Automatic guided vehicle and manufacturing system

Abstract

To provide an automatic guided vehicle and manufacturing system capable of preventing situations where rolls are damaged, such as when supplying a winding core to a sheet winding device.SOLUTION: An automatic guided vehicle 20 according to the present invention is an automatic guided vehicle, and is equipped with a roll holding section 22 that holds rolls, a detection section 23 that acquires information on a roll holding section passing area R1 including the passing position of the roll holding section 22 when the automatic guided vehicle 20 proceeds, an illumination section 24 that emits illumination light L1 toward the roll holding section passing area R1, and a traveling section 25b that can hold and travel with the roll holding section 22, the detection section 23, and the illumination section 24.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to an automated guided vehicle and a manufacturing system. [Background technology]

[0002] Conventionally, there is known an automated guided vehicle that includes a roll holding unit that holds a roll and a core holding unit that holds a core having an adhesive on its surface. For example, Patent Document 1 discloses an automated guided vehicle that supplies a core to a sheet winding device and retrieves the roll from the sheet winding device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2004-91007 A Summary of the Invention [Problem to be solved by the invention]

[0004] Here, if an unmanned guided vehicle enters the sheet winding device when a sheet is hanging down from a roll set in the sheet winding device, part of the unmanned guided vehicle may come into contact with and become entangled with the sheet hanging down from the roll, which may result in damage to the roll.

[0005] An object of the present invention is to provide an unmanned guided vehicle that can prevent a situation in which a roll is damaged when the unmanned guided vehicle enters a sheet winding device, for example. [Means for solving the problem]

[0006] The unmanned guided vehicle of the present invention is an unmanned guided vehicle that includes a roll holding unit that holds a roll, a detection unit that acquires information about the roll holding unit passing area including the passing position of the roll holding unit as the unmanned guided vehicle moves forward, and an illumination unit that emits illumination light toward the roll holding unit passing area.

[0007] The unmanned guided vehicle of the present invention is an unmanned guided vehicle that includes a core holding unit that holds a core having an adhesive on its surface, a detection unit that acquires information about a core passing area including the passing position of the core held in the core holding unit when the unmanned guided vehicle moves forward, and an illumination unit that emits illumination light toward the core passing area. Effect of the Invention

[0008] According to the present invention, it is possible to provide an automated guided vehicle and a manufacturing system that can prevent a situation in which a roll is damaged when, for example, the automated guided vehicle enters a sheet winding device. [Brief description of the drawings]

[0009] [Figure 1] 1 is a schematic diagram showing a manufacturing system including an automated guided vehicle according to an embodiment of the present invention. [Diagram 2] 2 is a schematic diagram of a winding section according to the embodiment, as viewed from the front (downstream side in the conveying direction). FIG. [Diagram 3] 4 is a bird's-eye view of a holding portion main body of the winding core holding portion according to the embodiment. FIG. [Figure 4] FIG. 4 is a schematic diagram of a core holding section when viewed from the front of the automatic guided vehicle. [Diagram 5] 3 is a schematic diagram showing a roll holding part passing area and a core passing area according to the embodiment; FIG. [Figure 6] 11A and 11B are schematic diagrams showing the lifting and lowering operation of the core holding part. [Figure 7] 11A and 11B are schematic diagrams showing the lifting and lowering operation of a roll holding part. [Figure 8] 1 is a block diagram showing a hardware configuration of an automatic guided vehicle according to an embodiment of the present invention; [Figure 9] 2 is a block diagram showing a functional configuration of an automatic guided vehicle control device according to the present embodiment. FIG. [Figure 10] FIG. 2 is a block diagram showing a hardware configuration of the ceramic green sheet molding apparatus according to the embodiment. [Figure 11] FIG. 2 is a block diagram showing a functional configuration of a control device according to the present embodiment. [Figure 12] 4 is a flowchart illustrating a flow of a roll manufacturing process according to the present embodiment. [Figure 13] 13 is a flowchart for explaining the flow of a roll winding process included in the roll manufacturing process of FIG. 12. [Figure 14] 14 is a flowchart for explaining the flow of a roll removing step and a core setting step when the roll winding step of FIG. 13 is performed continuously. [Figure 15] 15 is a schematic diagram for explaining a first half of the roll recovery operation included in the core setting step of FIG. 14. FIG. [Figure 16] 15 is a schematic diagram for explaining the latter half of the roll collection operation included in the core setting step of FIG. 14. FIG. [Figure 17] 15 is a schematic diagram for explaining a first half of the core setting operation included in the core setting step of FIG. 14. FIG. [Figure 18] 15 is a schematic diagram for explaining a latter half of the core setting operation included in the core setting step of FIG. 14. FIG. [Figure 19] 5 is a flowchart illustrating the flow of a film sagging detection process according to the embodiment. [Figure 20] 5A to 5C are schematic diagrams for explaining a film sagging detection method according to the present embodiment. [Figure 21] FIG. 3 is a schematic diagram corresponding to FIG. 2 in a modified example. [Figure 22] 22 is a schematic diagram of the core holding part as viewed from the side of FIG. 21. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] A manufacturing system S including an automated guided vehicle according to this embodiment will be described below with reference to Figures 1 and 2. Figure 1 is a schematic diagram showing a manufacturing system S including an automated guided vehicle according to one embodiment of the present invention. Figure 2 is a schematic diagram showing a winding section according to this embodiment as viewed from the front (downstream side in the conveying direction).

[0011] The manufacturing system S is a system for manufacturing a roll R around which a green sheet film G is wound and transporting it to a post-process. The green sheet film G is a work-in-progress in the manufacturing process of a multilayer ceramic electronic component. One example of a multilayer ceramic electronic component is a multilayer ceramic capacitor.

[0012] The manufacturing system S is not limited to the green sheet film G, but can be applied to any manufacturing system having a process of winding a sheet around a core T to manufacture a roll R.

[0013] 1, the manufacturing system S includes a ceramic green sheet molding apparatus 10, an automated guided vehicle 20, and a control device 30. The manufacturing system S has, as a control unit, an automated guided vehicle control device 27 of the automated guided vehicle 20, which will be described later, and the control device 30. Details will be described below.

[0014] <Ceramic green molding equipment> The ceramic green sheet molding apparatus 10 will be described with reference to Figs. 1 and 2. The ceramic green sheet molding apparatus 10 of this embodiment is an apparatus that molds a ceramic green sheet on a carrier film C. In the following description, the carrier film C on which the ceramic green sheet has been molded will be collectively referred to as a green sheet film G. The ceramic green sheet molding apparatus 10 winds up the green sheet film G as a sheet around a core T to manufacture a roll R. In other words, the roll R is formed by winding the green sheet film G as a sheet around a core T.

[0015] Here, the winding core T is for winding the green sheet film G. The winding core T is a cylindrical member having a hollow portion formed therein for inserting a winding shaft described later. The winding core T has an adhesive on its surface. Therefore, when winding the green sheet film G around the winding core T, one end of the green sheet film G can be easily adhered to the winding core T. In this embodiment, the winding core T is a paper tube made of paper. However, the material of the winding core T is not limited to this, and may be made of resin or metal.

[0016] As shown in Fig. 1, the ceramic green sheet molding apparatus 10 includes an unwinding section 11, a coating section 12, and a winding section 13 as a sheet winding device. The ceramic green sheet molding apparatus 10 may also have a housing 10a. The housing 10a is configured to cover the unwinding section 11, the coating section 12, and the winding section 13, and can protect the green sheet film G being molded from external factors such as changes in outside temperature and dust. The housing 10a also has an opening through which the automated guided vehicle 20 that transports the manufactured roll R enters and exits, and a shutter 10b (described later) is provided at the opening.

[0017] 1, the unwinding section 11 unwinds the carrier film C from the upper side of a roll Rc around which the carrier film C is wound, toward the coating section 12, and supplies the carrier film C to the coating section 12. As the carrier film C, for example, a light-transmitting plastic film is used.

[0018] In the manufacturing system S according to this embodiment, the unwinding unit 11 unwinds the carrier film C from the upper side of the roll Rc around which the carrier film C is wound, but this is not limited to this. For example, the unwinding unit 11 may unwind the carrier film C from the lower side of the roll Rc around which the carrier film C is wound. In the manufacturing system S according to this embodiment, the rotation shaft of the roll Rc of the unwinding unit 11 is set to rotate in conjunction with the winding unit 13, which will be described later. However, the setting of the rotation shaft of the roll Rc of the unwinding unit 11 is not limited to this.

[0019] The coating unit 12 applies a slurry containing a ceramic material onto a carrier film C, and forms a ceramic green sheet on the carrier film C. In this embodiment, the slurry containing the ceramic material is applied onto the carrier film C, for example, by a doctor blade method. The green sheet film G, in which the ceramic green sheet has been formed on the carrier film C in the coating unit 12, is dried in a drying unit (not shown) and then transported to the winding unit 13.

[0020] The winding unit 13 produces and recovers a roll R by winding up a green sheet film G, which is formed by molding a ceramic green sheet on a carrier film C, from the upper side of a winding core T as shown in FIG. 1 . The winding unit 13 includes a pair of support parts 130 and a pair of chucking parts 131. Note that, in the manufacturing system S according to this embodiment, the winding unit 13 winds up the green sheet film G from the upper side of the winding core T in a roll shape, but this is not limited thereto. For example, the winding unit 13 may wind up the green sheet film G from the lower side of the winding core T in a roll shape.

[0021] 1 and 2, the support part 130 is configured to support the chucking part 131. The support part 130 is provided so as to extend upward from the floor surface. However, the configuration of the support part 130 is not limited thereto. For example, it is sufficient if the support part 130 supports the chucking part 131, and may extend horizontally from the equipment frame.

[0022] The chucking unit 131 is configured to rotatably hold the winding core T. For example, the chucking unit 131 according to this embodiment has a pair of winding shafts 131a shown in Fig. 2, a pair of chuck portions 131b, and a chuck driving unit 131c and a winding driving unit 131d shown in Fig. 10 described later.

[0023] The pair of winding shafts 131a are configured to chuck and rotate the winding core T. In this embodiment, one of the pair of winding shafts 131a is configured to be slidably held by the support parts 130 in a direction in which the pair of support parts 130 face each other, and to slide in the opposing direction of the pair of winding shafts 131a by driving the chuck driving part 131c. However, without being limited to this, both of the pair of winding shafts 131a may be configured to be slidably held in a direction in which they face each other, and to slide in the opposing direction of the pair of winding shafts 131a by driving the chuck driving part 131c.

[0024] The chuck driving unit 131c may use, for example, an air cylinder or a motor as a driving source. The other of the pair of winding shafts 131a is fixed to the support unit 130. Thus, the pair of winding shafts 131a can be moved to a chuck position where the winding core T is chucked by one of the pair of winding shafts 131a sliding to narrow the gap between the pair of winding shafts 131a by driving the chuck driving unit 131c. Also, the pair of winding shafts 131a can be moved to a chuck release position where the chuck of the winding core T is released by one of the pair of winding shafts 131a sliding to widen the gap between the pair of winding shafts 131a by driving the chuck driving unit 131c.

