mounting system

Abstract

Provided is a mounting system that includes multiple mounting lines in which multiple mounting-related devices that perform mounting-related processes for components are arranged side by side, and in which the components used in the mounting-related processes are transported to predetermined locations in the mounting lines by automated guided vehicles. The mounting system includes a generation unit that generates a travel plan for the automated guided vehicles based on production plans for the multiple mounting lines, and a control unit that controls travel of the automated guided vehicles to the predetermined locations based on the travel plan.

Description

Technical Field

[0001] This specification discloses an installation system. Background Technology

[0002] Conventionally, there is a known mounting system comprising multiple mounting lines arranged side-by-side with mounting devices such as mounting apparatus for mounting components onto a substrate. Components to be mounted are automatically transported to the mounting lines by automated guided vehicles (AGVs) (see, for example, Patent Document 1). In this mounting system, a transport planning unit calculates the remaining quantity of components based on production planning data and actual production data, and generates a transport plan for the component housing based on this remaining quantity.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent document 1: Japanese Patent Application Publication No. 2019-091770. Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] In the aforementioned installation system, the transportation plan for the housing components of the components is generated based on the remaining quantity of the components. Therefore, while the production plan of the installation line containing the component being transported is considered, the production plans of other installation lines are not. Consequently, if, for example, a changeover or adjustment operation is underway on an installation line adjacent to the destination, and the automated guided vehicle (AGV) starts moving, it needs to be idle midway to prevent interference with the operation, thus reducing the AAV's efficiency in transporting components.

[0008] The main objective of this disclosure is to properly control the movement of automated guided vehicles (AGVs) carrying automated transport components so that they can operate efficiently.

[0009] Technical solutions for solving the problem

[0010] The following means are employed in this disclosure to achieve the aforementioned main objectives.

[0011] The installation system disclosed herein comprises multiple installation lines arranged side-by-side with multiple installation association devices for performing installation association processing related to component installation. Components used for the installation association processing are transported by automated guided vehicles to designated locations on the installation lines.

[0012] The installation system has the following features:

[0013] The production unit generates a travel plan for the automated guided vehicle based on the production plans of the multiple assembly lines; and

[0014] The control unit controls the movement of the automated guided vehicle to the designated location based on the travel plan.

[0015] In the installation system disclosed herein, a travel plan for the automated guided vehicle (AGV) is generated based on the production plans of multiple installation lines, and the AGV is controlled to travel to designated locations based on this travel plan. Therefore, the AGV can travel under appropriate conditions corresponding to the production plans of multiple installation lines, thus preventing the AGV from interfering with various operations and installation-related processes performed on each installation line, and preventing the AGV from being idle for extended periods while in motion to prevent interference. Consequently, efficient operation of the AGV can be achieved through appropriate control of the movement of the automated guided vehicle. Attached Figure Description

[0016] Figure 1 This is an illustrative diagram showing an example of installing System 1.

[0017] Figure 2 This is a schematic diagram showing the structure of the mounting line 10.

[0018] Figure 3 This is a schematic diagram showing the structure of the mounting device 20.

[0019] Figure 4 This is a block diagram representing the structure related to the control of the installation system 1.

[0020] Figure 5 This is a flowchart illustrating an example of the driving plan generation process.

[0021] Figure 6 This is an illustrative diagram representing an example of a driving plan (TP) generated based on a production plan (PP).

[0022] Figure 7 This is a flowchart illustrating an example of AGV driving control.

[0023] Figure 8 This is an illustrative diagram illustrating an example of AGV55 traveling towards storage warehouse 16.

[0024] Figure 9 This is a flowchart illustrating a modified example of AGV driving control. Detailed Implementation

[0025] The manner in which this disclosure is implemented will now be described with reference to the accompanying drawings. Figure 1 This is an illustrative diagram showing an example of installing System 1. Figure 2 This is a schematic diagram showing the structure of the mounting line 10. Figure 3 This is a schematic diagram showing the structure of the mounting device 20. Figure 4This is a block diagram showing the structure related to the control of the installation system 1. Furthermore, in this embodiment, the left-right direction (X-axis), front-back direction (Y-axis), and up-down direction (Z-axis) are as follows: Figure 2 , Figure 3 As shown.

