JP7515112B2 - Transport control system, transport system, component mounting system, and transport control method - Google Patents

Description

The present disclosure relates to a transport control system, a transport system, a component mounting system, and a transport control method. More specifically, the present disclosure relates to a transport control system, a transport system, a component mounting system, and a transport control method that control the transport operation of a transport robot that transports a transported object.

Patent Document 1 discloses a warehouse management device that manages a warehouse in which items are stored. A storage space in the warehouse is provided with multiple shelves for storing items. The warehouse is provided with an aggregation station where items are transferred from one shelf to another, and a picking station where ordered items are removed from the shelf. The warehouse management device moves the shelves arranged in the storage space to the aggregation station by a transport vehicle, and transfers items with a high shipping rate among the items stored on the shelves to the aggregation shelf. The warehouse management device then moves the aggregation shelf to the picking station, where a worker removes the ordered items from the items stored on the aggregation shelf.

JP 2020-128266 A

In the above warehouse management device, when multiple transport vehicles (transport robots) are concentrating their transport work of moving shelves to the same collection station, some of the transport vehicles must wait at a location other than the collection station until the collection work at the collection station is completed, which can cause delays in the transport work and reduce transport efficiency.

The objective of the present disclosure is to provide a transport control system, a transport system, a component mounting system, and a transport control method that can improve the transport efficiency of transporting objects.

The transport control system according to one aspect of the present disclosure includes a first acquisition unit, a second acquisition unit, a setting unit, and a transport control unit. The first acquisition unit acquires, for each of a plurality of first areas, transport amount information regarding the transport amount of the transported object transported by the transport robot between each of the plurality of first areas and the second area. The second acquisition unit acquires route information regarding a plurality of transport routes along which the transport robot transports the transported object between a plurality of gates and the plurality of first areas. The plurality of gates are provided in the second area to carry the transported object into the second area or carry the transported object out of the second area. The setting unit assigns each of the plurality of first areas to one of a plurality of groups corresponding one-to-one to the plurality of gates based on the transport amount information and the route information. The transport control unit causes the transport robot to carry the transported object into or out of the second area through the gate corresponding to each of the plurality of first areas.

The transport system of one aspect of the present disclosure includes the transport control system and a plurality of the transport robots that transport the transported objects in each of the plurality of groups.

A component mounting system according to one aspect of the present disclosure is a component mounting system including at least one component mounter that mounts components on a substrate. The component mounter has a component supply device that supplies the components, and a mounting body that includes a mounting head that mounts the components on the substrate. The component supply device is transported to the mounting body by the transport robot provided in the transport system.

The transport control method according to one aspect of the present disclosure includes a first acquisition process, a second acquisition process, a setting process, and a transport control process. In the first acquisition process, transport amount information on the transport amount of the transported object transported by the transport robot between each of the multiple first areas and the second area is acquired for each of the multiple first areas. In the second acquisition process, route information on multiple transport routes on which the transport robot transports the transported object between multiple gates and the multiple first areas is acquired. The multiple gates are provided in the second area to carry the transported object into the second area or carry the transported object out of the second area. In the setting process, each of the multiple first areas is assigned to one of multiple groups corresponding one-to-one to the multiple gates based on the transport amount information and the route information. In the transport control process, the transport robot is caused to carry the transported object into or out of the second area through the gate corresponding to each of the multiple first areas.

This disclosure makes it possible to improve the efficiency of transporting transported objects.

FIG. 1 is a schematic block diagram of a transport control system and a transport system according to an embodiment of the present disclosure. FIG. 2 is an explanatory diagram of a manufacturing line to which the above-mentioned transfer control system and transfer system are applied. FIG. 3 is a flowchart illustrating the operation of the above-mentioned transport control system. 4A and 4B are graphs showing the transport distance ratio and the required tact time for each group obtained by the transport control system before and after the grouping is changed. 5A and 5B are graphs showing the transport amount and required tact time for each group obtained by the transport control system before and after the grouping is changed. 6A and 6B are graphs showing the evaluation values and required tact times for each group obtained by the transport control system before and after the grouping is changed. FIG. 7 is an explanatory diagram of a manufacturing line to which the above-mentioned transfer control system and transfer system are applied. FIG. 8 is an explanatory diagram of a setting screen in the above-mentioned transport control system. FIG. 9 is an explanatory diagram of an improvement proposal output screen in the above-mentioned transport control system. FIG. 10 is an explanatory diagram showing an outline of a component mounting system constructed by using the above-mentioned conveying system.

(Embodiment)
(1) Overview Each drawing described in the following embodiments is a schematic drawing, and the ratio of sizes and thicknesses of each component in each drawing does not necessarily reflect the actual dimensional ratio.

The transport control system 1 according to this embodiment is a system for controlling the transport operation performed by a transport robot 2 for transporting a transported object 30, as shown in Figures 1 and 2.

The transport control system 1 of this embodiment and the transport system 3 including the transport control system 1 are introduced in a facility F1 such as a factory, a logistics center (including a distribution center), an office, a store, a school, or a hospital. The transport robot 2 moves by running on a moving surface 200 with one or more wheels. The moving surface 200 is the surface on which the transport robot 2 moves. When the transport robot 2 moves within the facility F1, the moving surface 200 is the floor surface of the facility F1, and when the transport robot 2 moves outdoors, the moving surface 200 is the ground. Below, a case will be described in which multiple transport robots 2 transport transported objects 30 in a facility F1 such as a factory that has multiple (for example, three) manufacturing lines 101-103 and an automated warehouse 110 that automatically stores and retrieves items.

Figure 2 is a plan view of a moving surface 200 along which the transport robot 2 moves within the facility F1. On the moving surface 200, there are arranged a number of (e.g., three) manufacturing lines 101-103 each for manufacturing products, and an automated warehouse 110, which serves as the second area.

The manufacturing lines 101 to 103 are, for example, component mounting lines that mount electronic components on circuit boards. The manufacturing lines 101 to 103 are provided with one or more supply areas for supplying electronic components to the manufacturing lines 101 to 103, and one or more removal areas for removing finished or semi-finished products from the manufacturing lines 101 to 103 to the outside. Each of the three manufacturing lines 101 to 103 is provided with a plurality of first areas including one or more supply areas and one or more removal areas. In this embodiment, the manufacturing line 101 is provided with four first areas ST1 to ST4, the manufacturing line 102 is provided with four first areas ST5 to ST8, and the manufacturing line 103 is provided with four first areas ST9 to ST12.

The automated warehouse 110 is a warehouse for storing items such as electronic components to be supplied to the manufacturing lines 101-103, and finished or semi-finished products manufactured on the manufacturing lines 101-103, and is a warehouse in which the entry and exit of items is automated. The automated warehouse 110, which is the second area, is provided with multiple (e.g., three) gates GT1-GT3 that are used as an entry port for putting items into the automated warehouse 110 and an exit port for taking items out of the automated warehouse 110. When an item is to be entered into the automated warehouse 110 from the manufacturing lines 101-103, when the transport robot 2 transports the item to one of the gates GT1-GT3, the transported item is automatically stored inside the automated warehouse 110. In addition, when an item required for the manufacturing lines 101 to 103 is to be removed from the automated warehouse 110, the automated warehouse 110 automatically removes the specified item from one of the gates GT1 to GT3, and the transport robot 2 transports the removed item to the destination manufacturing line 101 to 103.