[0025] The pair of chuck portions 131b are configured to hold the winding core T. The chuck portions 131b are truncated cone-shaped members, and are formed so that the diameter decreases toward one side in the central axis direction and increases toward the other side. More specifically, in the central axis direction, one side of the chuck portions 131b is formed smaller than the hollow portion of the winding core T. In addition, in the central axis direction, the other side of the chuck portions 131b is formed larger than the hollow portion of the winding core T. The shape of the chuck portions 131b is not limited to this.

[0026] The other side of the chuck portion 131b is provided at one end of the winding shaft 131a. Therefore, one side of the chuck portion 131b can be inserted into the hollow portion of the winding core T, and by pushing it in, the peripheral surface of the chuck portion 131b can be pressed against the inner surface of the hollow portion to fit in it. That is, the pair of chuck portions 131b can be fitted and chucked by being pushed into the hollow portion of the winding core T from both sides by the pair of winding shafts 131a.

[0027] One of the pair of chucks 131b is rotatably held on one end of one of the pair of winding shafts 131a. The other of the pair of chucks 131b is rotatably held on one end of the other of the pair of winding shafts 131a and is configured to rotate by driving of the winding drive unit 131d. The winding drive unit 131d may use, for example, a motor as a drive source. Note that the winding drive unit 131d according to this embodiment is provided only on the other side of the pair of chucks 131b, but is not limited thereto and may be provided on both sides.

[0028] In this manner, the chucking unit 131 can chuck the winding core T by moving the pair of winding shafts 131a to the chuck position in a state in which the winding core T is disposed between the pair of winding shafts 131a so that the center line of the pair of winding shafts 131a and the center line of the winding core T are substantially aligned. In addition, in a state in which the chucking unit 131 chucks the winding core T, the other of the pair of chuck units 131b can be rotated by the drive of the winding drive unit 131d to perform the winding operation.

[0029] Therefore, in the winding section 13, the winding core T set in the chucking section 131 is rotated by the winding drive section 131d, whereby the green sheet film G molded on the carrier film C is wound around the winding core T to form a roll R.

[0030] The winding unit 13 of the manufacturing system S may include an air blowing unit 132. For example, in the manufacturing system S according to this embodiment, the air blowing unit 132 is provided at an upper portion near the winding unit 13 inside the housing 10a.

[0031] In this embodiment, the air blowing section 132 is provided in the upper part of the housing 10a near the winding section 13, but this is not limited to the above. For example, the air blowing section 132 may be provided in the automatic guided vehicle 20.

[0032] 1 and 5, when the light-transmitting film is hanging from a roll set in the winding unit 13, the air blowing unit 132 blows out air W so as to sway the hanging light-transmitting film. The air blowing unit 132 may directly blow air onto the light-transmitting film hanging from the roll R, or may blow air via another member.

[0033] The air blowing section 132 can blow air onto the sagging green sheet film G, and can efficiently shake the light-transmitting film, thereby improving the efficiency of detection of the light-transmitting film by the detection section.

[0034] 1, 2, and 5, the winding unit 13 of the manufacturing system S may include a shutter 10b that blocks the entry of the automated guided vehicle 20. An example of the shutter 10b is composed of a door body, a rail that supports the door body so that it can slide in the vertical direction, and a shutter drive unit that slides the door body in the vertical direction. The shutter 10b has an open state in which the door body is slid upward and moved to the top to allow the automated guided vehicle to enter, and a blocked state in which the door body is slid downward and moved to the bottom to not allow the automated guided vehicle 20 to enter.

[0035] <Automated Guided Vehicle> Next, the automated guided vehicle 20 will be described with reference to Figs. 1, 3 to 9. Fig. 3 is a bird's-eye view of the holding section main body 210 of the core holding section 21 according to this embodiment. Fig. 4 is a schematic diagram of the core holding section 21 when viewed from the front of the automated guided vehicle 20. For convenience of explanation, rollers 212, which will be described later, are omitted from Fig. 4. Fig. 5 is a schematic diagram showing a roll holding section passing area R1 and a core passing area R2 according to this embodiment. Fig. 6 is a schematic diagram showing the lifting and lowering operation of the core holding section 21. Fig. 7 is a schematic diagram showing the lifting and lowering operation of the roll holding section 22. Fig. 8 is a block diagram showing the hardware configuration of the automated guided vehicle 20 according to this embodiment. Fig. 9 is a block diagram showing the functional configuration of the automated guided vehicle control device 27 according to this embodiment.

[0036] The automated guided vehicle 20 supplies the core T to the winding unit 13, which serves as a sheet winding device, and recovers the roll R from the winding unit 13. More specifically, the automated guided vehicle 20 transports the core T to a chucking unit 131 of the winding unit 13, and supplies the core T. The automated guided vehicle 20 also recovers the roll R, which has been manufactured by winding the green sheet film G around the core T, from the winding unit 13, and transports the recovered roll R to a predetermined location.

[0037] The automated guided vehicle 20 according to this embodiment travels, for example, along rails laid in advance on a route determined as the travel route of the automated guided vehicle 20. The automated guided vehicle 20 may store travel route information in a storage unit 277 described later, acquire its own position information, and travel a predetermined route based on the travel route information and the acquired position information.

[0038] 1 and 3 to 9, the automated guided vehicle 20 has a core holding section 21 that holds a core T, a roll holding section 22 that holds a roll, a stopper 213 as a movement restriction section that restricts movement of the core in the core axial direction, a detection section 23, a lighting section 24, a vehicle body section 25, a floor obstacle detection section 26, and an automated guided vehicle control device 27 shown in Fig. 8. For ease of explanation, the stopper 213 is not shown except in Fig. 4.

[0039] [Core holding part] As shown in FIGS. 3 and 6 to 9, the core holding section 21 includes a lifting section 211, a holding section main body 210, and rollers 212 as rolling sections.

[0040] (Lifting section) The lifting section 211 is configured to lift the holding section main body 210 as shown in Figs. 4, 6 to 9. For example, the lifting section 211 in this embodiment is configured by a hydraulic mechanism (not shown) and a core lifter configured to be lifted and lowered by the hydraulic mechanism. The core lifter is arranged so as to be telescopic in a hollow section 25a1 formed in a carriage section 25a of the car body section 25, which will be described later. The core lifter has a known telescopic mechanism such as a telescopic pipe or a multi-joint link mechanism, and is configured so that the core lifter extends when ascending and contracts when descending. That is, the core lifter is telescopically extended and lowered by the hydraulic mechanism. The drive source of the lifting mechanism is not limited to the hydraulic mechanism. For example, it may be an electric motor.

[0041] (Holding unit body) The holding unit body 210 is a member for holding the winding core T. The holding unit body 210 has two surfaces that face the winding core T when the winding core T is placed on the roller 212. For example, the holding unit body 210 has a surface 210a as two inclined surfaces that form a V-shape as shown in Fig. 3. In other words, the two surfaces 210a are inclined so as to move away from each other as they go upward.

[0042] The holding unit body 210 is made of, for example, stainless steel. However, the material of the holding unit body 210 is not limited to stainless steel. The holding unit body 210 is preferably made of a material having rigidity, for example, metal. In this case, the surface of the holding unit body 210 is metal. Note that the holding unit body 210 may be made by disposing rubber, such as a urethane rubber sheet, on the surface of a metal, such as stainless steel.

[0043] The holding unit main body 210 is configured to be movable up and down. For example, the holding unit main body 210 is held by a core lifter of the lifting unit 211, and is lifted up and down by driving the lifting unit 211. The position of the holding unit main body 210 is controlled by the lifting unit 211 between a lowered position h1 and an elevated position h2. For example, the lowered position h1 is the position of the holding unit main body 210 shown in Figs. 1, 4, 5, and 7. The elevated position h2 is the position of the holding unit main body 210 shown in Fig. 6. The holding unit main body 210 may be provided with a detection means such as a proximity sensor or a touch sensor for detecting whether or not the holding unit 210 is holding a core T.

[0044] (Laura) The roller 212 is configured to mount the winding core T so that it can move in the winding core axial direction. The roller 212 is held so that it can roll with respect to the holding unit main body 210. The roller 212 is also supported in a direction intersecting the winding core axial direction. Therefore, the roller 212 can mount the winding core T so that it can move in the axial direction of the winding core T. The surface 212a of the roller 212 is formed of a high-release surface that has higher release properties than the surface 210a of the holding unit main body 210.

[0045] At least the surface 212a of the roller 212 may be made of a material containing a fluororesin. For example, the roller 212 may be made of a fluororesin. Alternatively, the surface 212a of the roller 212 may be formed with a non-electrolytic nickel plating containing a fluororesin. Alternatively, the surface 212a of the roller 212 may be formed with a fluororesin coating. The surface 212a of the roller 212 may be subjected to a releasable surface treatment. For example, the surface 212a of the roller 212 may be a releasable surface having unevenness formed by sandblasting or the like, and having a reduced contact area with the core T.

[0046] The core holding unit 21 has at least four rollers 212. For example, the core holding unit 21 has two or more rollers 212 on each of two inclined surfaces of the holding unit main body 210. Note that, although cylindrical rollers are used as the rolling units in this embodiment, the rolling units are not limited to cylindrical rollers. For example, spherical ball rollers may be used.

[0047] <Stopper> The automated guided vehicle 20 further has a stopper 213 as a movement regulating part which regulates movement of the core T held by the holding portion body 210 of the core holding portion 21 in the core axial direction when the holding portion body 210 of the core holding portion 21 is set to the lowered position h1, and which exposes the end of the core T held by the holding portion body 210 of the core holding portion 21 when the holding portion body 210 of the core holding portion 21 is set to the raised position h2.

[0048] As shown in Fig. 4, the stopper 213 is composed of a pair of plate-like members arranged on the car body 25 at both ends of the holding unit main body 210 in the core axial direction. That is, the stopper 213 is provided so as to be fixed on the car body 25. Therefore, when the holding unit main body 210 is set to the lowered position h1 as shown in Fig. 4, the stopper 213 restricts the movement of the core T in the core axial direction by the plate-like members as shielding parts shielding both ends of the core T placed on the rollers 212. When the holding unit main body 210 is set to the raised position h2, the plate-like members as shielding parts expose both ends of the core T placed on the rollers 212, thereby releasing the restriction on the movement of the core T in the core axial direction.

[0049] The pair of plate-like members are formed to widen as they extend upward. This widens the opening when setting the winding core T, making it easier to set the winding core T in the holding unit body 210. When setting the winding core T, the winding core T is guided so that the position in the winding core axial direction is positioned at an appropriate location in the holding unit body 210. After the winding core T is set in the holding unit body 210, movement in the winding core axial direction is restricted.

