Install the associated system

Abstract

An installation-related system includes installation-related equipment for performing installation processing, and parts used for installation processing are automatically transported to the installation-related equipment by an automatic transport vehicle. The installation-related system includes a storage unit that stores instruction contents for performing instructions related to the travel of the automatic transport vehicle as instruction blocks that can be displayed on a screen in the form of blocks according to each type of multiple automatic transport vehicles, a display unit that displays the instruction blocks of multiple automatic transport vehicles on the screen in a manner that can be selected by an operator, a setting unit that sets a travel instruction flow of the automatic transport vehicle that performs automatic transportation in the installation-related system based on the instruction block selected by the operator among the instruction blocks displayed on the screen, and a control unit that performs travel control of the automatic transport vehicle based on the set travel instruction flow.

Description

Technical Field

[0001] This specification discloses an installation association system. Background Art

[0002] Conventionally, there is known an installation-related system in which a component or the like of an installation device for performing an installation process of mounting components on a substrate is automatically transported to the installation-related device by an automatic transport vehicle (automatic transport device) (for example, see Patent Document 1). In addition, as a simulator for evaluating the performance of an automatic transport vehicle, a simulator is also known that selects and obtains control data of automatic transport vehicles of multiple manufacturers and performs evaluation in the same way (for example, see Patent Document 2).

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2019-091770

[0006] Patent document 2: Japanese Patent Application Laid-Open No. 9-138789. Summary of the invention

[0007] Problems to be solved by the invention

[0008] It is possible to consider importing an automatic transport vehicle that is highly evaluated in the execution results of the simulator of Patent Document 2 into an installation-related system such as Patent Document 1. However, in Patent Document 2, control data of automatic transport vehicles of multiple manufacturers are selected during simulation, and selection of data related to driving instructions (driving control) in the installation-related system is not considered. Therefore, in order to perform driving instructions corresponding to the type of automatic transport vehicle such as the manufacturer of the imported automatic transport vehicle in the installation-related system, the user needs to perform various settings, which increases the burden on the user.

[0009] A main object of the present disclosure is to easily provide a travel instruction that matches the type of an automated transport vehicle that performs automated transport in an installation-related system.

[0010] Technical solutions to solve problems

[0011] In order to achieve the above main objectives, the present disclosure adopts the following technical solutions.

[0012] The installation-related system disclosed in the present invention comprises an installation-related device for performing installation processing, and the components used for the installation processing are automatically transported to the installation-related device by an automatic transport vehicle.

[0013] The main purpose of the installation association system is to have:

[0014] a storage unit for storing instruction contents for performing instructions related to the travel of the automatic transport vehicle as instruction blocks that can be displayed on a screen in the form of blocks for each type of the plurality of automatic transport vehicles;

[0015] A display unit that displays the instruction blocks of the plurality of automatic transport vehicles on a screen in a manner that allows the operator to select the instruction blocks;

[0016] a setting unit that sets a travel instruction flow of the automatic transport vehicle that performs the automatic transport in the installation-related system based on the instruction block selected by the operator among the instruction blocks displayed on the screen; and

[0017] The control unit performs travel control of the automatic transport vehicle based on the set travel instruction flow.

[0018] In the installation-related system disclosed in the present invention, the instruction blocks of various automatic transport vehicles are displayed on the screen in a manner that can be selected by the operator, and the driving instruction process of the automatic transport vehicle is set based on the instruction block selected by the operator, and the driving control of the automatic transport vehicle is performed based on the driving instruction process. Therefore, the operator can easily set the driving instruction process corresponding to the type of automatic transport vehicle that performs automatic transportation in the installation-related system by selecting the instruction block corresponding to the type of the automatic transport vehicle that performs automatic transportation. In addition, there is no need to construct the driving instruction process every time the driving control is performed, so the driving control of the automatic transport vehicle can be easily performed. Therefore, it is easy to perform driving instructions that match the type of automatic transport vehicle that performs automatic transportation in the installation-related system. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is an explanatory diagram showing an example of the operation system 1 .

[0020] Figure 2 It is an explanatory diagram schematically showing the structure of the mounting line 11.

[0021] Figure 3 It is an explanatory diagram schematically showing the structure of the mounting device 20.

[0022] Figure 4 1 is a block diagram showing a configuration related to control of the work system 1 .

[0023] Figure 5 : is a flowchart showing an example of instruction block registration processing.

[0024] Figure 6 2 is an explanatory diagram showing an example of the instruction block 44 a.

[0025] Figure 7: is a flowchart showing an example of the driving instruction flow setting process.

[0026] Figure 8 It is an explanatory diagram showing an example of the flow setting screen 47 .

[0027] Fig. 9 It is an explanatory diagram showing an example of the flow setting screen 47 .