The following describes a transport control system 1 that controls a transport robot 2 that transports transported objects 30 between the 12 first areas ST1 to ST12 and the three gates GT1 to GT3 provided in the second area, the automated warehouse 110.

The transport control system 1 assigns each of the 12 first areas ST1 to ST12 to one of three groups GR1 to GR3 that take items into and out of the automated warehouse 110 via three gates GT1 to GT3. One or more transport robots 2 that transport the objects are assigned to each of the three groups GR1 to GR3. In this embodiment, two transport robots 2 are assigned to each of the three groups GR1 to GR3. In the following, the transport robots 2 assigned to the groups GR1, GR2, and GR3 may be referred to as transport robots 2A, 2B, and 2C. Note that the number and arrangement of the first areas and the number and arrangement of the gates provided in the second area are merely examples and can be changed as appropriate.

Here, the transported object 30 transported by the transport robot 2 includes, for example, parts supplied from the automated warehouse 110 to the manufacturing lines 101 to 103, finished or semi-finished products sent from the manufacturing lines 101 to 103 to the automated warehouse 110, or boxes for containing parts, finished or semi-finished products, etc. In other words, the transported object 30 may be the item itself to be transported, or a pallet containing the item to be transported, etc.

As shown in FIG. 1, the transport control system 1 of this embodiment includes a first acquisition unit 141, a second acquisition unit 142, a setting unit 16, and a transport control unit 18.

The first acquisition unit 141 acquires, for each of the first areas ST1 to ST12, transport amount information regarding the transport amount of the transported object 30 by the transport robot 2 between each of the first areas ST1 to ST12 and the second area (automated warehouse 110). The transport of the transported object 30 by the transport robot 2 includes at least one of transport from each of the first areas ST1 to ST12 to the second area and transport from the second area to each of the first areas ST1 to ST12. In the following embodiment, an example is described in which the transport robot 2 transports the transported object 30 in both directions between each of the first areas ST1 to ST12 and the second area. The transported object 30 transported between each of the first areas ST1 to ST12 and the second area is not limited to one type of object, and different types of objects may be transported to each first area. "Transport amount information" is, for example, information regarding the total amount of transported objects 30 transported per unit time (e.g., per hour) between each of the multiple first areas ST1 to ST12 and the second area. The total amount of transported objects 30 per unit time may be the number of transported objects 30 or the number of pallets for carrying multiple transported objects 30. The total amount per unit time may also be the average, maximum, minimum, or median of the transport amount generated in the unit time.

The second area (automated warehouse 110) is provided with multiple (e.g., three) gates GT1 to GT3 for at least one of carrying the transported object 30 into the second area and carrying the transported object 30 out of the second area. The second acquisition unit 142 acquires route information regarding multiple transport routes RT (see FIG. 2) along which the transport robot 2 transports the transported object 30 between the multiple gates GT1 to GT3 and the multiple first areas ST1 to ST12. The "route information" includes, for example, information on the travel distance of the transport route RT from the departure point to the arrival point, or the travel time required for the transport robot 2 to travel the transport route RT. The route information may further include acceleration/deceleration count information regarding the number of times the transport robot 2 accelerates or decelerates on the transport route RT from the departure point to the arrival point, or rotation count information regarding the number of times the transport robot 2 turns. The transport route RT is the route along which the transport robot 2 travels between the gates GT1 to GT3 and the first areas ST1 to ST12. The transport route RT may be a predetermined route, or may be created each time based on the current position of the transport robot 2 and the destination position. The destination position is the position of the gates GT1 to GT3 or the first areas ST1 to ST12 to which the transported object 30 is to be transported.

The setting unit 16 assigns each of the multiple first areas ST1 to ST12 to one of multiple groups GR1 to GR3 based on the transport amount information and route information. The multiple groups GR1 to GR3 correspond one-to-one to the multiple gates GT1 to GT3. Between the first area assigned to each of the multiple groups GR1 to GR3 among the multiple first areas ST1 to ST12 and the second area (automated warehouse 110), at least one of the transported objects 30 is loaded and unloaded through the corresponding gate.

The transport control unit 18 causes the transport robot 2 to at least one of load and unload the transported object 30 between each of the first areas ST1 to ST12 and the second area (automated warehouse 110) through gates GT1 to GT3 corresponding to each of the first areas ST1 to ST12.

The transport control system 1 also constitutes a transport system 3 together with a plurality of transport robots 2 that transport the transported object 30 in each of a plurality of (e.g., three) groups GR1 to GR3. In other words, the transport system 3 includes the transport control system 1 and a plurality of transport robots 2.

In the transport control system 1 and the transport system 3, the setting unit 16 assigns each of the multiple first areas ST1 to ST12 to one of the multiple groups GR1 to GR3 based on the transport amount information and route information. Therefore, the multiple groups GR1 to GR3 can be set so that the transport amount of the transported object 30 transported between the multiple first areas ST1 to ST12 and the second area (automated warehouse 110) is distributed to the multiple gates GT1 to GT3. Therefore, by distributing the workload of the transport robot 2 transporting the transported object 30, a situation in which the transport efficiency decreases can be avoided, and the transport efficiency of transporting the transported object 30 can be improved. In addition, since the transport work is less likely to be concentrated at a specific gate among the multiple gates GT1 to GT3, congestion of the transport robot 2 is less likely to occur in front of the gates GT1 to GT3, and the transport efficiency of transporting the transported object 30 can be improved.

(2) Details (2.1) Overall Configuration Hereinafter, a transfer system 3 including a transfer control system 1 according to this embodiment will be described in detail with reference to the drawings.

As described above, the transport system 3 includes a transport control system 1 and multiple transport robots 2. The multiple transport robots 2 and the transport control system 1 are configured to be able to communicate with each other. In this disclosure, "capable of communication" means that information can be exchanged directly or indirectly via the network NT1 or a relay device 4, etc., by an appropriate communication method such as wired communication or wireless communication. In this embodiment, the transport control system 1 and each of the multiple transport robots 2 are capable of bidirectional communication, and both transmission of information from the transport control system 1 to the transport robot 2 and transmission of information from the transport robot 2 to the transport control system 1 are possible.

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

The transport robot 2 autonomously travels on a flat moving surface 200 consisting of, for example, the floor surface of the facility F1. The transport robot 2 is equipped with a storage battery such as a lithium-ion battery or a nickel-metal hydride battery, and operates using electrical energy stored in the storage battery. In this embodiment, the transport robot 2 travels on the moving surface 200 with a cart carrying the transported object 30 connected thereto. This allows the transport robot 2 to transport the transported object 30 placed in one location to another location, for example, by towing or pushing the transported object 30. Note that the transport robot 2 may transport the transported object 30 by getting under the cart carrying the transported object 30 and lifting a part of its main body to lift the cart carrying the transported object 30.

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

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

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

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

The detection unit 22 also has a position identification unit that identifies the current position of the transport robot 2. As an example, the position identification unit estimates the current position based on detection information of surrounding objects by LiDAR and electronic map information inside the facility F1. The sensor unit may estimate the current position using a Local Positioning System (LPS) that uses a radio beacon. The position identification unit may also be realized using a satellite positioning system such as the Global Positioning System (GPS).