[0050] [Roll holding section] The roll holding unit 22 collects and holds the roll R, which is the roll-shaped green sheet film G taken up by the winding unit 13 of the ceramic green sheet molding apparatus 10. The roll holding unit 22 includes a roll lifting unit 221 and a holding unit main body 220, as shown in FIGS.

[0051] (Roll lifting section) The roll lifting unit 221 is configured to lift and lower the holding unit main body 220. For example, the roll lifting unit 221 in this embodiment is configured with a hydraulic mechanism (not shown) and a roll lifter configured to be liftable and lowerable by the hydraulic mechanism. The roll lifter, like the core lifter, is disposed in a hollow portion formed in the carriage portion 25a of the car body portion 25, and is lifted and lowered by the hydraulic mechanism. The drive source of the lifting mechanism is not limited to the hydraulic mechanism. For example, it may be an electric motor.

[0052] (Roll holder body) The surface of the holder main body 220 that holds the roll R has a curved surface that is adapted to the size of the roll R to be collected. This curved surface is preferably a curved surface with a slightly larger radius of curvature than the roll R to be collected. However, the surface of the holder main body 220 that holds the roll R is not limited to a curved surface. For example, it may have two inclined surfaces.

[0053] The holding body 220 is made of, for example, stainless steel. However, the material of the holding body 220 is not limited to stainless steel. The holding body 220 is preferably made of a material having rigidity, for example, metal. The holding body 220 may be made of a metal such as stainless steel with a rubber such as a urethane rubber sheet disposed on the surface of the metal. That is, the surface of the holding body 220 may be rubber. This makes it possible to prevent direct contact between the roll and the metal surface, and to protect the roll. Furthermore, by providing a rubber layer, the effects of pressure dispersion and shock absorption when holding the roll can be obtained.

[0054] The holding unit main body 220 is formed so as to be able to rise and fall. The position of the holding unit main body 220 is controlled between a lowered position H1 and an elevated position H2 by the roll elevating unit 221. For example, the lowered position H1 is the position of the holding unit main body 210 shown in Figs. 1, 5, and 6. Moreover, the elevated position H2 is the position of the holding unit main body 210 shown in Fig. 7. The holding unit main body 220 may be provided with a detection means such as a proximity sensor or a touch sensor for detecting whether or not the roll R is being held.

[0055] [Detection unit for detecting obstacles on the floor] As shown in Figs. 1, 5, 8 and 9, the automated guided vehicle 20 may include a floor obstacle detection unit 26 for detecting obstacles on a floor surface to detect the presence or absence of obstacles located on the floor surface on which the automated guided vehicle 20 travels. In this specification, for the sake of convenience of explanation, the illustration of the floor obstacle detection unit 26 may be omitted. The floor obstacle detection unit 26 may be provided in one direction of the traveling direction of the automated guided vehicle 20 and in the other direction of the traveling direction. For example, the floor obstacle detection unit 26 may be provided in front of the automated guided vehicle 20 in the traveling direction and in the rear of the automated guided vehicle 20 in the traveling direction.

[0056] The floor obstacle detection unit 26 may be a non-contact sensor such as an image sensor, a laser scanner, or an ultrasonic sensor, or other sensors. For example, when a laser scanner is used, the planar direction is detected by detecting the reflected light of the laser light L2 that is irradiated while being scanned as shown in Figs. 1 and 5, and an obstacle located on the floor surface is detected.

[0057] [Detection unit] The detection unit 23 acquires information on the roll holding unit passing area. The detection unit 23 in this embodiment is a sheet sagging detection unit that detects the presence of a sheet HS hanging from the roll R. When winding the roll R, the end of the winding of the roll R may hang down after the roll R has finished winding. For this reason, if the automated guided vehicle 20 enters the winding unit 13 as a sheet winding device while the sheet HS is hanging down from the roll R, the automated guided vehicle 20 may come into contact with the hanging sheet HS, which may result in a malfunction such as damage to the roll.

[0058] More specifically, if the unmanned guided vehicle 20 enters the winding section 13 while film is hanging down from the roll R set in the winding section 13, the sheet HS hanging down from the roll R may come into contact with the holding section main body 220 or the roll lifting section 221 of the roll holding section 22 of the unmanned guided vehicle 20, which may result in damage to the roll R.

[0059] Furthermore, if the unmanned guided vehicle 20 enters the winding section 13 while film is hanging down from the roll R set in the winding section 13, the sheet HS hanging down from the roll R may get caught in the wheels of the running section 25b of the unmanned guided vehicle 20, which may result in damage to the roll R.

[0060] Furthermore, if the unmanned guided vehicle 20 has a core holding section 21, if the unmanned guided vehicle 20 enters the winding section 13 when film is hanging down from the roll R set in the winding section 13, the core T held by the core holding section 21 of the unmanned guided vehicle 20 and the film hanging down from the roll R may stick together, resulting in damage to the roll R.

[0061] Therefore, the automated guided vehicle 20 of this embodiment has a detection unit 23 that detects the presence of a sheet HS hanging down from the roll R set in the winding unit 13. Then, an automated guided vehicle control device 27 serving as a control unit described later controls the automated guided vehicle 20 so as not to come into contact with the hanging sheet HS when the hanging sheet HS is present.

[0062] The green sheet film G is usually molded onto the carrier film C except for the start and end of the roll R. Therefore, the start and end of the roll R are made of only the carrier film C, and the green sheet film G is not molded. In this embodiment, the carrier film C is made of a light-transmitting film. Therefore, the sheet HS hanging down from the roll R is made of a light-transmitting film.

[0063] The detection unit 23 acquires information on a roll-holding-part passing region R1 including a position through which the roll holding part 22 passes when the automated guided vehicle 20 travels as shown in Fig. 5. Therefore, the detection unit 23 can confirm that there is no obstacle on the path through which the roll holding part 22 passes.

[0064] 5, the detection unit 23 of this embodiment acquires information about a core passing region R2 including a position through which the core T held by the core holding unit 21 passes when the automatic guided vehicle 20 travels. Therefore, the detection unit 23 can confirm that there is no obstacle on the path through which the core holding unit 21 passes.

[0065] The detection unit 23 in this embodiment is an image sensor that acquires image information of at least one of the roll holding part passing region R1 and the core passing region R2. In this embodiment, the detection unit 23 acquires information of the roll holding part passing region R1. The detection unit 23 also acquires information of the core passing region R2.

[0066] The detection unit 23 according to this embodiment obtains image information of the roll holding unit passing area R1 and the core passing area R2 at multiple timings corresponding to multiple emission timings of the illumination light L1 by the illumination unit 24 described below.

[0067] The detection unit 23, which acquires information on at least one of the roll holding unit passing area R1 and the core passing area R2, does not need to detect the presence or absence of an obstacle located on the floor surface near the automatic guided vehicle 20. This detection unit 23 is preferably a detection unit that acquires information on a detection area above the detection area of ​​the floor obstacle detection unit 26 described above.

[0068] It is also preferable that the detection unit obtains information of an area wider than the detection area of ​​the floor obstacle detection unit 26. More specifically, it is preferable that the detection unit obtains information of an area wider in the height direction than the detection area of ​​the floor obstacle detection unit 26. The detection unit 23 as a sheet sagging detection unit is also capable of detecting the presence of the sheet HS that has not reached the floor surface even when the sheet HS hanging from the roll R has not reached the floor surface.

[0069] [Lighting section] The illumination unit 24 is a component for improving the detection efficiency of the detection unit 23. The illumination unit 24 emits illumination light L1 toward a roll holding part passing region R1 including a position through which the roll holding part 22 passes when the automated guided vehicle 20 travels as shown in Fig. 5. The illumination unit 24 also emits illumination light L1 toward a core passing region R2 including a position through which the core T held by the core holding part 21 passes when the automated guided vehicle 20 travels.

[0070] The illumination unit 24 may be configured as an integral part of the detection unit 23. The illumination unit 24 in this embodiment emits flash light as the illumination light L1. The illumination unit 24 according to this embodiment is controlled to emit the illumination light L1 multiple times with a time interval. For example, the illumination unit 24 intermittently irradiates the illumination light L1 at intervals of 1 second or less from when the shutter 10b is opened until the automatic guided vehicle 20 reaches the roll collection position.

[0071] [Body section] The vehicle body 25 has a cart 25a and a running section 25b. The cart 25a is equipped with various components of the automated guided vehicle 20. For example, the cart 25a is equipped with a core holding section 21, a roll holding section 22, a detection section 23, an illumination section 24, and a floor obstacle detection section 26 for detecting obstacles on the floor. The running section 25b is configured to movably support the cart 25a. The running section 25b includes, for example, a plurality of wheels rotatably provided on the cart 25a, and a drive section that drives the plurality of wheels to rotate. The configuration of the running section 25b is not limited to this.

[0072] [Automated guided vehicle control device] Next, an example of the automated guided vehicle control device 27 will be described with reference to FIG. 8. The automated guided vehicle control device 27 is configured to perform various controls such as the roll collection operation, the core setting operation, and the traveling operation of the automated guided vehicle 20, as well as the film sagging detection process described below. The automated guided vehicle control device 27 has a processor and the like, and the processor executes arithmetic processing to realize control of various operations. As shown in FIG. 8, the automated guided vehicle control device 27 has a processor 270, a ROM 271, a RAM 272, a bus 273, an input / output interface 274, an input unit 275, an output unit 276, a storage unit 277, a communication unit 278, and a power supply unit 279. Note that the configuration of the automated guided vehicle control device 27 is not limited to this.

[0073] The processor 270 performs, for example, various types of calculations and control processes required for the operation of the automated guided vehicle control device 27. The processor 270 is, for example, a central processing unit (CPU), a micro processing unit (MPU), a system on a chip (SoC), a digital signal processor (DSP), a graphics processing unit (GPU), an application specific integrated circuit (ASIC), a programmable logic device (PLD), a field-programmable gate array (FPGA), or a combination of these. The processor 270 may also be a combination of these processors with a hardware accelerator or the like.

[0074] The processor 270 controls each unit to realize various functions of the automated guided vehicle control device 27 based on programs such as firmware, system software, and application software stored in the ROM 271 or the RAM 272. The processor 270 also executes processes based on the programs, which will be described later. Note that a part or all of the programs may be incorporated in the circuitry of the processor 270.

[0075] The processor 270, the ROM 271, and the RAM 272 are connected to one another via a bus 273. An input / output interface 274 is also connected to the bus 273. An input unit 275, an output unit 276, a storage unit 277, a communication unit 278, and a power supply unit 279 are connected to the input / output interface 274.

[0076] The input unit 275 and the output unit 276 are user interfaces that are electrically connected to an input / output interface (not shown) by wire or wirelessly. The input unit 275 is configured by, for example, operation buttons of the automated guided vehicle 20. The output unit 276 is configured by a monitor 276a that displays images for operating the automated guided vehicle 20, a speaker 276b that amplifies sounds such as warning sounds, and the like. The input unit 275 and the output unit 276 may have a configuration in which a display function and an input function are integrated, such as a touch panel.

