Transport system, transport method, route information creation system and route information creation method

Abstract

This route information creation system: causes a transport device (Q), on which an accelerometer (A) that measures acceleration is mounted, to travel on a floor (F); extracts a caution site, at which there is a possibility that an abnormality will occur due to the state of the floor (F) during travel of the transport device (Q); and creates route information on the basis of information about the extracted caution site, the route information including speed information pertaining to the travel speed of the transport device (Q) on a travel route.

Description

[Technical Field]

[0001] The present disclosure relates to a transport system, a transport method, a route information creation system, and a route information creation method for transporting an object on a floor where manufacturing equipment is installed. [Background technology]

[0002] Tray feeders that supply components stored in trays are widely used as component supplying devices that supply components to component mounting devices that mount components on boards. Furthermore, as an effort to reduce the number of workers and achieve automation on floors where manufacturing equipment such as component mounting devices is installed, technology has been developed to automatically transport and supply materials (transported objects) used in manufacturing equipment (see, for example, Patent Document 1).

[0003] Patent document 1 discloses that a cart that holds multiple trays containing parts is connected to an automated guided vehicle, the cart is moved in front of a manufacturing device by the automated guided vehicle, and the trays held by the cart are supplied to the manufacturing device. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2019-91770 Summary of the Invention

[0005] However, in the prior art including Patent Document 1, although transported objects can be supplied to manufacturing equipment by an automated guided vehicle, there are problems such as the following due to the condition of the floor: When the transport path on which the automated guided vehicle travels passes through a point that is wavy, or when the automated guided vehicle passes over fallen objects such as screws or debris or over a joint in the floor, the automated guided vehicle or cart may bounce, causing parts to fall off the tray, leaving room for further improvement.

[0006] The present disclosure aims to provide a transport system, a transport method, a route information creation system, and a route information creation method that can transport transported objects in a normal state on a floor where manufacturing equipment is installed.

[0007] The conveying system disclosed herein is used on a floor on which one or more component mounting devices are installed, which remove components from trays attached to pallets and mount them on boards, and includes a conveying device that conveys an object to be conveyed, including a tray magazine that stores a plurality of the pallets with the trays attached, and a control system that controls conveying work by the conveying device based on route information regarding a conveying route, the route information having information on a section including a caution point where acceleration caused by the condition of the floor when the conveying device is traveling and exceeding a predetermined threshold when the conveying device is traveling at a first speed, and the control system controls the conveying device to travel at a second speed that is slower than the first speed when traveling through the section. The second speed is a speed at which the acceleration does not exceed the predetermined threshold when the conveying device travels in the section, and the predetermined threshold is set based on an acceleration at which a component may fly out of the tray when the conveying device conveys the tray magazine. do.

[0008] The transport method disclosed herein is a transport method for transporting an object to be transported, including a tray magazine containing a plurality of pallets with trays attached thereto, by a transport device on a floor on which one or more component mounting devices are installed, the component mounting devices removing components from trays attached to pallets and mounting the components on a board, the transport method controlling the transport operation by the transport device based on route information having information on a section including a caution point where acceleration caused by a condition of the floor while the transport device is traveling and exceeding a predetermined threshold value when the transport device is traveling at a first speed is measured, and causing the transport device to travel at a second speed slower than the first speed when traveling through the section. The second speed is a speed at which the acceleration does not exceed the predetermined threshold when the conveying device travels in the section, and the predetermined threshold is set based on an acceleration at which a component may fly out of the tray when the conveying device conveys the tray magazine. do.

[0009] The route information creation system of the present disclosure is used on a floor on which one or more component mounting devices are installed, which remove components from trays attached to pallets and mount them on boards, and includes a transport device that transports a transported object including a tray magazine that stores a plurality of the pallets with the trays attached; an accelerometer that is installed on the transport device or the transported object and that measures acceleration; a caution point extraction unit that extracts caution points where components may fly out of the tray based on acceleration information related to the acceleration on the floor obtained by causing the transport device to travel on the floor at a first speed with the accelerometer installed; and a route information creation unit that creates route information including a section including the caution point and speed information related to the travel speed of the transport device in the section, the speed information being a second speed that is slower than the first speed, and the second speed being determined by measuring the acceleration when the transport device travels on the section. The place The speed does not exceed a predetermined threshold, and the predetermined threshold is set based on an acceleration at which a component may fly out of the tray when the tray magazine is transported by the transport device.

[0010] The route information creation method disclosed herein is a route information creation method for creating route information regarding a transport route of a transport device that transports a transported object including a tray magazine containing a plurality of pallets with trays attached thereto, on a floor on which one or more component mounting devices that remove components from trays attached to pallets and mount them on boards are installed, the method comprising the steps of: installing an accelerometer that measures acceleration on the transport device or the transported object, causing the transport device to travel on the floor at a first speed, acquiring acceleration information regarding the acceleration on the floor; extracting caution points where components may fly out of the trays based on the acceleration information; and creating the route information based on information about the extracted caution points, including speed information regarding a section including the caution points and a travel speed of the transport device on the transport route in that section; the speed information is a second speed that is slower than the first speed, and the second speed is determined by calculating the acceleration when the transport device travels on the section. The placeThe speed does not exceed a predetermined threshold, and the predetermined threshold is set based on an acceleration at which a component may fly out of the tray when the tray magazine is transported by the transport device.

