Factory manufacturing systems

Abstract

This manufacturing system 100 for a factory comprises: an autonomous mobile body 3; and a setting unit 5 that sets a movement-prohibited area Ar2, in which movement of the autonomous mobile body 3 is prohibited, on the basis of a prohibited area setting signal for setting the movement-prohibited area Ar2 with respect to a movement-allowed area Ar1 within a factory 101, and that also sets a bypass route Ra for the autonomous mobile body 3 such that the autonomous mobile body 3 moves by avoiding a location on the floor of the factory 101 corresponding to the movement-prohibited area Ar2.

Description

Technical Field

[0001] This invention relates to a manufacturing system for a factory, and particularly to a manufacturing system for a factory equipped with an autonomous mobile body that moves autonomously.

Background Art

[0002] Conventionally, a system equipped with an autonomous mobile body that moves autonomously is known. Such a system is disclosed, for example, in Japanese Patent Application Laid-Open No. 2020-154655.

[0003] Japanese Patent Application Laid-Open No. 2020-154655 discloses a management system equipped with an unmanned vehicle that moves autonomously.

[0004] The management system of Japanese Patent Application Laid-Open No. 2020-154655 includes a management device and the unmanned vehicle. The management device is configured to create travel course data of the unmanned vehicle at the work site. The travel course data is a course along which the unmanned vehicle can travel at the work site. The unmanned vehicle is configured to travel at the work site based on the travel course data created in the management device. The unmanned vehicle is configured to travel toward the waste dump along the travel course data after loading ore and earth and sand at the loading site. The unmanned vehicle is configured to discharge (perform waste dumping work) the ore and earth and sand loaded at the waste dump after reaching the waste dump.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] In the management system described in Japanese Patent Publication No. 2020-154655, it is assumed that if a worker enters the unmanned vehicle's travel course at a work site, or if the vehicle ahead stops on the unmanned vehicle's travel course, the subsequent unmanned vehicle will stop. In such cases, soil removal work by the unmanned vehicle may be interrupted and significantly delayed. Therefore, it is desirable to prevent the unmanned vehicle (autonomous mobile device) from stopping, thereby suppressing interruptions and delays in work (product manufacturing) performed by a management system using an unmanned vehicle (autonomous mobile device).

[0007] This invention was made to solve the above-mentioned problems, and one of its objectives is to provide a factory manufacturing system that can suppress interruptions and delays in product manufacturing using an autonomous mobile system. [Means for solving the problem]

[0008] A factory manufacturing system according to the first aspect of this invention comprises: an autonomous mobile unit that autonomously moves within a movable area of ​​the factory floor to a target location to perform work necessary to continue manufacturing products within the factory; a mounting line on which multiple circuit board work devices are arranged for manufacturing circuit boards with components mounted as products; and a setting unit that sets a no-movement area in the movable area, including the travel path to the work location of the circuit board work device as the target location, based on a no-movement area setting signal for setting a no-movement area that prohibits the movement of the autonomous mobile unit within the movable area of ​​the factory, and sets a detour route that allows the autonomous mobile unit to reach the target location from its current position so as to avoid the area of ​​the factory floor corresponding to the no-movement area, wherein the mounting line includes a first mounting line and a second mounting line separate from the first mounting line, and the setting unit is Of the areas that can be moved Between the first implementation line and the second implementation line Between lines in the area When a destination location is set in the route, the system searches for candidate detour routes for autonomous mobile units that pass through restricted areas, and obtains the results obtained from that search. Between lines Take the route Target locationThe first detour route to reach, Of the areas that can be moved Other than between the first implementation line and the second implementation line Out of line in the area via route Between lines Take the route To reach the target location The system is configured to select and set a detour route for the autonomous mobile unit from among several candidate detour routes, including a second detour route.

[0009] This invention 1 In a factory manufacturing system based on this aspect, as described above, a setting unit is provided to set a no-movement zone based on a no-movement zone setting signal for setting a no-movement zone that prohibits the movement of the autonomous mobile body within the movable area of ​​the factory, and to set a detour route for the autonomous mobile body so that it moves to avoid the area on the factory floor corresponding to the no-movement zone. As a result, even if a situation arises where the autonomous mobile body cannot move in the movable area, such as when a worker is temporarily staying in the movable area or when a worker temporarily places goods in the movable area, the autonomous mobile body can move along the detour route by setting a no-movement zone based on the no-movement zone setting signal and changing the autonomous mobile body's movement route to a detour route. Consequently, the autonomous mobile body can continue its work, thus preventing interruptions and delays in product manufacturing by a factory manufacturing system using autonomous mobile bodies.