[0026] The mounting system 1 has multiple mounting-related processing lines (in which) it performs mounting-related processing for mounting components to the substrate S. Figure 1 (Example 1: Installation lines 10 (10A, 10B) are used for installation-related processing. The handling of various components is performed by the handling system 50. Additionally, the installation system 1 includes a management device 5 for managing the overall system processing. Each installation line 10 includes multiple installation-related devices for installation-related processing and an installation control device 38 for controlling these devices. Furthermore, the handling system 50 includes multiple automated guided vehicles 55 (hereinafter referred to as AGVs 55), a charging station 57, and the handling control device 58.

[0027] The mounting line 10 includes, for example, one or more of the following mounting-related devices: a printing device 12, a printing inspection device 14, a storage unit 16, a mounting device 20, a mounting inspection device 28, a reflow soldering device 30, and a reflow soldering inspection device 32. These are arranged side-by-side along the transport direction (X-axis direction) of the substrate S. Furthermore, in this embodiment, a loader 18 capable of moving along the mounting line 10 is included. While each mounting line 10 (10A, 10B) has the same structure, different structures are also possible. Figure 2 , Figure 4 Only one installation line 10 (10A) is shown in the diagram.

[0028] The printing apparatus 12 presses solder into the patterned holes formed in the screen mask to print onto the substrate S (refer to...). Figure 3 Printing. Printing inspection device 14 checks the state of the solder printed by printing device 12. Mounting inspection device 28 checks the mounting state of components mounted on substrate S by mounting device 20. Reflow soldering device 30 melts the solder by heating the substrate S on which components are arranged on the solder, and then electrically connects and fixes each component to the substrate S by cooling. Reflow soldering inspection device 32 checks the state of the components on the substrate S after reflow soldering.

[0029] The mounting device 20 has multiple components arranged along the transport direction of the substrate S, for mounting elements onto the substrate S. For example... 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 onto the substrate S using a mounting head equipped with a pick-up component such as a nozzle. The feeder 24 is configured as a belt feeder, which has a belt reel wound with a belt holding components at a predetermined interval mounted in a detachable manner, and feeds the belt and components by rotating the belt reel.

[0030] The loader 18 is configured such that it can move within a certain range along the transport direction of the base plate S on the front surface side of the plurality of mounting devices 20 and the storage container 16. Figure 1 The loader 18 moves within the movement area and performs automatic replacement (recovery, replenishment) of components used in the installation process. For example, the loader 18 automatically replaces the feeder 24, which is a work unit that can be replaced relative to the installation device 20. However, it is sufficient to automatically replace components used in the installation-related process, such as the head, nozzle, and other pick-up parts, the solder receiving parts, and the wire mesh mask, which are provided by the installation unit 22.

[0031] Storage warehouse 16 is an in-line storage warehouse within each installation line 10 for storing various components used in the installation-related processing, such as feeders 24. In storage warehouse 16, operator M can supply (replenish) or retrieve feeders 24. Furthermore, loader 18 can automatically change feeders 24 relative to storage warehouse 16, removing needed feeders 24 from storage warehouse 16 and supplying them to installation device 20, or removing used feeders 24 from installation device 20 and retrieving them from storage warehouse 16. Additionally, AGV 55 can also supply and retrieve feeders 24 from storage warehouse 16. Furthermore, storage warehouse 16 may be divided into multiple storage sections, such as a first storage section 16a and a second storage section 16b, allowing for the storage of feeders 24 in each section.

[0032] The mounting control device 38 is a general-purpose computer including a CPU, ROM, RAM, HDD, etc., and is connected to input devices such as a keyboard and mouse, and output devices such as a display. The HDD and other storage devices of the mounting control device 38 store the production plan (production plan PP, described later) for the substrate S and production information related to the production of the substrate S. The production plan specifies the mounting sequence of components onto the substrate S, the production quantity of the substrate S, etc. In addition, the production information includes information indicating the printing position of solder on the substrate S, information about the components mounted on the substrate S, and the mounting position of each component. The component information, in addition to indicating the types of components mounted by each mounting device 20, also indicates the inventory status of the components, as well as the configuration status of the feeder 24 to each mounting device 20 and the storage unit 16. When producing the substrate S, the mounting control device 38, based on the production plan and production information, assigns various instruction signals to the printing device 12, printing inspection device 14, loader 18, mounting device 20, mounting inspection device 28, reflow soldering device 30, reflow soldering inspection device 32, etc. In addition, the installation control device 38 is connected to the handling control device 58 in a communicable manner to exchange information related to the operation status of the loader 18 and the driving status of the AGV 55.