[0011] According to the present disclosure, the transported object can be transported in a normal state on the floor where the manufacturing equipment is installed. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a diagram illustrating the configuration of a floor including a component mounting system according to an embodiment of the present disclosure. [Figure 2] FIG. 2 is a diagram illustrating the configuration of a floor including a component mounting line provided in a component mounting system according to an embodiment of the present disclosure. [Figure 3] FIG. 3 is a diagram illustrating the configuration of a component mounting device and a transport device to which a component supply device and a storage device according to an embodiment of the present disclosure are attached. [Figure 4A] FIG. 4A is a diagram illustrating the configuration of a tray magazine according to an embodiment of the present disclosure. [Figure 4B] FIG. 4B is a partial cross-sectional view of a tray containing components according to one embodiment of the present disclosure. [Figure 4C] FIG. 4C is a partial cross-sectional view of a tray containing components according to one embodiment of the present disclosure. [Figure 5A] FIG. 5A is a block diagram showing the configuration of a management computer included in the transportation system according to the embodiment of the present disclosure. [Figure 5B] FIG. 5B is a block diagram illustrating a configuration of a transport device included in the transport system according to the embodiment of the present disclosure. [Figure 6] FIG. 6 is a diagram illustrating the creation of route information according to an embodiment of the present disclosure. [Figure 7] FIG. 7 is a diagram illustrating an example of transported object information used in the transport system according to the embodiment of the present disclosure. [Figure 8A] FIG. 8A is a diagram illustrating an example of acceleration information used in the transportation system according to the embodiment of the present disclosure. [Figure 8B]FIG. 8B is a diagram illustrating an example of a deceleration section used in the conveyance system according to the embodiment of the present disclosure. [Figure 8C] FIG. 8C is a diagram illustrating an example of a deceleration section used in the conveyance system according to the embodiment of the present disclosure. [Figure 9] FIG. 9 is a diagram illustrating an example of a transport path set on a floor on which a component mounting line according to an embodiment of the present disclosure is installed. [Figure 10A] FIG. 10A is a diagram illustrating an example of route information used in the transportation system according to the embodiment of the present disclosure. [Figure 10B] FIG. 10B is a diagram illustrating an example of route information used in the transportation system according to the embodiment of the present disclosure. [Figure 11A] FIG. 11A is a diagram illustrating another example of route information used in the transportation system according to the embodiment of the present disclosure. [Figure 11B] FIG. 11B is a diagram illustrating another example of the route information used in the transportation system according to the embodiment of the present disclosure. [Figure 12] FIG. 12 is a flow diagram of a transport method according to an embodiment of the present disclosure. [Figure 13] FIG. 13 is a flow diagram of a route information creation method according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0013] An embodiment of the present disclosure will be described in detail below with reference to the drawings. The configurations and shapes described below are examples for explanatory purposes and may be modified as appropriate depending on the specifications of the component mounting system, management computer, component mounting line, component mounting device, component supply device, storage device, or conveying device.

[0014] In the following, in all drawings, corresponding elements are given the same reference numerals, and duplicated explanations will be omitted. In Fig. 1 and in some drawings described later, the X axis (left-right direction in Fig. 1) in the substrate transport direction and the Y axis (left-right direction in Fig. 1) perpendicular to the substrate transport direction are shown as two axial directions that are perpendicular to each other in a horizontal plane. In Fig. 2 and in some drawings described later, the Z axis (up-down direction in Fig. 2) is shown as a height direction that is perpendicular to the horizontal plane.

[0015] First, the configuration of component mounting system 1 will be described with reference to Fig. 1. Fig. 1 is a diagram illustrating the configuration of floor F including component mounting system 1 of the present embodiment. Fig. 2 is a diagram illustrating the configuration of floor F including component mounting lines L1 to L3 equipped with component mounting system 1 of the present embodiment.

[0016] Component mounting system 1 is configured such that three component mounting lines L1 to L3 installed on floor F are connected by a wired or wireless communication network 2 and managed by a management computer 3. As will be described later, each of component mounting lines L1 to L3 is configured by connecting multiple manufacturing devices including component mounting devices, and has the function of producing mounted boards with components mounted on the board. Note that component mounting system 1 does not have to have three component mounting lines L1 to L3, and may have one, two, four or more.

[0017] On floor F, storage shelves 4 are installed to store components to be supplied to the component mounting devices equipped on component mounting lines L1 to L3 and materials such as cream solder to be supplied to the printing devices. The components are stored in a predetermined storage shelf of storage shelves 4, either placed on trays or held on carrier tapes and wound around reels. The locations of the components stored on storage shelves 4 are managed by management computer 3, linked to the names of the stored components, tray numbers or reel numbers, etc.

[0018] 1 and 2, a plurality of (eight in this example) image capturing devices S1 to S8 are installed on the ceiling Fa of floor F. The image capturing devices S1 to S8 are each connected to a management computer 3 via a communication network 2. The image capturing devices S1 to S8 are equipped with an image capturing unit having a camera, which captures images of a worker W and a transport device Q working on floor F and transmits the captured image data to the management computer 3. The number and installation positions of the image capturing devices S1 to S8 are set so that any of the image capturing devices S1 to S8 can capture an image of a worker W and a transport device Q working on floor F.

[0019] In FIG. 1, a worker W working on floor F carries an information terminal 5. The information terminal 5 is a smartphone or tablet PC (personal computer), and is equipped with a terminal-side communication unit 6 that wirelessly communicates with a management-side communication unit 3a provided in the management computer 3 to send and receive information, and a touch panel 7 that has display and input functions. The information terminal 5 displays various information received from the management computer 3 on the touch panel 7. The information terminal 5 also transmits various information input from the touch panel 7 to the management computer 3.

[0020] In FIG. 1, on floor F, a transport device Q (transport robot) is in operation, which transports transported objects such as parts (trays and reels) and materials and supplies them to manufacturing equipment.

[0021] 3 is a diagram illustrating the configuration of a component mounting device M5 equipped with a component supply device 21 and a storage device 22 according to this embodiment, and a transport device Q. The transport device Q shown in FIGS. 1 and 3 is configured to include a towed vehicle C carrying an object to be transported, and an automated guided vehicle V towing the towed vehicle C.

[0022] Different types of towed vehicles C are prepared according to the load to be transported. The automated guided vehicle V moves within the floor F towing the towed vehicle C in accordance with information sent from the management computer 3.

[0023] A distance measurement device L is installed at the front of the automated guided vehicle V. The distance measurement device L is equipped with a sensor capable of measuring the distance to an object, such as a LiDAR (Light Detection and Ranging) or a stereo camera. The towed vehicle C is also equipped with an accelerometer A equipped with an acceleration sensor that measures acceleration in three axial directions (X, Y, and Z axes) or a gyro sensor that measures acceleration in six axial directions. The accelerometer A may also be installed on the transported object mounted on the towed vehicle C.

[0024] The measurement results obtained by the distance measurement device L and the accelerometer A are wirelessly transmitted to the management computer 3. The measurement results obtained by the distance measurement device L and the accelerometer A may be temporarily stored in a storage device (logger) provided in the transport device Q in association with the measurement time, and the measurement results may be transferred to the management computer 3 after the measurement.

[0025] 1 and 3 is a trailer type in which an automated guided vehicle V tows a towed vehicle C, but the transport device Q may also be a truck type in which the automated guided vehicle V and towed vehicle C are integrated. In this way, the transport device Q that transports transported objects used on the floor F on which the manufacturing equipment is installed is equipped with a distance measurement device L equipped with a sensor that can measure the distance to the object, and an accelerometer A that measures acceleration.

[0026] Next, the detailed configuration of the component mounting lines L1 to L3 will be described with reference to Fig. 2. The component mounting lines L1 to L3 have the same configuration, and only the component mounting line L3 will be described below.

