Article conveyance system and article conveyance method

Abstract

An article conveyance system includes a station, a trolley, a detection unit, and a control unit. The station is capable of handing over an article used in a substrate work machine that performs a predetermined substrate work on a substrate. The trolley can automatically carry in or carry out articles relative to the station and travel. The detection unit is provided in at least one of the station and the trolley, and is capable of detecting the relative position of the station and the trolley. When the detection unit detects that the relative position is within a first range in which the article can be delivered between the station and the carriage, the control unit permits delivery of the article between the station and the carriage. When the detection unit does not detect that the relative position is within the first range, the control unit restricts delivery of the article between the station and the carriage.

Description

Technical Field

[0001] This specification discloses technologies related to an article transport system and an article transport method. Background Art

[0002] The article transport system described in Patent Document 1 includes a station group, a first communication device, and a judgment unit. A plurality of stations capable of delivering articles used in a substrate handling machine that performs a predetermined substrate handling operation on a substrate are arranged in the station group. The judgment unit judges whether the transport vehicle has arrived at a target station that is a station to deliver or receive articles by using the first communication device.

[0003] The unmanned transport system described in Patent Document 2 has a marking tape on the ground, and transports a towed vehicle by towing it with an unmanned transport vehicle. The unmanned transport vehicle has a front sensor capable of detecting the marking tape on the bottom surface of the unmanned transport vehicle.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: International Publication No. 2021 / 144866

[0007] Patent Document 2: Japanese Patent Application Publication No. 2020-044859 Summary of the invention

[0008] Problems to be solved by the invention

[0009] However, in the article handling system described in Patent Document 1 and the unmanned handling system described in Patent Document 2, although it is possible to determine that the trolley has arrived at the station where articles should be sent out or received, it is sometimes difficult to transfer articles between the station and the trolley depending on the positional relationship between the station and the trolley.

[0010] In view of such circumstances, the present specification discloses an article transport system and an article transport method that can reliably perform delivery of articles between a station and a carriage.

[0011] Means for solving problems

[0012] The present specification discloses an article handling system having a station, a trolley, a detection unit and a control unit. The station is capable of delivering articles used in a substrate operation machine that performs predetermined substrate operations on a substrate. The trolley is capable of automatically carrying the articles in or out relative to the station and traveling. The detection unit is provided on at least one of the station and the trolley, and is capable of detecting the relative position of the station and the trolley. The control unit allows the delivery of the article between the station and the trolley when the detection unit detects that the relative position is within a first range within which the article can be delivered between the station and the trolley, and restricts the delivery of the article between the station and the trolley when the detection unit does not detect that the relative position is within the first range.

[0013] In addition, the present specification discloses an article transport method having a detection process and a control process. In the detection process, the relative position of a station and a trolley is detected, the station is capable of handing over articles used in a substrate operation machine that performs predetermined substrate operations on a substrate, and the trolley is capable of automatically carrying in or out the articles relative to the station and traveling. In the control process, when the relative position detected by the detection process is within a first range within which the article can be handed over between the station and the trolley, the handover of the article between the station and the trolley is allowed, and when the relative position detected by the detection process is not within the first range, the handover of the article between the station and the trolley is restricted.

[0014] It should be noted that, in this specification, the technical idea of ​​changing the "article handling system described in the technical solution 1" to the "article handling system described in the technical solution 1 or the technical solution 2" in the technical solution 3 described in the technical solution originally attached to the application (hereinafter referred to as the initial technical solution) is disclosed. In addition, in this specification, the technical idea of ​​changing the "article handling system described in the technical solution 3" to the "article handling system described in the technical solution 3 or the technical solution 4" in the technical solution 5 described in the initial technical solution is disclosed. Furthermore, in this specification, the technical idea of ​​changing the "article handling system described in the technical solution 3" to the "article handling system described in any one of the technical solutions 3 to the technical solution 7" in the technical solution 8 described in the initial technical solution is disclosed. In addition, in this specification, the technical idea of ​​changing the "article handling system described in the technical solution 3" to the "article handling system described in any one of the technical solutions 3 to the technical solution 8" is disclosed. In addition, in this specification, the technical idea of ​​changing the "article handling system described in the technical solution 3" to the "article handling system described in any one of the technical solutions 3 to the technical solution 8" in the initial technical solution is disclosed. Furthermore, in this specification, a technical idea is disclosed of changing the "article transport system described in Technical Solution 3" in Technical Solution 11 described in the initial technical solution to the "article transport system described in any one of Technical Solutions 3 to Technical Solutions 10".

[0015] Effects of the Invention

[0016] According to the above-mentioned article handling system, the control unit allows the handover of articles between the station and the trolley when the detection unit detects that the relative position of the station and the trolley is within the first range. In addition, the control unit restricts the handover of articles between the station and the trolley when the detection unit does not detect that the relative position of the station and the trolley is within the first range. Therefore, the article handling system can reliably implement the handover of articles between the station and the trolley. The above-mentioned contents about the article handling system can also be said to be the same for the article handling method. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a top view showing a structural example of a production facility.

[0018] Figure 2 It is a partial perspective view showing a structural example of a station and a carriage.

[0019] Figure 3 It means in Figure 2 A three-dimensional diagram of a state in which a trolley is equipped with a storage shell capable of storing articles.

[0020] Figure 4 This is a block diagram showing an example of a control module of the article transport system.

[0021] Figure 5 This is a flowchart showing an example of a control procedure of the article transport system.

[0022] Figure 6 This is a diagram showing an example of determination and control according to control timing.

[0023] Figure 7 This is a partial perspective view showing an example of the state of the detector when the station-side contact portion and the vehicle-side contact portion are not in contact with each other.

[0024] Figure 8 This is a partial perspective view showing an example of the state of the detector when the station-side contact portion and the vehicle-side contact portion are in contact with each other.

[0025] Fig. 9 This is a schematic diagram showing an example of the positional relationship between a station and a vehicle.

[0026] Fig.10 It is a perspective view showing another structural example of the carriage. DETAILED DESCRIPTION

[0027] 1. Implementation Method

[0028] 1-1. Configuration example of production equipment 1

[0029] The article handling system 80 can be applied to various production equipment 1 for producing substrate products. Figure 1 As shown, the production equipment 1 of the embodiment includes at least one (four in this figure) component mounting machine 10, a replacement system 30, an article moving device 40, a station group 50, a trolley 60, an unmanned guided vehicle 70, a production line control device LC0, a production management device WC0, and a conveyance management device CC0. In the following description, the horizontal width direction of the component mounting machine 10 and the conveyance direction of the substrate are set as the X direction. In addition, the horizontal depth direction of the component mounting machine 10 and the direction orthogonal to the X direction on the horizontal plane are set as the Y direction. Furthermore, the vertical direction orthogonal to the X direction and the Y direction is set as the Z direction.

[0030] At least one (four) component mounting machines 10 are arranged along the conveying direction (X direction) of the substrate. The component mounting machine 10 is included in a substrate mounting operation machine WM0 that performs predetermined substrate mounting operations on the substrate. The component mounting machine 10 carries in a substrate and positions it at a predetermined position, mounts a plurality of components on the positioned substrate, and carries out the substrate on which the components are mounted. That is, the substrate mounting operation of the component mounting machine 10 includes the carrying-in operation, positioning operation, and carrying-out operation of the substrate. In addition, the substrate mounting operation of the component mounting machine 10 includes the supply operation, picking operation, and mounting operation of the components.

[0031] For example, the component mounting machine 10 includes a component supply device for supplying components to be mounted on a substrate. A plurality of feeders 20 are provided in the component supply device in a detachable manner. The feeder 20 is included in the article AR0 used in the component supply operation performed by the component mounting machine 10. In addition, the component supply device includes at least one slot capable of equipping a plurality of feeders 20. The component supply device of the embodiment is provided at two positions, the first position and the second position.