The main body of the transport robot 2 is provided with omnidirectional wheels such as omni wheels as driving wheels 201 (see FIG. 10) that also serve as steering wheels. The main body of the transport robot 2 is also provided with driven wheels that can rotate in all directions. The transport robot 2 travels on the moving surface 200 with a number of wheels including the driving wheels 201 and driven wheels. Here, the traveling device 23 receives a control command from the control unit 20 and controls the driving wheels 201 provided on the main body to make the transport robot 2 travel in the desired direction. The transported object 30 is placed on a cart having wheels 301, for example, and the main body of the transport robot 2 is provided with a connecting part 202 for connecting the cart. The connecting part 202 may be, for example, a hook that mechanically connects the cart, or may be a part that connects a connected part made of magnetic material provided on the cart with an electromagnetic force generated by an electromagnet.

The storage unit 24 is realized by a non-transitory recording medium such as a rewritable non-volatile semiconductor memory. The storage unit 24 stores, for example, identification information of the transport robot 2, electronic map information inside the facility F1 where the transport robot 2 travels, etc. The map information includes, for example, the arrangement positions of the manufacturing lines 101-103 and the automated warehouse 110 arranged in the facility F1, the position information of the first areas ST1-ST12 and the gates GT1-GT3, etc. The storage unit 24 may store the above-mentioned route information regarding the transport route taken when the transport robot 2 moves between each of the first areas ST1-ST12 and each of the gates GT1-GT3. The storage unit 24 may also store command information given from the transport control system 1. When the transport robot 2 transmits detection information of the detection unit 22 to a higher-level system (for example, the transport control system 1) and travels according to a travel instruction received from the higher-level system, it is not essential for the transport robot 2 to hold the map information. In other words, the memory unit 24 that stores the map information is not a required component of the transport robot 2 and can be omitted as appropriate.

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

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

The transported object 30 transported by the transport robot 2 of this embodiment may include a component supplying device that supplies components to the manufacturing lines 101 to 103. The component supplying device has one or more feeders for supplying components. One or more manufacturing devices are installed in the manufacturing line. There are various types of manufacturing devices, and one example of the manufacturing device is a mounting body including a mounting head that mounts components supplied from the component supplying device on an object (e.g., a board). In other words, at least one of the manufacturing lines 101 to 103 is a component mounting system 300 (see FIG. 10) including at least one component mounter 120 that mounts components on a board. The component mounter 120 has a component supplying device that supplies components, and a mounting body 130 that includes a mounting head that mounts the components supplied from the component supplying device on the board. In this embodiment, the transport robot 2 receives command information from the transport control system 1 and transports the component supplying device as the transported object 30 to the mounting body 130. That is, the component supply device is transported to the mounting body 130 by the transport robot 2 provided in the transport system 3 described above. This makes it possible to construct a component supply system in which components are supplied from the component supply device to the mounting body 130. Note that the transported object 30 transported by the transport robot 2 is not limited to the component supply device, but may be the component itself, and can be appropriately changed depending on the location or purpose of use of the transport robot 2.

(2.3) Transport control system The transport control system 1 is realized, for example, by a computer system. As described above, the transport control system 1 performs a process of allocating each of the multiple first areas ST1 to ST12 to one of the multiple groups GR1 to GR3. Then, the transport control system 1 causes the transport robots 2 (2A to 2C) in each of the multiple groups GR1 to GR3 to perform a transport operation of transporting the transported object 30. Note that the transport control system 1 may be located inside the facility F1 or outside the facility F1.

The transport control system 1 includes a control unit 10, a first communication unit 11, an operation reception unit 12, a display unit 13, and a memory unit 19.

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

The operation reception unit 12 has a function of receiving operations from a user who uses the transport control system 1. In this embodiment, the operation reception unit 12 is realized, for example, by a pointing device such as a mouse, a keyboard, or a combination of these. The operation reception unit 12 may also be realized by a voice recognition unit that receives operations by voice uttered by the user.

The display unit 13 is used to present information to a user who uses the transport control system 1. The display unit 13 is realized by a display device such as a liquid crystal display or an organic EL display. If the transport control system 1 has a touch panel display, the touch panel display may function as the operation reception unit 12 and the display unit 13.

The storage unit 19 is realized, for example, by a non-transient recording medium such as a rewritable non-volatile semiconductor memory. The storage unit 19 stores, for example, transport amount information, route information, tact information, and number information input by a user of the transport control system 1. The transport amount information is information regarding the transport amount of the transported object 30 transported between each of the multiple first areas ST1 to ST12 and the second area, the automated warehouse 110. The transport amount is, for example, the number of pallets containing the transported object 30 transported between each of the first areas ST1 to ST12 and the second area, the automated warehouse 110, but may also be the number or weight of the transported object 30, or the number of transports. The route information is information regarding the transport route along which the transport robot 2 moves between each of the multiple first areas ST1 to ST12 and the multiple gates GT1 to GT3 provided in the automated warehouse 110. The route information is, for example, information about the transport distance between each of the first areas ST1 to ST12 and each of the multiple gates GT1 to GT3. In this embodiment, the information about the transport distance is, for example, a value that expresses the distance between each of the first areas ST1 to ST12 and each of the multiple gates GT1 to GT3 as a ratio to the shortest distance between the first area and the gate, and this ratio is called the transport distance ratio. The tact information is information about the tact time required for the transport work between each of the multiple first areas ST1 to ST12 and the second area (transport from the first area to the second area, or transport from the second area to the first area). The number information is information about the number of transport robots 2 that transport the transported object 30 in each of the multiple groups GR1 to GR3.

The control unit 10 mainly comprises a computer system including, for example, a memory and a processor. That is, the functions of the control unit 10 (for example, the functions of the first to fourth acquisition units 141 to 144, the evaluation unit 15, the setting unit 16, the improvement proposal output unit 17, and the transport control unit 18) are realized by the processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory, may be provided via a telecommunications line such as the Internet, or may be provided recorded on a non-transitory recording medium such as a memory card.

The first acquisition unit 141 acquires the above-mentioned transport amount information based on, for example, information accepted by the operation acceptance unit 12, and stores the acquired transport amount information in the storage unit 19. The first acquisition unit 141 may acquire the transport amount information via the first communication unit 11 from a data server that accumulates the transport amount information.

The second acquisition unit 142 acquires the above-mentioned route information based on, for example, information accepted by the operation acceptance unit 12, and stores the acquired route information in the storage unit 19. Note that the second acquisition unit 142 may acquire the route information via the first communication unit 11 from a data server that accumulates the route information.

The third acquisition unit 143 acquires tact information regarding the tact time required to transport the transported object 30 in each of the first areas ST1 to ST12 for each of the first areas ST1 to ST12. The third acquisition unit 143 acquires the above tact information based on information accepted by the operation acceptance unit 12, for example, and stores the acquired tact information in the memory unit 19. The third acquisition unit 143 may acquire the tact information via the first communication unit 11 from a data server that accumulates the tact information.

The fourth acquisition unit 144 acquires number information regarding the number of transport robots 2 transporting the transported object 30 in each of the multiple groups GR1 to GR4. The fourth acquisition unit 144 acquires the number information based on, for example, information received by the operation reception unit 12, and stores the acquired number information in the storage unit 19. The fourth acquisition unit 144 may acquire the number information via the first communication unit 11 from a data server that accumulates the number information. The fourth acquisition unit 144 may also acquire the maximum number of transport robots 2 used in the facility F1 as the number information, and the setting unit 16 may determine the number of transport robots 2 transporting the transported object 30 in each of the multiple groups GR1 to GR4 based on the maximum number of transport robots 2 acquired by the fourth acquisition unit 14.