[0027] 2 is a schematic diagram of floor F on which component mounting line L3 is installed, viewed from the front side (the lower side in FIG. 1). On component mounting line L3, manufacturing devices such as board supply device M1, printing device M2, print inspection device M3, component mounting devices M4 and M5, mounting inspection device M6, reflow device M7, and board recovery device M8 are connected in series from upstream (left side of the page) to downstream (right side of the page) in the board transport direction (X axis).

[0028] The board supply device M1 supplies multiple boards to be stored in the storage area to downstream devices. The printing device M2 prints cream solder on the boards using a screen mask. The print inspection device M3 inspects the printing condition of the cream solder printed on the boards. The component mounting devices M4 and M5 mount components on the boards. The mounting inspection device M6 inspects the mounting condition of the components mounted on the boards. The reflow device M7 heats the boards to solder the electrodes on the boards to the terminals of the components. The board removal device M8 removes the reflowed boards from the storage area. In this way, floor F is equipped with one or more manufacturing devices that perform specified operations on boards.

[0029] Next, the component mounting device M5 will be described in detail with reference to Fig. 3. Fig. 3 is a schematic diagram of the component mounting device M5 as seen from the rear side (the upper side in Fig. 1). A component supply unit 11 is installed on each of the front and rear sides (front-rear direction of the Y axis) of the component mounting device M5. A carriage 13 on which a plurality of tape feeders 12 are mounted in parallel along the X axis is attached to the rear component supply unit 11.

[0030] The carriage 13 holds a reel 15 that stores a carrier tape 14 containing components in a wound state. The carrier tape 14 is configured such that components are stored in each of a plurality of pockets formed in a base tape, and the pockets are sealed with a cover tape.

[0031] The carrier tape 14 unwound from the reel 15 is attached to the tape feeder 12. The tape feeder 12 feeds the attached carrier tape 14 pitch-wise inside, peels off the cover tape, and supplies the components stored in the pockets to the component mounting device M5. When components are replenished, a new carrier tape 14 is attached to the tape feeder 12, or a new carrier tape 14 is spliced ​​to the rear end of the carrier tape 14 currently being supplied with components.

[0032] Carrier tape 14 (carried object) storing the components to be supplied is stored on reel 15 and transported by transport device Q. Hereinafter, the components stored on carrier tape 14 stored on reel 15 and supplied to component mounting devices M4 and M5 by tape feeder 12 will be referred to as "tape components."

[0033] 3, a component supply device 21 is attached to the rear component supply section 11, which supplies components stored in trays 17 held on the upper surfaces of pallets 16 to the component mounting device M5. Also attached to the rear side of the component supply device 21 is a storage device 22 which supplies pallets 16 to the component supply device 21. The storage device 22 stores a plurality of pallets 16 which hold trays 17 storing components to be supplied to the component mounting device M5.

[0034] The pallets 16 stored in the storage device 22 are supplied to and retrieved from the storage device 22 while being housed (stored) in a tray magazine 20 having a plurality of pallet storage sections 19 (see FIG. 4A). A magazine exchange window 23 for exchanging the tray magazine 20 is arranged on the rear side of the storage device 22.

[0035] The tray magazine 20 (hereinafter referred to as the "recovery magazine") that houses the pallets 16 holding the trays 17 that have been emptied after supplying components to the component mounting device M5 is removed through the magazine replacement window 23. Then, the tray magazine 20 (hereinafter referred to as the "supply magazine") that houses the pallets 16 that hold the trays 17 that contain components is replenished to the storage device 22 through the magazine replacement window 23. The supply magazine is an object to be transported by the transport device Q.

[0036] The replacement of the tray magazine 20 is performed by an operator W or by a conveying device Q equipped with an automatic supply device 56 (see FIG. 5B). Hereinafter, the components stored in the trays 17 held on the pallets 16 and supplied to the component mounting devices M4 and M5 by the component supply device 21 will be referred to as "tray components."

[0037] 3, a docking unit 24 is disposed on the rear side of the storage device 22. A transport device Q having an automatic supply device 56 that automatically supplies the storage device 22 with pallets 16 that are transported while housed in a supply magazine, retrieves the recovery magazine through the magazine replacement window 23 while coupled to the docking unit 24, and supplies the supply magazine to the storage device 22. In this way, the pallets 16 are transported to the storage device 22 by the transport device Q while stored in the tray magazine 20.

[0038] The storage device 22 houses a tray magazine 20 that stores the pallets 16. The storage device 22 has a pallet storage section 19 that stores the pallets 16 that hold the trays 17, and supplies the pallets 16 to the component supply device 21.

[0039] FIG. 4A is an explanatory diagram of the configuration of tray magazine 20 according to this embodiment. FIGS. 4B and 4C are partial cross-sectional views of tray 17, which stores components according to this embodiment. In FIG. 4A, a plurality of storage compartments 18 for storing tray components are formed on the upper surface of tray 17. A plurality of types of tray 17 are available, each with storage compartments 18 corresponding to the size and shape of the components to be stored. For example, tray 17A, which stores large component P1 as shown in FIG. 4B, has a large and deep storage compartment 18A. Furthermore, tray 17B, which stores small component P2 as shown in FIG. 4C, has a small and shallow storage compartment 18B.

[0040] Next, with reference to Figures 5A and 5B, the function of transporting an object on floor F will be described, which is part of the configuration of the control system of the management computer 3 (control system) and the transport device Q provided in the component mounting system 1 (transport system). Figure 5A is a block diagram showing the configuration of the management computer 3 provided in the transport system of this embodiment. Figure 5B is a block diagram showing the configuration of the transport device Q provided in the transport system of this embodiment.

[0041] 5A, the management computer 3 includes a management processing unit 30, a management storage unit 36, an input unit 43, a display unit 44, a communication unit 45, and a management-side communication unit 3a. The management processing unit 30 is a data processing device such as a CPU (Central Processing Unit), and includes an information acquisition unit 31, a caution point extraction unit 32, a route information creation unit 33, a transportation control unit 34, and an image analysis unit 35. The management storage unit 36 ​​is a storage device, and stores floor information 37, transported object information 38, map information 39, acceleration information 40, caution point information 41, route information 42, and the like.

[0042] The input unit 43 is an input device such as a keyboard, touch panel, or mouse, and is used when inputting operation commands and data. The display unit 44 is a display device such as a liquid crystal panel, and displays various data stored in the management memory unit 36, as well as various information such as an operation screen or input screen for operation by the input unit 43. The communication unit 45 is a communication interface, and transmits and receives data to and from the manufacturing devices that make up the component mounting lines L1 to L3 via the communication network 2.