[0010] the above 1 In a factory manufacturing system based on this aspect, preferably, the setting unit is configured to set a detour route for the autonomous mobile body so that it avoids areas within the factory floor corresponding to the set no-movement zones during product manufacturing. With this configuration, by setting no-movement zones in the movable area during product manufacturing, the autonomous mobile body can move along the detour route and continue its work, thereby suppressing delays in product manufacturing caused by the autonomous mobile body stopping during product manufacturing.

[0011] the above 1In a factory manufacturing system based on this aspect, preferably, the setting unit searches for candidate detour routes for the autonomous mobile body that pass through a no-movement area. If multiple candidate detour routes are obtained through this search, the system is configured to set the detour route on which the autonomous mobile body will travel if the distance from the autonomous mobile body's current position to the target position is shorter than that of the other candidate detour routes. This configuration suppresses the increase in the distance traveled from the autonomous mobile body's current position to the target position caused by the autonomous mobile body traveling along the detour route, thereby suppressing the increase in the time it takes for the autonomous mobile body to reach the target position. As a result, even when the autonomous mobile body travels along a detour route, delays in product manufacturing can be minimized.

[0012] In this case, preferably, multiple autonomous mobile units are arranged on the factory floor, and the setting unit is configured to set a detour route candidate that is shorter than other detour route candidates, and that has fewer other autonomous mobile units passing through it than the one autonomous mobile unit to which the shorter detour route candidate has been set. With this configuration, delays in the time it takes for one autonomous mobile unit to reach its destination from its current position due to congestion on the detour route can be suppressed as much as possible, and thus delays in product manufacturing can be suppressed as much as possible.

[0013] the above 1 In a factory manufacturing system based on this aspect, preferably, the setting unit is configured to release the setting of a no-movement area based on a no-movement area release signal for releasing the setting of a no-movement area. With this configuration, the movement path of the autonomous mobile body can be automatically returned from the detour path to the original movement path, so that the movement path from the current position to the target position of the autonomous mobile body, which is caused by the autonomous mobile body moving along the detour path, can be automatically returned to a state suitable for the manufacturing of the first product.

[0014] the above 1 In a factory manufacturing system in this aspect, preferably , establishedThe control unit, during the manufacturing of a circuit board on the assembly line, based on the prohibited area setting signal, This includes the travel path to the work area in the substrate handling device, which is the target location. The system includes a control device configured to set no-movement zones within a movable area. This configuration enables the realization of a factory manufacturing system that can minimize delays in substrate manufacturing.

[0015] the above 1 In a factory manufacturing system based on the above, preferably, the system further includes a display unit capable of displaying movable areas and restricted areas acquired from a setting unit, and the setting unit is configured to set restricted areas based on a restricted area setting signal input by an operator who performs an input operation to specify a restricted area for the movable area displayed on the display unit. With this configuration, operators can set restricted areas simply by operating the movable area displayed on the display unit, so operators can easily set restricted areas.

[0016] In this case, preferably, the setting unit is configured to release the setting of a no-movement area and return it to a movable area when the operator performs an input operation to release the setting of a no-movement area displayed on the display unit. With this configuration, the operator can easily release the setting of a no-movement area by simply operating the no-movement area displayed on the display unit.

[0017] In a factory manufacturing system equipped with the above-described display unit, preferably, the setting unit is configured to set a prohibited area as a prohibited area when an operator performs an input operation to set a prohibited area as a prohibited area in a prohibited area setting area that has been pre-set as a section of the movable area that can be changed to a prohibited area, as displayed on the display unit. With this configuration, operators can easily recognize the sections that can be set as prohibited areas, and thus operators can easily set prohibited areas.

[0018] In the manufacturing system for a factory including the above display unit, preferably, the setting unit is configured to set a predetermined area including the designated position as a movement prohibited area based on an arbitrary designated position specified by an operator within the movable area displayed on the display unit. With such a configuration, since it is possible for the operator to set a movement prohibited area throughout the movable area, the movement prohibited area can be set at a position closer to the operator's assumption.

