machine in a virtual environment as the destination, and transmits running status data including the running position of the automatic conveying machine in a virtual environment to the operation management device as a result of the simulation.

2. The simulation device according to claim 1, wherein the simulation unit is configured to create a virtual three-dimensional space and simulate the movement of the automatic transport vehicle in the virtual three-dimensional space.

3. The simulation device according to claim 1 or 2, further comprising a system communication unit capable of communicating with said communication unit.

4. An operation management device comprising: a control unit that generates data for running an automatic conveying machine; and a communication unit that is capable of communicating with the automatic conveying machine as a communication partner and that is capable of communicating with a virtual system that virtualizes the running of the automatic conveying machine as a communication partner of the automatic conveying machine under virtual circumstances, wherein the control unit executes a transmission process that transmits a signal for running the automatic conveying machine under virtual circumstances to the automatic conveying machine under virtual circumstances via the communication unit.

5. The control unit executes the transmission process based on a vehicle allocation plan indicating when the automatic conveying vehicle will arrive at the facility in a virtual environment, and is capable of executing a specific information acquisition process to acquire specific information that is information regarding the virtual operation of the automatic conveying vehicle that is not shown in the vehicle allocation plan, and transmits a signal to the automatic conveying vehicle in a virtual environment via the communication unit based on the specific information. An operation management device as described in claim 4.

6. An operation management device as described in claim 4 or claim 5, wherein the control unit is capable of receiving driving status data including the virtual driving position of the automatic conveying vehicle from the automatic conveying vehicle in the virtual environment via the communication unit, and the control unit transmits a signal to the automatic conveying vehicle in the virtual environment to change the driving details of the automatic conveying vehicle in the virtual environment based on the driving status data so that multiple automatic conveying vehicles are not located in the same location at the same time.

7. An operation management device as described in claim 6, further comprising a memory unit, wherein the control unit is further capable of executing a storage process for storing the driving details of the automatic conveying vehicle after being changed in accordance with the driving condition data in the memory unit.

8. An operation management device as claimed in any one of claims 4 to 7, wherein the control unit is capable of receiving processing status data of processing equipment from the processing equipment among the virtual facilities via the communication unit, and the control unit transmits a signal to change the travel details of the automatic conveyor in the virtual environment in accordance with the processing status data.

9. An operation management device as claimed in any one of claims 4 to 8, wherein the control unit is capable of communicating using a communication method in which one or more of the communication means, communication band, and communication speed are different when communicating with the automatic transport vehicle in a virtual environment as a communication partner via the communication unit compared to when communicating with the automatic transport vehicle as a communication partner via the communication unit.

10. An operation management program applicable to an operation management device comprising: a control unit that generates data for running an automatic conveying machine; and a communication unit that is capable of communicating with the automatic conveying machine as a communication partner and that is capable of communicating with a virtual system that virtualizes the running of the automatic conveying machine as a communication partner for the automatic conveying machine in a virtual environment, wherein the operation management program causes the control unit to execute a transmission process that transmits a signal for running the automatic conveying machine in a virtual environment to the automatic conveying machine in a virtual environment via the communication unit.

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