[0032] The first position holds the equipped feeder 20 in an operable state. The feeder 20 equipped at the first position is controlled to operate during the substrate operation performed by the component mounting machine 10, and sequentially supplies components to the take-out section provided at a predetermined position of the feeder 20. The second position is arranged below the first position and stores the equipped feeder 20. That is, the second position holds the feeder 20 used for production in preparation and temporarily holds the feeder 20 used for production.

[0033] The replacement operation of the feeder 20 between the first position and the second position, the replenishment operation of the feeder 20, and the recovery operation are performed using the replacement system 30 and the article moving device 40. Specifically, Figure 1 As shown, the replacement system 30 includes a first rail 31 and a second rail 32. The first rail 31 and the second rail 32 form a travel path of the article moving device 40. The first rail 31 and the second rail 32 are provided along the arrangement direction (the conveying direction (X direction) of the substrate) of at least one (four) component mounting machines 10. The first rail 31 and the second rail 32 extend over substantially the entire area in the conveying direction (X direction) of the substrate in the production equipment 1.

[0034] The article moving device 40 is provided so as to be able to travel along the travel path formed by the first rail 31 and the second rail 32. The article moving device 40 receives power supply from the power transmitting unit through contactless power supply, for example, via a power receiving unit provided opposite to the power transmitting unit provided on the first rail 31. The power received by the power receiving unit is used for the travel of the article moving device 40, predetermined operations, etc., via a power receiving circuit. In addition, the article moving device 40 detects the position (current position) on the travel path, for example, using a position detection device. The position detection device can detect the position (current position) of the article moving device 40 on the travel path, for example, by optical position detection, position detection using electromagnetic induction, etc.

[0035] In addition, the above-mentioned predetermined operation includes replacement operation of equipment such as the component mounting machine 10 that is installed in the substrate operation machine WM0 in a detachable manner between the substrate operation machine WM0 and the component mounting machine 10. In the embodiment, the article moving device 40 uses the feeder 20 that supplies the components mounted on the substrate as equipment, and performs replacement operation of the feeder 20 between the component mounting machine 10 that is the substrate operation machine WM0. In addition, the article moving device 40 can also perform replacement operation of the feeder 20 between the station group 50.

[0036] Specifically, the article moving device 40 performs a replacement operation of the feeder 20 between the first position and the second position of the component supply device of the component mounting machine 10. In addition, the article moving device 40 carries the feeder 20 from the station group 50 to the first position or the second position of the component supply device to perform a replenishment operation of the feeder 20. Furthermore, the article moving device 40 carries the feeder 20 that is not needed in the component mounting machine 10 from the component supply device to the station group 50 to perform a recovery operation of the feeder 20.

[0037] The station group 50 is arranged on the substrate carrying side of the production equipment 1 ( Figure 1 on the left side of the paper). Figure 1 and Figure 2 As shown, at least one (two in the figure) station 50s is provided in the station group 50, which can receive and deliver the article AR0 used by the feeder 20 or the like to the substrate working machine WM0. The station 50s can be in various forms as long as it can receive and deliver the article AR0. For example, the station 50s has a plurality of rollers, and can carry the article AR0 from the trolley 60 and can carry the article AR0 out of the trolley 60.

[0038] In addition, the station 50s can also store items that can accommodate AR0 Figure 3 The storage housing 90 shown. In this case, the station 50s can also use a plurality of rollers to carry the storage housing 90 from the trolley 60, and can carry the storage housing 90 out of the trolley 60. The storage housing 90, for example, has a plurality of slots, and the feeder 20 can be equipped in each slot. The feeder 20 equipped in the slot of the storage housing 90 carried into the station 50s is supplied with power from the station 50s via the storage housing 90, and becomes a state capable of communicating with the line control device LC0. As a result, the slot of the storage housing 90 is associated with the identification information of the feeder 20 equipped in the slot and recorded in the production line control device LC0.

[0039] The trolley 60 can automatically carry in or carry out the article AR0 relative to the station 50s and travel. As long as the trolley 60 can automatically carry out the above-mentioned actions, various forms can be adopted. For example, Figure 2 and Figure 3As shown, the trolley 60 includes a trolley body 61, a loading platform 62, and a plurality of (for example, four) wheels 63. The loading platform 62 is provided on the upper portion of the trolley body 61 and can carry an article AR0. Figure 3 As shown, the cargo bed 62 can also carry a storage case 90 that can store the article AR0.

[0040] The stage 62 includes a plurality of rollers 62a, and can carry the article AR0 into the station 50s, and can carry the article AR0 out of the station 50s. In addition, the stage 62 can carry the storage case 90 into the station 50s, and can carry the storage case 90 out of the station 50s. In addition, the stage 62 externally fixes the article AR0 or the storage case 90 when carrying the article AR0 or the storage case 90 in or out. When carrying the article AR0 or the storage case 90 in or out, the stage 62 releases the fixation of the article AR0 or the storage case 90.

[0041] A plurality of (4) wheels 63 are provided at the lower portion of the trolley body 61, and the trolley 60 can travel. The trolley 60 of the embodiment is towed and traveled by an unmanned guided vehicle 70. Specifically, in a state where the unmanned guided vehicle 70 is arranged at the lower portion of the trolley body 61, the unmanned guided vehicle 70 is connected to the trolley body 61 in a manner capable of towing the trolley 60. The unmanned guided vehicle 70 can be any unmanned guided vehicle as long as it can travel automatically, and various known unmanned guided vehicles can be used.

[0042] The line control device LC0 is configured to be able to input and output various data with each device constituting the production equipment 1 via a network. The line control device LC0 monitors the operation status of the production equipment 1 and performs unified control of the substrate operation machine WM0, the replacement system 30, the article moving device 40, and the station group 50 such as the component mounting machine 10. Various data for controlling the substrate operation machine WM0, the replacement system 30, the article moving device 40, and the station group 50 are stored in the line control device LC0.

[0043] The production management device WC0 is capable of managing at least one (one in this figure) production equipment 1. The production management device WC0 is configured to be able to communicate with the production line control device LC0 of at least one (one) production equipment 1, and is capable of managing the production of substrate products by at least one (one) production equipment 1. The transport management device CC0 is capable of managing the trolley 60 and the unmanned guided vehicle 70. The transport management device CC0 is configured to be able to communicate with the trolley 60, the unmanned guided vehicle 70, the production line control device LC0, and the production management device WC0, and according to the production status of the substrate products in the production equipment 1, the trolley 60 and the unmanned guided vehicle 70 are driven, and the trolley 60 is made to transfer the item AR0.

[0044] like Figure 1As shown, a guide unit 85 is provided in the production equipment 1. The guide unit 85 is a component provided along the travel path of the trolley 60, and guides the travel of the trolley 60. The trolley 60 travels while recognizing the guide unit 85. The guide unit 85 can be in various forms as long as it can guide the travel of the trolley 60. For example, the guide unit 85 includes a guide component M0 indicating the travel path of the trolley 60 and an indicator component S0 that serves as an indicator when the trolley 60 travels. The guide component M0 and the indicator component S0 improve the travel accuracy of the trolley 60.

[0045] The guide member M0 and the indicator member S0 can be in various forms. In the embodiment, the guide member M0 and the indicator member S0 are formed of magnetic tapes. In addition, the trolley 60 of the embodiment is towed by an unmanned guided vehicle 70. The unmanned guided vehicle 70 towing the trolley 60 can prevent the unmanned guided vehicle 70 (trolley 60) from deviating from the driving path on which it should travel by detecting the guide member M0 while traveling. In addition, the unmanned guided vehicle 70 can recognize the driving position of the unmanned guided vehicle 70 (trolley 60) by detecting the indicator member S0.

[0046] For example, the indicator component S0 includes a reference component indicating a reference position S10, a via component indicating a via position S20, and a target component indicating a target position S30. In addition, since the station group 50 of the embodiment includes two stations 50s, the via component includes a first via component indicating a first via position S21 and a second via component indicating a second via position S22. The target component includes a first target component indicating a first target position S31 and a second target component indicating a second target position S32. For example, the unmanned guided vehicle 70 that tows the trolley 60 recognizes that the unmanned guided vehicle 70 (trolley 60) is traveling at the first via position S21 by detecting the first via component. In addition, for example, in the case where the unmanned guided vehicle 70 (trolley 60) and the transport management device CC0 communicate with each other and the transport management device CC0 can recognize the travel position of the unmanned guided vehicle 70 (trolley 60), the indicator component S0 may be omitted.