[0077] The storage unit 277 is composed of, for example, a main storage device composed of a non-volatile memory such as a Read Only Memory (ROM) or a volatile memory such as a Random Access Memory (RAM), and an auxiliary storage device composed of a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc. The storage unit 277 according to this embodiment stores transport route information for the automatic guided vehicle 20, audio information to be outputted from the speaker 276b of the output unit 276, and various programs to be executed by the control unit 280.

[0078] The communication unit 278 is a device that wirelessly communicates with other computers, etc., using a communication method based on a communication standard such as BLE (Bluetooth (registered trademark) Low Energy) or Wi-Fi (Wireless Fidelity). However, the present invention is not limited to this, and for example, the communication unit 278 may communicate with other computers, etc., in a wired manner via a network cable.

[0079] The power supply unit 279 is a battery for supplying power to the automated guided vehicle 20. The power supply unit 279 may be a known battery such as a lithium ion secondary battery, or a primary battery such as a dry cell. Note that the power supply unit 279 is not limited to a battery, and may supply power to the automated guided vehicle 20 by being connected to an external power source via a power cable or the like.

[0080] (Control Block) Next, the functional configuration of the automated guided vehicle control device 27 will be described with reference to Fig. 9. The control unit 280, which performs various controls of the automated guided vehicle 20, is realized by a processor that executes arithmetic processing and executes a program. The control unit 280 of this embodiment includes an input control unit 281, an output control unit 282, a communication control unit 283, a transportation management unit 284, an illumination control unit 285, an information acquisition unit 286, a determination unit 287, a travel control unit 288, an alarm unit 289, a core holding unit elevation control unit 290, and a roll holding unit elevation control unit 291.

[0081] The input control unit 281 executes a process of accepting an operation to the input unit 275 by a manager or the like of the automatic guided vehicle 20. For example, the input control unit 281 executes a process of accepting an operation to turn on the power of the automatic guided vehicle 20 by a manager or the like.

[0082] The output control unit 282 executes a process for displaying an image on the monitor 276a of the output unit 276. For example, the output control unit 282 executes a process for outputting a menu screen for operating the automatic guided vehicle 20 to the monitor 276a.

[0083] The communication control unit 283 executes a process for communicating with an external device via the communication unit 278. For example, the communication control unit 283 executes a process for receiving transport instruction information for the roll R and the core T transmitted from the control device 30 via the communication unit 278.

[0084] The transportation management unit 284 executes a process for managing the transportation of the rolls R and the like by the automatic guided vehicle 20.

[0085] The illumination control unit 285 controls the driving of the illumination unit 24. For example, while the shutter 10b of the ceramic green sheet molding apparatus 10 is open, the illumination control unit 285 causes the illumination unit 24 to perform an illumination operation of emitting the illumination light L1 multiple times.

[0086] The information acquisition unit 286 acquires information acquired by the detection unit 23. The information acquisition unit 286 may also acquire information acquired by the floor obstacle detection unit 26.

[0087] The determination unit 287 determines whether or not there is a light-transmitting film hanging down from the roll R set in the winding unit 13, based on the information acquired by the information acquisition unit 286. For example, the determination unit 287 of the control unit 280 determines whether or not there is a light-transmitting film as a sheet HS hanging down from the roll R set in the winding unit 13, based on information on at least one of the roll holding unit passing area R1 and the core passing area R2 acquired by the detection unit 23 during execution of a film sagging detection process described below.

[0088] In this embodiment, the determination unit 287 determines whether or not there is a light-transmitting film as a sheet HS hanging down from the roll R, based on information about the roll holding unit passing area R1 acquired by the detection unit 23. The determination unit 287 also determines whether or not there is a light-transmitting film as a sheet HS hanging down from the roll R, based on information about the core passing area R2 acquired by the detection unit 23. Details of the film sagging detection process will be described later.

[0089] The travel control unit 288 executes roll transport control, roll recovery preparation control, replacement core setting preparation control, and processing when film sagging is detected.

[0090] The roll transport control is a control for making the traveling section 25b travel along a predetermined route. For example, rails may be laid along the predetermined route, and the automated guided vehicle 20 may travel along the rails.

[0091] The roll collection preparation control is a control for causing the traveling unit 25b to travel so that the holding unit main body 220 of the roll holding unit 22 moves to a roll collection position below the winding shaft 131a, as shown in Fig. 15 described later. The core setting preparation control is a control for causing the traveling unit 25b to travel so that the holding unit main body 210 of the core holding unit 21 moves to a core setting position below the winding shaft 131a, as shown in Fig. 17 described later. Note that sensors may be provided at predetermined intervals on the rail so that the control unit 280 can grasp the position of the automatic guided vehicle 20.

[0092] When the traveling control unit 288 determines in the film sagging detection process that there is a light-transmitting film sagging from the roll R set in the winding unit 13, it performs control to stop the progress of the automated guided vehicle 20. For example, it performs control to stop the driving of the traveling unit 25b of the automated guided vehicle 20.

[0093] The notification unit 289 issues a notification when it is determined that there is a sheet HS, which is a light-transmitting film, hanging down from the roll set in the winding unit 13. For example, when it is determined that there is a sheet HS hanging down from the roll R set in the winding unit 13, the notification unit 289 causes the speaker 276b of the output unit 276 to output a warning sound.

[0094] The core holding unit lift control unit 290 controls the operation of the lifting unit 211 of the core holding unit 21. For example, at the timing when the holding unit main body 210 of the core holding unit 21 moves to the core set position below the winding spindle 131a due to the core set preparation control by the travel control unit 288, the holding unit main body 210 of the core holding unit 21 is lifted and moved to the elevated position h2.

[0095] The roll holding unit lift control unit 291 executes control of the operation of the roll lifting unit 221 of the roll holding unit 22. For example, at the timing when the holding unit main body 220 of the roll holding unit 22 moves to the roll collection position below the winding shaft 131a due to the roll collection preparation control by the travel control unit 288, the holding unit main body 220 of the roll holding unit 22 is lifted and moved to the lifted position H2.

[0096] [Control device] Next, an example of the control device 30 will be described with reference to Fig. 10. Fig. 10 is a block diagram showing a hardware configuration of the ceramic green sheet molding device according to the present embodiment. Note that configurations common to or similar to those already described may be given the same names and detailed descriptions thereof may be omitted.

[0097] The control device 30 is configured to perform various controls for manufacturing a roll R wound with a green sheet film G in the manufacturing system S and transporting it to a post-process. The control device 30 has a processor and the like, and the processor executes arithmetic processing to realize control of various operations. As shown in FIG. 10, the control device 30 has a processor 300, a ROM 301, a RAM 302, a bus 303, an input / output interface 304, an input unit 305, an output unit 306, a storage unit 307, a communication unit 308, and a power supply unit 309. Note that the configuration of the control device 30 is not limited to this.

[0098] (Control Block) Next, the functional configuration of the control device 30 will be described with reference to FIG. 11. FIG. 11 is a block diagram showing the functional configuration of the control device according to this embodiment. Note that the same names may be used for configurations that are common or similar to those already described, and detailed descriptions may be omitted. The control unit 310 that performs various controls of the manufacturing system S is realized by a processor that executes arithmetic processing and executes a program. The control unit 310 of this embodiment includes an input control unit 311, an output control unit 312, a communication control unit 313, a shutter control unit 314, an unwinding control unit 315, a coating control unit 316, an air blowing control unit 317, a chuck control unit 318, and a winding control unit 319.

[0099] The shutter control unit 314 controls the opening and closing of the shutter 10b of the ceramic green sheet molding apparatus 10. For example, the shutter control unit 314 executes a process of raising and lowering the shutter 10b to move between an open position where the shutter 10b is open and a closed position where the shutter 10b is closed. The shutter control unit 314 may also open the shutter 10b at the timing when the automated guided vehicle 20 approaches the shutter 10b. Whether or not the automated guided vehicle 20 approaches the shutter 10b can be detected by a known method. For example, the approach of the automated guided vehicle 20 may be detected by a proximity sensor or the like.

[0100] Alternatively, the shutter control unit 314 may open the shutter 10b at the timing when an open command for the shutter 10b is received from the automated guided vehicle 20. In this case, the automated guided vehicle 20 may transmit an open command for the shutter 10b to the control device 30 at the timing when the automated guided vehicle 20 approaches the shutter 10b.

[0101] The unwinding control unit 315 executes various controls of the unwinding unit 11. For example, the unwinding control unit 315 controls the chucking operation of the roll Rc around which the carrier film C is wound by the unwinding unit 11. The control of the chucking operation of the roll Rc by the unwinding control unit 315 is similar to the control of the chucking operation of the roll R by the chuck control unit 318 described later, and therefore will not be described.

[0102] The coating control unit 316 executes various controls of the coating unit 12. For example, the coating control unit 316 controls the coating operation of the coating unit 12 with a slurry containing a ceramic material onto the carrier film C, and the drying operation of a drying unit (not shown).

[0103] The air blowing control unit 317 controls the air blowing operation of the air blowing unit 132. For example, the air blowing control unit 317 performs the air blowing operation of the air blowing unit 132 during the winding operation of winding up the green sheet film G formed on the carrier film C into a roll by the winding unit 13. Note that the control of the air blowing operation is not limited to this.

[0104] The chuck control unit 318 executes control of the chucking operation by the chucking unit 131. For example, the chuck control unit 318 controls the chucking operation in a state where the chucking unit 131 is not chucking the winding core T. In this case, the chuck control unit 318 checks whether the holding unit body 210 of the winding core holding unit 21 of the automatic guided vehicle 20 moves to the raised position h2 with the winding core T placed thereon. The chuck control unit 318 starts the chucking operation to move the holding unit body 210 to a chuck position where the winding core T is chucked at the timing when the holding unit body 210 moves to the raised position h2.

[0105] Furthermore, the chuck control unit 318 controls the chucking operation in a state in which the chucking unit 131 chucks the roll R after winding has been completed. In this case, the chuck control unit 318 checks whether or not the holding unit main body 220 of the roll holding unit 22 of the automatic guided vehicle 20 has moved to the raised position H2. At the timing when the holding unit main body 220 has moved to the raised position H2, the chuck control unit 318 starts the chucking operation to move the roll R to a chuck release position where the chuck is released.

[0106] A known technique can be used as a method for detecting whether the holding part body 210 of the core holding part 21 of the automated guided vehicle 20 has moved to the raised position h2, or whether the holding part body 220 of the roll holding part 22 has moved to the raised position H2. For example, a photoelectric sensor provided on each of the pair of supports 130 may be used. In this case, it may be determined that the holding part body 210 of the core holding part 21 has moved to the raised position h2, or that the holding part body 220 of the roll holding part 22 has moved to the raised position H2, by blocking the light between the photoelectric sensors.