[0028] Fig.10 This is an explanatory diagram showing an example of flow setting content.

[0029] Fig.11 This is an explanatory diagram showing an example of flow setting content.

[0030] Fig.12 This is an explanatory diagram showing an example of flow setting content.

[0031] Fig.13 This is an explanatory diagram showing an example of flow setting content.

[0032] Fig.14 It is an explanatory diagram showing an example of the travel position of the AGV 55 . DETAILED DESCRIPTION

[0033] Next, a mode for carrying out the invention will be described with reference to the drawings. Figure 1 It is an explanatory diagram showing an example of the operation system 1 . Figure 2 It is an explanatory diagram schematically showing the structure of the mounting line 11. Figure 3 It is an explanatory diagram schematically showing the structure of the mounting device 20. Figure 4 1 is a block diagram showing a structure related to the control of the operation system 1. In addition, in the present embodiment, the left-right direction (X axis), the front-back direction (Y axis), and the up-down direction (Z axis) are set as follows Figure 2 , 3 shown.

[0034] The operation system 1 includes an installation-related system 10 for performing an installation process (installation operation) of installing components on a substrate S, and a conveying system 50 for conveying various components used for the installation process (conveying operation). The installation-related system 10 includes two installation lines 11 and an installation control device 40. In addition, the conveying system 50 includes a plurality of automatic conveying vehicles 55 (hereinafter referred to as AGV55), a charging station 57, and a conveying control device 58.

[0035] Each installation line 11 is equipped with a plurality of installation-related devices associated with the installation process. The installation-related devices include, for example, one or more of a printing device 12, a printing inspection device 14, a storage 16, an installation device 20, an installation inspection device 28, a reflow device 30, a reflow inspection device 32, etc. They are arranged in a row along the conveying direction (X-axis direction) of the substrate S. In addition, the installation-related devices of the present embodiment include a loader 18. In addition, each installation line 11 may have the same structure or a different structure. In the present embodiment, as described later, in the area surrounding the installation line 11, that is, the area on the installation-related system 10 side, the driving control of the AGV55 is performed on the installation-related system 10 side. This area is referred to as the installation-side control area A1 (predetermined area) (refer to Figure 1 In addition, in the area on the conveying system 50 side (non-installation side control area, production change adjustment area) outside the installation side control area A1, the driving control of AGV55 is performed on the conveying system 50 side. This area is called the conveying side control area A2 (refer to Figure 1 dotted line).

[0036] The printing device 12 prints solder onto the substrate S (see FIG. Figure 3 ). The printing inspection device 14 inspects the state of the solder printed by the printing device 12. The mounting inspection device 28 inspects the mounting state of the components mounted on the substrate S by the mounting device 20. The reflow device 30 heats the substrate S on which the components are arranged with the solder to melt the solder, and then cools it, thereby electrically connecting and fixing the components on the substrate S. The reflow inspection device 32 inspects the state of the components on the substrate S after reflow.

[0037] A plurality of mounting devices 20 are arranged along the conveying direction of the substrate S to mount components on the substrate S. Figure 3 As shown, the mounting device 20 includes a mounting unit 22 and a feeder 24. The mounting unit 22 is a unit that picks up components and mounts them on the substrate S by a mounting head equipped with a pickup member such as a nozzle. The feeder 24 is configured as a tape feeder that detachably mounts a tape reel wound with a tape that holds components at a predetermined pitch, and feeds the components by rotating the tape reel to feed the tape.

[0038] The loader 18 is configured to be movable in a moving area along the conveying direction of the substrate S on the front surface side of the plurality of mounting devices 20 and the storage 16. The loader 18 moves in the moving area and automatically replaces (recovers and replenishes) the components used for mounting processing. For example, the loader 18 automatically replaces the feeder 24 as a replaceable operation unit for the mounting device 20, but it is sufficient to automatically replace the pickup components such as the head and nozzle, the storage component for solder, and the screen mask used for mounting processing that the mounting unit 22 has.

[0039] The storage warehouse 16 is an in-line storage warehouse for storing various components used in the installation process in each installation line 11, such as the feeder 24. In the storage warehouse 16, the worker M replenishes or recovers the feeder 24. In addition, the loader 18 can automatically replace the feeder 24 in the storage warehouse 16, take out the required feeder 24 from the storage warehouse 16 and replenish it to the installation device 20, or take out the used feeder 24 from the installation device 20 and recover it to the storage warehouse 16. In addition, in the storage warehouse 16, the AGV55 can also replenish or recover the feeder 24. That is, the storage warehouse 16 is shared by the worker M, the loader 18 and the AGV55, and the feeder 24 is taken out and put in.