[0019] In this case, preferably, the setting unit is configured to reduce or expand the movement prohibited area in accordance with the reduced or expanded predetermined area based on an operation by the operator to reduce or expand the range of the predetermined area with respect to the movement prohibited area of the predetermined area displayed on the display unit. With such a configuration, it is possible to easily set a movement prohibited area having a size closer to the operator's assumption.

[0020] In the manufacturing system for a factory including the above implementation line, preferably, the control device performs control to set the movable area near the device from which the prohibition area setting signal is transmitted among the plurality of substrate working devices as a movement prohibited area based on the prohibition area setting signal transmitted from at least one of the plurality of substrate working devices. With such a configuration, since the movement prohibited area is automatically set based on the prohibition area setting signal transmitted from the substrate working device, it is possible to prevent the operator from having to take the trouble of setting the movement prohibited area.

[0021] In the manufacturing system for a factory including the above display unit, preferably, the factory further includes a terminal provided with the display unit that receives an input operation by an operator, and the display unit provided on the terminal is configured to display a detour route, a movable area, and a movement prohibited area on the factory floor. With such a configuration, the operator can easily visually recognize the detour route, the movable area, and the movement prohibited area on the factory floor. A factory manufacturing system according to the second aspect of this invention comprises: an autonomous mobile body that autonomously moves within a movable area of ​​the factory floor to a target position to perform work necessary to continue manufacturing products within the factory; a setting unit that sets a no-movement area based on a no-movement area setting signal for setting a no-movement area that prohibits the movement of the autonomous mobile body within the movable area of ​​the factory, and sets a detour route that allows the autonomous mobile body to reach the target position from its current position so that it avoids the area on the factory floor corresponding to the no-movement area; and a mounting line on which a plurality of board work devices for manufacturing boards with components mounted as products are arranged, wherein, during the manufacturing of boards on the mounting line, the setting unit sets a movable area near the board work device from which the no-movement area setting signal was transmitted as a no-movement area based on a no-movement area setting signal transmitted from at least one of the plurality of board work devices.

Advantages of the Invention

[0022] According to the present invention, as described above, it is possible to suppress interruptions and delays in the manufacturing of products by a factory manufacturing system using an autonomous mobile unit. [Brief explanation of the drawing]

[0023] [Figure 1] This is a schematic overall diagram of the substrate manufacturing system according to the first embodiment. [Figure 2] This is a side view of an autonomous vehicle in a substrate manufacturing system according to the first embodiment. [Figure 3] This is a schematic diagram showing a state in which a no-travel area corresponding to a specified location has been set on the setting screen displayed on the display unit of the client terminal in the substrate manufacturing system of the first embodiment. [Figure 4] This is a schematic diagram showing a state in which the no-travel area corresponding to the specified position has been enlarged on the setting screen displayed on the display unit of the client terminal in the substrate manufacturing system of the first embodiment. [Figure 5] This is a schematic diagram showing the case where a first detour route is set as a detour route for an autonomous vehicle in the substrate manufacturing system of the first embodiment. [Figure 6] This is a schematic diagram showing the case where a third detour route is set as a detour route for the autonomous vehicle in the substrate manufacturing system of the first embodiment. [Figure 7] This is a schematic diagram showing the state in which the display unit of the client terminal in the substrate manufacturing system of the first embodiment displays the drivable area, the prohibited area, and the detour route. [Figure 8] This is a schematic diagram showing the display unit of a client terminal in the substrate manufacturing system of the first embodiment, with the setting for the no-travel area removed. [Figure 9] This is a flowchart illustrating the bypass route setting process performed by the management server in the substrate manufacturing system of the first embodiment. [Figure 10] This is a schematic overall diagram of the substrate manufacturing system according to the second embodiment. [Figure 11]This is a schematic diagram showing a state in which a no-travel area has been set in the restricted area setting area on the setting screen displayed on the display unit of the client terminal in the substrate manufacturing system of the second embodiment. [Figure 12] This is a schematic diagram showing the state in which the size of the prohibited area setting section has been changed on the setting screen displayed on the display unit of the client terminal in the substrate manufacturing system of the second embodiment. [Figure 13] This is a schematic diagram showing the size of the restricted area setting section and the setting location as changed in the setting screen displayed on the display unit of the client terminal in the substrate manufacturing system of the second embodiment. [Figure 14] This is a schematic overall diagram of the substrate manufacturing system according to the third embodiment. [Figure 15] This is a schematic diagram showing the state in which a no-driving area has been set on the setting screen displayed on the display unit of the client terminal in the third embodiment of the substrate manufacturing system. [Modes for carrying out the invention]

[0024] The following describes embodiments of the present invention based on the drawings.