[0107] The winding control unit 319 executes various controls of the winding unit 13. For example, the winding control unit 319 executes control of a winding operation of the winding unit 13 winding up the green sheet film G formed on the carrier film C into a roll. The winding operation by the winding control unit 319 is performed in conjunction with the control of the unwinding operation by the unwinding control unit 315 and the control of the coating operation and drying operation by the coating control unit 316.

[0108] <Roll manufacturing process> Next, a roll manufacturing process executed by the manufacturing system S according to the present invention will be described with reference to Fig. 12. Fig. 12 is a flowchart for explaining the flow of the roll manufacturing process according to this embodiment. The roll manufacturing process includes a roll unwinding process (step S10), a roll coating process (step S11), and a roll winding process (step S12).

[0109] The roll unwinding step (step S10) is a step of unwinding the carrier film C wound in a roll shape and supplying the carrier film C to a coating section.

[0110] The roll coating step (step S11) is a step of applying a slurry containing a ceramic material onto a carrier film C and forming a ceramic green sheet on the carrier film C. In addition, in the roll coating step (step S11), the ceramic green sheet formed on the carrier film C may be dried.

[0111] The roll winding step (step S12) is a step of winding the green sheet film G into a roll and recovering it.

[0112] <Roll winding process> Next, the roll winding process, which is an operational flow from when the green sheet film G is wound around the core T set in the winding section 13 to when the roll R is formed, will be described with reference to Fig. 13. Fig. 13 is a flowchart for explaining the flow of the roll winding process included in the roll manufacturing process of Fig. 12. The roll winding process (step S12) executed by the manufacturing system S according to the present invention includes a core setting process (step S20), a film attachment process (step S21), a coated sheet winding process (step S22), a sheet cutting process (step S23), and a roll removal process (step S24).

[0113] In this embodiment, when the roll winding step (step S12) is performed continuously, the roll removing step (step S24) of the previous roll winding step (step S12) and the core setting step (step S20) of the subsequent roll winding step (step S12) are performed continuously. Details will be described later.

[0114] The core setting step (step S20) is a step of setting the core T on the winding shaft 131a. Details will be described later.

[0115] The film attachment step (step S21) is a step of attaching an end surface of the carrier film C to the winding core T set on the winding shaft 131a. The film attachment may be performed manually, or a film attachment device or the like may be provided to attach the film.

[0116] The coated sheet winding step (step S22) is a step of winding the coated sheet around the winding core T set on the winding shaft 131a. For example, the winding control unit 319 causes the winding drive unit 131d to rotate the winding shaft 131a and wind the coated sheet around the winding core T set on the winding shaft 131a.

[0117] The sheet cutting step (step S23) is a step of cutting the sheet of carrier film C to complete a roll. Since one end of the carrier film C is adhered to the core of the roll Rc, after a certain amount of the sheet of carrier film C is wound up to form the roll R, the roll Rc and the roll R are connected via the carrier film C. For this reason, sheet cutting is performed to separate the sheet of carrier film C from the core of the roll Rc. The sheet cutting may be performed manually, or may be performed by providing a device for cutting the sheet.

[0118] The roll removal step (step S24) is a step of removing the roll R from the winding shaft 131a. The details will be described later.

[0119] After the removal of the roll R is completed, the control device 30 opens the shutter 10b, and the automated guided vehicle 20 travels along a predetermined route to transport the roll R to a warehouse or the like. Thereafter, the control device 30 controls the shutter 10b to close. The winding unit 13 may be a winding unit 13 with an automatic reel change function.

[0120] Next, the roll removal process (step S24) of the previous roll winding process (step S12) and the core setting process (step S20) of the subsequent roll winding process (step S12), which are executed consecutively when the roll winding process (step S12) is performed consecutively, will be described in more detail with reference to Figures 14 to 18.

[0121] Fig. 14 is a flow chart for explaining the flow of the roll removing step and the core setting step when the roll winding step of Fig. 13 is performed continuously. Fig. 15 is a schematic diagram for explaining the first half of the roll collecting operation included in the core setting step of Fig. 14. Fig. 16 is a schematic diagram for explaining the second half of the roll collecting operation included in the core setting step of Fig. 14. Fig. 17 is a schematic diagram for explaining the first half of the core setting operation included in the core setting step of Fig. 14. Fig. 18 is a schematic diagram for explaining the second half of the core setting operation included in the core setting step of Fig. 14.

[0122] When the roll removing process (step S24) and the core setting process (step S20) are performed continuously, they include a core transporting process (step S30), a roll recovering process (step S31), a core setting process (step S32), and a roll transporting process (step S33).

[0123] The core transport step (step S30) is a step in which the automated guided vehicle 20 moves to the winding unit 13 while transporting the core T. For example, when the automated guided vehicle 20 receives a call command transmitted from the control device 30, the travel control unit 288 controls the travel unit 25b to move to in front of the shutter 10b of the ceramic green sheet molding apparatus 10 via a predetermined route.

[0124] First, the shutter control unit 314 opens, for example, the shutter 10b of the ceramic green sheet molding apparatus 10. Specifically, the control device 30 determines the approach of the automated guided vehicle 20, for example, by a proximity sensor (not shown), and when it determines that the automated guided vehicle 20 has approached, moves the shutter 10b to the open position. For example, when the control device 30 detects an approaching object by a proximity sensor (not shown), if the automated guided vehicle 20 is being called, the control device 30 may perform control such that the shutter 10b is moved to the open position, and if the automated guided vehicle is not being called, the shutter 10b remains in the closed position.

[0125] When the shutter 10b opens, the automatic guided vehicle 20 moves inside. When the automatic guided vehicle 20 has moved entirely inside the housing 10a, the control device may move the shutter 10b to the closed position.

[0126] The roll collecting step (step S31) is a step of collecting the roll R around which the green sheet film G is wound as a rolled sheet. The automated guided vehicle 20 that has moved into the ceramic green sheet molding apparatus 10 moves to the roll collecting position as shown in Fig. 15. For example, the travel control unit 288 causes the travel unit 25b to travel to the roll collecting position.

[0127] Next, the automated guided vehicle 20 that has moved to the roll collection position lifts the roll holding part from the lowered position H1 to the raised position H2. Specifically, the roll holding part lift control part 291 causes the roll lifting part 221 to lift the holding part main body 220 of the roll holding part 22 as shown in Fig. 16, to move it from the lowered position H1 to the raised position H2.

[0128] Next, when the holding unit main body 220 of the roll holding unit 22 reaches the raised position H2, the control device 30 causes the chucking unit 131 of the winding unit 13 to release the chuck of the roll R. Specifically, when a sensor (not shown) or the like detects that the holding unit main body 220 has reached the raised position H2, the chuck control unit 318 causes the chuck driving unit 131c to slide so that the distance between the pair of winding shafts 131a becomes wider, thereby releasing the chuck of the winding core T, and roll removal is completed.

[0129] Next, the automated guided vehicle 20 lowers the roll holding part from the raised position H2 to the lowered position H1. Specifically, the roll holding part lift control part 291 causes the roll lift part 221 to lower the holding part main body 220 of the roll holding part 22, moving it from the raised position H2 to the lowered position H1.

[0130] Subsequently, the core setting process (step S32) is started. The core setting process (step S32) is a process in which the automated guided vehicle 20 sets the core. First, the automated guided vehicle 20 moves to the core setting position. For example, the travel control unit 288 causes the automated guided vehicle 20 to transport the core T and causes the traveling unit 25b to travel to the core setting preparation position as shown in FIG.

[0131] Next, the automated guided vehicle 20 that has moved to the core setting position lifts the holding portion main body 210 of the core holding portion 21 from the lowered position h1 to the raised position h2. Specifically, the core holding portion lift control portion 290 causes the lifting portion 211 to lift the holding portion main body 210 of the core holding portion 21, as shown in FIG. 18, from the lowered position h1 to the raised position h2.

[0132] Next, the control device 30 causes the winding unit 13 to chuck the winding core T at the timing when the holding unit main body 210 reaches the raised position h2. Specifically, when a sensor (not shown) or the like detects that the holding unit main body 210 has reached the raised position h2, the chuck control unit 318 controls the chuck driving unit 131c to slide the pair of winding shafts 131a from the chuck release position to the chuck position. The pair of winding shafts 131a slide so that the distance between them narrows, chuck the winding core T, and winding core setting is completed.

[0133] Next, the core holding unit lift control unit 290 lowers the holding unit main body 210 of the core holding unit 21 from the upper position h2 to the lower position h1. Specifically, the core holding unit lift control unit 290 causes the lift unit 211 to lower the holding unit main body 210 of the core holding unit 21, as shown in FIG. 18, to move it from the upper position h2 to the lower position h1.

[0134] The roll transport process (step S33) is a process in which the automated guided vehicle 20 transports a roll while moving to a warehouse (not shown) or the next process. The control device 30 moves the shutter 10b to the open position. Next, the automated guided vehicle 20 travels along a predetermined route to a warehouse (not shown) or the next process, and performs a predetermined transport operation. The control device moves the shutter 10b to the closed position when the entire automated guided vehicle 20 has left the housing.

[0135] <Sheet sagging detection process> Here, as described above, the winding end portion of the roll R may droop after winding of the roll R is completed, and the automated guided vehicle 20 may come into contact with the drooping sheet HS, which may result in a malfunction such as damage to the roll. For this reason, in the manufacturing system S according to this embodiment, the sheet droop detection process detects sheet drooping by the detection unit 23, and processing such as stopping the automated guided vehicle 20 is performed to prevent the automated guided vehicle 20 from coming into contact with the drooping sheet HS.

[0136] The sheet sagging detection process by the automatic guided vehicle 20 according to this embodiment will be described below with reference to Fig. 19. Fig. 19 is a flowchart for explaining the flow of the sheet sagging detection process according to this embodiment.

[0137] First, the control unit 280 checks whether the shutter 10b has moved to the open position (step S40). If the shutter 10b has not moved to the open position (step S40: NO), the control unit 280 repeats the process until the shutter 10b moves to the open position. On the other hand, if the shutter 10b has moved to the open position (step S40: YES), the lighting control unit 285 of the control device 30 causes the lighting unit 24 of the automatic guided vehicle 20 to start a lighting operation (step S41). That is, the lighting control unit 285 causes the lighting unit 24 to perform a lighting operation of emitting the illumination light L1 multiple times while the shutter 10b of the ceramic green sheet molding device 10 is open.

[0138] Next, the information acquisition unit 286 starts acquiring image information of at least one of the roll holding portion passing area R1 and the core passing area R2 from the detection unit 23 at multiple timings corresponding to the multiple emission timings of the illumination light L1 by the illumination unit 24 (step S42).

[0139] Next, the judgment unit 287 judges whether or not there is a sheet HS of translucent film hanging down from the roll R set in the winding unit 13 based on image information of at least one of the roll holding unit passing area R1 and the core passing area R2 at multiple times acquired by the information acquisition unit 286 when the shutter 10b of the winding unit 13 is open (step S43).