[0040] The installation control device 40 is a general-purpose computer including a CPU 41, a ROM 42, a RAM 43, an HDD 44, etc., and is connected to an input device 45 such as a keyboard and a mouse, and an output device 46 such as a display. In the storage device such as the HDD 44, there are stored the production program of the substrate S, the production information related to the production of the substrate S, various instruction blocks 44a, the driving instruction process 44b, the installation-related equipment control process, etc. The production program specifies the installation order of the components to the substrate S, the production quantity of the substrate S, etc. In addition, the production information includes information indicating the printing position of the solder at the substrate S, information on the components installed on the substrate S, the installation position of each component, etc. In the component information, in addition to the types of components installed by each installation device 20, as the inventory status of the components, the configuration status of the feeder 24 to each installation device 20 and the storage warehouse 16 is also indicated. The instruction block 44a stores the instruction content for instructions related to the driving of the AGV 55 in a manner that can be displayed in blocks on the screen of the display. The driving instruction process 44b is set using the instruction block 44a displayed on the screen. In addition, details of the instruction block 44a, the driving instruction process 44b, and the installation-related equipment control process will be described later.

[0041] When producing the substrate S, the installation control device 40 provides various command signals to the printing device 12, the printing inspection device 14, the loader 18, the installation device 20, the installation inspection device 28, the reflow device 30, the reflow inspection device 32, etc. based on the production program and production information. In addition, the installation control device 40 is configured to be able to communicate with the AGV55 by wireless means, for example, and can control the travel of the AGV55. In addition, the installation control device 40 and the conveying control device 58 can be connected to each other in a communication manner to exchange the production status of the substrate S, the information related to the feeder 24 required for production, and the information related to the control of the AGV55. In addition, the installation control device 40 is connected to the manufacturer terminal 70 of one or more manufacturers of the AGV55 via the network 80. In addition, the manufacturer terminal 70 is a general-purpose computer including a CPU, a ROM, a RAM, an HDD, etc., and is connected to an input device 72 such as a keyboard and a mouse, and an output device 74 such as a display.

[0042] AGV55 is not shown in the figure, but it has a motor for rotating the wheels, a battery for supplying power, a speaker for outputting sound, etc., and automatically transports parts such as feeders 24 used for installation processing between the warehouse 60 and the storage warehouse 16. For example, AGV55 takes out the used feeder 24 from the storage warehouse 16 and automatically transports it to the warehouse 60 for storage, or takes out the required feeder 24 from the warehouse 60 and automatically transports it to the storage warehouse 16 for storage. In addition, AGV55 automatically transports the feeder 24, but it is sufficient to automatically transport the pickup parts such as the head and nozzle of the installation unit 22, the storage parts of the solder, the screen mask, etc. used for installation processing. In addition, in the warehouse 60, various parts such as the feeder 24 stored by the staff M are kept. The charging station 57 is a device for charging the batteries of one or more AGV55 parked at a predetermined charging position. In addition, the charging station 57 may be a structure that can connect a connector to supply power when the AGV 55 stops at a predetermined charging position, or may be a structure that can supply power in a contactless manner.

[0043] The conveying control device 58 is a general-purpose computer including a CPU, ROM, RAM, HDD, etc., and is connected to input devices such as a keyboard and a mouse, and output devices such as a display. The conveying control device 58 is configured to be able to communicate with the AGV55 wirelessly to control the driving of the AGV55, or obtain the status of the battery remaining amount of the AGV55, etc. In addition, the conveying control device 58 also performs charging control of the AGV55 at the charging station 57, etc. In addition, the conveying control device 58 prepares a driving plan for the AGV55 including the conveying arrangement, charging arrangement, vehicle dispatch arrangement, etc. of each AGV55 based on the production status of the substrate S sent from the installation control device 40, the information related to the feeder 24 required for production, the battery remaining amount of the AGV55, etc.

[0044] In the work system 1 thus configured, as described above, the installation control device 40 performs the travel control of the AGV 55 in the installation-side control area A1, and the transport control device 58 performs the travel control of the AGV 55 in the transport-side control area A2. Figure 1 As shown, the installation side control area A1 and the delivery side control area A2 have an overlapping area DA ( Figure 1 The oblique line portion in the overlapping area DA). In the overlapping area DA, both the installation control device 40 and the transport control device 58 can perform driving control of the AGV55, and can also switch the control subject of the AGV55 between the two control devices. When the AGV55 is moved back and forth between the installation side control area A1 and the transport side control area A2, the AGV55 is moved to a predetermined switching position determined in the overlapping area DA to switch the control subject. Therefore, the destination of the AGV55 is set to the switching position in the overlapping area DA to perform driving control. In addition, the predetermined switching position is, for example, Figure 1 In addition to the position of the AGV55 (1), multiple positions can also be determined.