[0047] The unmanned guided vehicle 70 pulling the trolley 60 travels toward the target station 50s along a pre-programmed travel route or a travel route instructed by the transport management device CC0. Figure 1 The station 50s on the left side of the drawing is the target station 50s, and the unmanned guided vehicle 70 of the traction vehicle 60 moves from the reference position S10 to the first target position S31. In this case, the unmanned guided vehicle 70 of the traction vehicle 60 turns 90 degrees to the right and moves straight when the first passing component is detected. Furthermore, the unmanned guided vehicle 70 of the traction vehicle 60 stops when the first target component is detected.

[0048] Figure 1The station 50s on the right side of the drawing is the target station 50s, and the same applies to the case where the unmanned guided vehicle 70 of the traction trolley 60 moves from the reference position S10 to the second target position S32. In this case, when the unmanned guided vehicle 70 of the traction trolley 60 detects the second passing component, it turns 90 degrees to the right and moves straight. Moreover, the unmanned guided vehicle 70 of the traction trolley 60 stops when the second target component is detected. In addition, if the distance between the unmanned guided vehicle 70 of the traction trolley 60 and the station 50s is less than the predetermined distance, the station 50s can be detected, and even if the first target component or the second target component is not detected, it can stop.

[0049] When the trolley 60 reaches the target station 50s, the article AR0 or the storage shell 90 is sent to the station 50s, and the station 50s receives the article AR0 or the storage shell 90 from the trolley 60. In addition, the station 50s can also send the article AR0 or the storage shell 90 to the trolley 60, and the trolley 60 can also receive the article AR0 or the storage shell 90 from the station 50s.

[0050] Furthermore, the trolley 60 can also deliver the article AR0 or the storage case 90 to one station 50s, move to another station 50s, and receive the article AR0 or the storage case 90 from the station 50s. In addition, the trolley 60 can also receive the article AR0 or the storage case 90 from one station 50s, move to another station 50s, and deliver the article AR0 or the storage case 90 received from one station 50s to another station 50s. In addition, in the following description, the delivery of the article AR0 is described. The article AR0 may be stored in the storage case 90 or not.

[0051] 1-2. Configuration Example of Article Transport System 80

[0052] Depending on the positional relationship between the station 50s and the trolley 60, it is sometimes difficult to transfer the article AR0 between the station 50s and the trolley 60. For example, the relative positions of the station 50s and the trolley 60 are separated to such an extent that the transfer of the article AR0 is difficult at the position where the trolley 60 detects the target component and stops, or the relative angle between the station 50s and the trolley 60 is tilted to such an extent that the transfer of the article AR0 is difficult. In such a case, the article AR0 may fall during the transfer of the article AR0. Therefore, in the embodiment, an article transport system 80 is provided.

[0053] The article transport system 80 includes a station 50s, a carriage 60, a detection unit 81, and a control unit 82. The article transport system 80 may also include a position recognition unit 83. The article transport system 80 may also include a mark processing unit 84. The article transport system 80 may also include a guide unit 85. Figure 4As shown, the article transport system 80 of the embodiment includes a station 50s, a vehicle 60, a detection unit 81, a control unit 82, a position recognition unit 83, a mark processing unit 84, and a guide unit 85. The vehicle 60 of the embodiment is towed by an unmanned guided vehicle 70.

[0054] The detection unit 81, the control unit 82, the position recognition unit 83, and the mark processing unit 84 can be provided in various detectors, storage devices, computing devices, control devices, management devices, etc. For example, at least one of the detection unit 81, the control unit 82, the position recognition unit 83, and the mark processing unit 84 can be provided in the station 50s, the trolley 60, the unmanned guided vehicle 70, etc. At least one of the control unit 82, the position recognition unit 83, and the mark processing unit 84 can also be provided in the production line control device LC0, the production management device WC0, the transport management device CC0, etc.

[0055] At least one of the control unit 82, the position recognition unit 83 and the mark processing unit 84 can also be formed on the cloud. Figure 4 As shown, in the article transport system 80 of the embodiment, the detection unit 81 is provided in the trolley 60. The control unit 82 and the mark processing unit 84 are provided in the transport management device CC0. The position recognition unit 83 is provided in the unmanned transport vehicle 70 pulling the trolley 60. In addition, the guide unit 85 is provided on the floor of the production equipment 1.

[0056] In addition, the article transport system 80 of the embodiment is based on Figure 5 The control is performed according to the flowchart shown in FIG. 8 . The detection unit 81 performs the processing shown in step SP1. The control unit 82 performs the processing and judgment shown in steps SP2 to SP6. In addition, Figure 6 An example of the determination and control shown in step SP6 is shown.

[0057] 1-2-1. Detection unit 81

[0058] The detection unit 81 is provided at least on one of the station 50s and the carriage 60, and detects a relative position 81p ( Figure 5 Step SP1 shown). The detection unit 81 can be in various forms as long as it can detect the relative position 81p. For example, the detection unit 81 can detect the relative position 81p of the station 50s and the trolley 60 (the relative position 81p of the trolley 60 relative to the station 50s or the relative position 81p of the station 50s relative to the trolley 60, the same below) by using a distance measuring sensor such as a laser displacement meter. The detection unit 81 can also detect the relative angle between the station 50s and the trolley 60 (the relative angle of the trolley 60 relative to the station 50s or the relative angle of the station 50s relative to the trolley 60, the same below) by using a distance measuring sensor such as a laser displacement meter.

[0059] In addition, the detection unit 81 can also detect the relative position 81p between the station side contact portion 50t provided on the station 50s and the trolley side contact portion 60t provided on the trolley 60. The detection unit 81 can also detect the relative angle between the station side contact portion 50t and the trolley side contact portion 60t. The detection unit 81 can also detect whether the station side contact portion 50t and the trolley side contact portion 60t are in contact. Figure 2 and Figure 3 As shown, the detection unit 81 of the embodiment is provided in the vehicle body 61 on the travel direction side of the vehicle 60. The detection unit 81 can also be provided in the station 50s. The detection unit 81 can also be provided in both the station 50s and the vehicle 60.

[0060] like Figure 7 and Figure 8 As shown, the trolley body 61 includes a buffer portion 61a, a pair of supporting portions 61b, 61b and a pair of elastic members 61c, 61c. The buffer portion 61a is equivalent to the trolley side abutment portion 60t. The buffer portion 61a is provided along the width direction of the trolley 60 in the trolley body 61 on the travel direction side of the trolley 60. The buffer portion 61a is formed, for example, using metal, hard resin, etc., so as to be able to withstand abutment with the station side abutment portion 50t more than a predetermined number of times. The buffer portion 61a can have various shapes as long as it can abut against the station side abutment portion 50t provided along the width direction of the station 50s. For example, the buffer portion 61a of the embodiment is formed in a plate-like rod shape.

[0061] The buffer portion 61a can contact the station side contact portion 50t at least two points separated by a predetermined distance in the width direction of the carriage 60. Specifically, the buffer portion 61a includes a pair of support rods 61a1, 61a1 at positions separated by a predetermined distance in the width direction of the carriage 60. The pair of support rods 61a1, 61a1 are formed into a cylindrical rod shape using, for example, metal, hard resin, etc., similarly to the buffer portion 61a.

[0062] The pair of support parts 61b, 61b are respectively provided with support holes penetrating in the traveling direction and the backward direction of the trolley 60. The support holes support the support rod 61a so as to be movable in the traveling direction and the backward direction of the trolley 60. That is, the pair of support parts 61b, 61b support the buffer part 61a so as to be movable in parallel with the trolley main body 61 along the traveling direction and the backward direction of the trolley 60. The pair of support parts 61b, 61b are respectively provided with a baffle 61b on the backward direction side of the trolley 60. The baffle 61b is formed to be larger than the outer diameter of the support hole, and prevents the support rod 61a from coming out of the support part 61b in the forward direction of the trolley 60.