[0025] [First Embodiment] The configuration of the substrate manufacturing system 100 according to the first embodiment of the present invention will be described with reference to Figures 1 to 9. Note that the substrate manufacturing system 100 is an example of a "factory manufacturing system" within the scope of the claims.

[0026] (Circuit board manufacturing system) As shown in Figure 1, the substrate manufacturing system 100 according to the first embodiment of the present invention is installed in a factory 101 that manufactures substrates with mounted components. The substrate manufacturing system 100 comprises a mounting line 1, a component storage unit 2, an autonomous vehicle 3, a client terminal 4, and a management server 5. The client terminal 4 is an example of a "terminal" as defined in the claims. The management server 5 is an example of a "setting unit" and a "control device" as defined in the claims. The autonomous vehicle 3 is an example of an "autonomous mobile device" as defined in the claims.

[0027] (Implementation line) Assembly line 1 is equipped with multiple board handling devices for manufacturing boards with components mounted as products. Assembly line 1 includes a loader 11, a printer 12, a print inspection machine 13, a dispenser device 14, a component mounting device 15, a visual inspection device 16, a reflow machine 17, a visual inspection device 18, and an unloader 19 as board handling devices. Furthermore, in assembly line 1, boards are transported from the upstream side to the downstream side. Multiple (two) assembly lines 1 are provided. Note that there may be one or three or more assembly lines 1. Also, there may be two or more component mounting devices 15. Furthermore, each of the loader 11, printer 12, print inspection machine 13, dispenser device 14, component mounting device 15, visual inspection device 16, reflow machine 17, visual inspection device 18, and unloader 19 are examples of "board handling devices" within the scope of the claims.

[0028] Since the two implementation lines 1 in Figure 1 have the same configuration, only the configuration of one of the implementation lines 1 will be described below. Note that multiple implementation lines 1 may have different configurations from each other.

[0029] The loader 11 holds the circuit board before components are mounted and also loads the circuit board into the mounting line 1. The components include small electronic components such as LSIs, ICs, transistors, capacitors, and resistors.

[0030] The printer 12 is a screen printer and has the function of applying solder paste onto the mounting surface of a circuit board. The printing inspection machine 13 has the function of inspecting the condition of the solder paste printed by the printer 12. The dispenser device 14 has the function of applying solder paste, adhesive, etc. to the circuit board. The component mounting device 15 has the function of mounting (mounting) components at predetermined mounting positions on the circuit board on which the solder paste has been printed. The visual inspection device 16 is located downstream of the component mounting device 15. The visual inspection device 16 has the function of inspecting the appearance of the circuit board on which components have been mounted by the component mounting device 15. The reflow device 17 has the function of melting the solder by heat treatment and joining components to the electrode parts of the circuit board. The reflow device 17 is configured to perform heat treatment while transporting circuit boards on a lane. The visual inspection device 18 is located downstream of the reflow device 17. The visual inspection device 18 has the function of inspecting the appearance of the circuit board after heat treatment has been performed by the reflow device 17. The unloader 19 is responsible for ejecting the circuit board from the mounting line 1 after the components have been mounted.

[0031] Each of the loader 11, printer 12, print inspection machine 13, dispenser device 14, component mounting device 15, visual inspection device 16, reflow machine 17, visual inspection device 18, and unloader 19 has a display unit (not shown) made of a liquid crystal display or the like. This display unit is configured to display information transmitted from the management server 5 on the screen. Each of the loader 11, printer 12, print inspection machine 13, dispenser device 14, component mounting device 15, visual inspection device 16, reflow machine 17, visual inspection device 18, and unloader 19 also has a communication unit (not shown). This communication unit is configured to communicate with the management server 5.

[0032] (Parts storage room) The parts storage unit 2 is configured to store parts and jigs (such as backup pins) contained in reels R, while maintaining appropriate temperature and humidity levels inside the unit. The parts storage unit 2 is configured to dispense the requested reels R based on requests for the necessary reels R from the parts mounting machine 15, for example. There are three parts storage units 2 in the factory 101. However, there may be one, two, or four or more parts storage units 2 in the factory 101.