[0045] Thus, in the present embodiment, the installation-related system 10 (installation control device 40) is sometimes used to control the travel of AGV55. Here, the transport control device 58 of the transport system 50 is usually imported by the manufacturer of AGV55, etc., and the content corresponding to the type of AGV55 is imported, so that the travel instructions of AGV55 can be appropriately output according to the communication method of AGV55. On the other hand, the installation-related system 10 needs to output travel instructions according to the type of AGV55 that has been imported among the multiple AGV55. Therefore, when constructing the operating system 1, when importing a new AGV55, etc., the installation control device 40 needs to be set for issuing travel instructions to AGV55. In the HDD44 of the installation control device 40, an instruction block 44a is stored for performing this setting. The following describes the detailed contents of the instruction block 44a. Figure 5 : is a flowchart showing an example of instruction block registration processing.

[0046] Figure 5The instruction block registration process is executed when the CPU 41 of the installation control device 40 receives the instruction content related to the driving instruction for which the registration operation has been performed in the registration screen not shown in the figure displayed on the display of the manufacturer terminal 70 via the network 80. The CPU 41 first determines whether it is an instruction related to a new type of AGV 55 (S100). When the CPU 41 determines that it is a new type of AGV 55, it sets the classification of the new type of AGV 55 (S110), establishes a correspondence with the type of the AGV 55 and registers the instruction block 44a based on the instruction content to the HDD 44 (S120), and ends the registration process. On the other hand, when the CPU 41 determines in S100 that it is not a new type, but an additional instruction content related to the type of AGV 55 that has been registered, it establishes a correspondence with the type of the existing AGV 55 and registers the instruction block 44a based on the instruction content to the HDD 44 (S130), and ends the registration process.

[0047] Figure 6 4 is an explanatory diagram showing an example of the indication block 44a. The indication block 44a is registered by being divided into each type of AGV55 through the above-mentioned indication block registration process. In the present embodiment, as the type of AGV55, for example, it is divided into each manufacturer, but the AGV55 of the same manufacturer can also be divided into each model. Figure 6 In the instruction block 44a illustrated in the example, for the AGV55 of company A, "driving to the designated destination without guidance", "driving with a guide belt", "buzzer notification" and "voice broadcast" are stored. For the AGV55 of company B, "driving to the designated destination without guidance" is stored. For the AGV55 of company C, "driving with a guide belt" and "buzzer notification" are stored. For the AGV55 of company D, "driving to the designated destination without guidance" and "advancing a designated distance" are stored. For the AGV55 of company E, "driving to the intermediate point", "driving to the position N before change", "driving with a guide belt to the change position N", "backward a designated distance" and "driving to the overlapping area" are stored.

[0048] "Guide belt driving", "unguided driving to the designated end point", "forward a designated distance", "driving to the middle point", "driving to the position N before replacement", "guide belt driving to the replacement position N", "backward a designated distance", and "driving to the overlapping area" are instructions related to driving. "Guide belt driving" and "guide belt driving to the replacement position N" are methods of driving along guide belts such as magnetic belts and light belts set on the driving path of the floor surface of each area. In addition, N in the replacement position N represents the number of multiple replacement positions, which can be specified in the order of replacement positions 1, 2, ... Similarly, the position N before replacement represents the number of the position determined as the front position of the replacement position N corresponding to each replacement position N, and can be specified in the order of the position 1, 2, ... before replacement. "Unguided driving to the designated end point" is a method of driving while the AGV55 automatically measures the current position, driving distance, etc. and adjusts the driving direction at the target position of the designated end point. In addition, "forward a designated distance" or "backward a designated distance" is a method of driving a designated distance straight forward or diagonally forward from a certain position or driving a designated distance straight backward or diagonally backward from a certain position. In addition, it is also possible to arbitrarily specify the angle (direction) of the tilt in the oblique front and oblique rear. In addition, the intermediate point in "traveling to the intermediate point" is a point predetermined in the installation side control area A1 in a manner that does not interfere with the movement of the loader 18. In "traveling to the overlapping area", the above-mentioned predetermined switching position is set as the target position. In "traveling to the intermediate point" and "traveling to the overlapping area", the AGV 55 automatically measures the current position, travel distance, etc. and adjusts the travel direction while traveling to the target position.

[0049] In addition, "buzzer notification" and "voice broadcast" are instructions that are attached to driving in addition to the driving mode, and both notify the staff M that AGV55 is driving. In the "buzzer notification", a buzzer indicating that AGV55 is driving is output from the speaker of AGV55. In addition, in the "voice broadcast", a sound indicating that AGV55 is driving is output from the speaker of AGV55. These "buzzer notifications" or "voice broadcasts" can be arbitrarily selected by the staff M (operator) to be included in the driving instruction process. In addition, communication with AGV55 is carried out in various ways according to the type of AGV55, such as via telnet connection or PLC (Programmable Logic Controller). In the present embodiment, along with the division of the instruction block 44a according to each type of AGV55, the communication method is also specified in a method corresponding to the type of AGV55. Therefore, by setting the driving instruction flow using the instruction block 44 a according to the type of the AGV 55 as described below, the communication method according to the type of the AGV 55 is also set, and the driving instruction can be output.