The evaluation unit 15 calculates an evaluation value for each of the groups GR1 to GR3 when each of the first areas ST1 to ST12 is assigned to one of the groups GR1 to GR3. The evaluation value is an index for evaluating the amount of transport work performed by the transport robot 2 for each group. Here, the evaluation unit 15 calculates an evaluation value for each of the groups GR1 to GR3 based on the transport amount information acquired by the first acquisition unit 141 and the route information acquired by the second acquisition unit 142. In this embodiment, the evaluation unit 15 calculates the evaluation value based on the number information acquired by the fourth acquisition unit 144 in addition to the transport amount information and route information. In other words, the evaluation unit 15 calculates the evaluation value based on the transport amount information, route information, and number information.

For example, if the group GRx (in this embodiment, x = 1, 2, 3) for which the evaluation value is to be calculated includes n first areas (in this embodiment, n is a natural number from 1 to 12), the evaluation unit 15 calculates the product of the transport amount Q1 and the transport distance ratio D1 for each of the n first areas included in the group GRx. Then, the evaluation unit 15 calculates the sum SUM (Q1 x D1) of the products Q1 x D1 calculated for each of the n first areas, and calculates the evaluation value E1 by dividing this sum SUM (Q1 x D1) by the number N1 of the transport robots 2 performing the transport work in the group GRx. Here, the evaluation value E1 calculated for the group GRx is E1 = SUM (Q1 x D1) / N1. Note that the formula for calculating the evaluation value E1 is not limited to the above formula and can be changed as appropriate.

The evaluation unit 15 also calculates the correlation coefficient between the evaluation value E1 and the shortest takt time by applying the evaluation value E1 calculated for each of the groups GR1 to GR3 and the shortest takt time (also called the required takt), which is the shortest value of the takt time in each of the groups GR1 to GR3, to a general formula for calculating the correlation coefficient.

The setting unit 16 performs a grouping process to assign each of the multiple first areas ST1 to ST12 to one of the multiple gates GT1 to GT3. Specifically, the setting unit 16 performs grouping based on the evaluation value E1 obtained by the evaluation unit 15 using the transport amount information and route information. Here, the evaluation unit 15 obtains the evaluation value E1 using the number of vehicles information in addition to the transport amount information and route information. Therefore, the setting unit 16 performs grouping based on the transport amount information, route information, and number of vehicles information.

The setting unit 16 may automatically determine the number of transport robots 2 to be used for each group based on the maximum number of transport robots 2 acquired by the fourth acquisition unit 144, and obtain the evaluation value E1. Here, the setting unit 16 obtains a number of combinations in which one or more transport robots 2 are assigned to each of the groups GR1 to GR3. The setting unit 16 may then calculate the evaluation value E1 for each of the multiple combinations, and determine the combination of transport robots 2 that has the strongest positive correlation coefficient with the required tact time, and obtain the evaluation value E1.

The setting unit 16 also performs grouping based on the evaluation value E1 and the required takt time obtained for each group, and performs grouping so that the correlation between the evaluation value E1 and the required takt time is positive. In other words, the setting unit 16 performs processing to allocate each of the multiple first areas ST1 to ST12 to one of the multiple groups GR1 to GR3 based on takt information in addition to the transport amount information and route information. Furthermore, the setting unit 16 performs processing to allocate each of the multiple first areas ST1 to ST12 to one of the multiple groups GR1 to GR3 based on the evaluation value E1 and takt information.

Here, if the correlation between the evaluation value E1 and the shortest takt time is positive, the setting unit 16 assigns the multiple first areas ST1 to ST12 to the multiple gates GT1 to GT3 in the current grouping.

On the other hand, if the correlation between the evaluation value E1 and the shortest takt time is negative, the setting unit 16 changes the grouping of the multiple first areas ST1 to ST12 and causes the evaluation unit 15 to recalculate the evaluation value E1 for the changed group.

The setting unit 16 repeatedly changes the grouping of the first areas ST1 to ST12 until the correlation between the evaluation value E1 and the shortest takt time becomes positive, and when the correlation between the evaluation value E1 and the shortest takt time becomes positive, the setting unit 16 finalizes the grouping of the first areas ST1 to ST12. In other words, the setting unit 16 assigns each of the first areas ST1 to ST12 to one of the groups GR1 to GR3 based on the evaluation value E1 and the takt information so that the correlation between the shortest takt time (takt time) and the evaluation value becomes positive. The setting unit 16 may calculate the correlation coefficient between the evaluation value and the shortest takt time for all combinations when the first areas ST1 to ST12 are grouped into the three groups GR1 to GR3, and determine the grouping of the first areas ST1 to ST12 with the combination with the strongest positive correlation.

Once the grouping of the first areas ST1 to ST12 has been finalized, the transport control system 1 causes the transport robot 2 to perform a transport operation for transporting the transported object 30 for each group.

When the user has grouped the first areas ST1 to ST12, the improvement proposal output unit 17 judges whether the grouping by the user is appropriate based on the correlation value between the evaluation value E1 and the shortest takt time calculated for each group by the evaluation unit 15. When the improvement proposal output unit 17 judges that the grouping by the user is inappropriate, it derives an improvement proposal for grouping that can improve the correlation between the evaluation value E1 and the shortest takt time, and outputs this improvement proposal to the display unit 13.

(2.4) Component Mounting System In this embodiment, as shown in FIG. 10, the transported object 30 includes, as an example, a component supplying device having one or more feeders. The component supplying device, which is the transported object 30, is used to supply components to the mounting body 130 of the component mounter 120 arranged in at least one of the manufacturing lines 101 to 103. The "component mounter" here is a machine that mounts components on an object such as a board. The mounting body 130 includes a mounting head that mounts components on the board. That is, in this embodiment, the transport robot 2 is controlled by the transport control system 1 to transport the component supplying device, which is the transported object 30, to the installation location of the mounting body 130 of the component mounter 120. This makes it possible to construct a component mounting system 300. In other words, the component mounting system 300 is a system that includes at least one component mounter 120 that mounts components on a board. Then, the component supplying device, which is one of the transported objects 30, is transported to the mounting body 130 by the transport robot 2 provided in the transport system 3.

(2.5) Description of Operation The operation of the transport control system 1 of this embodiment will be described with reference to Fig. 3 etc. Note that the flowchart shown in Fig. 3 is merely an example of a transport control method in which the transport control system 1 groups the first areas ST1 to ST12, and the order of processing may be changed as appropriate, and processing may be added or omitted as appropriate.

Here, we will explain the process in which the transport control system 1 assigns each of the 12 first areas ST1 to ST12 provided on the three production lines 101 to 103 to one of the three groups GR1 to GR3, as shown in Figure 2.

For example, when the operation reception unit 12 receives a grouping start command input by the user, the transport control system 1 starts the grouping process to allocate each of the multiple first areas ST1 to ST12 to one of the three groups GR1 to GR3. Note that the transport control system 1 may start the grouping process when a change is made to the transport amount, route information, number of units information, required tact time, etc. on the production lines 101 to 103.