[0063] The pair of elastic members 61c, 61c are provided between the buffer portion 61a and the pair of support portions 61b, 61b. Specifically, the pair of elastic members 61c, 61c surround the outer peripheral surface of the support rod 61a, respectively. The pair of elastic members 61c, 61c can use, for example, cylindrical coil springs. The pair of elastic members 61c, 61c can be extended and retracted along the travel direction and the backward direction of the trolley 60, and are assembled in a compressed state.

[0064] That is, the pair of elastic members 61c, 61c applies force to the buffering portion 61a toward the traveling direction of the trolley 60 relative to the trolley body 61. Thus, when the buffering portion 61a is not in contact with the station-side contacting portion 50t, the baffle 61b is maintained in contact with the supporting portion 61b. When the buffering portion 61a is in contact with the station-side contacting portion 50t, the pair of elastic members 61c, 61c are further compressed to mitigate the impact when the buffering portion 61a is in contact with the station-side contacting portion 50t.

[0065] The detection unit 81 detects whether the buffer portion 61a corresponding to the carriage side contact portion 60t is in contact with the station side contact portion 50t. The detection unit 81 of the embodiment includes a sensor claw 81a and a light shielding detection sensor 81b. Figure 7 and Figure 8 As shown in the figure, the plate of the sensor claw 81a is formed into an L shape and is mounted on the baffle 61b. The light shielding detection sensor 81b is arranged above the support portion 61b in the vertical direction. The light shielding detection sensor 81b includes a light projecting portion and a light receiving portion separated in the vertical direction, and detects whether the detection light projected from the light projecting portion to the light receiving portion is in a light shielding state shielded by the sensor claw 81a.

[0066] like Figure 7 As shown, when the buffer portion 61a corresponding to the carriage side contact portion 60t is not in contact with the station side contact portion 50t, the baffle plate 61b is in contact with the support portion 61b. In this case, the sensor claw 81a enters between the light projecting portion and the light receiving portion of the light shielding detection sensor 81b, and the light shielding detection sensor 81b detects the light shielding state. Thus, the detection unit 81 can recognize that the buffer portion 61a corresponding to the carriage side contact portion 60t is not in contact with (separated from) the station side contact portion 50t.

[0067] The buffer portion 61a corresponding to the carriage side contact portion 60t contacts the station side contact portion 50t, and when the carriage 60 further moves toward the station 50s, the elastic member 61c is compressed. Figure 8As shown, the buffer portion 61a, the support rod 61a1, the baffle 61b1 and the sensor claw 81a move relative to the carriage main body 61 toward the backward direction of the carriage 60. At this time, the baffle 61b is separated from the support portion 61b. In this case, the sensor claw 81a is separated from the light-emitting portion and the light-receiving portion of the light-shielding detection sensor 81b, and the light-shielding detection sensor 81b detects that it is not in the light-shielding state (light-receiving state). As a result, the detection unit 81 can recognize that the buffer portion 61a corresponding to the carriage side contact portion 60t is in contact with the station side contact portion 50t.

[0068] The detection unit 81 of the embodiment detects the abutment between the trolley 60 and the station 50s by means of the light shielding detection sensor 81b. The detection unit 81 can also detect the abutment by means of other sensors. For example, the detection unit 81 can include a proximity sensor in the support portion 61b. The proximity sensor can detect the abutment by means of the relative movement of the support rod 61a in the backward direction of the trolley 60. In addition, the detection unit 81 of the embodiment detects the relative position of the buffer portion 61a corresponding to the trolley side abutment portion 60t and the station side abutment portion 50t in the Y direction. The detection unit 81 can also detect the relative position of the buffer portion 61a corresponding to the trolley side abutment portion 60t and the station side abutment portion 50t in the X direction.

[0069] In addition, in the detection unit 81 of the embodiment, the light shielding detection sensor 81b for detecting the contact between the carriage 60 and the station 50s is provided at positions separated by a predetermined distance in the width direction of the carriage 60 (two positions separated by a predetermined distance in the X direction). Thus, the detection unit 81 can detect the relative angle between the carriage 60 and the station 50s. In addition, the unmanned guided vehicle 70 (trolley 60) can be adjusted to travel in such a manner that the above-mentioned relative angle is zero (in such a manner that the carriage side contact portion 60t is parallel to the station side contact portion 50t).

[0070] 1-2-2. Control unit 82

[0071] like Fig. 9 As shown, for example, the farther the relative position 81p of the cart 60 with respect to the station 50s is from the station 50s, the larger the gap between the station 50s and the cart 60. The larger the gap, the higher the possibility that the article AR0 will fall during the transfer between the station 50s and the cart 60.

[0072] Therefore, the control unit 82 allows the delivery of the article AR0 between the station 50s and the trolley 60 when the detection unit 81 detects that the relative position 81p is within the first range R1 in which the article AR0 can be delivered between the station 50s and the trolley 60. In addition, the control unit 82 restricts the delivery of the article AR0 between the station 50s and the trolley 60 when the detection unit 81 does not detect that the relative position 81p is within the first range R1.

[0073] The first range R1 can be set arbitrarily as long as it is a range in which the article AR0 can be transferred between the station 50s and the carriage 60. In addition, the first range R1 can also be set, for example, according to the type of the article AR0 (the size and weight of the article AR0) or the state of the article AR0 when transferring (whether the article AR0 is accommodated in the accommodation case 90). In any case, the first range R1 can be obtained in advance, for example, by simulation, verification of an actual machine, etc.

[0074] In addition, when the station-side abutment portion 50t provided at the station 50s abuts against the trolley-side abutment portion 60t provided at the trolley 60, no gap is generated between the station 50s and the trolley 60. In this case, during the transfer of the article AR0 between the station 50s and the trolley 60, the article AR0 can be prevented from falling due to the above-mentioned gap.

[0075] Therefore, when the station-side contact portion 50t provided at the station 50s contacts the trolley-side contact portion 60t provided at the trolley 60, the detection unit 81 can detect that the relative position 81p is within the first range R1. In addition, when the station-side contact portion 50t contacts the trolley-side contact portion 60t, the detection unit 81 may not detect that the relative position 81p is within the first range R1.

[0076] In the above-described method, the control unit 82 allows the transfer of the article AR0 between the station 50s and the trolley 60 when the station-side contact portion 50t contacts the trolley-side contact portion 60t. In addition, the control unit 82 restricts the transfer of the article AR0 between the station 50s and the trolley 60 when the station-side contact portion 50t and the trolley-side contact portion 60t do not contact (are separated). In addition, the situation described above with respect to the station 50s, the trolley 60, the detection unit 81, and the control unit 82 can also be appropriately applied in the method shown below.

[0077] 1-2-3. Position recognition unit 83, mark processing unit 84, and guidance unit 85

[0078] In the above-described method, the control unit 82 determines whether to allow the transfer of the article AR0 between the station 50s and the carriage 60 based on the detection result detected by the detection unit 81. However, for example, a detector 81s (equivalent to the above-described light shielding detection sensor 81b) of the detection unit 81 may cause a defect in the production equipment 1.

[0079] Therefore, the article transport system 80 of the embodiment includes a position recognition unit 83, a mark processing unit 84, and a guide unit 85. The position recognition unit 83 recognizes the travel position 60p of the vehicle 60. As described above, the guide unit 85 is a component provided along the travel path of the vehicle 60, and guides the travel of the vehicle 60. The vehicle 60 (in the embodiment, the unmanned guided vehicle 70 towing the vehicle 60) travels while recognizing the guide unit 85.