[0050] In this way, a plurality of instruction blocks 44a are divided for each type of AGV 55 and registered in HDD 44. Furthermore, the installation control device 40 performs travel control of the AGV 55 based on the travel instruction flow 44b set by combining the instruction blocks 44a corresponding to the type of AGV 55 introduced into the operation system 1 (installation-related system 10), that is, the type of AGV 55 as the control object. Next, the setting of the travel instruction flow 44b is described. Figure 7 : is a flowchart showing an example of the driving instruction flow setting process.

[0051] exist Figure 7 In the driving instruction flow setting process, the CPU 41 of the control device 40 first displays a setting screen 47 for setting a driving instruction flow corresponding to the type of the AGV 55 on an output device 46 such as a display (S200). Figure 8 , Fig. 9 4 is an explanatory diagram showing an example of a process setting screen 47. In the setting screen 47, a block display bar 47a for displaying the instruction block 44a for each type of AGV55 is provided on the left side of the screen, a travel instruction flow display bar 47b for displaying the travel instruction flow is provided in the center of the screen, and an installation-related device control flow display bar 47c for displaying the installation-related device control flow is provided on the right side of the screen. In the block display bar 47a, by scrolling downward, in addition to other instruction blocks 44a for D company or E company, instruction blocks in the installation-related device control flow (for example, automatic replacement of the feeder 24) can also be displayed. In addition, all instruction blocks 44a can be displayed without scrolling. In addition, in the setting screen 47, a pointer 47d operated by an input device 45 such as a mouse is also displayed, and the pointer 47d can be used to perform selection operations or movement operations of the instruction block 44a, click operations of the setting completion button indicating that the setting of the travel instruction flow display bar 47b or the installation-related device control flow display bar 47c is completed, etc.

[0052] When displaying the setting screen 47, the CPU 41 updates the screen display according to the selection operation or the moving operation of the indicator block 44a using the pointer 47d (S210), and determines whether the setting completion operation is performed by clicking the setting completion button using the pointer 47d (S220). Fig. 9As shown, by moving the indication block 44a selected by the pointer 47d and arranging it on the line from the starting block to the end block, the driving instruction process can be set. That is, the worker M can easily set (make) the driving instruction process by dragging and dropping the indication block 44a using the pointer 47d on the setting screen 47 to arrange the indication blocks 44a moved from the block display bar 47a to the driving instruction process display bar 47b. In addition, the line from the starting block to the end block is not limited to extending in a straight line in the horizontal direction, and can extend in a straight line in the vertical direction, or extend in a manner of turning back at one or more places in order to arrange more indication blocks 44a (refer to Fig.13 ). In addition, the worker M can set the installation-related equipment control flow by dragging and dropping the instruction block in the installation-related equipment control flow display column 47c. The instruction blocks in the installation-related equipment control flow display column 47c include automatic replacement of the feeder 24 (feeder box), retreat of the loader 18, return of the loader 18, etc.

[0053] When the CPU 41 determines in S220 that the setting completion operation has been performed, it stores the driving instruction flow 44 b in which the setting contents and the type of the AGV 55 are associated in the HDD 44 or the like ( S230 ), and ends the driving instruction flow setting process. Fig.10 , Fig.11 2 is an explanatory diagram showing an example of flow setting contents, and a portion surrounded by a dotted line is a portion set according to the type of the AGV 55 . Fig.10 This is an example of the settings of AGV55 of Company A. Fig.11 This is an example of the settings for Company B's AGV55. Fig.10 As shown, regarding the AGV55 of Company A, the driving instruction process is set in such a way that after "driving to the designated destination without guidance", "driving with guidance" is performed to move to the destination, and the control process is set in such a way that "automatic replacement" of the feeder 24 is performed when the destination is reached. On the other hand, regarding the AGV55 of Company B, the driving instruction process is set in such a way that "driving to the designated destination without guidance" is performed to move to the destination, and the control process is set in such a way that "automatic replacement" of the feeder 24 is performed when the destination is reached.

[0054] When performing driving control of AGV55, CPU41 can perform driving control by reading driving instruction process 44b from HDD44, adding required information such as the location coordinates of the end point, and sending driving instructions to AGV55. For example, when the end point is the storage vault 16, CPU41 needs to start driving control of AGV55 after making the loader 18 retreat from the storage vault 16. In addition, when AGV55 arrives at the end point, i.e., the storage vault 16, CPU41 reads the installation-related equipment control process, sends operation instructions to AGV55, and performs automatic replacement operations such as replenishment or recovery of the feeder 24. Fig.13 These treatments are described in .