First, the first acquisition unit 141 acquires transport amount information regarding the transport amount of the transported object 30 transported between each of the first areas ST1 to ST12 and the second area, the automated warehouse 110 (S1), and stores the acquired tact information in the memory unit 19. The first acquisition unit 141 may acquire the transport amount information input by the user via the operation reception unit 12, or may acquire the transport amount information via the first communication unit 11 from a data server that accumulates the transport amount information. Table 1 shows an example of the transport amount information acquired by the first acquisition unit 141. The transport amount information indicates the transport amount (number) per unit time (e.g., per hour) of a pallet used to store one or more transported objects 30. In the table below, the first areas ST1, ST5, and ST9 correspond to packaging machine 1 on production lines 101-103, the first areas ST2, ST6, and ST10 correspond to packaging machine 2 on production lines 101-103, the first areas ST3, ST7, and ST11 correspond to table 1 on production lines 101-103, and the first areas ST4, ST8, and ST12 correspond to table 2 on production lines 101-103.

Next, the third acquisition unit 143 acquires tact information regarding the tact time required for transport operations between each of the multiple first areas ST1 to ST12 and the second area, the automated warehouse 110 (S2), and stores the acquired tact information in the memory unit 19. The third acquisition unit 143 may acquire tact information entered by the user via the operation reception unit 12, or may acquire tact information via the first communication unit 11 from a data server that accumulates tact information. Table 2 below shows an example of tact information acquired by the second acquisition unit 142.

After acquiring the transport amount information and tact information, the setting unit 16 performs grouping to provisionally divide each of the first areas ST1 to ST12 into three groups GR1 to GR3 in order to calculate the evaluation value (S3). In the initial grouping, the first areas ST1 to ST4 provided on the production line 101 are divided into group GR1 of gate GT1, the first areas ST5 to ST8 provided on the production line 102 are divided into group GR2 of gate GT2, and the first areas ST9 to ST12 provided on the production line 103 are divided into group GR3 of gate GT3 (see FIG. 2).

Next, the fourth acquisition unit 144 acquires number information regarding the number of transport robots 2 used for transport work in each of the three groups GR1 to GR3 (S4), and stores the acquired number information in the memory unit 19. The fourth acquisition unit 144 may acquire the number information entered by the user via the operation reception unit 12, or may acquire the number information via the first communication unit 11 from a data server that accumulates the number information. Here, a case will be described in which the number of transport robots 2 used for transport work in each of the three groups GR1 to GR3 is two.

Next, the second acquisition unit 142 acquires route information related to multiple transport routes RT (see FIG. 2) along which the transport robot 2 transports the transported object 30 between the multiple gates GT1 to GT3 and the multiple first areas ST1 to ST12 (S5). The second acquisition unit 142 may acquire route information input by the user via the operation reception unit 12, or may acquire route information via the first communication unit 11 from a data server that accumulates route information. Table 3 below shows an example of route information acquired by the second acquisition unit 142. Here, the route information is information indicating the transport distance between each of the first areas ST1 to ST12 and the corresponding gates GT1 to GT3, and is expressed as a ratio (transport distance ratio) when the shortest transport distance is set to 1.

When the transport amount information, route information, and number information are acquired, the evaluation unit 15 uses the transport amount information, route information, and number information to determine an evaluation value for each of the groups GR1 to GR3 (S6). The evaluation unit 15 determines the product of the transport amount Q1 and the transport distance ratio D1 for each of the n first areas included in the group GRx (x = 1 to 3). The evaluation unit 15 then determines the sum SUM (Q1 x D1) of the products Q1 x D1 determined for each of the n first areas, and determines an evaluation value E1 by dividing this sum SUM (Q1 x D1) by the number N1 of the transport robots 2 performing transport work in the group GRx. For example, in group GR1, the product Q1 x D1 of the transport amount Q1 and the transport distance ratio D1 is calculated for each of the four first areas ST1 to ST4 included in group GR1, and the sum SUM(Q1 x D1) is calculated, and then divided by the number of transport robots 2 (2) to obtain an evaluation value E1.

Next, the evaluation unit 15 determines the shortest takt time, which is the shortest value of the takt time, for each of the groups GR1 to GR3 (S7), and calculates the correlation coefficient (correlation value) between the evaluation value E1 determined for each of the groups GR1 to GR3 and the shortest takt time (S8).

Then, the setting unit 16 judges whether or not a positive correlation is obtained between the evaluation value E1 and the shortest takt time based on the calculation result of the correlation value (S9). Here, the setting unit 16 judges whether or not the evaluation value E1 and the shortest takt time calculated for each of the groups GR1 to GR3 satisfy a relationship such that the shorter the shortest takt time, the smaller the evaluation value E1.

If it is determined in step S9 that a positive correlation is obtained (S9: Yes), the setting unit 16 confirms the grouping of the multiple first areas ST1 to ST12 with the current grouping, and ends the grouping process.

If it is determined in step S9 that a positive correlation is not obtained (S9: No), the setting unit 16 returns to step S3 and changes the grouping of the multiple first areas ST1 to ST12. Then, steps S4 to S8 are performed to obtain the correlation coefficient between the evaluation value E1 and the shortest takt time for each group, and it is determined again whether a positive correlation is obtained (S9). As a result, the setting unit 16 repeats grouping of the first areas ST1 to ST12 until the correlation between the evaluation value E1 obtained for each group and the shortest takt time becomes positive, and ends the grouping process when the correlation between the evaluation value E1 obtained for each group GR1 to GR3 and the shortest takt time becomes positive.

The setting unit 16 may calculate the correlation coefficient between the evaluation value E1 for each group and the required tact time for all combinations of grouping of the multiple first areas ST1 to ST12, and determine the grouping based on the combination with the strongest positive correlation. After automatically grouping, the setting unit 16 may change the grouping based on a user's grouping change operation received by the operation receiving unit 12. Here, FIG. 4A shows an example of an average conveying distance ratio calculated for each group in the initial grouping, FIG. 5A shows an example of a total conveyed material amount calculated for each group in the initial grouping, and FIG. 6A shows an example of an evaluation value calculated for each group in the initial grouping. The average conveying distance ratio is the average value of the conveying distance ratio D1 calculated for each of the one or more first areas included in each group. The total conveyed material amount is the total number of conveyed materials per unit time of pallets conveyed between one or more first areas and second areas included in each group, and is the sum of the conveyed materials of each first area. As shown in FIG. 6A, the correlation coefficient between the evaluation value and the required tact time obtained from the initial grouping is negative at -0.94, so the setting unit 16 changes the grouping.

The setting unit 16 changes the grouping so as to move some of the first areas ST1 to ST12 to another group in order to improve the correlation value between the evaluation value for each group and the required takt time. For example, the setting unit 16 changes the grouping so as to move the first areas ST5 and ST7, which are assigned to group GR2 from the initial grouping, to group GR1 (see FIG. 7). Then, the evaluation unit 15 calculates the evaluation value E1 for each group for the changed group, and the setting unit 16 calculates the correlation value between the evaluation value E1 for each group and the required takt time. Here, FIG. 4B shows an example of the transport distance ratio calculated for each group in the changed grouping, FIG. 5B shows an example of the total transported material amount calculated for each group in the changed grouping, and FIG. 6B shows an example of the evaluation value calculated for each group in the changed grouping. With the changed grouping, the correlation value between the evaluation value for each group and the required takt time has improved to +0.99, and a positive correlation has been obtained, so the setting unit 16 confirms the changed grouping and allocates the multiple first areas ST1 to ST12 to each of the groups GR1 to GR3 with the changed grouping.