[0080] Specifically, the guide unit 85 includes a guide component M0 indicating the travel path of the vehicle 60 and an indicator component S0 that serves as an indicator when the vehicle 60 is traveling. The unmanned guided vehicle 70 that tows the vehicle 60 can prevent the unmanned guided vehicle 70 (the vehicle 60) from deviating from the travel path on which it should travel by detecting the guide component M0 while traveling. In addition, the unmanned guided vehicle 70 can recognize the travel position of the unmanned guided vehicle 70 (the vehicle 60) by detecting the indicator component S0.

[0081] The mark processing unit 84 sets the first mark F1 when the travel position 60p of the vehicle 60 identified by the position recognition unit 83 reaches the target position S30 where the vehicle 60 transfers the article AR0 to the station 50s or enters the second range R2 for adjusting to the target position S30. In addition, the mark processing unit 84 cancels the first mark F1 when the travel position 60p of the vehicle 60 identified by the position recognition unit 83 leaves the target position S30 or retreats outside the second range R2.

[0082] That is, the flag processing unit 84 can set the first flag F1 when the driving position 60p of the vehicle 60 identified by the position recognition unit 83 reaches the target position S30, and cancel the first flag F1 when the driving position 60p of the vehicle 60 identified by the position recognition unit 83 leaves the target position S30. The flag processing unit 84 can also set the first flag F1 when the driving position 60p of the vehicle 60 identified by the position recognition unit 83 enters the second range R2, and cancel the first flag F1 when the driving position 60p of the vehicle 60 identified by the position recognition unit 83 retreats to the outside of the second range R2.

[0083] In addition, the flag processing unit 84 can also set the first flag F1 when the driving position 60p of the vehicle 60 identified by the position recognition unit 83 reaches the target position S30, and cancel the first flag F1 when the driving position 60p of the vehicle 60 identified by the position recognition unit 83 retreats outside the second range R2. The flag processing unit 84 can also set the first flag F1 when the driving position 60p of the vehicle 60 identified by the position recognition unit 83 enters the second range R2, and cancel the first flag F1 when the driving position 60p of the vehicle 60 identified by the position recognition unit 83 leaves the target position S30.

[0084] In addition, the mark processing unit 84 of the embodiment is executed during the automatic driving of the trolley 60. In addition, the adjustment action includes the action of adjusting the position and angle of the trolley 60 relative to the station 50s while the trolley 60 moves to the target position S30 for delivering the article AR0 between the station 50s and the trolley 60 to move closer to the target position S30. For example, suppose Figure 1 The station 50 s on the left side of the drawing is a target station 50 s , and the automated guided vehicle 70 pulling the cart 60 is moving from the reference position S10 to the first target position S31 .

[0085] In this case, the unmanned guided vehicle 70 of the traction trolley 60 rotates 90 degrees to the right and goes straight when detecting the first via component indicating the first via position S21. The adjustment action is performed while the unmanned guided vehicle 70 of the traction trolley 60 travels from the first via position S21 to the first target position S31. Specifically, the unmanned guided vehicle 70 of the traction trolley 60 adjusts the position and angle of the trolley 60 while bringing the trolley 60 close to the target position S30 so that the station-side abutment portion 50t and the trolley-side abutment portion 60t approach each other in a parallel state. In this case, the second range R2 is the range from the first via position S21 to the first target position S31. Similarly, the adjustment action is also performed while the unmanned guided vehicle 70 of the traction trolley 60 travels from the second via position S22 to the second target position S32. In this case, the second range R2 is the range from the second via position S22 to the second target position S32.

[0086] In this way, when the driving position 60p of the trolley 60 identified by the position recognition unit 83 enters the second range R2, there is a possibility that the station 50s is close to the trolley 60. In addition, when the driving position 60p of the trolley 60 identified by the position recognition unit 83 reaches the target position S30, the station 50s is close to the trolley 60. The flag processing unit 84 sets the first flag F1 at these timings. On the contrary, the flag processing unit 84 cancels the first flag F1 at the timing when the driving position 60p of the trolley 60 identified by the position recognition unit 83 leaves the target position S30 or retreats outside the second range R2. Thus, the control unit 82 can recognize the state that the station 50s is close to the trolley 60, or the possibility that the station 50s is close to the trolley 60.

[0087] In addition, the second range R2 can be set arbitrarily. For example, the second range R2 can be set to a range (a range of a predetermined distance from the station 50s) that may interfere with other components including the station 50s when the trolley 60 rotates. In addition, the mark processing unit 84 can cancel the first mark F1 at various timings in addition to the timing of leaving the target station 50s by a predetermined distance after the trolley 60 arrives at the target station 50s and transfers the item AR0. For example, the mark processing unit 84 can cancel the first mark F1 at the timing when the unmanned guided vehicle 70 towing the trolley 60 starts to move from the reference position S10. Moreover, the mark processing unit 84 can cancel the first mark F1 at the timing when the trolley 60 returns to normal after an abnormality occurs in the trolley 60 and leaves the station 50s by a predetermined distance. The mark processing unit 84 can cancel the first mark F1 at the timing when the trolley 60 leaves the station 50s by a predetermined distance after the control of the trolley 60 is stopped and the control of the trolley 60 is restarted.

[0088] In addition, the first flag F1 can be set in a storage area of ​​various storage devices. Figure 4 As shown, the first flag F1 is set in a predetermined storage area of ​​the storage device 84s of the transport management device CC0. When the first flag F1 is set by the flag processing unit 84, high-level information (e.g., 1) is stored in the storage area. When the first flag F1 is canceled by the flag processing unit 84, low-level information (e.g., 0) is stored in the storage area. The above content about the storage device is also the same for the second flag F2 described later.

[0089] In the embodiment in which the article transport system 80 includes the position recognition unit 83 and the mark processing unit 84, the control unit 82 can perform Figure 6 The judgment and control shown ( Figure 5 Steps SP2 to SP6 shown in the figure). The article transport system 80 of the embodiment can adopt a method of arbitrarily combining the judgments and controls shown below. For example, when the detection unit 81 detects that the relative position 81p is within the first range R1 and the flag processing unit 84 sets the first flag F1, the detection result detected by the detection unit 81 is not inconsistent with the state of the first flag F1 processed by the flag processing unit 84. Similarly, when the detection unit 81 does not detect that the relative position 81p is within the first range R1 and the flag processing unit 84 does not set the first flag F1, the detection result detected by the detection unit 81 is not inconsistent with the state of the first flag F1 processed by the flag processing unit 84. Therefore, the control unit 82 determines that the processing of the detection unit 81 and the flag processing unit 84 is in a normal state.

[0090] On the other hand, when the detection unit 81 detects that the relative position 81p is within the first range R1 and the flag processing unit 84 does not set the first flag F1, the detection result detected by the detection unit 81 is inconsistent with the state of the first flag F1 processed by the flag processing unit 84. Similarly, when the detection unit 81 does not detect that the relative position 81p is within the first range R1 and the flag processing unit 84 sets the first flag F1, the detection result detected by the detection unit 81 is inconsistent with the state of the first flag F1 processed by the flag processing unit 84. Therefore, the control unit 82 determines that the processing of the detection unit 81 and the flag processing unit 84 is in an abnormal state.

[0091] In addition, when the detection unit 81 detects that the relative position 81p is within the first range R1 and the flag processing unit 84 sets the first flag F1, the control unit 82 permits the transfer of the article AR0 between the station 50s and the carriage 60 ( Figure 5 Steps SP2 to SP4 shown in FIG. Figure 6 The control unit 82 restricts the transfer of the article AR0 between the station 50s and the carriage 60 when the detection unit 81 does not detect that the relative position 81p is within the first range R1 ( Figure 5 Steps SP2, SP3 and SP5 shown in FIG. Figure 6 In addition, when the detection unit 81 detects that the relative position 81p is within the first range R1 and the mark processing unit 84 does not set the first mark F1, the control unit 82 restricts the transfer of the article AR0 between the station 50s and the carriage 60 ( Figure 5 Steps SP2, SP3 and SP5 shown in FIG. Figure 6 Number 3 shown).