[0033] Although not illustrated, the AGV 55 includes a motor that drives the wheels to rotate, a battery that supplies power, and components used for installation-related processing, such as an automatic feeder 24 that transports the equipment between the warehouse 60 and the storage room 16. The AGV 55 can, for example, retrieve the required feeder 24 from the warehouse 60 and automatically transport it to the storage room 16 for provisioning, or retrieve used feeders 24 from the storage room 16 and automatically transport them to the warehouse 60 for storage. Furthermore, the AGV 55 automatically transports the feeder 24, but any device that automatically transports components used for installation-related processing, such as the head, nozzle, solder receiving components, and screen mask, provided by the installation unit 22, is acceptable.

[0034] Here, between the AGV 55 and the storage unit 16, for example, when multiple feeders 24 are mounted on a material box 55a, which is a designated mounting component, they can be automatically replaced along with the material box 55a. When one of the storage sections 16a and 16b of the storage unit 16 is idle, the loader 18 moves the feeders 24 in and out of the other storage section to retrieve the used feeders 24 to the other storage section. When the AGV 55 is equipping and retrieving the feeders 24, it first delivers and equips multiple feeders 24, in units of material boxes 55a, to one of the storage sections 16a and 16b of the storage unit 16. Then, the AGV 55 receives and retrieves the multiple feeders 24, along with the material boxes 55a, from the other storage section 16a and 16b. The AGV55 automatically transports the recovered feeder 24 to the warehouse 60.

[0035] Warehouse 60 stores various components, including feeders 24 received by operator M and feeders 24 automatically transported by AGV 55. Furthermore, AGV 55 can retrieve and place multiple feeders 24 along with their material boxes 55a into warehouse 60. Additionally, charging station 57 is a device for charging the batteries of one or more AGVs 55 stopped at a designated charging position. Furthermore, charging station 57 can be a structure that provides power via a connector when the AGV 55 is stopped at the designated charging position, or it can provide power in a non-contact manner.

[0036] The transport 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 mouse, and output devices such as a display. The transport control device 58 is configured to wirelessly communicate with the AGV 55 to obtain the AGV 55's position information, perform driving control such as starting and stopping the AGV 55, and obtain the AGV 55's battery status. In addition, the transport control device 58 also controls the charging of the AGV 55 at the charging station 57.

[0037] The management device 5 is a general-purpose computer including CPU 5a, ROM 5b, RAM 5c, HDD 5d, etc., and is connected to input devices such as a keyboard and mouse, and output devices such as a display. The management device 5 is configured to communicate with each installation control device 38 and transport control device 58 of each installation line 10. The management device 5 stores the production plan PP of the substrate S and the travel plan (transport plan) TP of the AGV 55 in the HDD 5d. The management device 5 sends the production plan PP and production information of the substrate S of each installation line 10 to each installation control device 38. The management device 5 receives from each installation control device 38 the production status of the substrate S, the usage status of the feeders 24 required for production, and the configuration status of the feeders 24 in the storage warehouse 16. Furthermore, the production status includes changes such as screen mask replacement and feeder 24 replacement as preparation for the production of different types of substrates. In addition, the management device 5 sends the travel plan TP of each AGV 55 to the transport control device 58 and receives the travel status, battery balance, charging status, etc. of each AGV 55 from the transport control device 58. Furthermore, based on the production plan PP of the substrate S of each assembly line 10, the production status of the substrate S, and information related to the feeders 24 required for production, the management device 5 generates a travel plan TP that includes the transport schedule and charging schedule of the feeders 24 in each AGV 55.

[0038] The procedures related to the operation of the installation system 1 thus configured, especially the driving of the AGV55, will be explained. First, the driving plan TP of the AGV55 will be explained. Figure 5 This is a flowchart illustrating an example of the driving plan generation process.

[0039] exist Figure 5 In the driving plan generation process, the CPU 5a of the management device 5 first obtains the production plan PP for each installation line 10A and 10B (S100). Next, based on the predetermined changeover adjustment plan in the obtained production plan PP, the CPU 5a generates a driving plan TP for the AGV 55 in a manner that does not interfere with the changeover adjustment and stores it in the HDD 5d (S110). For example, in the area where the AGV 55 is moving and the changeover adjustment work area (see below)... Figure 8In the event of interference in the work areas A1 and A2, operators may need to interrupt changeover adjustments to prevent contact with the AGV55, and the movement of the AGV55 may sometimes hinder these adjustments. Therefore, the transport control device 58 generates a travel plan PP in a manner that avoids such changeover adjustment interruptions. Furthermore, in S110, a travel plan TP can also be generated in a manner that prevents the movement of the AGV55 from being hindered by changeover adjustments, for example, in a manner that eliminates the need for the AGV55 to be idle while waiting for a changeover adjustment interruption or completion. Next, the CPU 5a of the management device 5 sends the travel plan TP to the transport control device 58 of the transport system 50 (S120), ending the travel plan generation process.

