Production system using unmanned automatically guided vehicles

• US 4,926,544 A
• Filed: 08/26/1988
• Issued: 05/22/1990
• Est. Priority Date: 08/27/1987
• Status: Expired due to Term

• Current Assignee: Nissan Motor Company Limited No 2 Takara-Cho Kanagawa-Ku Yokohama City Japan
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Koyanagi, Haruo, Takao, Koji, Noda, Tomohiko, Kumasaka, Hideyuki
• Primary Examiner(s): Eley, Timothy V.
• Application Number:
  US07/236,876
• Time in Patent Office: 634 Days
• Field of Search: 29/701-704, 29/711, 29/712, 29/714, 29/720, 29/771, 29/791, 180/167, 414/340-348
• US Class Current: 29/703
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0282 generated in a local control room
• CPC Class Codes: G05D 1/0297 by controlling means in a control room
• CPC Class Codes: Y10T 29/53013 Computer input
• CPC Class Codes: Y10T 29/53052 including position sensor
• CPC Class Codes: Y10T 29/53061 Responsive to work or work-related machine element
• CPC Class Codes: Y10T 29/53087 with signal, scale, illuminator, or optical viewer
• CPC Class Codes: Y10T 29/53313 Means to interrelatedly feed plural work parts from plural sources without manual intervention

Abstract

In order to simplify production line layout and revision, a plurality of unmanned self-propelled vehicles are used. Some vehicles carry a work piece from station to station while auxiliary vehicles which remain at each station carry components and assembly robots. Transport vehicle are used to move new components from storage sites to the work place. To facilitate large scale operations a camera can be used to observe the vehicles and compare the movement pattern with a predetermined desired one in order to ascertain appropriate movement.

Claims

1. An automated delivery and assembly system, comprising:

a first unmanned self-propelled vehicle, said first vehicle being arranged to carry a main work piece;

a second unmanned self-propelled vehicle, said second vehicle being arranged to carry components which are to be secured to the main work piece;

transfer means for moving said components from said second vehicle to the main work piece on said first vehicle;

a control system being arranged to transmit control orders by way of a wireless communication system to said first and second vehicles and said transfer means, said control orders containing data which induces said first vehicle to assume a predetermined position on a work floor, and to induce said second vehicle to move along the work floor, approach said first vehicle and induce said transfer means to place said component on a predetermined site on said main work piece while said main work piece is on said first vehicle.

2. A system as claimed in claim 1 further comprising a self-propelled vehicle, being arranged to support a robot which performs a predetermined operation on said component when said component is disposed on said predetermined site.

3. A system as claimed in claim 2 further comprising a fourth self-propelled vehicle, being arranged to carry a robot which is equipped with a crane, said crane being arranged to lift and place a component in position on said main work piece.

4. A system as claimed in claim 3 further comprising a fifth self-propelled vehicle, being arranged to carry components from a storage site to said predetermined position, said fifth self-propelled vehicle being arranged to cooperate with said fourth self-propelled vehicle in a manner wherein the component which is carried on said fifth self-propelled vehicle is taken therefrom and placed on said main work piece.

5. A system as claimed in claim 1 wherein said control system comprises a camera, said camera being positioned above the work floor on which said first and second vehicles are arranged to run and from which said first and second vehicles can be observed, said camera developing an image which depicts the positions of said first and second vehicles on the work floor, said camera being supported by a structure separate from said first and second vehicles.

6. An automated delivery and assembly system, comprising:

a plurality of self-propelled vehicles, said plurality of vehicles being arranged to run on a work floor;

a camera positioned in a location above the work floor, wherein a work site can be observed, said camera being supported by a structure separate from said plurality of vehicles;

a control device, said control device being operatively connected with said camera, said control device being arranged to generate a preselected pattern, said pattern depicted the arrangement which said plurality of selfpropelled vehicles should assume on the work floor, said control device being arranged to use the image data from said camera to develop an image indicative of the actual positions assumed by said plurality of selfpropelled vehicles on the work floor, compare the image with said pattern and determine if the desired movements of said plurality of self-propelled vehicles are being achieved.

7. A system as claimed in claim 6 wherein said plurality of self-propelled vehicles include:

a first type of unmanned self-propelled vehicle, said first type of self-propelled vehicle being arranged to carry a main work piece to a predetermined position; and

a second type of unmanned self-propelled vehicle, said second type of self-propelled vehicle being arranged to carry components which are to be secured to the main work piece.

8. A system as claimed in claim 7 further comprising a third type of self-propelled vehicle, said third type of self-propelled vehicle being arranged to support a robot which performs a predetermined operation on said component when said component is disposed on said predetermined site.

9. A system as claimed in claim 8 further comprising a fourth type of self-propelled vehicle, said fourth type of self-propelled vehicle being arranged to carry a robot which is equipped with a crane, said crane being arranged to lift and place a component in position on said main work piece.

10. A system as claimed in claim 9 further comprising a fifth type of self-propelled vehicle, said fifth type of self-propelled vehicle being arranged to carry components from a storage site to said predetermined position, said fifth type of self-propelled vehicle being arranged to cooperate with said fourth type of self-propelled vehicle in a manner wherein the component which is carried on said fifth type of self propelled vehicle is taken therefrom and placed on said main work piece.

11. In automated delivery and assembly system, comprising:

means defining first and second stages;

a main type of unmanned self-propelled vehicle, said main type of self-propelled vehicle being arranged to carry a main work piece to predetermined positions within each of said first and second stages, said main type of self-propelled vehicle being arranged to move sequentially from said first stage to said second stage;

first and second unmanned self-propelled vehicles of an auxiliary type, each of said first and second auxiliary types of self-propelled vehicles being arranged to carry components which are to be secured to the main work piece, the first of said auxiliary type of self propelled vehicle being arranged to remain in said first stage and the second of said auxiliary type of vehicle being arranged to remain in said second stage;

a control system comprising a main controller and first and second stage controllers, said main controller being arranged to transmit control signals to said main type of selfpropelled vehicle in a manner which induces said main type of self propelled vehicle to sequentially assume said predetermined positions in said first and second stages, said stage controllers being arranged to transmit orders to the first and second auxiliary type of selfpropelled vehicle in a manner which induces said first and second auxiliary type of self-propelled vehicle to selectively approach and place a component on a predetermined site on said main work piece.

12. An automated delivery and assembly system, comprising:

a first unmanned vehicle, said first vehicle being arranged to support a work piece and carry the same through a plurality of work stages which are arranged on a work floor;

a plurality of second unmanned vehicles in each of said stages, said second vehicles being arranged to carry components to be connected to the work piece;

a plurality of third unmanned vehicles in each of said stages, said third vehicles supporting first robots which transport the components from said second vehicles to the work piece on said first vehicle;

a plurality of fourth unmanned vehicles in each of said stages, said fourth vehicles supporting second robots which connect the components to said work piece; and

control means for transmitting data by way of a wireless communication network between said first, second, third and fourth vehicles, said control means including a main control station and a plurality of stage controllers, each of said stage controllers being assigned to one of said plurality of work stages.

13. A system as claimed in claim 12, further comprising a camera, said camera being disposed in a position above the work floor and in which the positions of said first, second, third and fourth vehicles on said work floor can be observed and an image which depicts the positions of the same to be developed;

said control means comparing the image with a predetermined pattern to determine if the first, second, third and fourth vehicles are in required positions.