[0092] Furthermore, the control unit 82 can also determine the possibility of a defect in the production equipment 1 based on the detection result detected by the detection unit 81 and the state of the first flag F1 processed by the flag processing unit 84. For example, suppose that the timing 1 ( Figure 6 (1) of number 3 shown in the figure). At timing 1, the state in which the detection unit 81 does not detect that the relative position 81p is within the first range R1 is a normal state.

[0093] Therefore, when the vehicle 60 is traveling toward the target position S30, if the detection unit 81 detects that the relative position 81p is within the first range R1 and the flag processing unit 84 does not set the first flag F1, the control unit 82 determines that the detector 81s of the detection unit 81 that detects the relative position 81p is abnormal. Figure 7 and Figure 8The light shielding detection sensor 81b shown is equivalent to the detector 81s. In this case, for example, the operator checks the detector 81s. When the detector 81s has an abnormality (e.g., a failure), the operator prohibits the use of the production equipment 1 (in the embodiment, the carriage 60) equipped with the detector 81s, and performs replacement, repair, etc.

[0094] In addition, it is assumed that the position recognition unit 83 recognizes that the vehicle 60 has reached the target position S30 and starts the timing 2 ( Figure 6 3 (2) shown). At timing 2, the state in which the mark processing unit 84 sets the first mark F1 is a normal state. Therefore, when the position recognition unit 83 recognizes that the carriage 60 has reached the target position S30 and starts the delivery of the article AR0, the control unit 82 determines that there is an abnormality in the guide unit 85 or the carriage 60 when the detection unit 81 detects that the relative position 81p is within the first range R1 and the mark processing unit 84 has not set the first mark F1.

[0095] For example, Figure 1 The guide component M0 and the indicator component S0 shown are included in the guide portion 85. For example, assume that the timing mark processing unit 84 sets the first mark F1 when the driving position 60p of the trolley 60 recognized by the position recognition unit 83 reaches the target position S30. For example, if the driving position 60p of the trolley 60 reaches the target position S30, but the target component indicating the target position S30 is peeled off, the mark processing unit 84 may not set the first mark F1. In addition, an abnormality of the position recognition unit 83 provided on the trolley 60 (in the embodiment, the unmanned guided vehicle 70 that tows the trolley 60) is included in an abnormality of the trolley 60. In this case, for example, the operator also confirms the guide portion 85 or the trolley 60. When there is an abnormality in the guide portion 85 or the trolley 60, the operator prohibits the use of the production equipment 1 equipped with them, and performs replacement, repair, etc.

[0096] In addition, it is assumed that the timing 3 when the vehicle 60 returns to normal after an abnormality occurs in the vehicle 60, or the timing 4 when the control of the vehicle 60 is restarted after the control of the vehicle 60 is stopped ( Figure 6 (3) of number 3 shown). At timing 3 or timing 4, when the detection unit 81 detects that the relative position 81p is within the first range R1 and the flag processing unit 84 does not set the first flag F1, for example, the operator may move the carriage 60.

[0097] Therefore, the control unit 82 makes the carriage 60 retreat from the second range R2 when the detection unit 81 detects that the relative position 81p is within the first range R1 and the flag processing unit 84 does not set the first flag F1, at the timing when the carriage 60 returns to normal after an abnormality occurs in the carriage 60, or at the timing when the control of the carriage 60 is restarted after the control of the carriage 60 is stopped. In this way, the control unit 82 can avoid interference between the carriage 60 and other components including the station 50s that may occur when the carriage 60 rotates.

[0098] In addition, it is assumed that the position recognition unit 83 recognizes that the vehicle 60 has reached the target position S30 and starts the timing 2 ( Figure 6 (1) of number 4 shown in the figure). At timing 2, if the detection unit 81 does not detect that the relative position 81p is within the first range R1 and the flag processing unit 84 sets the first flag F1, the movement of the carriage 60 may be insufficient.

[0099] Therefore, when the position recognition unit 83 recognizes that the carriage 60 has reached the target position S30 and starts the delivery of the article AR0, if the detection unit 81 does not detect that the relative position 81p is within the first range R1 and the flag processing unit 84 sets the first flag F1, the control unit 82 moves the carriage 60 toward the target position S30 again. In addition, if the detection unit 81 does not detect that the relative position 81p is within the first range R1 even if the carriage 60 is moved toward the target position S30 a predetermined number of times, the control unit 82 can stop the movement of the carriage 60. In this case, for example, the operator confirms the state of the carriage 60.

[0100] It should be noted that at timing 1 when the vehicle 60 travels toward the target position S30, a situation occurs in which the detection unit 81 does not detect that the relative position 81p is within the first range R1 and the flag processing unit 84 sets the first flag F1 ( Figure 6 (1) of number 4 shown). Specifically, when the trolley 60 is traveling within the second range R2, the above-mentioned state occurs. The above-mentioned state has the possibility that the station 50s is close to the trolley 60, and for convenience, it is classified as an abnormal state. In this case, the movement of the trolley 60 is also insufficient, and the control unit 82 moves the trolley 60 toward the target position S30. In addition, when the trolley 60 is traveling outside the second range R2, a state occurs in which the relative position 81p is not detected by the detection unit 81 to be within the first range R1 and the flag processing unit 84 does not set the first flag F1 ( Figure 6 In this state, there is no possibility that the station 50s is close to the vehicle 60, and the detection result detected by the detection unit 81 does not contradict the state of the first flag F1 processed by the flag processing unit 84, so it is classified as a normal state.

[0101] Next, it is assumed that the timing 3 at which the vehicle 60 returns to normal after an abnormality occurs in the vehicle 60, or the timing 4 at which the control of the vehicle 60 is restarted after the control of the vehicle 60 is stopped ( Figure 6 (2) of number 4 shown). At timing 3 or timing 4, when the detection unit 81 does not detect that the relative position 81p is within the first range R1 and the flag processing unit 84 sets the first flag F1, for example, the operator may move the carriage 60.

[0102] Therefore, the control unit 82 moves the carriage 60 toward the target position S30 after the carriage 60 retreats from the second range R2 when the relative position 81p is not detected by the detection unit 81 to be within the first range R1 and the flag processing unit 84 sets the first flag F1, at the timing when the carriage 60 returns to normal after an abnormality occurs in the carriage 60, or when the control of the carriage 60 is restarted after the control of the carriage 60 is stopped. Thus, the control unit 82 can move the carriage 60 toward the target position S30 while avoiding interference between the carriage 60 and other components including the station 50s that may occur when the carriage 60 rotates.

[0103] 1-2-4. Other methods

[0104] The flag processing unit 84 of the embodiment is executed during the period when the vehicle 60 is automatically driven. Therefore, for example, the flag processing unit 84 does not change the state of the first flag F1 during the period when an abnormality occurs in the vehicle 60. Similarly, the flag processing unit 84 does not change the state of the first flag F1 during the period when the control of the vehicle 60 is stopped. Therefore, the control unit 82 can obtain the processing results executed by the flag processing unit 84 during the period when the vehicle 60 is automatically driven, and perform the above-mentioned judgment and control.

[0105] In addition, the flag processing unit 84 of the embodiment sets the first flag F1 at the timing when the driving position 60p of the trolley 60 identified by the position recognition unit 83 reaches the target position S30 or enters the second range R2. The flag processing unit 84 cancels the first flag F1 at the timing when the driving position 60p of the trolley 60 identified by the position recognition unit 83 leaves the target position S30 or retreats outside the second range R2. Therefore, for example, at the timing 3 when the trolley 60 returns to normal after an abnormality occurs in the trolley 60, or at the timing 4 when the control of the trolley 60 is restarted after the control of the trolley 60 is stopped, the flag processing unit 84 of the embodiment does not change the state of the first flag F1. As a result, the trolley 60 can more reliably deliver the article AR0 based on the detection result detected by the detection unit 81 and the state of the first flag F1 processed by the flag processing unit 84 during automatic driving. In addition, the control unit 82 can determine the defect of the production equipment 1, etc. Furthermore, the control unit 82 can determine, for example, at timing 3 or timing 4 that the vehicle 60 has approached the station 50s by the operator, or that the vehicle 60 has left the station 50s by the operator.