[0040] Figure 6 This is an illustrative diagram representing an example of a production plan (PP) that generates a driving plan (TP). Figure 6 In the production plan PP, as an example, it is planned to perform a changeover adjustment for printing unit 12 of assembly line 10A from time t0 to time t1, and a changeover adjustment for printing unit 12 of assembly line 10B from time t1 to time t2. Figure 6 In the driving plan TP, it is scheduled that after these production changeover adjustments are completed, i.e., from the time t2 when the AGV55's movement will not interfere with the production changeover adjustments, the AGV55 will move towards the storage warehouse 16 of the installation line 10A. Therefore, there is no need for the AGV55 to be idle while driving due to the production changeover adjustments, and thus the movement of the AGV55 will not be hindered by the production changeover adjustments. Figure 6 In this context, a predetermined plan is set for AGV55 to begin traveling after the changeover adjustment is completed, but it is not limited to this. For example, if there are multiple paths that can travel to the storage warehouse 16 of the installation line 10A, the CPU5a of the management device 5 searches for a path that does not hinder the changeover adjustment. If a path exists that, although not the shortest path, does not hinder the changeover adjustment, then that path can also be selected. Therefore, a predetermined plan can also be set for AGV55 to begin traveling on the selected path before time t2 (the end of the changeover adjustment). Furthermore, in Figure 6 The example shown is a changeover adjustment for printing unit 12, but it is not limited to this; it could also be a changeover adjustment for installation unit 20. Furthermore, the operation of AGV 55 in the designated storage warehouse 16 and the return of AGV 55 to warehouse 60 are completed at time t3. The handling control device 58 stores the received travel plan TP in an HDD or similar device and controls the movement of AGV 55 based on the travel plan TP. Figure 7 This is a flowchart illustrating an example of AGV driving control. Figure 8 This is an illustrative diagram illustrating an example of AGV55 traveling towards storage warehouse 16.

[0041] exist Figure 7In the AGV driving control, the transport control device 58 waits for the departure time specified by the driving plan TP (S200). In S200, the transport control device 58, for example, waits for the departure time to be specified by the driving plan TP. Figure 6 The time t2 of the travel plan TP shown. In addition, in this embodiment, before the departure time, for example, the feeder 24 of all equipped objects is mounted on the AGV55, and departure preparations are completed in advance.

[0042] When the departure time of the travel plan TP arrives, the transport control device 58 obtains the retrieval status of the feeder 24 in the storage warehouse 16 at the destination through communication with the installed control device 38 (S210), and determines whether the retrieval of the feeder 24 is complete (S220). When the transport control device 58 determines that the retrieval of the feeder 24 is complete, that is, all the feeders 24 to be retrieved are put into the storage warehouse 16, it starts from the predetermined travel start position P1 (refer to...). Figure 8 The AGV55 begins to travel (S230).

[0043] On the other hand, when the transport control device 58 determines that the retrieval of the feeder 24 is not complete, it does not proceed to the processing in S230 but instead determines whether the delay time from the predetermined departure time exceeds a predetermined time (S240). That is, if the retrieval of the feeder 24 is not completed even when the departure time arrives, the transport control device 58 does not start the AGV 55 but keeps it in standby mode, waiting for the retrieval to be completed while determining whether the delay time from the departure time exceeds the predetermined time. Furthermore, when the transport control device 58 determines that the delay time has not exceeded the predetermined time and the retrieval of the feeder 24 has been completed, it starts the AGV 55 from moving in S230. In addition, when the transport control device 58 determines in S240 that the delay time has exceeded the predetermined time before the retrieval of the feeder 24 is completed, it starts the AGV 55 from moving in S230. That is, if the delay time exceeds the specified time and the delay becomes larger, the transport control device 58 will start the AGV 55 to run even if the feeder 24 of the object to be recycled has not been fully received.