[0043] The management-side communication unit 3a wirelessly transmits and receives various information to and from the terminal-side communication unit 6 of the information terminal 5 and the transport-side communication unit 57 of the transport device Q. The management computer 3 does not have to be configured as a single computer, but may be configured as multiple devices. For example, all or part of the storage unit and processing unit may be provided in the cloud via a server.

[0044] 5B, the transport device Q includes a transport control device 50, a traveling device 55, an automatic supply device 56, a transport side communication unit 57, a distance measurement device L, and an accelerometer A. The transport control device 50 includes a travel processing unit 51, a supply processing unit 52, and a transport memory unit 53.

[0045] The transport storage unit 53 is a storage device that stores transport route information 54 and the like. The transport side communication unit 57 wirelessly transmits and receives various information to and from the management side communication unit 3a of the management computer 3. The transport side communication unit 57 receives route information 42, which will be described later, from the management computer 3 and stores it in the transport storage unit 53 as transport route information 54. The transport side communication unit 57 also transmits measurement data from the distance measurement device L and the accelerometer A to the management computer 3.

[0046] The traveling device 55 includes a motor for driving the wheels of the automated guided vehicle V and a mechanism for changing the direction of the wheels. The traveling processing unit 51 controls the traveling device 55 in accordance with the transport route information 54 stored in the transport memory unit 53 or instructions from the management computer 3, and causes the transport device Q to travel along a specified transport route within the floor F at a specified speed (maximum speed).

[0047] The automatic supply device 56 is equipped with a mechanism for raising and lowering the tray magazines 20 and a mechanism for supplying and retrieving the tray magazines 20 to the storage device 22. The supply processing unit 52 controls the automatic supply device 56 in accordance with instructions from the management computer 3 to supply the transported tray magazines 20 to the storage device 22.

[0048] 6 is a diagram illustrating the creation of route information according to this embodiment. In FIG. 5A, floor information 37 includes information such as the positions (coordinates) of the manufacturing devices of component mounting lines L1 to L3 arranged on floor F, information (coordinates) of the transport route set on floor F, and the maximum speed of each section of the transport route. Information acquisition unit 31 causes a transport device Q equipped with a distance measurement device L and an accelerometer A to travel along a circulating route J (see FIG. 6) that circulates around the transport route set on floor F. Then, information acquisition unit 31 acquires measurement data of the distance to a nearby object measured by distance measurement device L while transport device Q is traveling, and stores the data as map information 39 in management storage unit 36.

[0049] Furthermore, the information acquisition unit 31 acquires measurement data of acceleration measured by the accelerometer A while the transport device Q is traveling, and stores the data in the management memory unit 36 ​​as acceleration information 40. The information acquisition unit 31 makes the transport device Q travel around the patrol route J while changing the travel speed, and acquires map information 39 and acceleration information 40. Note that the work of acquiring the map information 39 and acceleration information 40 while the transport device Q is traveling is performed at the start of manufacturing work, after cleaning the floor F, or after changing the layout, etc.

[0050] 5A, the transported object information 38 includes information for the transport device Q to transport transported objects such as parts or cream solder used in the manufacturing equipment installed on floor F. Here, an example of the transported object information 38 in which parts are transported objects will be described with reference to Fig. 7. Fig. 7 is a diagram showing an example of the transported object information 38 used in the transport system of this embodiment.

[0051] The transported object information 38 includes, for each part name 60, a container 61, a class 62, a maximum speed 63, and the like. The container 61 indicates the holding form of the part when it is loaded onto the transport device Q. In FIG. 7, "tray" indicates a tray part housed in the tray 17, and "tape" indicates a tape part stored in the carrier tape 14 and housed in a reel.

[0052] Class 62 is a classification of sensitivity (resistance) to abnormalities in the condition of the transported object caused by vibrations received during transport by transport device Q. In this example, class 62 is classified into four categories from "0" to "3," with smaller numbers indicating greater resistance to vibration and larger numbers indicating less resistance to vibration. For example, tape components with component names 60 of "D006" and "D007" are classified as "0" in class 62 because no component misalignment occurs due to vibration.

[0053] Furthermore, even among tray components, for example, component P1, which is large and highly resistant to vibration as shown in FIG. 4B, is classified as "1" in class 62. Also, component P2, which is small and less resistant to vibration as shown in FIG. 4C, may fly out of tray 17B due to the large vibrations it receives during transport, and is classified as "2" or "3" in class 62. Hereinafter, components with class 62 of "1" will be referred to as "class 1 components," etc.

[0054] In Figure 7, maximum speed 63 indicates the maximum speed allowed while the part is being transported. Maximum speed 63 is divided into multiple categories based on the magnitude of acceleration that the part may be subjected to while being transported. In this example, the maximum speed 63 is divided into three categories: a first speed 63a for an acceleration in the Z-axis direction of "-0.8 G or more," a second speed 63b for an acceleration in the Z-axis direction of "-0.8 G to -1.2 G," and a third speed 63c for an acceleration in the Z-axis direction of "-1.2 G or less."

[0055] G is the gravitational acceleration, and -1.0G indicates that the parts are being accelerated in the Z-axis direction to balance out the Earth's gravity. When a negative acceleration is applied in the Z-axis direction, the state of the parts inside the storage section 18 of the tray 17 becomes unstable. If the tray 17 moves horizontally at high speed during this time, abnormalities in the storage state of the parts may occur, such as the parts flying out of the storage section 18 or the parts being turned upside down inside the storage section 18.

[0056] In the example of Fig. 7, two thresholds, "-0.8 G" and "-1.2 G," are set for the acceleration in the Z-axis direction. Hereinafter, the acceleration in the Z-axis direction of "-0.8 G" will be referred to as the "first threshold," and the acceleration in the Z-axis direction of "-1.2 G" will be referred to as the "second threshold."

[0057] The first speed 63a is set to "1.0 m / s" for all parts. For class 0 parts, the second speed 63b and the third speed 63c are set to "1.0 m / s", the same as the first speed 63a.

[0058] On the other hand, for class 1 parts, the second speed 63b is set to "1.0 m / s", the same as the first speed 63a, but the third speed 63c is set to "0.8 m / s". For class 2 parts, the second speed 63b is set to "0.8 m / s" and the third speed 63c is set to "0.5 m / s". For class 3 parts, the second speed 63b is set to "0.5 m / s" and the third speed 63c is set to "0.3 m / s". In other words, if there is a possibility of negative acceleration when transporting parts with low vibration resistance, the maximum speed 63 is set to be lower (slower).