[0055] In addition, as the process setting content, Fig.12 Another example of the setting contents of the AGV55 of Company A is shown. Fig.10 Differently, before "guiding belt travel", "voice broadcast" is set. Therefore, AGV55 outputs voice broadcast while traveling on the guide belt. In this way, for AGV55 of the same type (the same company A), a driving instruction process composed of different instruction blocks 44a can be set. That is, staff M can easily set a driving instruction process that meets the needs to control the travel of AGV55 by considering the surrounding conditions of the AGV55 traveling in the installation-related system 10. In addition, even if staff M temporarily sets the driving instruction process, he can easily make setting changes such as changing "voice broadcast" to "buzzer notification" or deleting "voice broadcast" by performing the driving instruction process setting process again.

[0056] Fig.13 An example is shown in which settings are made based on the instruction block of Company E in the driving instruction process and the installation-related equipment control process. Fig.14 1 is an explanatory diagram showing an example of the travel position of the AGV 55, and positions 1 to 6 represent an example of the travel position. Fig.13 In the example, CPU41 first performs a "departure time confirmation" to confirm the departure time of AGV55 based on the travel plan of AGV55. When CPU41 confirms that the departure time has arrived, it performs a "recovery completion confirmation" to confirm that the recovery of the feeder 24 to the storage 16 is completed. Here, CPU41 confirms whether the recovery of the feeder 24 that is not needed in each installation device 20 of the installation line 11 and is returned to the conveying side control area A2 (production change adjustment area) is completed. In addition, when AGV55 arrives at the storage 16 first when the recovery of the feeder 24 on the storage 16 side is not completed, AGV55 continues to standby in front of the storage 16 until the recovery (preparation) of the feeder 24 is completed, which will interfere with the operation of the loader 18. In order to prevent such interference, a "recovery completion confirmation" is performed.

[0057] After the CPU 41 confirms the completion of the collection, it indicates that, for example, Fig.14 Position 1) Standby AGV55 "towards the middle position ( Fig.14 In addition, when the AGV 55 moves to the periphery of the storage vault 16 for replenishment or recovery of the feeder 24, if the loader 18 is located in the periphery of the storage vault 16, the two will interfere with each other. Therefore, in order to prevent this situation, the loader 18 is retreated. Next, the CPU 41 instructs the AGV 55 to move from the intermediate point "to the pre-change position 1 ( Fig.14 Position 3)”, thereby indicating that the vehicle moves from the pre-change position 1 to the change position 1 ( Fig.14 Position 4) for guided belt travel".

[0058] When AGV55 moves to the replacement position 1, CPU41 performs "automatic replacement" of feeder 24. In addition, when the "automatic replacement" at the replacement position 1 is completed, CPU41 instructs AGV55 to "retreat a specified distance" and further instructs "to move to the pre-replacement position 2 ( Fig.14 Furthermore, the CPU 41 instructs the AGV 55 to move from the pre-replacement position 2 to the replacement position 2 ( Fig.14 Position 6) for guide belt travel". When AGV55 moves to replacement position 2, CPU41 performs "automatic replacement" of feeder 24. Here, between AGV55 and depository 16, for example, in a state where a box is loaded with multiple feeders 24, automatic replacement is performed in units of boxes. Therefore, for example, the automatic replacement is controlled in a manner such that at one of the replacement positions 1 and 2, a box loaded with feeder 24 as a supply object is handed over from AGV55 to depository 16, and at the other of the replacement positions 1 and 2, AGV55 receives a box loaded with feeder 24 as a recovery object from depository 16. In addition, replacement positions 1 and 2 are alternately exchanged in sequence. In addition, as long as AGV55 and depository 16 are structures capable of handing over feeders 24 one by one, it is not limited to the process of automatically replacing in units of boxes, and automatic replacement can also be performed by handing over feeders 24 individually.

[0059] When the "automatic replacement" of the feeder 24 at the replacement position 2 is completed, the CPU 41 instructs the AGV 55 to "retreat a specified distance" and further instructs "to move to the middle point ( Fig.14 Next, the CPU 41 allows the loader 18 to work at the storage 16, so the loader 18 that has retreated is "returned". In addition, the CPU 41 instructs the AGV 55 to "go to the overlapping area DA ( Fig.14By doing so, the AGV 55 can automatically replace the feeder 24 at the storage warehouse 16 while appropriately avoiding interference with the loader 18. In addition, Fig.13 The process or Fig.14 Each position is an example, for example, the position before replacement may not be set ( Fig.14 Positions 3 and 5), AGV55 goes directly from the middle position to the change position ( Fig.14 In addition, in order to shorten the moving time, the overlapping area DA ( Fig.14 The location 1) and the middle location ( Fig.14 A standby location is set between the positions 2) and the CPU 41 moves the AGV 55 and waits at the standby location before confirming that the recovery is complete. When the recovery is complete, the AGV 55 is quickly moved to the intermediate location.