[0044] Thus, when AGV55 starts moving, the handling control device 58 waits for AGV55 to reach the retreat confirmation position P2 (see reference) based on the position information of AGV55. Figure 8(S250). The retreat confirmation position P2 is a position closer to the storage warehouse 16, which is the destination, and is defined as a position where the loader 18 will not be disturbed even if the AGV 55 is on standby. When the transport control device 58 determines that the AGV 55 has reached the retreat confirmation position P2, it obtains the retreat status of the loader 18 before leaving the storage warehouse 16 by communicating with the installation control device 38 (S260). Then, the transport control device 58 determines whether the retreat of the loader 18 has been completed based on the retreat status (S270). If it determines that the retreat has not been completed, it keeps the AGV 55 on standby at the retreat confirmation position P2 (S280) and waits for the loader 18 to complete the retreat in S260 and S270. In addition, the installation control device 38 is notified from the management device 5 or the transport control device 58 that the AGV 55 has started to move. Upon receiving the notification, the installation control device 38 completes the operation of the loader 18 in the storage 16 or temporarily interrupts the operation of the loader 18, causing the loader 18 to retreat from the storage 16. Therefore, since the loader 18 is usually retreating or in the process of retreating when the AGV 55 reaches the retreat confirmation position P2, even if the AGV 55 is left idle at the retreat confirmation position P2, the idle time will hardly be long.

[0045] When the handling control device 58 determines in S270 that the loader 18 has completed its reversal, it moves the AGV 55 to the storage area at its destination (e.g., in...). Figure 8 Before the first storage section 16a, the feeder 24 is equipped (S290), and the process waits for the equipment to be completed (S300). Then, when the transport control device 58 determines that the feeder 24 has been equipped, it moves the AGV 55 to another storage section (e.g., in the first storage section 16a) that is the recycling destination. Figure 8Before the second storage section 16b), the AGV 55 performs the retrieval operation of the feeder 24 (S310) and waits for the retrieval operation to complete (S320). Furthermore, when the transport control device 58 determines that the retrieval operation of the feeder 24 is complete, it sets the destination to the warehouse 60 and begins the movement of the AGV 55 (S330), ending the AGV travel control. The travel control of the AGV 55 up to the warehouse 60 is not the focus of this invention and is therefore omitted from description. When the AGV 55 begins to move, the transport control device 58 sends a work completion notification to the installation control device 38. Upon receiving the work completion notification, the installation control device 38 allows the loader 18 to move to the storage warehouse 16 and perform the operation. Furthermore, if the AGV 55 starts traveling in S230 due to a delay exceeding a predetermined time in S240, there is a possibility that the AGV 55 may retrieve the feeder 24 in S310 before it is fully received into the storage section at the retrieval destination. In this case, in order for the AGV55 to reclaim the feeder 24 that failed to be reclaimed, the management device 5 generates a travel plan TP that adds a predetermined plan for the reclamation of the feeder 24.

[0046] Here, the correspondence between the constituent elements of this embodiment and the constituent elements of this disclosure is clarified. In this embodiment, the installation line 10 (10A, 10B) corresponds to the installation line, the management device 5 corresponds to the production unit, the AGV 55 corresponds to the automated guided vehicle, and the transport control device 58 corresponds to the control unit.

[0047] In the installation system 1 described above, a travel plan TP for the AGV is generated based on the production plan PP of the multiple installation lines 10, and the AGV 55 is controlled to travel to the storage warehouse 16 based on this travel plan TP. Therefore, the AGV 55 can travel under appropriate conditions corresponding to the production plan PP of the multiple installation lines 10, thus suppressing interference from the AGV 55 with various operations and installation-related processing performed on each installation line 10, and suppressing the standby time of the AGV 55 to prevent interference. Therefore, the travel control of the AGV 55 can be performed appropriately, thereby efficiently transporting the feeder 24 (component) by the AGV 55.

[0048] Furthermore, based on the planned changeover adjustments of the production plan (PP), a travel plan (TP) is generated in a way that ensures the AGV55's movement does not interfere with the changeover adjustments, or in a way that ensures the AGV55's movement is not hindered by the changeover adjustments. Therefore, delays caused by changeover adjustments and AGV55 standby time can be suppressed.

[0049] In addition, since the AGV55 starts running after the departure time specified by the driving plan TP, it is possible to prevent the AGV55 from interfering with various operations and installation-related processing carried out on each installation line 10 if it starts running before the departure time.