[0033] (Autonomous vehicle) Autonomous vehicle 3 is an AGV (Automatic Guided Vehicle). Autonomous vehicle 3 is configured to assist with the assembly work on assembly line 1. Specifically, autonomous vehicle 3 is configured to autonomously move within the drivable area Ar1 on the floor of factory 101 (an example of "autonomous movement" in the claims) and perform tasks to allow the manufacturing of circuit boards to continue within factory 101. The drivable area Ar1 is the part of the floor of factory 101 other than assembly line 1 and component storage room 2. Note that the drivable area Ar1 is an example of a "movable area" in the claims.

[0034] For example, the autonomous vehicle 3 is configured to transport a reel R containing parts retrieved from the parts storage 2 to the parts mounting device 15. The reel R transported by the autonomous vehicle 3 is supplied to the parts mounting device 15 by a worker (not shown) performing work related to the manufacturing of circuit boards within the factory 101. Alternatively, the autonomous vehicle 3 may supply the reel R directly to the parts mounting device 15. Furthermore, for example, the autonomous vehicle 3 is configured to transport used reel R from the parts mounting device 15. The used reel R is loaded onto the autonomous vehicle 3 by a worker (not shown). Alternatively, the autonomous vehicle 3 may retrieve the reel R directly from the parts mounting device 15. The autonomous vehicle 3 is configured to remember its assigned role (for example, transporting reel R, transporting jigs, etc.). The autonomous vehicle 3 is also configured to obtain the travel route from its current location Pr to its destination location De (workplace) from the management server 5.

[0035] Specifically, as shown in Figures 1 and 2, the autonomous vehicle 3 includes a drive unit 31, an imaging unit 32, a battery 33, a housing unit 34, and a control unit 35.

[0036] The drive unit 31 is a motor. The drive unit 31 is provided for autonomous driving. The drive unit 31 drives multiple wheels to enable autonomous driving of the autonomous vehicle 3. The imaging unit 32 is a camera. The imaging unit 32 is configured to capture images of the surroundings of the autonomous vehicle 3. The imaging unit 32 is configured to take images to record the working conditions. The imaging unit 32 takes images to obtain information necessary for the autonomous driving and working of the autonomous vehicle 3.

[0037] Battery 33 is a rechargeable battery capable of repeated charging and discharging. Battery 33 is built into the autonomous vehicle 3. Battery 33 supplies power to the drive unit 31. Battery 33 supplies power to the control unit 35.

[0038] The control unit 35 is configured to control various parts of the autonomous vehicle 3. The control unit 35 includes a CPU (Central Processing Unit) and a storage unit with memory. The control unit 35 is configured to control the autonomous driving of the autonomous vehicle 3 by controlling the drive unit 31 based on the driving route acquired from the management server 5 and the images captured by the imaging unit 32.

[0039] Multiple (5) of these autonomous vehicles 3 are deployed on the floor of factory 101. Note that one to four, or six or more, autonomous vehicles 3 may be deployed on the floor of factory 101.

[0040] (Client terminal) Client terminal 4 is a portable device such as a tablet carried by the worker. Client terminal 4 is a terminal capable of receiving input operations from the worker. Specifically, client terminal 4 includes a control unit 41, a display unit 42, and a communication unit 43. The control unit 41 has a CPU and a storage unit having memory. The display unit 42 is composed of a touch panel or the like. The display unit 42 is configured to display information transmitted from the management server 5 on its screen. The communication unit 43 is configured to communicate with the management server 5.

[0041] (Management Server) The management server 5 is a control device that manages information related to the implementation line 1. The management server 5 includes a control unit 51 and a communication unit 52, among other components. The control unit 51 has a CPU and a storage unit that has memory such as ROM (Read Only Memory) and RAM (Random Access Memory). The storage unit stores a data management program that manages data related to implementation by the implementation line 1.

[0042] Furthermore, the management server 5 has the function of acquiring information such as the area where the autonomous vehicle 3 can travel Ar1, the area where the autonomous vehicle 3 is prohibited from traveling Ar2 (see Figure 3), the current position Pr of the autonomous vehicle 3 (see Figure 5), the position of the equipment on the assembly line 1, the position of the parts storage room 2, and the position of other autonomous vehicles 3b. The management server 5 also has the function of acquiring information about the destination position De (workplace) of the autonomous vehicle 3. The management server 5 has the function of creating a travel route from the current position Pr of the autonomous vehicle 3 to the destination position De (workplace) of the autonomous vehicle 3. Note that the prohibited area Ar2 is an example of a "prohibited area" within the scope of the claim.