[0059] The number of classifications for the class 62, the number of classifications for the maximum speed 63, and the threshold values ​​set in the transported object information 38 shown in FIG. 7 are merely examples, and the number of classifications may be three, five, or more. The threshold value for acceleration in the Z-axis direction is also freely set based on experimental results and other factors, depending on the size and weight of the parts and the shape of the storage section 18 of the tray 17. For example, the predetermined threshold value may be set corresponding to the transported object. The threshold acceleration may also be determined taking into account not only the Z-axis component but also the horizontal (X-axis and Y-axis) components. In this way, the first and second threshold values ​​(predetermined threshold values) are set based on the acceleration at which an abnormality occurs in the storage state of the parts in the tray 17 (the state of the transported object) when the transport device Q transports the tray magazine 20 or the pallet 16 (the transported object).

[0060] In Figure 5A, the caution point extraction unit 32 extracts caution points H that may cause vibrations to the transported object due to joints, floor undulations, fallen objects, etc. while the transport device Q is traveling on the floor F, based on the transported object information 38 and acceleration information 40 stored in the management memory unit 36.

[0061] 8A is a diagram showing an example of acceleration information 40 used in the transportation system of this embodiment. Fig. 8A shows an example of acceleration information 40 between points B1 and B5 measured by accelerometer A while transportation device Q is traveling along patrol route J on floor F.

[0062] The caution point extraction unit 32 extracts points where the acceleration exceeds the first threshold and the second threshold from the acceleration information 40. In the example of Fig. 8A, the caution point extraction unit 32 extracts two caution points H: caution point H1 where the acceleration exceeds the first threshold (-0.8G) and caution point H2 where the acceleration exceeds the second threshold (-1.2G).

[0063] In this way, the caution point extraction unit 32 extracts caution points H where there is a possibility of abnormalities occurring due to the condition of the floor F when the transport device Q is traveling, based on acceleration information 40 regarding the acceleration on the floor F acquired by causing the transport device Q to travel on the floor F with the accelerometer A installed. Information on the extracted caution points H is stored in the management memory unit 36 ​​as caution point information 41.

[0064] 5A, the route information creation unit 33 sets a detour section and a deceleration section on the transport route based on the transport route information included in the floor information 37, the map information 39, and the caution point information 41. The route information creation unit 33 updates the floor information 37 based on the information on the set detour section and deceleration section.

[0065] When the route information creation unit 33 finds an object on the transport route that may be an obstacle to the travel of the transport device Q from the map information 39, it sets a transport route (detour section) that bypasses the obstacle. There are multiple embodiments of the method for setting the deceleration section including the caution point H by the route information creation unit 33.

[0066] Next, some embodiments will be described with reference to Figures 8B and 8C. Figures 8B and 8C are diagrams showing examples of deceleration sections used in the conveyance system of this embodiment. Note that the route information creation unit 33 may set a conveyance route (detour section) that bypasses the attention point H.

[0067] Figures 8B and 8C show examples of deceleration sections corresponding to the transportation of class 2 parts set between points B1 and B5 based on attention points H1 and H2 extracted between points B1 and B5 on the transport route shown in Figure 8A.

[0068] First, with reference to Fig. 8B, a method for setting a deceleration section according to the first embodiment by the route information creation unit 33 will be described. In the first embodiment, the transport route is divided into a plurality of sections E, and a section E including a caution point H is set as a deceleration section. The sections E are divided at predetermined distances (for example, every 1 m) or at points where the transport route branches or turns.

[0069] 8B, the route information creation unit 33 divides the section from point B1 to point B5 into four equally spaced sections E1 to E4. That is, the section from point B1 to point B5 is divided into section E1 between point B1 and point B2, section E2 between point B2 and point B3, section E3 between point B3 and point B4, and section E4 between point B4 and point B5. The route information creation unit 33 sets section E2, which includes attention point H1, where the first threshold value is exceeded, as deceleration section E2, where the maximum speed is 0.8 m / s (second speed 63b). Similarly, the route information creation unit 33 sets section E3, which includes attention point H2, where the second threshold value is exceeded, as deceleration section E3, where the maximum speed is 0.5 m / s (third speed 63c).

[0070] Furthermore, the route information creation unit 33 sets the maximum speed in sections E1 and E4 that do not include the caution point H to 1.0 m / s (first speed 63a). For class 3 parts, the route information creation unit 33 sets the maximum speed in the deceleration section E2 to 0.5 m / s (second speed 63b) and the maximum speed in the deceleration section E3 to 0.3 m / s (third speed 63b). For class 1 parts, the route information creation unit 33 does not set the section E2 that includes the caution point H1 as a deceleration section (maximum speed is 1.0 m / s), and sets the maximum speed in the deceleration section E3 to 0.8 m / s (third speed 63b). Thus, in the first embodiment, the section E of the conveyance route that includes the caution point H, where the acceleration exceeds a predetermined threshold when the conveyance device Q travels at the first speed 63a, is at least one (section E2 or section E3) of the multiple sections E1 to E4 into which the conveyance route is divided.

[0071] Next, a method for setting a deceleration section according to the second embodiment by the route information creation unit 33 will be described with reference to Fig. 8C. In the second embodiment, a deceleration section E is set on the conveyance route by extending a rear margin distance Kb (e.g., 0.5 m) rearward from the attention point H and a front margin distance Kf (e.g., 0.5 m) forward. The rear margin distance Kb and the front margin distance Kf are set depending on the performance of the conveyance device Q, the condition of the floor F, etc.

[0072] 8C, the route information creation unit 33 sets a deceleration section E12 by extending a rear margin distance Kb backward from the caution point H1 and a front margin distance Kf forward. Also, the route information creation unit 33 sets a deceleration section E14 by extending a rear margin distance Kb backward from the caution point H2 and a front margin distance Kf forward.

[0073] The route information creation unit 33 also sets the maximum speed in the deceleration section E12 to 0.8 m / s (second speed 63b) and the maximum speed in the deceleration section E14 to 0.5 m / s (third speed 63b).The route information creation unit 33 then sets the sections other than the deceleration section E12 and the deceleration section E14 as sections with a maximum speed of 1.0 m / s (first speed 63a).That is, the route information creation unit 33 sets the section E11 from point B1 to the deceleration section E12, the section E13 between the deceleration section E12 and the deceleration section E14, and the section E15 from the deceleration section E14 to point B5 as sections with a maximum speed of 1.0 m / s (first speed 63a). Thus, in the second embodiment, the section E of the conveying route including the caution point H where the acceleration exceeds a predetermined threshold when the conveying device Q travels at the first speed 63a is the sections E12 and E14, which are extended a predetermined distance (rear margin distance Kb, front margin distance Kf) before and after the caution points H1 and H2.