[0140] When it is determined that there is no sheet HS hanging from the roll R set in the winding unit 13 (step S43: NO), the control unit 280 checks whether the rolled sheet recovery position has been reached (step S47). When the rolled sheet recovery position has not been reached (step S47: NO), the control unit 280 shifts the process to step S41, and repeats checking whether there is a sheet HS hanging from the roll until the rolled sheet recovery position is reached. When the rolled sheet recovery position has been reached (step S47: YES), the control unit 280 ends the sheet sagging detection process.

[0141] When it is determined that there is a sheet HS hanging from the roll set in the winding unit 13 (step S43: YES), the travel control unit 288 performs control to stop driving the travel unit 25b of the automated guided vehicle (step S44). After stopping the driving of the travel unit 25b of the automated guided vehicle, the hanging sheet HS is wound up onto the roll (step S45). The operator may manually wind up the hanging sheet HS onto the roll R, or the control device 30 may control the winding unit 13 to automatically wind up the hanging sheet HS onto the roll R.

[0142] When it is determined that there is a sheet HS hanging from the roll set in the winding unit 13, the notification unit 289 issues a notification, for example, through the speaker 276b of the output unit 276 (step S46). For example, the notification may be issued to urge the automatic guided vehicle 20 to stop driving, or may be issued to urge the operator to wind up the hanging sheet HS onto the roll R.

[0143] Here, the detection unit 23 acquires image information to detect the drooping sheet HS. For example, as shown in Fig. 20, the detection unit 23 is configured to detect the drooping sheet HS by detecting light reflected by the drooping sheet HS.

[0144] Fig. 20 is a schematic diagram for explaining the film sagging detection method according to the present embodiment. More specifically, Fig. 20 is an image detected by the detection unit 23 of the automatic guided vehicle 20 when the automatic guided vehicle 20 enters the inside of the housing 10a to transport the core T to the winding unit 13 and collect the roll R. The carrier film C hanging from the roll R is a light-transmitting film and is transparent, so that the coating unit 12 and the like can usually be seen through the carrier film C, but this is omitted in Fig. 20 for the sake of convenience. Also, in Fig. 20, reflection parts D1, D2, and D3 are shown. The reflection parts D1, D2, and D3 are parts where the illumination light L1 emitted by the illumination unit 24 of the automatic guided vehicle 20 is reflected.

[0145] As described above, the roll R is formed by coating a slurry containing a ceramic material on a carrier film C and winding the green sheet film G around a core T. However, the tip end of the long carrier film C is not coated with the slurry, and the detection target of the detection unit 23 is a light-transmitting film, making it difficult to detect using image information, etc.

[0146] However, in this embodiment, the determination is made based on multiple images corresponding to multiple emission timings of the illumination light L1, making detection easier. The illumination light L1 emitted by the illumination unit 24 is preferably flash light, and the detection unit 23 detects the presence of the light-transmitting film by obtaining an image showing the reflection of the flash light on the light-transmitting film, etc. That is, the detection unit 23 can obtain an image showing the reflection portions D1, D2, and D3 shown in Fig. 20, and can determine the presence of the sheet HS, which is the carrier film C hanging from the roll R, based on the presence of the reflection portions D1, D2, and D3.

[0147] The image acquired by the detection unit 23 may be stored in a storage device or displayed on a monitor of any device on the network N. With such a configuration, the status of the automated guided vehicle 20 can be monitored and the cause of the stop can be analyzed.

[0148] Furthermore, in this embodiment, if a drooping sheet HS is detected in at least one of the multiple images corresponding to multiple emission timings of the illumination light L1, it is determined that there is a sheet HS drooping from the roll R set in the winding unit 13. The presence of a drooping sheet HS may also be determined based on the difference between multiple pieces of image information. For example, the determination unit 287 may obtain the difference between two pieces of image information that have been subjected to noise removal, binarization processing, etc., and determine that there is a sheet HS drooping from the roll R if there is a difference in a predetermined area or more.

[0149] Furthermore, in this embodiment, when the light-transmitting film is hanging from the roll R set on the winding shaft 131a of the winding unit 13, the air blowing section 132 of the winding unit 13 blows air so that the hanging light-transmitting film, that is, the sheet HS, sways. As a result, the hanging sheet HS flutters or tilts and is no longer in a constant state, so that the presence of the light-transmitting film can be easily detected by any of the multiple images corresponding to the multiple emission timings of the illumination light L1.

[0150] Furthermore, the winding unit 13 may be provided with an anti-reflection cover AR as shown in Figures 21 and 22. Figure 21 is a schematic diagram of a modified example corresponding to Figure 2. Figure 22 is a schematic diagram of the core holding unit as viewed from the side of Figure 21.

[0151] The anti-reflection cover AR is a component for assisting in detection of the sheet HS hanging down from the roll R, and is, for example, a plate-like member with an anti-reflection surface. Here, when the illumination unit 24 emits a flash light, in addition to the sheet HS hanging down from the roll R, reflection may occur from, for example, an object located on the depth side of the roll R in the winding unit 13 in the device. In this case, the detection unit 23 of the automatic guided vehicle 20 may make an erroneous detection.

[0152] 22, in order to suppress reflections from objects located on the depth side of the device from the roll R of the winding unit 13. More specifically, the anti-reflection cover AR is disposed on the depth side of the device from the support unit 130. More specifically, the anti-reflection cover AR is disposed outside the range in which the automatic guided vehicle 20 moves when retrieving the roll R.

[0153] 21, the dimension of the anti-reflection cover AR in the height direction is preferably longer than the distance from the floor surface to the bottom end of the roll R set on the winding shaft 131a. The dimension of the anti-reflection cover AR in the width direction of the roll R set on the winding shaft 131a is preferably longer than the width of the roll R. By setting the dimension of the anti-reflection cover AR as described above, the drooping sheet HS can be more clearly identified.

[0154] By providing the anti-reflection cover AR, the manufacturing system S can prevent reflections from objects located on the depth direction side of the device relative to the roll R of the winding unit 13 when the lighting unit 24 of the automated guided vehicle 20 irradiates the illumination light L1. This can suppress erroneous detection by the detection unit 23 of the automated guided vehicle 20 and can more clearly identify a drooping sheet HS, more reliably preventing the roll from being damaged when, for example, supplying the core to the sheet winding device.

[0155] The automated guided vehicle 20 configured as above provides the following effects. As described above, the end of the roll may droop after the roll has been completely wound. If the automated guided vehicle enters the sheet winding device in a state in which film is drooping from the roll set in the sheet winding device, the sheet drooping from the roll may come into contact with, for example, the holding part main body or the lifting mechanism of the roll holding part of the automated guided vehicle, resulting in damage to the roll.

[0156] Furthermore, if an automated guided vehicle enters the sheet winding device when film is hanging down from the roll set in the sheet winding device, the sheet HS hanging down from the roll may get caught in the wheels of the automated guided vehicle, resulting in damage to the roll.

[0157] Furthermore, if the unmanned guided vehicle has a core holding section, if the unmanned guided vehicle enters the sheet winding device when film is hanging down from a roll set in the sheet winding device, the core held in the core holding section of the unmanned guided vehicle and the film hanging down from the roll may stick together, resulting in damage to the roll.

[0158] Conventionally, there are automated guided vehicles that have a detection unit for detecting obstacles on the floor surface to detect the presence or absence of obstacles located on the floor surface along which the automated guided vehicle travels. However, such a detection unit for detecting obstacles on the floor surface does not acquire information about the roll holding part passing area, including the position through which the roll holding part passes as the automated guided vehicle travels, making it difficult to detect the sheet HS hanging from the roll.

[0159] In addition, the ceramic green sheet is usually molded onto the carrier film except for the start and end of the roll. Therefore, the start and end of the roll are composed of only the carrier film, and the ceramic green sheet is not molded therein. Furthermore, if the carrier film is made of a light-transmitting film, the sheet hanging down from the roll becomes a light-transmitting member, which makes it even more difficult to detect by optical means.

[0160] The automated guided vehicle of this embodiment can properly detect the sheet HS hanging from the roll even if it is a light-transmitting film. However, the sheet to be detected is not limited to a light-transmitting sheet. It may be a sheet that does not have light-transmitting properties. For example, it may be a sheet in which a ceramic green sheet is molded on a carrier film that does not have light-transmitting properties.

[0161] The unmanned guided vehicle 20 in this embodiment is an unmanned guided vehicle that includes a roll holding unit 22 that holds a roll R, a detection unit 23 that acquires information about the roll holding unit passing area R1 including the passing position of the roll holding unit 22 when the unmanned guided vehicle 20 progresses, and an illumination unit 24 that emits illumination light L1 toward the roll holding unit passing area R1.

[0162] This makes it possible to prevent the roll from being damaged when the automated guided vehicle 20 of this embodiment enters the winding section 13 serving as a sheet winding device.

[0163] In addition, the unmanned guided vehicle 20 according to this embodiment further includes a core holding unit 21 that holds a core T having an adhesive on its surface, and the detection unit 23 acquires information about a core passing region R2 including the passing position of the core T held by the core holding unit 21 when the unmanned guided vehicle 20 progresses, and the illumination unit 24 emits illumination light L1 toward the core passing region R2.

[0164] As a result, the unmanned guided vehicle 20 of this embodiment can prevent a situation in which the roll R is damaged due to the dripping sheet HS coming into contact with the sticky surface of the core T, for example, when supplying the core T to the winding section 13 serving as a sheet winding device.

[0165] In the automatic guided vehicle 20 according to this embodiment, the detection unit 23 is an image sensor that obtains image information of the roll holder passing area R1.

[0166] This makes it possible to determine the presence or absence of a sheet HS hanging down from the roll R using image information, and enables more accurate detection of the hanging sheet HS, thereby more reliably preventing the roll R from being damaged, for example, when the unmanned transport vehicle 20 enters the winding section 13.

[0167] In the automatic guided vehicle 20 according to this embodiment, the detection unit 23 is an image sensor that obtains image information of the core passing area R2.

[0168] This makes it possible to determine the presence or absence of a sheet HS hanging down from the roll R using image information, and enables more accurate detection of the hanging sheet HS, thereby preventing a situation in which the roll R is damaged due to the hanging sheet HS coming into contact with the sticky surface of the core T, for example, when the unmanned guided vehicle 20 enters the winding section 13.

[0169] In the automatic guided vehicle 20 according to this embodiment, the illumination light L1 emitted by the illumination unit 24 is a flash light.

[0170] This makes it easier to detect the reflection from the sheet HS hanging down from the roll R using the flash light, thereby more reliably preventing the roll R from being damaged, for example, when the unmanned transport vehicle 20 enters the winding section 13.

[0171] In addition, the automated guided vehicle 20 according to this embodiment is an automated guided vehicle that collects and transports a roll from the winding section 13, and the detection section 23 detects the presence of a sheet HS hanging down from the roll R set in the winding section 13.