[0043] The communication unit 52 is connected to each device on the mounting line 1 (loader 11, printer 12, print inspection machine 13, dispenser device 14, component mounting device 15, visual inspection device 16, reflow device 17, visual inspection device 18, unloader 19) in a manner that enables communication. The communication unit 52 is also connected to the autonomous vehicle 3 in a manner that enables communication.

[0044] (Setting a detour route) The floor of factory 101 includes an area where the assembly line 1 is located, an area where the parts storage room 2 is located, and an area where workers can stay or pass through. These areas are restricted areas where the autonomous vehicle 3 cannot enter. In addition, in the drivable area Ar1 where the autonomous vehicle 3 is traveling (an example of "movement" in the scope of the claim), workers are prohibited from entering as it would obstruct the movement of the autonomous vehicle 3, and placing anything other than the autonomous vehicle 3 in the area is prohibited as a general rule. However, there are cases where workers temporarily stay in the drivable area Ar1, or where workers temporarily place luggage or other items in the drivable area Ar1. In such cases, if the autonomous vehicle 3 is stopped and the manufacturing of circuit boards by the circuit board manufacturing system 100 is interrupted in order to avoid a collision with the autonomous vehicle 3, the efficiency of circuit board manufacturing will deteriorate.

[0045] Therefore, as shown in Figures 3 to 6, the management server 5 of the first embodiment controls the setting of a prohibited area Ar2 based on a prohibited area setting signal for setting a prohibited area Ar2 in which the autonomous vehicle 3 is prohibited from traveling within the drivable area Ar1 in the factory 101. The management server 5 also controls the setting of a detour route Ra for the autonomous vehicle 3 so that it avoids traveling to areas within the factory 101 floor that correspond to the prohibited area Ar2.

[0046] In other words, as shown in Figure 3, the management server 5 controls the setting of a no-travel area Ar2 within the travelable area Ar1 based on a no-travel area setting signal while the circuit board is being manufactured on the mounting line 1.

[0047] Specifically, the management server 5 controls the setting of the no-travel area Ar2 based on a no-travel area setting signal input by an operator who performs an input operation to specify the no-travel area Ar2 in relation to the travelable area Ar1 displayed on the display unit 42. Here, the no-travel area setting signal is a signal transmitted from the client terminal 4 to the management server 5 via the communication unit 43. The input operation by the operator to specify the no-travel area Ar2 refers to the operation of touching a part of the travelable area Ar1 on the setting screen Gr displayed on the display unit 42, which simulates the assembly line 1, the parts storage room 2, and the factory floor 101, and specifying a location. In other words, the management server 5 is configured to set a predetermined area including the specified location Pt as the no-travel area Ar2 based on the arbitrary specified location Pt specified by the operator within the travelable area Ar1 displayed on the display unit 42. The size of the predetermined area (displayed as a circle in Figure 3) is set in advance.

[0048] The display unit 42 of the client terminal 4 displays the drivable area Ar1 and the drivable area Ar2, which were obtained from the management server 5 after the driving prohibited area Ar2 was identified. In other words, the settings screen Gr displays not only the assembly line 1, the parts storage room 2, the factory 101 floor, and the drivable area Ar1, but also the drivable area Ar2.

[0049] Furthermore, as shown in Figure 4, the management server 5 is configured to shrink or expand the no-travel area Ar2 of a predetermined area, based on the operator's operation to shrink or expand the range of the predetermined area, as displayed on the display unit 42. Here, the input operation for the operator to shrink the no-travel area Ar2 refers to the operation of touching a part of the no-travel area Ar2 on the setting screen Gr displayed on the display unit 42 to make the dimensions of the predetermined area smaller. Similarly, the input operation for the operator to expand the no-travel area Ar2 refers to the operation of touching a part of the no-travel area Ar2 on the setting screen Gr displayed on the display unit 42 to make the dimensions of the predetermined area larger.

[0050] Figure 4 shows an example of the settings screen Gr, which displays the state where the no-travel area Ar2 has been expanded to match the expanded designated area, based on the operator's operation to expand the range of the designated area. If the operator performs an operation to reduce the range of the designated area, the settings screen Gr displayed on the display unit 42 will show the state where the no-travel area Ar2 has been reduced to match the reduced designated area.