[0074] Next, an example of a deceleration section set on the conveyance route on floor F by the route information creation unit 33 will be described with reference to Fig. 9. Fig. 9 is a diagram showing an example of a conveyance route set on floor F on which component mounting lines L1 to L3 of the present embodiment are installed. In this example, the route information creation unit 33 sets the deceleration section according to the third embodiment, which is a combination of the first and second embodiments. That is, similar to the first embodiment, the conveyance route is divided in advance into a plurality of sections E21 to E34 between branching or turning points B11 to B20 and point B10 where conveyance device Q, carrying an object to be conveyed stored in storage shelf 4, starts toward the manufacturing device.

[0075] In the example of FIG. 9, the caution point extracting unit 32 extracts caution points HY1 to HY3 in the sections E24, E32 and E31, respectively.

[0076] As in the second embodiment, the route information creation unit 33 sets the deceleration section EY1 by extending the attention point HY1 in section E24 forward and backward. The route information creation unit 33 also sets sections other than the deceleration section EY1 in section E24 as sections E24a and E24b. Similarly, the deceleration section EY2, section E32a, and section E32b are set in section E32. The deceleration section EY3, section E31a, and section E31b are set in section E31. The maximum speed in the deceleration section EY1 and the deceleration section EY3 is set to the second speed 63b, and the maximum speed in the deceleration section EY2 is set to the third speed 63c. The maximum speed in the other sections is set to the first speed 63a.

[0077] 5A and 5B, the route information creation unit 33 creates route information 42 to be used when the transport device Q transports the transported object on the floor F, based on floor information 37 in which the deceleration sections EY1 to EY3 are set and transported object information 38. The created route information 42 is stored in the management storage unit 36. The route information 42 is created corresponding to the type or destination of the transported object.

[0078] Next, an example of the path information 42 created by the path information creation unit 33 will be described with reference to Figures 9, 10A, and 10B. Figures 10A and 10B are diagrams showing an example of the path information 42 used in the conveyance system of this embodiment. Figures 10A and 10B show the path information 42 when transporting a Class 2 tray component from a start point T0 in front of the storage shelf 4 shown in Figure 9 to a destination T1 on the rear side of the component mounting device M5 on the component mounting line L1.

[0079] 10A shows route information 42 for transporting a Class 2 tray component from start point T0 to destination T1 on floor F, which does not have a caution point H on the transport route and does not have a deceleration section set. In this case, route information creation unit 33 creates route information 42 for traveling from start point T0 to destination T1 through sections E21 to E26 at a maximum speed of 1.0 m / s (first speed 63a). In addition, route information creation unit 33 creates route information 42 for traveling from destination T1 through sections E26 to E31 at a maximum speed of 1.0 m / s (first speed 63a) and returning to start point T0 as the return route after unloading the transported object.

[0080] Fig. 10B shows route information 42 for transporting a class 2 tray component from start point T0 to destination T1 on a transport route on floor F where deceleration sections EY1-EY3 shown in Fig. 9 are set. In Fig. 9, a deceleration section EY1 with a maximum speed of second speed 63b is set between start point T0 and destination T1. Therefore, the route information creation unit 33 creates route information 42 in which the maximum speed in deceleration section EY1 set between start point T0 and destination T1 is 0.8 m / s (second speed 63b), as shown in Fig. 10B.

[0081] 9, a deceleration section EY3 is set on the return route from destination T1 back to start point T0. However, because no transported objects are being transported on the return route, consideration is not required regarding the storage status of the transported objects. Therefore, the route information creation unit 33 creates route information 42 in which the maximum speed in the deceleration section EY3 on the return route from destination T1 back to start point T0 is not changed from 1.0 m / s (first speed 63a).

[0082] 11A and 11B are diagrams showing another example of the route information 42 used in the conveyance system of this embodiment. Fig. 11A and 11B show route information 42 created by the route information creation unit 33 for conveying a Class 2 tray component from a start point T0 on floor F to a destination T2 on the rear side of component mounting device M5 on component mounting line L2. Fig. 11A shows the case of floor F where no deceleration zone is set. Fig. 11B shows the case of floor F where deceleration zones EY1 to EY3 shown in Fig. 9 are set.

[0083] 9, a deceleration section EY1 with a maximum speed of second speed 63b and a deceleration section EY2 with a maximum speed of third speed 63b are set between the start point T0 and the destination T2. ​​Therefore, as shown in FIG. 11B, the route information creation unit 33 creates route information 42 from the start point T0 to the destination T2, in which the maximum speed in the deceleration section EY1 is 0.8 m / s (second speed 63b) and the maximum speed in the deceleration section EY2 is 0.5 m / s (third speed 63c).

[0084] In this way, the route information creation unit 33 creates route information 42 including speed information regarding the traveling speed (maximum speed) of the transport device Q on the transport route, based on the information on the attention points HY1 to HY3 extracted by the attention point extraction unit 32. The traveling speed includes a first speed 63a and a second speed 63b (third speed 63c) that is slower than the first speed 63a.

[0085] Furthermore, the route information creation unit 33 creates route information 42 corresponding to the class 62 of the transported object. That is, the route information creation unit 33 changes the second speed 63b (third speed 63c) in accordance with the class 62 of the transported object.

[0086] The route information creation unit 33 creates route information 42 in which the second speed 63b is set as the traveling speed (maximum speed) in a deceleration section EY1 of the transport route including an attention point HY1 where the acceleration exceeds a predetermined threshold (first threshold) when the transport device Q travels at the first speed 63a. That is, the second speed 63b is a speed at which the acceleration does not exceed the predetermined threshold (first threshold) when the transport device Q travels in the deceleration section EY1. Similarly, the route information creation unit 33 creates route information 42 in which the third speed 63c is set as the traveling speed (maximum speed) in a deceleration section EY2 of the transport route including an attention point HY2 where the acceleration exceeds the predetermined threshold (second threshold) when the transport device Q travels at the first speed 63a. That is, the third speed 63c is a speed at which the acceleration does not exceed the predetermined threshold (second threshold) when the transport device Q travels in the deceleration section EY2.

[0087] 5A and 5B, the transport control unit 34 controls the transport work by the transport device Q based on route information 42 stored in the management memory unit 36. That is, the management computer 3 equipped with the transport control unit 34 constitutes a control system that controls the transport work by the transport device Q based on route information 42 regarding the transport route, which includes speed information regarding the traveling speed (maximum speed) of the transport device Q that is set based on acceleration (acceleration information 40) measured in advance and that occurs due to the state of the floor F when the transport device Q is traveling.