[0106] However, the article transport system 80 may also include a mark processing unit 84 that can cancel the mark regardless of the above-mentioned timing. Specifically, after the driving position 60p of the trolley 60 identified by the position recognition unit 83 that is in automatic driving reaches the target position S30 for the transfer of the article AR0 between the trolley 60 and the station 50s or enters the second range R2 for the adjustment action to the target position S30 and sets the second mark F2, the mark processing unit 84 of the modified mode cancels the second mark F2 regardless of whether the trolley 60 is in automatic driving or not, when the driving position 60p of the trolley 60 identified by the position recognition unit 83 leaves the target position S30 or retreats to the outside of the second range R2.

[0107] In a modified form, the control unit 82 allows the transfer of the article AR0 between the station 50s and the carriage 60 when the detection unit 81 detects that the relative position 81p is within the first range R1 and the mark processing unit 84 sets the second mark F2. In addition, the control unit 82 restricts the transfer of the article AR0 between the station 50s and the carriage 60 when the detection unit 81 does not detect that the relative position 81p is within the first range R1, or when the detection unit 81 detects that the relative position 81p is within the first range R1 and the mark processing unit 84 does not set the second mark F2.

[0108] In addition, the second mark F2 is a mark replaced for convenience in order to identify with the first mark F1, and is the same as the first mark F1. In addition, the situations already described about the target position S30, the second range R2, the operation of the first mark F1, etc. can also be appropriately applied to the mark processing unit 84 of the modified form. In addition, the situations already described about the station 50s, the carriage 60, the detection unit 81 and the control unit 82 can also be appropriately applied to the mark processing unit 84 of the modified form.

[0109] After setting the second flag F2, the flag processing unit 84 of the modified mode cancels the second flag F2 when the travel position 60p of the vehicle 60 identified by the position recognition unit 83 leaves the target position S30 or retreats outside the second range R2, regardless of whether the vehicle 60 is in automatic driving. In other words, the flag processing unit 84 of the modified mode can cancel the second flag F2 other than the timing when the travel position 60p of the vehicle 60 identified by the position recognition unit 83 leaves the target position S30 by the automatic driving of the vehicle 60 or retreats outside the second range R2 by the automatic driving of the vehicle 60.

[0110] For example, it is assumed that the timing 3 is when the vehicle 60 returns to normal after an abnormality occurs in the vehicle 60, or the timing 4 is when the control of the vehicle 60 is restarted after the control of the vehicle 60 is stopped. At the timing 3 or the timing 4, as described above, for example, the vehicle 60 may be moved by the operator. The flag processing unit 84 of the modified mode determines at the timing 3 or the timing 4 whether the travel position 60p of the vehicle 60 recognized by the position recognition unit 83 is away from the target position S30. The flag processing unit 84 of the modified mode cancels the second flag F2 when the travel position 60p of the vehicle 60 recognized by the position recognition unit 83 is away from the target position S30, regardless of whether the vehicle 60 is in automatic driving. The flag processing unit 84 of the modified mode maintains the state in which the second flag F2 is set when the travel position 60p of the vehicle 60 recognized by the position recognition unit 83 is not away from the target position S30 (the travel position 60p is the target position S30), regardless of whether the vehicle 60 is in automatic driving. As a result, when the vehicle 60 returns to normal, it can smoothly resume automatic driving based on its own traveling position 60p.

[0111] Similarly, the flag processing unit 84 of the modified mode can cancel the second flag F2 when the driving position 60p of the trolley 60 recognized by the position recognition unit 83 retreats outside the second range R2, regardless of whether the trolley 60 is in automatic driving. The flag processing unit 84 of the modified mode can maintain the state of raising the second flag F2 when the driving position 60p of the trolley 60 recognized by the position recognition unit 83 does not retreat outside the second range R2 (the driving position 60p is within the second range R2), regardless of whether the trolley 60 is in automatic driving. In this way, the flag processing unit 84 of the modified mode can be executed at any timing regardless of whether the trolley 60 is in automatic driving. In addition, the flag processing unit 84 of the modified mode can cancel the second flag F2 based on the driving position 60p of the trolley 60 recognized by the position recognition unit 83, regardless of whether the trolley 60 is in automatic driving. As a result, when the trolley 60 returns to normal, it can smoothly start automatic driving again based on its own driving position 60p. In addition, the position recognition unit 83 can recognize the travel position 60p of the vehicle 60 by the method described above.

[0112] In addition, the substrate operation machine WM0 only needs to perform predetermined substrate operations on the substrate, and is not limited to the component assembly machine 10. The production equipment 1 can be equipped with various substrate operation machines WM0. For example, the production equipment 1 can be equipped with substrate operation machines WM0 such as a solder printer, a solder inspection machine, a reflow furnace, and a visual inspection machine. Similarly, the item AR0 can be any item used in the substrate operation machine WM0, and is not limited to the feeder 20. For example, a tape reel wound with a component tape for accommodating components mounted on a substrate is included in the item AR0. In addition, a component tray on which components mounted on a substrate are arranged is included in the item AR0.

[0113] Furthermore, a holding component (e.g., a suction nozzle, a chuck, etc.) for picking up and holding a component is included in the article AR0. In addition, a mounting head for mounting a component on a substrate using a holding component is included in the article AR0. Furthermore, a holding component storage device capable of storing a holding component is included in the article AR0. Furthermore, in the case where the substrate operation machine WM0 is a printer that prints solder on a substrate by moving the solder along a mask with a scraper, the scraper, the mask, a supporting component for supporting the substrate, and a solder container for storing the solder are included in the article AR0. Furthermore, in the case where the substrate operation machine WM0 is a component mounting machine 10 or a printer that has a liquid material coating mechanism for coating liquid materials such as adhesive materials and solder at a plurality of printing positions on the substrate by a printing head, a liquid material container for storing liquid materials and a liquid material coating mechanism used in the printing head and the dispensing head are included in the article AR0. The storage housing 90 may also be changed in shape to match the stored article AR0, and in this case, the stage 62 of the carriage 60 may also be changed in a manner corresponding to the storage housing 90.

[0114] In addition, in the embodiment, the trolley 60 performs the handover of the housing shell 90 containing the feeder 20 with the station 50s of the station group 50 provided on the substrate carrying-in side of the production equipment 1. However, the station 50s for handing over the article AR0 is not limited to the above-mentioned method. For example, the trolley 60 can also perform the handover of the housing shell 90 containing the feeder 20 with the substrate operation machine WM0. For example, the trolley 60 can also perform the handover of the housing shell 90 containing the feeder 20 with the first position of the component mounting machine 10. The above-mentioned method can be applied according to the needs of the substrate operation machine WM0 provided in the production equipment 1.

[0115] In addition, the trolley 60 is not limited to the form to be towed by the unmanned guided vehicle 70. For example, Fig.10 As shown, the trolley 60 may also be an unmanned guided vehicle 70 provided with the trolley main body 61 and the loading platform 62 in a loading and unloading manner. In addition, the trolley 60 may also be an unmanned guided vehicle 70 provided with the trolley main body 61 and the loading platform 62 as an integral part. Furthermore, the production equipment 1 may be provided with a storage for storing the article AR0. The production equipment 1 may be provided with a production change adjustment area for performing production change adjustment on the substrate operation machine WM0. The trolley 60 may transfer the article AR0 with the station 50s provided in the storage, and may also transfer the article AR0 with the station 50s provided in the production change adjustment area.

[0116] In addition, the recognition of the travel position 60p of the trolley 60 by the position recognition unit 83 is not limited to the method of recognizing the guide portion 85 formed by the magnetic tape. For example, the transport management device CC0 may recognize the travel position 60p of the trolley 60 and issue a travel instruction to the trolley 60 based on an image or a dynamic image captured by a camera that can capture the travel path of the trolley 60. In addition, the transport management device CC0 may recognize the travel position 60p of the trolley 60 and issue a travel instruction to the trolley 60 based on the detection result of a sensor set at a predetermined position within the travel path of the trolley 60. In addition, as Fig. 9 As shown, when the travel position 60p of the vehicle 60 reaches the target position S30, the relative position 81p of the station 50s and the vehicle 60 may be separated by a predetermined distance from the travel position 60p and the target position S30. In addition, when the travel position 60p of the vehicle 60 reaches the target position S30, the relative position 81p of the station 50s and the vehicle 60 may be consistent with the travel position 60p and the target position S30.