[0051] As shown in Figures 5 and 6, during the manufacturing of the circuit board, the management server 5 controls the autonomous vehicle 3 to avoid the areas within the factory floor 101 that correspond to the restricted area Ar2, based on the set restricted area Ar2. This control sets the detour route Ra for the autonomous vehicle 3.

[0052] Specifically, as shown in Figure 5, the management server 5 searches for candidate detour routes Ra for the autonomous vehicle 3 that pass through the no-travel area Ar2. If multiple candidate detour routes Ra are obtained through this search, the management server 5 controls the system to set the detour route Ra that has a shorter distance from the current location Pr to the destination location De than the other candidate detour routes Ra as the detour route Ra for the autonomous vehicle 3. In other words, as an example of the control to set a detour route Ra that is shorter than the other candidate detour routes Ra as the detour route Ra, if the management server 5 obtains a first candidate route Ra1, a second candidate route Ra2, and a third candidate route Ra3 as candidate detour routes Ra for the autonomous vehicle 3, it controls the system to set the shortest first candidate route Ra1, which is shorter than the second candidate route Ra2 and the third candidate route Ra3, as the detour route Ra.

[0053] Furthermore, as shown in Figure 6, the management server 5 searches for candidate detour routes Ra for one of the multiple autonomous vehicles 3a that passes through the no-travel area Ar2. If multiple candidate detour routes Ra are obtained through this search, the management server 5 controls the system to set the detour route Ra that has a shorter distance from the current position Pr of the one autonomous vehicle 3a to the destination position De than the other candidate detour routes Ra, and that has fewer other autonomous vehicles 3b passing through it. The one autonomous vehicle 3a is an example of "one autonomous mobile body" within the scope of the claim. The other autonomous vehicles 3b are examples of "other autonomous mobile bodies" within the scope of the claim.

[0054] Specifically, if the management server 5 obtains multiple candidate detour routes Ra for one autonomous vehicle 3a, it performs control to set the candidate detour route Ra that is shorter than the other candidate detour routes Ra and that is passed by fewer than a predetermined number of other autonomous vehicles 3b (for example, 5 vehicles) as the detour route Ra for one autonomous vehicle 3a.

[0055] Here, as shown in Figure 6 as an example, if a first candidate route Ra1, a second candidate route Ra2, and a third candidate route Ra3 are obtained as candidate detour routes Ra for one autonomous vehicle 3a, the shortest detour route Ra is the first candidate route Ra1, but there are 5 other autonomous vehicles 3b traveling on at least part of the first candidate route Ra1. For this reason, the first candidate route Ra1 is not set as a detour route Ra for one autonomous vehicle 3a.

[0056] Next, regarding the third candidate route Ra3, which has a shorter distance from the current position Pr to the destination position De than the second candidate route Ra2, it is determined whether it can be set as a detour route Ra for one autonomous vehicle 3a. In the third candidate route Ra3, the number of other autonomous vehicles 3b traveling on at least a portion of the third candidate route Ra3 is 0. Therefore, the third candidate route Ra3 is set as a detour route Ra for one autonomous vehicle 3a.

[0057] If, in this case, the detour route Ra for one autonomous vehicle 3a is not obtained (for example, if all detour routes Ra overlap with the travel routes of a predetermined number or more other autonomous vehicles 3), the management server 5 controls the display unit 42 of the client terminal 4 to display text such as "No detour routes available."

[0058] Then, as shown in Figure 7, the management server 5 controls the transmission of the configured detour route Ra to the client terminal 4 via the communication unit 52. After the detour route Ra is set, the detour route Ra obtained from the management server 5 is displayed on the display unit 42 of the client terminal 4. That is, the setting screen Gr of the display unit 42 on the client terminal 4 displays not only the mounting line 1, the parts storage room 2, the factory 101 floor, the drivable area Ar1, and the no-travel area Ar2, but also the detour route Ra.

[0059] Furthermore, as shown in Figure 8, the management server 5 controls the removal of the setting of the no-travel area Ar2 based on a signal for removing the no-travel area setting for the no-travel area Ar2. In other words, when an operator performs an input operation to remove the setting of the no-travel area Ar2 displayed on the display unit 42, the management server 5 controls the removal of the setting of the no-travel area Ar2 and returns to the drivable area Ar1. Here, the input operation by the operator to remove the setting of the no-travel area Ar2 refers to an operation to touch a part of the no-travel area Ar2 on the setting screen Gr displayed on the display unit 42.