[0088] There are multiple embodiments of the method by which the control system (transport control unit 34) controls the transport work by the transport device Q. First, a first embodiment will be described with reference to FIGS. 5A, 5B, and 9.

[0089] In the first embodiment, the transport control unit 34 transmits route information 42 corresponding to the type of transported object loaded on the transport device Q and the transport destination to the transport device Q, which is stopped at the start point T0 in front of the storage shelf 4. The transport device Q stores the received route information 42 in the transport memory unit 53 as transport route information 54. The travel processing unit 51 controls the traveling device 55 based on the stored transport route information 54 to transport the transported object. This allows the transported object to be transported in a normal state on the floor F where the manufacturing equipment is installed.

[0090] For example, when a class 2 tray component with component name 60 "D002" is to be transported to destination T1 on the rear side of component mounting device M5 on component mounting line L1, transport control unit 34 transmits route information 42 shown in FIG. 10B to transport device Q. If the object to be transported is a plurality of types of tray components stored in tray magazine 20, transport control unit 34 transmits route information 42 corresponding to class 62, which is the largest and most vibration-sensitive component, to transport device Q. For example, if tray components of class 1 and class 2 are stored in tray magazine 20, transport control unit 34 transmits route information 42 corresponding to class 2 tray components to transport device Q.

[0091] Next, a second embodiment will be described with reference to FIGS. 5A, 5B, and 9. In the second embodiment, instead of transmitting route information 42 to the transport apparatus Q, the transport control unit 34 sequentially transmits travel instructions according to the position of the transport apparatus Q based on the route information 42 selected corresponding to the type of transported object and the transport destination loaded on the transport apparatus Q. For example, when controlling the transport operation by the transport apparatus Q based on the route information 42 shown in FIG. 10B, the transport apparatus Q traveling in section E23 is instructed to travel from point B13 to section E24a at a maximum speed of 1.0 m / s (first speed 63a). Furthermore, the transport apparatus Q is instructed to travel at a maximum speed of 0.8 m / s (second speed 63b) in the deceleration section EY1. This reduces the acceleration experienced by the transported object during transport, allowing the transported object to be transported normally.

[0092] 5A and 5B, the image analysis unit 35 analyzes the video of the transport device Q traveling within the floor F captured by the imaging devices S1 to S8, and detects the state of the transport device Q while it is traveling. For example, when the image analysis unit 35 extracts the attention point H instead of the attention point extraction unit 32 extracting the attention point H based on the acceleration information 40 measured by the accelerometer A installed on the transport device Q, the image analysis unit 35 detects the amount of change in the Z-axis direction of the transport device Q while it is traveling.

[0093] Then, the image analysis unit 35 stores the point where the detected change amount in the Z-axis direction exceeds a predetermined threshold as a caution point H in the caution point information 41. The route information creation unit 33 creates route information 42 based on the caution points H extracted by the image analysis unit 35. This allows the transported object to be transported in a normal state on the floor F where the manufacturing equipment is installed, even if the transport device Q does not have an accelerometer A.

[0094] As described above, a management computer 3 equipped with a transport device Q equipped with an accelerometer A for measuring acceleration, a caution point extraction unit 32 for extracting caution points H where abnormalities may occur due to the condition of the floor F when the transport device Q is traveling based on acceleration information 40 obtained by having the transport device Q travel along the floor F, and a route information creation unit 33 for creating route information 42 including speed information regarding the travel speed (maximum speed) of the transport device Q on the transport route based on information about the caution points H (attention point information 41), constitutes a route information creation system.

[0095] Furthermore, a conveying device Q that conveys the object on the floor F and a management computer 3 (control system) that includes a conveying control unit 34 that controls the conveying operation by the conveying device Q based on route information 42 related to the conveying route constitute a conveying system. This allows the object to be conveyed in a normal state on the floor F where the manufacturing equipment is installed.

[0096] Next, a transport method for transporting an object by a transport device Q, which is used on a floor F where one or more manufacturing devices that perform predetermined operations on substrates are installed, will be described with reference to the flow of Fig. 12. Fig. 12 is a flow chart of the transport method of this embodiment.

[0097] First, the route information creation system (the conveying device Q and the management computer 3) creates route information 42 (ST1: route information creation step). That is, route information 42 is created regarding the transport route, including speed information regarding the traveling speed (maximum speed) of the conveying device Q, which is set based on a previously measured acceleration that occurs due to the state of the floor F when the conveying device Q is traveling. In the route information creation step (ST1), multiple pieces of route information 42 are created corresponding to the type of transported object and the destination of the transport.

[0098] Next, the control system (transport control unit 34) controls the transport work by the transport device Q based on the created route information 42 (ST2: transport work process). In the transport work process (ST2), the transport work is controlled based on the route information 42 corresponding to the type of transported object to be transported by the transport device Q and the destination.

[0099] For example, when the conveying device Q conveying an object passes through the deceleration section EY1, the conveying operation is controlled so that the maximum speed becomes the second speed 63b corresponding to the class 62 of the object (see FIG. 9). On floor F, the conveying operation process (ST2) is repeatedly executed until the conveying of all the objects is completed (No in ST3). Note that if multiple conveying devices Q are operating on floor F, the conveying operation process (ST2) is executed in parallel for the multiple conveying devices Q.

[0100] Next, a path information creation method (path information creation step: ST1 in FIG. 12) for creating path information 42 related to the transport path of a transport device Q that transports an object and is used on a floor F where one or more manufacturing devices that perform predetermined operations on a substrate are installed will be described along the flow of FIG. 13 and with reference to FIG. 9. FIG. 13 is a flow chart of the path information creation method of this embodiment.

[0101] First, the information acquisition unit 31 acquires map information 39 about the floor F and acceleration information 40 about the acceleration by installing a sensor (distance measurement device L) capable of measuring the distance to an object and an accelerometer A that measures acceleration on the conveying device Q or the object to be conveyed, and then having the conveying device Q travel along the floor F (ST11: information acquisition process).

[0102] Next, the caution point extraction unit 32 extracts caution points HY1 to HY3 where an abnormality may occur due to the state of the floor F when the conveyance device Q is traveling, based on the acceleration information 40 (ST12: caution point extraction step).