[0117] 2. Methods of transporting items

[0118] The situation already described about the article transport system 80 can also be applied to the article transport method in the same manner. Specifically, the article transport method includes a detection process and a control process. In the detection process, the relative position 81p between the station 50s capable of handing over the article AR0 used in the substrate operation machine WM0 that performs a predetermined substrate operation on the substrate and the trolley 60 capable of automatically carrying in or out the article AR0 relative to the station 50s and traveling is detected. In the control process, when the relative position 81p detected by the detection process is within the first range R1 that enables the handover of the article AR0 between the station 50s and the trolley 60, the handover of the article AR0 between the station 50s and the trolley 60 is allowed, and when the relative position 81p detected by the detection process is not within the first range R1, the handover of the article AR0 between the station 50s and the trolley 60 is restricted.

[0119] That is, the control performed by the detection unit 81 is equivalent to the detection process. The control performed by the control unit 82 is equivalent to the control process. The article transporting method may also include a position recognition process. The article transporting method may also include a marking process. The control performed by the position recognition unit 83 is equivalent to the position recognition process. The control performed by the marking process unit 84 is equivalent to the marking process. In addition, the production equipment 1 to which the article transporting method is applied may also include a guide unit 85.

[0120] 3. An example of the effect of the embodiment

[0121] According to the article transport system 80, the control unit 82 allows the transfer of the article AR0 between the station 50s and the trolley 60 when the detection unit 81 detects that the relative position 81p of the station 50s and the trolley 60 is within the first range R1. In addition, the control unit 82 restricts the transfer of the article AR0 between the station 50s and the trolley 60 when the detection unit 81 does not detect that the relative position 81p of the station 50s and the trolley 60 is within the first range R1. Therefore, the article transport system 80 can reliably implement the transfer of the article AR0 between the station 50s and the trolley 60. The above contents about the article transport system 80 can also be applied to the article transport method.

[0122] Description of Reference Numerals

[0123] 1: production equipment, 50s: station, 50t: station side contact part,

[0124] 60: Carriage, 60p: Traveling position, 60t: Carriage side contact part,

[0125] 80: Article handling system, 81: Detection unit, 81p: Relative position,

[0126] 81s: detector, 82: control unit, 83: position recognition unit, 84: mark processing unit,

[0127] 85: Guidance, AR0: Item, R1: First Range, R2: Second Range,

[0128] F1: first mark, F2: second mark, S30: target position,

[0129] WM0: Substrate operation machine.

Claims

1. An article handling system, comprising: A station capable of delivering articles used in a substrate operation machine that performs a predetermined substrate operation on a substrate; A trolley capable of automatically moving the article into or out of the station and traveling; a detection unit, provided at least on one of the station and the trolley, capable of detecting a relative position between the station and the trolley; and The control unit allows the transfer of the item between the station and the trolley when the detection unit detects that the relative position is within a first range within which the item can be transferred between the station and the trolley, and restricts the transfer of the item between the station and the trolley when the detection unit does not detect that the relative position is within the first range.

2. The article handling system according to claim 1, wherein: The detection unit detects that the relative position is within the first range when a station-side abutment portion provided at the station abuts against a trolley-side abutment portion provided at the trolley, and does not detect that the relative position is within the first range when the station-side abutment portion and the trolley-side abutment portion are not abutted.

3. The article handling system according to claim 1, wherein: The article handling system comprises: a position recognition unit capable of recognizing a driving position of the vehicle; and The flag processing unit performs the following processing during the period when the trolley is automatically driving: setting a first flag at the timing when the driving position of the trolley identified by the position recognition unit reaches the target position for the trolley to transfer the article with the station or enters the second range for adjusting the movement to the target position, and canceling the first flag at the timing when the driving position of the trolley identified by the position recognition unit leaves the target position or retreats outside the second range. The control unit allows the handover of the items between the station and the trolley when the detection unit detects that the relative position is within the first range and the mark processing unit sets the first mark, and restricts the handover of the items between the station and the trolley when the detection unit does not detect that the relative position is within the first range or when the detection unit detects that the relative position is within the first range and the mark processing unit does not set the first mark.

4. The article handling system according to claim 3, wherein: The adjustment operation is an operation of bringing the carriage closer to the target position while adjusting the position and angle of the carriage relative to the station while the carriage is moving toward the target position for delivering the article to and from the station.

5. The article handling system according to claim 3, wherein: The control unit determines the possibility of a defect in a production device based on the detection result detected by the detection unit and the state of the first mark processed by the mark processing unit.

6. The article handling system according to claim 5, wherein: The control unit determines that there is an abnormality in the detector of the detection unit that detects the relative position when the detection unit detects that the relative position is within the first range and the mark processing unit does not set the first mark when the carriage moves toward the target position.

7. The article handling system according to claim 5 or 6, wherein: The article transport system includes a guide unit that is provided along a travel path of the vehicle and guides travel of the vehicle. The trolley travels while recognizing the guide portion. The control unit determines that there is an abnormality in the guide unit or the carriage when the position recognition unit recognizes that the carriage has arrived at the target position and starts the handover of the article, and when the detection unit detects that the relative position is within the first range and the mark processing unit has not set the first mark.

8. The article handling system according to claim 3, wherein: The control unit determines the timing for the trolley to return to normal after an abnormality occurs in the trolley, or determines the timing for restarting the control of the trolley after stopping the control of the trolley, and makes the trolley retreat from the second range when the detection unit detects that the relative position is within the first range and the mark processing unit has not set the first mark.

9. The article handling system according to claim 3, wherein: The control unit starts the delivery of the article when the position recognition unit recognizes that the trolley has arrived at the target position, and moves the trolley toward the target position again if the detection unit does not detect that the relative position is within the first range and the mark processing unit has set the first mark.

10. The article handling system according to claim 9, wherein: The control unit stops the movement of the vehicle when the detection unit fails to detect that the relative position is within the first range even after the vehicle is moved toward the target position a predetermined number of times.

11. The article handling system according to claim 3, wherein: The control unit determines the timing for the trolley to return to normal after an abnormality occurs in the trolley, or determines the timing for restarting the control of the trolley after stopping the control of the trolley, and moves the trolley toward the target position after retreating the trolley from the second range, when the detection unit does not detect that the relative position is within the first range and the mark processing unit sets the first mark.

12. The article handling system according to claim 1 or 2, wherein: The article handling system comprises: a position recognition unit capable of recognizing a driving position of the vehicle; and A flag processing unit sets a second flag when the driving position of the trolley identified by the position recognition unit for automatic driving reaches a target position for the trolley to transfer the article with the station or enters a second range for adjusting to the target position, and cancels the second flag regardless of whether the trolley is in automatic driving when the driving position of the trolley identified by the position recognition unit leaves the target position or retreats outside the second range. The control unit allows the handover of the items between the station and the trolley when the detection unit detects that the relative position is within the first range and the mark processing unit sets the second mark, and restricts the handover of the items between the station and the trolley when the detection unit does not detect that the relative position is within the first range or when the detection unit detects that the relative position is within the first range and the mark processing unit does not set the second mark.

13. A method for transporting articles, comprising: An inspection process is performed to inspect the relative position of a station and a trolley, wherein the station is capable of delivering an article used in a substrate processing machine that performs a predetermined substrate processing operation on a substrate, and the trolley is capable of automatically carrying the article in or out relative to the station and traveling; and A control process, when the relative position detected by the detection process is within a first range capable of transferring the item between the station and the trolley, allows the transfer of the item between the station and the trolley, and when the relative position detected by the detection process is not within the first range, restricts the transfer of the item between the station and the trolley.

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