[0050] In addition, if the retrieval of the feeder 24 in the storage warehouse 16 is not completed even when it is time to depart, the start of the AGV 55's journey is delayed, thus suppressing the possibility of interference caused by the AGV 55's standby time in or near the storage warehouse 16 becoming too long.

[0051] Furthermore, if the delay from the departure time exceeds the prescribed time, the AGV55 will begin operation. This prevents the later scheduled events in the travel plan (TP) from being disrupted due to the increased departure delay (illustration omitted). Figure 6 A large deviation occurs in the predetermined plan after time t3, thereby suppressing the impact on the handling and recycling of the feeder 24.

[0052] Furthermore, this disclosure is not limited to any of the above-described embodiments. As long as it falls within the technical scope of this disclosure, it can of course be implemented in various ways.

[0053] For example, in the above embodiment, the transport control device 58 determines in S250 whether the AGV 55 has reached the reversal confirmation position P2 based on the position information of the AGV 55. However, it is not limited to this. It can also predict the arrival time of the reversal confirmation position P2 based on the travel speed of the AGV 55, the distance to the reversal confirmation position P2, etc., and determine in S250 whether the arrival time has been reached. That is, the transport control device 58 can also confirm the reversal of the loader 18 when the predicted arrival time of the reversal confirmation position P2 has been reached.

[0054] In this implementation, if the delay time from the departure time exceeds a predetermined time, the AGV55 is started to move. However, it is not limited to this. Even if the delay time exceeds the predetermined time and the feeder 24 has not completed the recycling, the AGV55 may not be started to move.

[0055] In this implementation, when the departure time arrives, the AGV 55 starts running after determining whether the retrieval of the feeder 24 in the storage warehouse 16 is complete and the feeder 24 can be retrieved. However, this is not a limitation. For example, it is not limited to whether the feeder 24 can be retrieved; it is also possible to determine whether the feeder 24 can be equipped to the storage warehouse 16, and it is possible to determine both whether the feeder 24 can be retrieved and whether the feeder 24 can be equipped. That is, it is sufficient to determine whether the prescribed conditions related to the condition of components such as the feeder 24 in the storage warehouse 16 are met. Alternatively, such determination related to the condition of components may not be performed, and the AGV 55 may start running when the departure time arrives.

[0056] Alternatively, the AGV55 can be started to run not only by considering the departure time, but also by considering the production status of the installation line 10. Figure 9 This is a flowchart illustrating a modified example of AGV driving control. In the modified example, in... Figure 9 The main focus is on the processing and... Figure 7 The different parts are explained.

[0057] In this modified example, when the departure time is reached in S200, the transport control device 58 obtains the production status of each installation line 10 through communication with the installation control device 38 (S202), and determines whether the changeover adjustment of each installation line 10 has been completed (S204). For example, the transport control device 58 determines... Figure 6 The example installation line 10A and installation line 10B have both completed their changeover adjustments. If the changeover adjustment is complete, the transport control device 58 starts the AGV 55 in S230. Alternatively, if the changeover adjustment is not complete, the transport control device 58 returns to S202, waiting for the changeover adjustment to complete while obtaining production information. When the changeover adjustment is complete, the AGV 55 starts moving in S230. Thus, in the modified example, even if it is the departure time, the start of the AGV 55's movement is delayed if the changeover adjustment is not completed due to production status being later than the production plan PP. Therefore, it is possible to reliably prevent the AGV 55 from starting to move while the changeover adjustment is incomplete, thus preventing the AGV 55's movement from hindering the changeover adjustment or being hindered by the changeover adjustment.

[0058] Furthermore, even if it is not departure time in S200, the transport control device 58 obtains the production status of each installation line 10 through communication with the installation control device 38 (S206) and determines whether the changeover adjustment of each installation line 10 is completed (S208). If the changeover adjustment is not completed, the transport control device 58 returns to S200, waits for departure time, and obtains the production status while waiting for the changeover adjustment to be completed. Alternatively, if the changeover adjustment is completed even if it is not departure time, the transport control device 58 starts the AGV 55 in S230. Thus, in a modified example, even if the changeover adjustment is completed before departure time due to production status being earlier than the production plan PP, the AGV 55's movement is started earlier. Therefore, if the situation becomes such that the AGV 55 can move based on the production status, the AGV 55 can be started quickly, thus enabling the AGV 55 to move efficiently and improving the recovery efficiency of the feeder 24.