[0103] Next, the route information creation unit 33 sets deceleration sections EY1 to EY3 on the transport route based on the information of the extracted attention points HY1 to HY3 (attention point information 41) (ST13: deceleration section setting step). In addition, the route information creation unit 33 sets detour sections that detour around obstacles on the transport route based on the map information 39.

[0104] Next, the route information creation unit 33 creates route information 42 corresponding to the type (class 62) of the transported object and the transport destination (ST14: route information creation step). The route information creation step (ST14) is repeatedly executed by changing the combination of the type of the transported object and the transport destination until route information 42 is created for all combinations (No in ST15).

[0105] That is, in the route information creation step (ST14), route information 42 is created that includes speed information related to the traveling speed (maximum speed) of the conveying device Q on the conveying route, corresponding to the type of conveyed object and the destination, based on the information on the extracted attention points HY1 to HY3. Note that the route information 42 may be created in advance for all combinations and stored in the management storage unit 36, or alternatively, when the type of conveyed object and the destination are determined in the conveying work step (ST2), the route information 42 corresponding to the combination may be created.

[0106] In the above embodiment, the conveying system is described as an example of a conveying device Q that conveys conveyed objects such as tray magazines 20 on floor F where manufacturing devices that perform work on substrates are located, but this is not limiting. For example, the manufacturing device may be a manufacturing device that performs production work on wafers (workpieces) in a semiconductor manufacturing line that manufactures semiconductor products, and the conveyed object may be a wafer carrier that stores wafers. Furthermore, the manufacturing device may be a manufacturing device that performs production work in an assembly production line that assembles electrical equipment or a food processing line that produces processed food products, and the conveyed object may be a mounting substrate, a housing, or a food material or container. [Industrial Applicability]

[0107] The conveying system, conveying method, route information creation system, and route information creation method disclosed herein have the effect of enabling transported objects to be transported in a normal state on a floor where manufacturing equipment is installed, and are useful in the field of mounting components onto circuit boards. [Explanation of symbols]

[0108] 3 Management computer (control system) 15 Reel (carried object) 16 Pallet (carried object) 17, 17A, 17B Tray 19 Pallet storage area 20 Tray magazine (carried items) A Accelerometer E1-E4, E11-E15, E21-E23, E25-E30, E33, E34, E24a, E24b, E31a, E31b, E32a, E32b, EY1-EY3 sections F Floor H1, H2, HY1~HY3 Caution points L Distance measuring device M1 Substrate supply equipment (manufacturing equipment) M2 Printing equipment (manufacturing equipment) M3 Printing Inspection Equipment (Manufacturing Equipment) M4, M5 parts mounting equipment (manufacturing equipment) M6 Mounting inspection device (manufacturing device) M7 Reflow Equipment (Manufacturing Equipment) M8 Substrate recovery equipment (manufacturing equipment) P1, P2 parts Q Conveyor device

Claims

1. a conveying device used on a floor on which one or more component mounting devices are installed, which remove components from trays attached to pallets and mount them on boards, and which conveys an object to be conveyed, including a tray magazine containing a plurality of the pallets with the trays attached; a control system that controls the conveying operation by the conveying device based on route information regarding the conveying route; the route information includes information on a section including a caution point where acceleration caused by a condition of the floor while the transport device is traveling and which exceeds a predetermined threshold when the transport device is traveling at a first speed is measured; the control system causes the transport device to travel at a second speed slower than the first speed when traveling through the section; the second speed is a speed at which the acceleration does not exceed the predetermined threshold when the conveying device travels in the section, A conveying system, wherein the predetermined threshold is set based on an acceleration that may cause a component to fly out of the tray when the tray magazine is conveyed by the conveying device.

2. The conveying system according to claim 1 , wherein the section is at least one of a plurality of sections into which the conveying route is divided.

3. The conveyance system according to claim 1 , wherein the section is a section extending a predetermined distance before and after the attention point.

4. 2. The conveying system according to claim 1, wherein the route information is created based on acceleration information obtained by running the conveying device along the floor with an accelerometer that measures acceleration installed on the conveying device or the conveyed object.

5. A conveying method for conveying an object to be conveyed, including a tray magazine containing a plurality of pallets with trays attached thereto, by a conveying device on a floor on which one or more component mounting devices are installed, the tray magazine containing a plurality of pallets with trays attached thereto, the method comprising: controlling the transport work by the transport device based on route information having information on a section including a caution point where acceleration caused by the condition of the floor while the transport device is traveling and exceeding a predetermined threshold value when the transport device is traveling at a first speed; and causing the transport device to travel at a second speed slower than the first speed when traveling in the section; the second speed is a speed at which the acceleration does not exceed the predetermined threshold when the conveying device travels in the section, A conveying method, wherein the predetermined threshold value is set based on an acceleration that may cause a component to fly out of the tray when the tray magazine is conveyed by the conveying device.

6. a conveying device used on a floor on which one or more component mounting devices are installed, which remove components from trays attached to pallets and mount them on boards, and which conveys an object to be conveyed, including a tray magazine containing a plurality of the pallets with the trays attached; an accelerometer that is installed on the conveying device or the conveyed object and that measures acceleration; a caution point extraction unit that extracts caution points where there is a possibility that a component may fly out of the tray based on acceleration information regarding the acceleration on the floor acquired by causing the conveyance device to travel on the floor at a first speed with the accelerometer installed; and a route information creation unit that creates route information including a section including the caution point and speed information related to a traveling speed of the conveyance device in the section, wherein the speed information is a second speed that is slower than the first speed; the second speed is a speed at which the acceleration does not exceed a predetermined threshold when the conveying device travels in the section, A path information creation system, wherein the predetermined threshold is set based on an acceleration that may cause a component to fly out of the tray when the tray magazine is transported by the transport device.

7. 1. A method for creating route information relating to a transport route of a transport device that transports an object including a tray magazine that stores a plurality of pallets with trays attached thereto, on a floor where one or more component mounting devices that remove components from trays attached to pallets and mount them on a board are installed, comprising: an accelerometer for measuring acceleration is installed on the transport device or the transported object, and the transport device is caused to travel on the floor at a first speed, thereby acquiring acceleration information regarding the acceleration on the floor; extracting caution points where there is a possibility that a component may fly out of the tray based on the acceleration information, and creating the route information including a section including the caution points and speed information related to the traveling speed of the conveyance device on the conveyance route in that section based on the information on the extracted caution points, the speed information being a second speed slower than the first speed; the second speed is a speed at which the acceleration does not exceed a predetermined threshold when the conveying device travels in the section, A path information creation method, wherein the predetermined threshold is set based on an acceleration at which a component may fly out of the tray when the tray magazine is transported by the transport device.

Images