[0172] This makes it possible to more reliably prevent the roll R from being damaged when recovering the roll R set in the winding section 13.

[0173] Moreover, the automated guided vehicle 20 according to this embodiment is an automated guided vehicle that transports the core T to the winding unit 13, and the detection unit 23 detects the presence of the sheet HS hanging down from the roll R set in the winding unit 13.

[0174] This makes it possible to more reliably prevent the roll R from being damaged when the core T is transported to the winding section 13.

[0175] Moreover, the manufacturing system S according to this embodiment further includes a floor obstacle detection unit 26 for detecting the presence or absence of an obstacle on the floor surface ahead of the automatic guided vehicle 20.

[0176] As a result, if there is an obstacle on the floor surface, it is possible to detect the obstacle and take action using the floor obstacle detection unit 26. On the other hand, if the sheet HS is drooping, the detection unit 23 as a sheet droop detection unit can prevent a situation in which the roll is damaged when the automatic guided vehicle 20 enters the winding unit 13, for example.

[0177] In addition, the manufacturing system S of this embodiment is a manufacturing system including the unmanned guided vehicle 20 of claim 1, and is equipped with a winding unit 13 that winds up the green sheet film G to manufacture a roll R, an unmanned guided vehicle control device 27, and a control device 30, and the unmanned guided vehicle control device 27 determines whether or not there is a sheet HS hanging from the roll R set in the winding unit 13 based on information of the roll holding unit passing area R1 acquired by the detection unit 23.

[0178] This makes it possible to prevent a situation in which the roll R is damaged when the automatic guided vehicle 20 enters the winding section 13, for example.

[0179] Furthermore, in the manufacturing system S according to this embodiment, the illumination unit 24 emits illumination light L1 multiple times at intervals, the detection unit 23 acquires information of the roll holding unit passing area R1 at multiple times corresponding to the timing of the emission of the illumination light L1 multiple times, and the automated guided vehicle control device 27 determines whether or not there is a sheet HS hanging from the roll R set in the winding unit 13 based on the information of the roll holding unit passing area R1 at multiple times.

[0180] This allows the detection unit 23 to repeatedly determine whether or not there is a sheet HS hanging down from the roll R, thereby more reliably preventing the roll R from being damaged, for example, when the unmanned transport vehicle moves near the winding unit 13 to retrieve the roll R.

[0181] Furthermore, in the manufacturing system S according to this embodiment, the illumination unit 24 emits illumination light L1 multiple times at intervals, the detection unit 23 acquires information on at least one of the roll holding unit passing area R1 and the core passing area R2 at multiple times corresponding to the timing of the emission of the illumination light L1 multiple times, and the automated guided vehicle control device 27 determines whether or not there is a sheet HS hanging from the roll R set in the winding unit 13 based on the information on the roll holding unit passing area R1 at multiple times.

[0182] This enables the detection unit 23 to determine the presence or absence of the sheet HS hanging down from the roll R multiple times, thereby more reliably preventing the roll R from being damaged, for example, when the unmanned transport vehicle 20 enters the winding unit 13.

[0183] In addition, in the manufacturing system S according to this embodiment, when the unmanned guided vehicle control device 27 determines that there is a sheet HS hanging from the roll R set in the winding section 13, it performs control to stop the progress of the unmanned guided vehicle 20.

[0184] This allows the unmanned transport vehicle 20 to automatically stop moving when the detection unit 23 determines that there is a sheet HS hanging from the roll R multiple times, thereby more reliably preventing the roll R from being damaged.

[0185] Furthermore, the manufacturing system S according to this embodiment is equipped with an air blowing section 132, which blows out air W so as to cause the hanging sheet HS to sway when the sheet is hanging from the roll R set in the winding section 13.

[0186] As a result, the swaying of the sheet HS hanging down from the roll R makes it easier for the illumination light L1 from the illumination unit 24 to be reflected, so that the detection unit 23 can more reliably detect the sheet HS hanging down from the roll R, thereby preventing a situation in which the roll R is damaged.

[0187] Furthermore, the manufacturing system S according to this embodiment is provided with a shutter 10b that blocks the entry of the unmanned guided vehicle 20, and the unmanned guided vehicle control device 27 determines whether or not there is a sheet HS hanging down from the roll R set in the winding section 13 based on information on the roll holding section passing area R1 acquired by the detection section 23 when the shutter 10b is open.

[0188] As a result, the present invention can be effective even in a structure such as the housing 10a provided with the shutter 10b that surrounds the winding unit 13. For example, inside the housing 10a provided with the shutter 10b, the detection unit 23 can obtain information on the roll holding unit passing area R1 when the shutter 10b is open.

[0189] Furthermore, in the manufacturing system S according to this embodiment, the illumination unit 24 emits the illumination light L1 multiple times while the shutter 10b is open.

[0190] As a result, even when the unmanned transport vehicle 20 enters the winding section 13 inside the housing 10a having the shutter 10b, the detection unit 23 can determine whether or not the sheet HS has drooped multiple times, thereby more reliably preventing a situation in which the roll R would be damaged.

[0191] Furthermore, the manufacturing system S according to this embodiment is provided with a shutter 10b that blocks the entry of the unmanned guided vehicle 20, and the unmanned guided vehicle control device 27 determines whether or not there is a sheet HS hanging down from the roll R set in the winding section 13 based on information about the core passing area R2 acquired by the detection section 23 when the shutter 10b is open.

[0192] This makes it possible to more reliably prevent the roll R from being damaged even when the automatic guided vehicle 20 enters the winding unit 13, which is located inside the housing 10a having the shutter 10b.

[0193] Furthermore, the manufacturing system S according to this embodiment is a manufacturing system including the unmanned guided vehicle 20 of claim 1, and is equipped with an unmanned guided vehicle control device 27 and a control device 30, and the unmanned guided vehicle control device 27 determines whether or not there is a sheet HS hanging down from the roll R set in the winding section 13, based on information of the core passing area R2 acquired by the detection section 23.

[0194] This makes it possible to prevent a situation in which the roll R is damaged when the automatic guided vehicle 20 supplies the core T to the winding section 13, for example.

[0195] Moreover, the unmanned guided vehicle 20 according to this embodiment is an unmanned guided vehicle that includes a core holding unit 21 that holds a core T having an adhesive on its surface, a detection unit 23 that acquires information about a core passing region R2 including the passing position of the core T held by the core holding unit 21 when the unmanned guided vehicle 20 moves forward, and an illumination unit 24 that emits illumination light L1 toward the core passing region R2.

[0196] As a result, the automated guided vehicle 20 of this embodiment can prevent a situation in which the roll R is damaged when, for example, the core T is supplied to the winding section 13.

[0197] <Other Modifications> In the above embodiment, the control unit of the manufacturing system S including the automated guided vehicle 20 has been described as the control unit 280 and the control unit 310, but is not limited thereto. For example, the control unit of the manufacturing system S including the automated guided vehicle 20 may be provided in a distributed manner in the automated guided vehicle control device 27 and the control device 30, or a part or all of the control unit may be provided in a server on a network. Even if the control unit is provided in a distributed manner, if it cooperates functionally with the functions of the automated guided vehicle 20, it can be considered as the control unit 280 of the automated guided vehicle 20. Also, even if the control unit is provided in a distributed manner, if it cooperates functionally with the functions of the manufacturing system S, it can be considered as the control unit 310 of the manufacturing system S.

[0198] The present invention is not limited to the configurations of the above-mentioned embodiments, and can be appropriately modified and applied within the scope of the present invention. The present invention also includes a combination of two or more of the individual desirable configurations described in the above-mentioned embodiments.

[0199] <1> An automated guided vehicle, A roll holding unit that holds a roll; a detection unit that acquires information about a roll holding unit passing area including a passing position of the roll holding unit when the automatic guided vehicle moves; an illumination unit that emits illumination light toward the roll holding unit passing area; An unmanned transport vehicle equipped with <2> Further comprising a core holding section for holding a core having an adhesive on its surface, the detection unit acquires information about a core passing area including a passing position of the core held by the core holding unit when the automatic guided vehicle travels, The illumination unit emits illumination light toward the core passing area. <1> 2. An automated guided vehicle as described in <3> The detection unit is an image sensor that acquires image information of the roll holding unit passing area. <1> or <2> 2. An automated guided vehicle as described in <4> The detection unit is an image sensor that acquires image information of the core passing area. <2> 2. An automated guided vehicle as described in <5> The illumination light emitted by the illumination unit is a flash light. <1> from <4> 13. An automated guided vehicle according to claim 12. <6> The automated guided vehicle is an automated guided vehicle that retrieves the roll from the sheet winding device and transports it. The detection unit detects the presence of a sheet hanging from a roll set in the sheet winding device. <1> from <5> 13. An automated guided vehicle according to claim 12. <7> The automated guided vehicle is an automated guided vehicle that transports a core to a sheet winding device, The detection unit detects the presence of a sheet hanging from a roll set in the sheet winding device. <2> 2. An automated guided vehicle as described in <8> A floor obstacle detection unit for detecting the presence or absence of an obstacle on a floor surface ahead of the automated guided vehicle is further provided. <1> from <7> 13. An automated guided vehicle according to claim 12. <9> <1> A manufacturing system including the automated guided vehicle according to claim 1, a sheet winding device that winds up the sheet to produce a roll; A control unit, A manufacturing system in which the control unit determines whether or not there is a sheet hanging from the roll set in the sheet winding device based on information of the roll holding unit passing area acquired by the detection unit. <10> The illumination unit emits illumination light multiple times at intervals, The detection unit acquires information of the roll holding unit passing area at a plurality of timings corresponding to a plurality of emission timings of the illumination light, the control unit determines whether or not there is a sheet hanging from the roll set in the sheet winding device based on information of the roll holding unit passing area at the plurality of times. <9> The manufacturing system according to claim 1 . <11> When it is determined that a sheet is hanging from the roll set in the sheet winding device, the control unit performs control to stop the progress of the automatic guided vehicle. <9> or <10> The manufacturing system according to claim 1 . <12> an air blowing unit, which, when a sheet is hanging down from a roll set in the sheet winding device, blows out air so as to sway the hanging sheet; <9> from <11> 13. A manufacturing system according to any one of claims 1 to 12. <13> Equipped with a shutter that blocks the entry of automated guided vehicles, The control unit determines whether or not there is a sheet hanging from the roll set in the sheet winding device based on information of the roll holding unit passing area acquired by the detection unit when the shutter is open. <9> from <12> 13. A manufacturing system according to any one of claims 1 to 12. <14> The illumination unit emits illumination light a plurality of times while the shutter is open. <13> The manufacturing system according to claim 1 . <15> <2> A manufacturing system including the automated guided vehicle according to claim 1, a sheet winding device that winds up the sheet to produce a roll; A control unit, The control unit determines whether or not there is a sheet hanging from the roll set in the sheet winding device based on information about the core passing area acquired by the detection unit. <16> The illumination unit emits illumination light multiple times at intervals, the detection unit acquires information of the core passing area at a plurality of timings corresponding to a plurality of emission timings of the illumination light, the control unit determines whether or not there is a sheet hanging from the roll set in the sheet winding device based on the information of the core passing area at the multiple times. <15> The manufacturing system according to claim 1 . <17> When it is determined that a sheet is hanging from the roll set in the sheet winding device, the control unit performs control to stop the progress of the automatic guided vehicle. <15> or <16> The manufacturing system according to claim 1 . <18> an air blowing unit, which, when a sheet is hanging down from a roll set in the sheet winding device, blows out air so as to sway the hanging sheet; <15> from <17> 13. A manufacturing system according to any one of claims 1 to 12. <19> Equipped with a shutter that blocks the entry of automated guided vehicles, The control unit determines whether or not there is a sheet hanging from the roll set in the sheet winding device based on information about the core passing area acquired by the detection unit when the shutter is open. <15> from <18> The manufacturing system according to any one of the preceding claims. <20> The illumination unit emits illumination light a plurality of times while the shutter is open. <19> The manufacturing system according to claim 1 . <21> An unmanned guided vehicle comprising: a core holding section that holds a core having an adhesive on its surface; a detection section that acquires information about a core passing area including a passing position of the core held in the core holding section when the unmanned guided vehicle moves forward; and an illumination section that emits illumination light toward the core passing area.