[0059] In a modified example, the transport control device 58 determines whether the changeover adjustment is complete based on the production status both after and before the departure time, but it is not limited to this. For example, the transport control device 58 may determine whether the changeover adjustment is complete based on the production status either after or before the departure time and then start the AGV 55 to run. Furthermore, in a modified example, the transport control device 58 determines whether the changeover adjustment is complete based on the obtained production status, but it is not limited to changeover adjustments; it may also determine whether there is a delay relative to the production plan PP based on the obtained production status. In such cases, the transport control device 58 only needs to perform at least one of the control to start the AGV 55's journey earlier when the production status is earlier than the production plan PP, or to start the AGV 55's journey later when the production status is later than the production plan PP.

[0060] Furthermore, in the modified examples Figure 9 In the middle, the following was omitted. Figure 7 The illustrations of S210, S220, and S240 do not show these processes, but this is not a limitation. Processes S210, S220, and S240 can be performed similarly to those in the embodiment, proceeding to S210. That is, the transport control device 58 can proceed to S210 if either the production change adjustment is determined to be complete in S204 after the departure time in S200, or in S208 before the departure time in S200. For example, it can be said that the possibility of recovering incomplete processes is higher before the departure time compared to after the departure time. Therefore, it is also possible to proceed to S210 if the production change adjustment is determined to be complete in S208 before the departure time, and to skip the S210 (S220, S240) process and proceed to S230 if the production change adjustment is determined to be complete in S204 after the departure time.

[0061] In this implementation, the AGV 55's travel plan TP is generated based on a predetermined plan for production changeover adjustments according to the production plan PP. However, it is not limited to this; the AGV 55's travel plan TP can be generated as long as it is based on the production plan PP. Furthermore, while the management device 5 generates the travel plan TP, it can also be generated by the transport control device 58. That is, it is not limited to different devices generating the travel plan TP and controlling the AGV 55's movement; the same device can also perform both.

[0062] In one embodiment, if the handling control device 58 fails to confirm that the loader 18 has completed its reversal, it keeps the AGV 55 in standby at the reversal confirmation position P2. However, it is not limited to this; the AGV 55 may also be kept in standby at a different position than the reversal confirmation position P2. That is, the AGV 55 may be kept in standby at a position closer to the storage warehouse 16, which is the destination, than the reversal confirmation position P2. Alternatively, the AGV 55 may be temporarily stopped at the reversal confirmation position P2 regardless of whether the reversal of the loader 18 can be confirmed. If the reversal of the loader 18 cannot be confirmed, the AGV 55 remains in standby as is, and if the reversal of the loader 18 can be confirmed, the AGV 55 may be started again.

[0063] In this embodiment, components used for installation-related processing, such as the feeder 24, are transported by the AGV 55 to a dedicated storage room 16 within the installation line 10. However, this is not a limitation; any component transported to a designated location within the installation line 10 is acceptable. For example, components located at... Figure 3 Storage facilities located below the installation device 20, and storage facilities for each device (printing device 12, printing inspection device 14, installation device 20, installation inspection device 28, etc.).

[0064] The installation system disclosed herein can also be configured as follows. Furthermore, the following is not limited to production plans based on multiple installation lines; for example, it can be based on the production plan of a single installation line, including the destination (designated location) of the automated guided vehicle (AGV). The installation system is not limited to having multiple installation lines. For example, in the installation system of this disclosure, the travel plan can be generated based on a predetermined plan for changeover adjustments of the installation-related devices in the production plan, in a way that the changeover adjustments do not interfere with the movement of the AAV, or in a way that the movement of the AAV does not interfere with the changeover adjustments. This prevents the AAV from interfering with the changeover adjustment operations performed on each installation line. Additionally, this structure is not limited to multiple installation lines; it can be a changeover adjustment for a single installation line, or a changeover adjustment for multiple installation-related devices on a single installation line.

[0065] In the installation system disclosed herein, the control unit may control the automated guided vehicle to not begin traveling to the designated location before the departure time specified by the travel plan, and to begin traveling to the designated location when the departure time arrives. In this way, by making the automated guided vehicle depart before the departure time, it is possible to prevent the automated guided vehicle from interfering with various operations and installation-related processing on each installation line.