[0060] Here, the correspondence between the structural elements of the present embodiment and the structural elements of the present disclosure is clarified. The installation-related system 10 of the present embodiment is equivalent to the installation-related system of the present disclosure, the AGV 55 is equivalent to the automatic transport vehicle, the HDD 44 of the installation control device 40 is equivalent to the storage unit, the CPU 41 and the output device 46 of S200 that perform the driving instruction flow setting process are equivalent to the display unit, the CPU 41 of S230 that performs the driving instruction flow setting process is equivalent to the setting unit, and the CPU 41 is equivalent to the control unit. The CPU 41 that performs the instruction block registration process is equivalent to the registration unit.

[0061] In the installation-related system 10 described above, the instruction blocks 44a of the various AGVs 55 are displayed on the setting screen 47 in a manner that can be selected by the worker M, and the driving instruction process 44b of the AGV 55 is set based on the selected instruction block 44a to perform driving control of the AGV 55. Therefore, it is easy to set the driving instruction process 44b corresponding to the type of AGV 55. In addition, it is not necessary to construct the driving instruction process 44b every time the driving control is performed, so the driving control of the AGV 55 can be easily performed.

[0062] In addition, the block display column 47a and the driving instruction flow display column 47b are displayed on the setting screen 47, and the driving instruction flow can be set by arranging the instruction block 44a selected from the block display column 47a in the driving instruction flow display column 47b through a drag-and-drop operation by the worker M. Therefore, the worker M can easily set the driving instruction flow through a simple operation.

[0063] Instruction blocks 44a are stored in the HDD 44, which are instruction contents for the same type of AGV 55 and which the worker M or the like can arbitrarily select whether to include in the travel instruction flow 44b. Therefore, the worker M or the like can easily set a travel instruction flow suitable for installing the associated system 10.

[0064] In addition, since the type of AGV55 and the instruction content can be received and the instruction block 44a is registered in HDD44 in correspondence with the type of AGV55, even if the types of usable AGV55 increase, the driving instruction process matching the type of AGV55 can be easily set.

[0065] In addition, it goes without saying that the present disclosure is not limited to the above-mentioned embodiments, and can be implemented in various forms as long as it belongs to the technical scope of the present disclosure.

[0066] For example, in the above-mentioned embodiment, the installation control device 40 receives the type and instruction content of the AGV 55 from the manufacturer terminal 70, but is not limited to this. For example, the management device of the operation system 1 may also receive the type and instruction content of the AGV 55 from the manufacturer terminal 70 via the network 80 and send them to the installation control device 40. In addition, the type and instruction content of the AGV 55 are not limited to being received via the network 80, and may also be received via a portable storage medium or the like. Alternatively, such additional reception or registration is not necessary, and may not be performed.

[0067] In the above embodiment, as the instruction block 44a that the worker M or the like can arbitrarily select whether to include in the driving instruction flow, "buzzer notification" and the like are exemplified other than the driving mode, but the present invention is not limited thereto. For example, as long as the AGV 55 can arbitrarily select from a plurality of driving modes, the instruction block 44a that can arbitrarily select the driving mode may be set. Alternatively, the instruction block 44a that can arbitrarily select whether to include in the driving instruction flow may not be included.

[0068] In the above-mentioned embodiment, the block display bar 47a, the driving instruction flow display bar 47b and the installation-related equipment control flow display bar 47c are displayed in the setting screen 47, and the instruction block can be dragged and dropped, but it is not limited to this. For example, it is also possible to perform a selection operation simply by clicking the instruction block of the setting screen 47, and set the driving instruction flow according to the selection order. That is, the setting screen 47 only needs to display the instruction blocks 44a of multiple AGVs 55 in a manner that the operator can select, and the driving instruction flow can be set based on the selected instruction block 44a. In addition, it is not limited to setting the driving instruction flow display bar 47b and the installation-related equipment control flow display bar 47c in the same setting screen 47, and they can also be set in different setting screens.