[0200] <1> An automated guided vehicle, A core holding section that holds a core having an adhesive on its surface; a detection unit that acquires information about a core passing area including a passing position of the core held by the core holding unit when the automatic guided vehicle moves; an illumination unit that emits illumination light toward the core passing area; An unmanned transport vehicle equipped with <2> Further comprising a roll holding unit for holding the roll, The detection unit acquires information about a roll holding unit passing area including a passing position of the roll holding unit when the automatic guided vehicle travels, The illumination unit emits illumination light toward the roll holding unit passing area. <1> 2. An automated guided vehicle as described in <3> The detection unit is an image sensor that acquires image information of the core passing area. <1> or <2> 2. An automated guided vehicle as described in <4> 3. The automated guided vehicle according to claim 2, wherein the detection unit is an image sensor that obtains image information of an area passing through the roll holder. <5> The illumination light emitted by the illumination unit is a flash light. <1> from <4> 13. An automated guided vehicle according to claim 12. <6> The automated guided vehicle is an automated guided vehicle that transports the core from the sheet winding device, The detection unit detects the presence of a sheet hanging from a roll set in the sheet winding device. <1> from <5> 13. An automated guided vehicle according to claim 12. <7> The automated guided vehicle is an automated guided vehicle that collects and transports rolls to a sheet winding device, The detection unit detects the presence of a sheet hanging from a roll set in the sheet winding device. <2> 2. An automated guided vehicle as described in <8> A floor obstacle detection unit for detecting the presence or absence of an obstacle on a floor surface ahead of the automated guided vehicle is further provided. <1> from <7> 13. A manufacturing system according to any one of claims 1 to 12. <9> <1> A manufacturing system including the automated guided vehicle according to claim 1, a sheet winding device that winds up the sheet to produce a roll; A control unit, The control unit determines whether or not there is a sheet hanging from the roll set in the sheet winding device based on information about the core passing area acquired by the detection unit. <10> The illumination unit emits illumination light multiple times at intervals, the detection unit acquires information of the core passing area at a plurality of timings corresponding to a plurality of emission timings of the illumination light, the control unit determines whether or not there is a sheet hanging from the roll set in the sheet winding device based on the information of the core passing area at the multiple times. <9> The manufacturing system according to claim 1 . <11> When it is determined that a sheet is hanging from the roll set in the sheet winding device, the control unit performs control to stop the progress of the automatic guided vehicle. <9> or <10> The manufacturing system according to claim 1 . <12> Equipped with an air outlet, When a sheet is hanging down from a roll set in the sheet winding device, the air blowing section blows out air so as to sway the hanging sheet. <9> from <11> 13. A manufacturing system according to any one of claims 1 to 12. <13> Equipped with a shutter that blocks the entry of automated guided vehicles, The control unit determines whether or not there is a sheet hanging from the roll set in the sheet winding device based on information about the core passing area acquired by the detection unit when the shutter is open. <9> from <12> 13. A manufacturing system according to any one of claims 1 to 12. <14> The illumination unit emits illumination light a plurality of times while the shutter is open. <13> The manufacturing system according to claim 1 . <15> <2> A manufacturing system including the automated guided vehicle according to claim 1, a sheet winding device that winds up the sheet to produce a roll; A control unit, The control unit determines whether or not there is a sheet hanging from the roll set in the sheet winding device based on information of the roll holding unit passing area acquired by the detection unit. <16> The illumination unit emits illumination light multiple times at intervals, The detection unit acquires information of the roll holding unit passing area at a plurality of timings corresponding to a plurality of emission timings of the illumination light, the control unit determines whether or not there is a sheet hanging from the roll set in the sheet winding device based on information of the roll holding unit passing area at the plurality of times. <15> The manufacturing system according to claim 1 . <17> When it is determined that a sheet is hanging from the roll set in the sheet winding device, the control unit performs control to stop the progress of the automatic guided vehicle. <15> or <16> The manufacturing system according to claim 1 . <18> an air blowing unit, which, when a sheet is hanging down from a roll set in the sheet winding device, blows out air so as to sway the hanging sheet; <15> from <17> 13. A manufacturing system according to any one of claims 1 to 12. <19> Equipped with a shutter that blocks the entry of automated guided vehicles, The control unit determines whether or not there is a sheet hanging from the roll set in the sheet winding device based on information of the roll holding unit passing area acquired by the detection unit when the shutter is open. <15> from <18> 13. A manufacturing system according to any one of claims 1 to 12. <20> The illumination unit emits illumination light a plurality of times while the shutter is open. <19> The manufacturing system according to claim 1 . <21> An automated guided vehicle, A roll holding unit that holds a roll; a detection unit that acquires information about a roll holding unit passing area including a passing position of the roll holding unit when the automatic guided vehicle moves; an illumination unit that emits illumination light toward the roll holding unit passing area; An unmanned transport vehicle equipped with [Explanation of symbols]

[0201] R1 Roll holder passage area L1 illumination light 20 Automated Guided Vehicle 22 Roll holder 23 Detection unit 24 Lighting Department

Claims

1. An automated guided vehicle, A roll holding unit that holds a roll; a detection unit that acquires information about a roll holding unit passing area including a passing position of the roll holding unit when the automatic guided vehicle moves; an illumination unit that emits illumination light toward the roll holding unit passing area; An automated guided vehicle equipped with

2. Further comprising a core holding section for holding a core having an adhesive on its surface, the detection unit acquires information about a core passing area including a passing position of the core held by the core holding unit when the automatic guided vehicle travels, The illumination unit emits illumination light toward the core passing area.

2. The automated guided vehicle according to claim 1.

3. The automated guided vehicle according to claim 1 , wherein the detection unit is an image sensor that obtains image information of an area passing through the roll holder.

4. The automated guided vehicle according to claim 2 , wherein the detection unit is an image sensor that obtains image information of the core passing area.

5. The automated guided vehicle according to claim 1 , wherein the illumination light emitted by the illumination unit is a flash light.

6. The automated guided vehicle is an automated guided vehicle that retrieves the roll from the sheet winding device and transports it. The automated guided vehicle according to claim 1 , wherein the detection unit detects the presence of a sheet hanging down from a roll set in the sheet winding device.

7. The automated guided vehicle is an automated guided vehicle that transports a core to a sheet winding device, The automated guided vehicle according to claim 2 , wherein the detection unit detects the presence of a sheet hanging down from a roll set in the sheet winding device.

8. 3. The automated guided vehicle according to claim 1, further comprising a floor obstacle detection unit for detecting the presence or absence of an obstacle on a floor surface ahead of the automated guided vehicle.

9. A manufacturing system including the automated guided vehicle according to claim 1, a sheet winding device that winds up the sheet to produce a roll; A control unit, A manufacturing system in which the control unit determines whether or not there is a sheet hanging from the roll set in the sheet winding device based on information of the roll holding unit passing area acquired by the detection unit.

10. The illumination unit emits illumination light multiple times at intervals, The detection unit acquires information of the roll holding unit passing area at a plurality of timings corresponding to a plurality of emission timings of the illumination light, The manufacturing system according to claim 9 , wherein the control unit determines whether or not there is a sheet hanging from the roll set in the sheet winding device based on information of the roll holding unit passing area at the multiple times.

11. The manufacturing system according to claim 9 or 10, wherein the control unit performs control to stop the progress of the automated guided vehicle when it is determined that a sheet is hanging from the roll set in the sheet winding device.

12. Equipped with an air outlet, The manufacturing system according to claim 9 or 10, wherein when the sheet is hanging down from a roll set in the sheet winding device, the air blowing section blows out air so as to sway the hanging sheet.

13. Equipped with a shutter that blocks the entry of automated guided vehicles, A manufacturing system as described in claim 9 or 10, wherein the control unit determines whether or not there is a sheet hanging from the roll set in the sheet winding device based on information of the roll holding unit passing area acquired by the detection unit when the shutter is open.

14. The manufacturing system according to claim 13 , wherein the illumination unit emits illumination light a plurality of times while the shutter is open.

15. A manufacturing system including the automated guided vehicle according to claim 2, a sheet winding device that winds up the sheet to produce a roll; A control unit, The control unit determines whether or not there is a sheet hanging from the roll set in the sheet winding device based on information about the core passing area acquired by the detection unit.

16. The illumination unit emits illumination light multiple times at intervals, the detection unit acquires information of the core passing area at a plurality of timings corresponding to a plurality of emission timings of the illumination light, The manufacturing system according to claim 15 , wherein the control unit determines whether or not there is a sheet hanging from the roll set in the sheet winding device based on information of the core passing area at the multiple times.

17. The manufacturing system according to claim 15 or 16, wherein the control unit performs control to stop the progress of the automated guided vehicle when it is determined that a sheet is hanging from the roll set in the sheet winding device.

18. Equipped with an air outlet, The manufacturing system according to claim 15 or 16, wherein when the sheet is hanging down from a roll set in the sheet winding device, the air blowing section blows out air so as to sway the hanging sheet.

19. Equipped with a shutter that blocks the entry of automated guided vehicles, The manufacturing system of claim 15 or 16, wherein the control unit determines whether or not there is a sheet hanging from the roll set in the sheet winding device based on information about the core passing area acquired by the detection unit when the shutter is open.

20. The manufacturing system according to claim 19 , wherein the illumination unit emits illumination light a plurality of times while the shutter is open.

21. An automated guided vehicle, A core holding section that holds a core having an adhesive on its surface; a detection unit that acquires information about a core passing area including a passing position of the core held by the core holding unit when the automatic guided vehicle moves; an illumination unit that emits illumination light toward the core passing area; An automated guided vehicle equipped with

Images