This allows the transport control system 1 to perform grouping such that the correlation between the evaluation value E1 calculated for each group GR1 to GR3 and the shortest takt time is positive. Then, when grouping of the multiple first areas ST1 to ST12 is completed, the transport control unit 18 causes the transport robot 2 to perform a transport operation to transport the transported object 30 between the multiple first areas and gates included in each of the three groups GR1 to GR3. In other words, the transport control unit 18 controls the transport operation by the multiple transport robots 2 assigned to the multiple groups GR1 to GR3.

In addition, in step S9, if the correlation coefficient between the evaluation value E1 obtained for each of the groups GR1 to GR3 and the shortest takt time is equal to or greater than a predetermined reference value, the setting unit 16 may perform grouping to confirm the current grouping, and can perform grouping that obtains the desired correlation.

In this embodiment, when the user divides each of the multiple first areas ST1 to ST12 into one of the groups GR1 to GR3, the evaluation unit 15 may calculate an evaluation value for each of the groups GR1 to GR3 divided by the user, and calculate the correlation between the evaluation value and the required takt time for each group.

Figure 8 shows an example of a group setting screen A1 displayed on the display unit 13 of the transport control system 1. Note that the symbols and leader lines shown on the setting screen A1 in Figure 8 are shown for explanatory purposes only and are not actually displayed on the display unit 13.

In the setting screen A1, a group setting area W1 for setting grouping of the first areas ST1 to ST12 and an information display area W2 for displaying information about each of the first areas ST1 to ST12 are displayed side by side so that they fit on one screen. In the group setting area W1, an input box B1 and a map display area MP1 are displayed side by side. The input box B1 is an input box for inputting the nodes (gates and first areas) and the number of transport robots 2 included in each of the multiple groups GR1 to GR3 in a table format. When the user inputs setting information for allocating each of the multiple first areas ST1 to ST12 and the multiple gates GT1 to GT3 to the multiple groups GR1 to GR3 into the input box B1, the operation reception unit 12 receives the setting information input by the user, and the control unit 10 creates image data for the map display area MP1, which displays the grouping based on the setting information in a schematic map, and displays it on the display unit 13. That is, when the operation reception unit 12 receives setting information for dividing each of the first areas ST1 to ST12 into a plurality of groups GR1 to GR3 corresponding to the gates GT1 to GT3, the grouping based on the setting information is displayed as a map in the map display area MP1. Note that the grouping of the first areas ST1 to ST12 and the gates GT1 to GT3 may be changed by dragging the lines indicating the boundaries of each group with a mouse or the like in the map display area MP1. Also, grouping may be performed by performing an operation to select multiple of the first areas ST1 to ST12 and the gates GT1 to GT3 in the map display area MP1 (for example, a mouse drag operation, or a selection operation in combination with the shift key or control key of the keyboard).

In the map display area MP1, the first areas ST1 to ST12 are displayed with markers such as white circles, and the first areas and gates that are assigned to the same group are surrounded by solid lines, so that the user can easily visually understand the grouping of the first areas ST1 to ST12 and the gates GT1 to GT3. In the information display area W2, a display box B2 is displayed that displays information about the first area specified by the user. For example, when the user clicks on the marker corresponding to the first area ST8 displayed in the map display area MP1 with a mouse or the like, information on the transport volume, distance ratio (transport distance ratio), and required takt (required takt time) of the first area ST8 is displayed in the information display area W2. Therefore, the user can consider which group to assign each of the first areas ST1 to ST12 to while checking the information displayed in the information display area W2, and then perform the grouping.

When the operation reception unit 12 receives a command to start a simulation input by the user after grouping on the setting screen A1, the evaluation unit 15 calculates an evaluation value E1 for each group based on the grouping performed by the user, and calculates a correlation value between the evaluation value E1 for each group and the required takt time. That is, the evaluation unit 15 calculates an evaluation value E1 for each of the multiple groups GR1 to GR3 to which each of the multiple first areas ST1 to ST12 is assigned based on the setting information. Then, if the correlation between the evaluation value E1 and the required takt time is negative based on the correlation value between the evaluation value E1 for each group and the required takt time, the setting unit 16 causes the improvement proposal output unit 17 to perform a process of outputting an improvement proposal. That is, the improvement proposal output unit 17 derives an improvement proposal for changing the multiple first areas ST1 to ST12 assigned to each of the multiple groups GR1 to GR3 based on the evaluation value E1 calculated by the evaluation unit 15, and displays it on the display unit 13.

Figure 9 is an example of an improvement proposal output screen A2 displayed on the display unit 13 by the improvement proposal output unit 17. Note that the symbols and leader lines, etc. shown on the improvement proposal output screen A2 in Figure 9 are shown for explanatory purposes only and are not actually displayed on the display unit 13.

In the improvement proposal output screen A2, a group setting area W1 similar to the setting screen A1 and an improvement proposal display area W3 displaying the improvement proposal for grouping are displayed side by side so as to fit on one screen. In other words, the improvement proposal output unit 17 displays the map display area MP1, which displays the grouping of the multiple first areas ST1 to ST12 on a map, and the improvement proposal display area W3, which displays the improvement proposal, on one screen of the display unit 13 of the terminal device. Here, the terminal device is a computer constituting the transport control system 1. In addition, displaying the map display area MP1 and the improvement proposal display area W3 on one screen of the display unit 13 is not limited to the map display area MP1 and the improvement proposal display area W3 being entirely contained within the screen size of the display device constituting the display unit 13, and may be displayed on the display unit 13 in a state in which the entire map display area MP1 and the improvement proposal display area W3 can be confirmed by scrolling the portion displayed on the display unit 13.

The improvement proposal display area W3 includes a first display area G1 that displays the evaluation value E1 and required takt time obtained for each of the groups GR1 to GR3 in a graph, and a second display area B4 that displays the improvement proposal in text or other format. In addition, above the first display area G1, a third display area B3 is provided that displays the correlation value between the evaluation value E1 obtained for each group and the required takt time as a numerical value.

In the example of FIG. 9, the correlation between the evaluation value E1 obtained for each of the groups GR1 to GR3 and the required takt time is negative, and the second display area B4 displays an improvement proposal that recommends changing the first area ST7 from group GR2 to group GR1. Here, two selection buttons BT1 and BT2 are displayed in the second display area B4. When the user performs an operation to select the selection button BT1, the improvement proposal displayed in the second display area B4 is reflected in the grouping, and the setting unit 16 confirms the grouping of the first areas ST1 to ST12 with the grouping after reflection. On the other hand, when the user performs an operation to select the selection button BT2, the improvement proposal displayed in the second display area B4 is not adopted. At this time, it is preferable that the improvement proposal output unit 17 derives another improvement proposal and displays it on the display unit 13.

In this way, the improvement proposal output unit 17 outputs improvement proposals, making it possible to perform groupings that can improve transport efficiency.