[0069] In the above-mentioned embodiment, the area around each installation line 11 is set as the installation side control area A1, and the installation control device 40 controls the AGV55, but it is not limited to this. For example, even in the area outside the periphery of the installation line 11, the area around the installation-related equipment controlled by the installation control device 40 can be set as the installation side control area. Alternatively, the area required for the movement of the loader 18 and the area required to prevent contact with the loader 18 when the AGV55 travels along the moving direction of the loader 18 even if it is slightly winding forward can also be set as the installation side control area A1. In addition, it is not limited to separating the control area of ​​AGV55, and it can also be set that the installation control device 40 performs the driving control of AGV55 in the entire area including the conveying side control area A2. In addition, in the embodiment, the installation-related system 10 is equipped with a loader 18, but it is not limited to this, and it may not have a loader 18. Even if the installation-related system 10 does not have a loader 18, it is necessary to prevent interference with working parts such as the opening and closing parts of the working device or the installation-related equipment other than the loader 18. Furthermore, the AGV 55 is not limited to operating in the work area (storage warehouse 16) shared with the loader 18, and may operate in areas other than the shared work area even with the loader 18.

[0070] Here, the installation-related system of the present disclosure may also be configured as follows. For example, in the installation-related system of the present disclosure, the display unit may display a block display bar that displays the instruction blocks divided according to each type of the automatic transport vehicle and a process display bar that can display the driving instruction process by arranging the instruction blocks selected from the block display bar by dragging and dropping by the operator on the same screen, and the setting unit sets the driving instruction process based on the display content of the process display bar. In this way, the operator can easily set the driving instruction process through simple operations.

[0071] In the installation-related system disclosed in the present invention, the storage unit may store the instruction block as the instruction content for the same type of automatic transport vehicle, which the operator can arbitrarily select whether to include in the driving instruction process. In this way, even if it is the same type of automatic transport vehicle, the operator can select the instruction block as needed and set the driving instruction process suitable for the installation-related system.

[0072] In the installation-related system disclosed in the present invention, a registration unit may be provided, which receives the type of the automatic transport vehicle and the instruction content, and registers the instruction block of the received instruction content in correspondence with the type of the automatic transport vehicle in the storage unit. In this way, even if the types of automatic transport vehicles that can be used in the installation-related system increase, it is possible to easily set a driving instruction process that matches the type of the automatic transport vehicle.

[0073] Industrial Applicability

[0074] The present disclosure can be utilized in controlling an installation-related system of an automatic transport vehicle, and the like.

[0075] Description of Reference Numerals

[0076] 1 operation system, 10 installation-related system, 11 installation line, 12 printing device, 14 printing inspection device, 16 storage, 18 loader, 20 installation device, 22 installation unit, 24 feeder, 28 installation inspection device, 30 reflow device, 32 reflow inspection device, 40 installation control device, 41 CPU, 42 ROM, 43 RAM, 44 HDD, 44a instruction block, 44b driving instruction flow, 45 input device, 46 output device, 47 setting screen, 47a block display bar, 47b driving instruction flow display bar, 47c installation-related device control flow display bar, 47d pointer, 50 conveying system, 55 automatic conveying vehicle (AGV), 57 charging station, 58 conveying control device, 60 warehouse, 70 manufacturer terminal, 72 input device, 74 output device, 80 network, A1 installation side control area, A2 conveying side control area, DA overlapping area, M staff, S substrate

Claims

1. An installation-related system, comprising an installation-related device for performing installation processing, wherein the components used for the installation processing are automatically transported to the installation-related device by an automatic transport vehicle, The installation association system comprises: a storage unit that stores instruction contents as instruction blocks that can be displayed on a screen in the form of blocks for each type of the plurality of automatic transport vehicles, the instruction contents being used to provide instructions related to the travel of the automatic transport vehicle; A display unit that displays the instruction blocks of the plurality of automatic transport vehicles on a screen in a manner that allows the operator to select the instruction blocks; a setting unit that sets a travel instruction flow of the automatic transport vehicle that performs the automatic transport in the installation-related system based on the instruction block selected by the operator among the instruction blocks displayed on the screen; as well as The control unit performs travel control of the automatic transport vehicle based on the set travel instruction flow.

2. The installation association system according to claim 1, wherein: The display unit displays a block display bar and a process display bar on the same screen, wherein the block display bar displays the instruction blocks divided for each type of the automatic transport vehicle, and the process display bar can display the driving instruction process by arranging the instruction blocks selected from the block display bar through a drag-and-drop operation by an operator, The setting unit sets the driving instruction flow based on display content of the flow display field.

3. The installation association system according to claim 1, wherein: The storage unit stores the instruction block, which is the instruction content for the same type of the automatic transport vehicle and which an operator can arbitrarily select whether to include in the travel instruction flow.

4. The installation association system according to claim 2, wherein: The storage unit stores the instruction block, which is the instruction content for the same type of the automatic transport vehicle and which an operator can arbitrarily select whether to include in the travel instruction flow.

5. The installation association system according to any one of claims 1 to 4, wherein: The installation-related system includes a registration unit that receives the type of the automatic transport vehicle and the instruction content, and registers the instruction block of the received instruction content in the storage unit in association with the type of the automatic transport vehicle.

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