[0066] In the installation system disclosed herein, the control unit may also acquire the status of the component at the designated location and control the automated guided vehicle to delay the start of its journey to the designated location even if the designated conditions related to the status of the component at the designated location are not met, even if it is the departure time. In this way, by waiting at or near the designated location for the designated conditions to be met, the risk of increased interference due to prolonged standby time of the automated guided vehicle can be suppressed.

[0067] In the installation system disclosed herein, the control unit may control the automated guided vehicle to begin traveling to the designated location even if the predetermined conditions are not met and the delay from the departure time exceeds a predetermined time. This suppresses significant deviations from subsequent planned travel schedules due to increased departure delays. Therefore, it is possible to suppress the impact on the automated transport of components.

[0068] In the installation system disclosed herein, the control unit may also acquire the production status of the multiple installation lines and perform at least one of the following controls: controlling the automated guided vehicle to start its journey earlier than the departure time specified in the travel plan when the production status is earlier than the production plan, and controlling the automated guided vehicle to start its journey later than the departure time when the production status is later than the production plan. This allows the automated guided vehicle to start its journey at the appropriate time based on the production status, thus enabling more efficient operation.

[0069] Industrial applicability

[0070] This disclosure can be applied to installation systems that utilize automated guided vehicles (AGVs) to move components.

[0071] Explanation of reference numerals in the attached figures

[0072] 1. Installation system; 5. Management device; 5a. CPU; 5b. ROM; 5c. RAM; 5d. HDD; 10. 10A. 10B. Installation line; 12. Printing device; 14. Printing inspection device; 16. Storage warehouse; 16a. First storage section; 16b. Second storage section; 18. Loader; 20. Installation device; 22. Installation unit; 24. Feeder; 28. Installation inspection device; 30. Reflow soldering device; 32. Reflow soldering inspection device; 38. Installation control device; 50. Handling system; 55. Automated Guided Vehicle (AGV); 55a. Material box; 57. Charging station; 58. Handling control device; 60. Warehouse; M. Operator; PP. Production plan; S. Baseboard; TP. Travel plan.

Claims

1. An installation system comprising multiple installation lines arranged side-by-side with multiple installation association devices for performing installation association processing related to component installation, wherein components used for the installation association processing are transported by an automated guided vehicle to a predetermined location on the installation lines. The installation system has the following features: The generation unit generates a travel plan for the automated guided vehicle (AGV) based on the production plans of the multiple assembly lines, in a manner that allows the AAV to travel in accordance with the production plans of the multiple assembly lines and without interfering with the operations being performed on each of the multiple assembly lines; and The control unit controls the movement of the automated guided vehicle to the designated location based on the travel plan.

2. The installation system according to claim 1, wherein, The generation unit generates the travel plan based on the predetermined plan for the production changeover adjustment of the installation-related device in the production plan, in a manner that the production changeover adjustment does not hinder the travel of the automated guided vehicle, or in a manner that the travel of the automated guided vehicle does not hinder the production changeover adjustment.

3. The installation system according to claim 1, wherein, The control unit controls the automated guided vehicle so that it does not begin traveling to the designated location before the departure time specified by the travel plan, and begins traveling to the designated location when the departure time is reached.

4. The installation system according to claim 2, wherein, The control unit controls the automated guided vehicle so that it does not begin traveling to the designated location before the departure time specified by the travel plan, and begins traveling to the designated location when the departure time is reached.

5. The installation system according to claim 3, wherein, The control unit is able to obtain the status of the component at the designated location and control the automated guided vehicle to delay the start of travel to the designated location if the specified conditions related to the status of the component at the designated location are not met, even if it is the departure time.

6. The installation system according to claim 4, wherein, The control unit is able to obtain the status of the component at the designated location and control the automated guided vehicle to delay the start of travel to the designated location if the specified conditions related to the status of the component at the designated location are not met, even if it is the departure time.

7. The installation system according to claim 5, wherein, The control unit controls the automated guided vehicle so that it begins to travel to the designated location even if the specified conditions are not met and the delay from the departure time exceeds a specified time.

8. The installation system according to claim 6, wherein, The control unit controls the automated guided vehicle so that it begins to travel to the designated location even if the specified conditions are not met and the delay from the departure time exceeds a specified time.

9. The installation system according to any one of claims 1 to 8, wherein, The control unit is able to obtain the production status of the multiple assembly lines and perform at least one of the following controls: if the production status is earlier than the production plan, control the automated guided vehicle to start running earlier than the departure time specified by the travel plan; and if the production status is later than the production plan, control the automated guided vehicle to start running later than the departure time.

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