(3) Modifications The above embodiment is merely one of various embodiments of the present disclosure. The above embodiment can be modified in various ways depending on the design and the like as long as the object of the present disclosure can be achieved. In addition, the same function as the transport control system 1 may be embodied in a transport control method, a computer program, or a non-transitory recording medium on which a program is recorded. The transport control method according to one aspect includes a first acquisition process, a second acquisition process, a setting process, and a transport control process. In the first acquisition process, transport amount information regarding the transport amount by which the transport robot 2 transports the transported object 30 between each of the multiple first areas ST1 to ST12 and the second area (automated warehouse 110) is acquired for each of the multiple first areas ST1 to ST12. In the second acquisition process, route information regarding a multiple transport route by which the transport robot 2 transports the transported object 30 between the multiple gates GT1 to GT3 and the multiple first areas ST1 to ST12 is acquired for each of the multiple transport routes. The gates GT1 to GT3 are provided in the second area to carry the transported object 30 into the second area (automated warehouse 110) or carry the transported object 30 out of the second area. In the setting process, each of the first areas ST1 to ST12 is assigned to one of the groups GR1 to GR3 corresponding to the gates GT1 to GT3 on a one-to-one basis based on transport amount information and route information. In the transport control process, the transport robot 2 is caused to carry the transported object 30 in and out between each of the first areas ST1 to ST12 and the second area via the gates GT1 to GT3 corresponding to each of the first areas ST1 to ST12. A (computer) program according to one aspect is a program for causing a computer system to execute the transport control method.

Below, we will list some variations of the above embodiment. The variations described below can be applied in appropriate combinations.

The transport control system 1 and the transport robot 2 in the present disclosure include a computer system. The computer system is mainly composed of a processor and a memory as hardware. The functions of the transport control system 1 and the transport robot 2 in the present disclosure are realized by the processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory of the computer system, provided through an electric communication line, or recorded and provided in a non-transitory recording medium such as a memory card, an optical disk, or a hard disk drive that can be read by the computer system. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). The integrated circuits such as IC or LSI referred to here are called differently depending on the degree of integration, and include integrated circuits called system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). Furthermore, a field-programmable gate array (FPGA) that is programmed after the manufacture of the LSI, or a logic device that can reconfigure the connection relationship inside the LSI or reconfigure the circuit partition inside the LSI, can also be adopted as a processor. The multiple electronic circuits may be integrated into one chip, or may be distributed across multiple chips. The multiple chips may be integrated into one device, or may be distributed across multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

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

In addition, in the above-mentioned transport control system 1, the first areas ST1 to ST12 are locations where the transported object 30 is handed over in the production lines 101 to 103, and the second area is the automated warehouse 110, but the second area may be the production line. In this case, the production line, which is the second area, is provided with multiple gates, and at least one of the transported object 30 is carried in and out between the first areas ST1 to ST12 and the second area through any of the multiple gates. In other words, at least one of parts, semi-finished products, finished products, etc. is carried in and out through the gates between the production line, which is the first areas ST1 to ST12, and the production line, which is the second area.

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

(summary)
As described above, the transport control system (1) of the first aspect includes a first acquisition unit (141), a second acquisition unit (142), a setting unit (16), and a transport control unit (18). The first acquisition unit (141) acquires, for each of the first areas (ST1 to ST12), transport amount information relating to the transport amount by which the transport robot (2) transports the transported object (30) between each of the first areas (ST1 to ST12) and the second area (110). The second acquisition unit (142) acquires route information relating to a plurality of transport routes (RT) by which the transport robot (2) transports the transported object (30) between a plurality of gates and the plurality of first areas (ST1 to ST12). The gates (GT1 to GT3) are provided in the second area (110) for carrying the transported object (30) into the second area (110) or carrying the transported object (30) out of the second area (110). The setting unit (16) assigns each of the first areas (ST1 to ST12) to one of the groups (GR1 to GR3) corresponding one-to-one to the gates (GT1 to GT3) based on the transport amount information and the route information. The transport control unit (18) causes the transport robot (2) to carry the transported object (30) into or out of the second area (110) through the gates (GT1 to GT3) corresponding to each of the first areas (ST1 to ST12).

According to this aspect, the setting unit (16) assigns each of the multiple first areas (ST1 to ST12) to one of the multiple groups (GR1 to GR3) based on the transport amount information and route information. Therefore, the multiple groups (GR1 to GR3) can be set so as to distribute the transport amount of the transported object (30) transported between the multiple first areas (ST1 to ST12) and the second area (110) to the multiple gates (GT1 to GT3). This makes it possible to avoid a situation in which the transport robot (2) transporting the transported object (30) concentrates on a specific gate (GT1 to GT3), resulting in a decrease in transport efficiency, and makes it possible to improve the transport efficiency of transporting the transported object (30). In addition, since the transport work is less likely to be concentrated at a specific gate (GT1-GT3) among multiple gates (GT1-GT3), congestion of the transport robot (2) in front of the gate (GT1-GT3) is less likely to occur, and the transport efficiency of transporting the transported object (30) can be improved.

The transport control system (1) of the second aspect further includes a third acquisition unit (143) that acquires, for each of the first areas (ST1 to ST12), tact information related to the tact time required to transport the transported object (30) in each of the first areas (ST1 to ST12). The setting unit (16) further assigns each of the first areas (ST1 to ST12) to one of the groups (GR1 to GR3) based on the tact information.

According to this aspect, each of the multiple first areas (ST1 to ST12) can be assigned to one of multiple groups (GR1 to GR3) so as to improve the efficiency of transporting the transported object (30).

The transport control system (1) of the third aspect is the second aspect, and further includes an evaluation unit (15) that determines an evaluation value for each of the multiple groups (GR1 to GR3) based on transport amount information and route information. The setting unit (16) assigns each of the multiple first areas (ST1 to ST12) to one of the multiple groups (GR1 to GR3) based on the evaluation value and takt information.

According to this aspect, each of the multiple first areas (ST1 to ST12) can be assigned to one of multiple groups (GR1 to GR3) so as to improve the efficiency of transporting the transported object (30).

The transport control system (1) of the fourth aspect is the third aspect, and further includes a fourth acquisition unit (144) that acquires number information regarding the number of transport robots (2) that transport the transported object (30) in each of the multiple groups (GR1 to GR3). The evaluation unit (15) calculates an evaluation value based on the transport amount information, route information, and number information.

According to this aspect, each of the multiple first areas (ST1 to ST12) can be assigned to one of multiple groups (GR1 to GR3) so as to improve the efficiency of transporting the transported object (30).

In the fifth aspect of the transport control system (1), in the third or fourth aspect, the setting unit (16) assigns each of the multiple first areas (ST1 to ST12) to one of multiple groups (GR1 to GR3) based on the evaluation value and the takt information so that the correlation between the takt time and the evaluation value is positive.

According to this aspect, each of the multiple first areas (ST1 to ST12) can be assigned to one of multiple groups (GR1 to GR3) so as to improve the efficiency of transporting the transported object (30).

The transport control system (1) of the sixth aspect, in any one of the third to fifth aspects, further includes a reception unit (12) that receives setting information for allocating each of the first areas (ST1 to ST12) to a plurality of groups (GR1 to GR3). The evaluation unit (15) calculates an evaluation value for each of the groups (GR1 to GR3) to which each of the first areas (ST1 to ST12) is allocated based on the setting information. The transport control system (1) further includes an improvement proposal output unit (17) that derives and outputs an improvement proposal for changing the first areas (ST1 to ST12) that are allocated to each of the groups (GR1 to GR3) based on the evaluation value calculated by the evaluation unit (15).

According to this aspect, the improvement proposal output unit (17) outputs an improvement proposal, thereby urging the user to change the allocation so as to improve transport efficiency.

In the transport control system (1) of the seventh aspect, in the sixth aspect, the improvement proposal output unit (17) displays, on one screen of the display unit (13) of the terminal device, a map display area (MP1) that displays the grouping of the multiple first areas (ST1 to ST12) on a map, and an improvement proposal display area (W3) that displays the improvement proposal.

According to this embodiment, the map display area (MP1) and the improvement proposal display area (W3) are displayed on one screen, which has the advantage that the user can easily understand the contents of the improvement proposal.

In the eighth aspect of the transport control system (1), in any of the first to seventh aspects, the transport control unit (18) controls the transport work performed by multiple transport robots (2) assigned to multiple groups (GR1 to GR3).

According to this aspect, the transport efficiency of multiple transport robots (2) transporting the transported object (30) can be improved.

The ninth aspect of the transport system (3) includes a transport control system (1) according to any one of the first to eighth aspects, and a plurality of transport robots (2) that transport objects (30) in each of a plurality of groups (GR1 to GR3).

According to this aspect, the transport efficiency of the transported object (30) can be improved.

The component mounting system of the tenth aspect is a component mounting system (300) including at least one component mounter (120) that mounts components on a substrate. The component mounter (120) has a component supply device that supplies components, and a mounting body (130) that includes a mounting head that mounts the components on the substrate. The component supply device is transported to the mounting body (130) by a transport robot (2) provided in the transport system (3) of the eighth aspect.

According to this aspect, the efficiency of transporting the transported object (30) in the component mounting system can be improved.

The transport control method of the eleventh aspect includes a first acquisition process, a second acquisition process, a setting process, and a transport control process. In the first acquisition process, transport amount information regarding the transport amount by which the transport robot (2) transports the transported object (30) between each of the plurality of first areas (ST1 to ST12) and the second area (110) is acquired for each of the plurality of first areas (ST1 to ST12). In the second acquisition process, route information regarding a plurality of transport routes (RT) by which the transport robot (2) transports the transported object (30) between the plurality of gates (GT1 to GT3) and the plurality of first areas (ST1 to ST12) is acquired. The plurality of gates (GT1 to GT3) are provided in the second area (110) to perform at least one of transporting the transported object (30) into the second area (110) and transporting the transported object (30) out of the second area (110). In the setting process, each of the first areas (ST1 to ST12) is assigned to one of the groups (GR1 to GR3) that correspond one-to-one to the gates (GT1 to GT3) based on the transport amount information and route information. In the transport control process, the transport robot (2) is caused to carry in and out the transported object (30) between each of the first areas (ST1 to ST12) and the second area (110) through the gates (GT1 to GT3) that correspond to each of the first areas (ST1 to ST12).

According to this aspect, the transport efficiency of the transported object (30) can be improved.

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

The configurations according to the second to eighth aspects are not essential to the transport control system (1) and may be omitted as appropriate.

1 Transport control system 2 Transport robot 3 Transport system 12 Operation reception unit (reception unit)
13 Display unit 15 Evaluation unit 16 Setting unit 17 Improvement proposal output unit 18 Transport control unit 30 Transported object 110 Automated warehouse (second area)
120 Component mounter 130 Mounting main body 141 First acquisition section 142 Second acquisition section 143 Third acquisition section 144 Fourth acquisition section 300 Component mounting system W3 Improvement plan display area GR1 to GR3 Group GT1 to GT3 Gate MP1 Map display area RT Transport route ST1 to ST12 First area

Claims (11)

a first acquisition unit that acquires, for each of a plurality of first areas, transport amount information regarding a transport amount of an object transported by the transport robot between each of the plurality of first areas and a second area;
a second acquisition unit that acquires route information regarding a plurality of transport routes along which the transport robot transports the transported object between a plurality of gates provided in the second area for at least one of carrying the transported object into the second area and carrying the transported object out of the second area and the plurality of first areas;
a setting unit that assigns each of the first areas to one of a plurality of groups that correspond one-to-one to the gates based on the transport amount information and the route information;
a transport control unit that causes the transport robot to at least one of carry-in and carry-out of the transported object between each of the plurality of first areas and the second area through the gate corresponding to each of the plurality of first areas,
Transport control system. a third acquisition unit that acquires, for each of the first areas, tact information related to a tact time required for transporting the transported object in each of the first areas;
The setting unit further assigns each of the first areas to one of the groups based on the tact information.
The transport control system according to claim 1 . an evaluation unit that calculates an evaluation value for each of the plurality of groups based on the transport amount information and the route information,
the setting unit assigns each of the first areas to one of the groups based on the evaluation value and the tact information;
The transport control system according to claim 2 . a fourth acquisition unit that acquires number information regarding the number of the transport robots that transport the transport object in each of the plurality of groups,
the evaluation unit determines the evaluation value based on the transport amount information, the route information, and the number information.
The transport control system according to claim 3 . the setting unit assigns each of the plurality of first areas to one of the plurality of groups such that a correlation between the takt time and the evaluation value is positive based on the evaluation value and the takt information;
The transport control system according to claim 3 or 4. a reception unit that receives setting information for allocating each of the first areas to each of the groups,
the evaluation unit determines the evaluation value for each of the plurality of groups into which the plurality of first areas are allocated based on the setting information;
an improvement proposal output unit that derives and outputs an improvement proposal for changing the first areas to be allocated to each of the groups based on the evaluation value obtained by the evaluation unit;
The transport control system according to any one of claims 3 to 5. the improvement proposal output unit displays, on one screen of a display unit of the terminal device, a map display area for displaying a grouping of the plurality of first areas on a map, and an improvement proposal display area for displaying the improvement proposal.
The transport control system according to claim 6. The transport control unit controls transport operations performed by the multiple transport robots assigned to the multiple groups.
The transport control system according to any one of claims 1 to 7. A transport control system according to any one of claims 1 to 8;
a plurality of the transport robots for transporting the transport object in each of the plurality of groups;
Conveying system. A component mounting system including at least one component mounter that mounts components on a substrate,
The component mounter includes:
A component supply device for supplying the component;
a mounting body including a mounting head that mounts the component on the board,
The component supply device includes:
The transfer system according to claim 9 is provided with the transfer robot, and the transfer system is transported to the mounting body.
Component mounting system. a first acquisition process for acquiring, for each of a plurality of first areas, transport distance information relating to a transport distance of an object transported by the transport robot between each of the plurality of first areas and a second area;
a second acquisition process for acquiring route information regarding a plurality of transport routes along which the transport robot transports the transported object between a plurality of gates provided in the second area for at least one of carrying the transported object into the second area and carrying the transported object out of the second area and the plurality of first areas;
a setting process for allocating each of the first areas to one of a plurality of groups corresponding one-to-one to the gates based on the transport amount information and the route information;
a transport control process for causing the transport robot to carry in and out the transported object between each of the plurality of first areas and the second area through the gate corresponding to each of the plurality of first areas,
Transport control method.

Images