[0060] (Detour route setting process) Referring to Figure 9, the detour route setting process performed on the management server 5 is described below.

[0061] As shown in Figure 9, in step S1, based on the acquisition of the operation by the worker to set the no-travel area Ar2 on the setting screen Gr displayed on the display unit 42 of the client terminal 4, the no-travel area Ar2 is set in the travelable area Ar1 of the factory 101 floor. In step S2, an autonomous vehicle 3 (one autonomous vehicle 3a) passing through the no-travel area Ar2 is acquired. In step S3, a detour route Ra is searched. Searching for a detour route Ra means searching for a route that allows the autonomous vehicle 3 (one autonomous vehicle 3a) passing through the no-travel area Ar2 to reach the destination location De from its current location Pr. In step S4, it is determined whether or not a detour route Ra exists. If a detour route Ra exists, the process proceeds to step S5; if there is no detour route Ra, the process proceeds to step S10.

[0062] In step S5, a detour route Ra is set for the autonomous vehicle 3 (one autonomous vehicle 3a) that is passing through the no-travel area Ar2. In step S6, the detour route Ra for the autonomous vehicle 3 (one autonomous vehicle 3a) is displayed on the setting screen Gr shown on the display unit 42 of the client terminal 4, thereby informing the worker of the detour route Ra. In step S7, a signal is sent to the mounting line 1 to continue manufacturing the circuit board by having the autonomous vehicle 3 (one autonomous vehicle 3a) that is passing through the no-travel area Ar2 take the detour route Ra.

[0063] In step S8, it is determined whether or not an operation to cancel the setting of the no-travel area Ar2 by the operator has been obtained on the setting screen Gr displayed on the display unit 42 of the client terminal 4. If the operation to cancel has been obtained, the process proceeds to step S9, where the setting of the detour route Ra that was set for the autonomous vehicle 3 (one autonomous vehicle 3a) passing through the no-travel area Ar2 is canceled, and then the original travel route is set for the one autonomous vehicle 3a. If the operation to cancel has not been obtained, the process returns to step S7. After step S9, the detour route setting process ends.

[0064] In step S10, the worker is notified by the display unit 42 of the client terminal 4 that there is no alternative route Ra for autonomous vehicle 3 (one autonomous vehicle 3a) passing through the no-travel area Ar2. Specifically, the display unit 42 of the client terminal 4 displays text such as "No alternative route available." In step S11, the autonomous vehicle 3 (one autonomous vehicle 3a) passing through the no-travel area Ar2 is stopped.

[0065] In step S12, it is determined whether or not an operation to cancel the setting of the no-travel area Ar2 by the operator has been obtained on the setting screen Gr displayed on the display unit 42 of the client terminal 4. If the operation to cancel the setting of the no-travel area Ar2 has not been obtained, the process returns to step S11. If the operation to cancel the setting of the no-travel area Ar2 has been obtained, the process proceeds to step S13, where the original travel route is set for the autonomous vehicle 3 (one autonomous vehicle 3a) that passes through the no-travel area Ar2, and then the autonomous vehicle 3 (one autonomous vehicle 3a) resumes traveling. After step S13, the detour route setting process is completed.

[0066] (Effects of the first embodiment) In the first embodiment, the following effects can be obtained.

[0067] In the first embodiment, as described above, the substrate manufacturing system 100 includes a management server 5 that sets a prohibited area Ar2 based on a prohibited area setting signal for setting a prohibited area Ar2 in the drivable area Ar1 within the factory 101, and sets a detour route Ra for the autonomous vehicle 3 so that it avoids the area on the factory floor of the factory 101 corresponding to the prohibited area Ar2. As a result, even if a situation arises where the autonomous vehicle 3 cannot travel in the drivable area Ar1, such as when a worker temporarily stays in the drivable area Ar1 or when a worker temporarily places goods in the drivable area Ar1, the autonomous vehicle 3 can travel along the detour route Ra by setting a prohibited area Ar2 based on the prohibited area setting signal and changing the autonomous vehicle 3's travel route to the detour route Ra. As a result, the autonomous vehicle 3 can continue its work, thus preventing interruptions and delays in the manufacturing of substrates by the substrate manufacturing system 100 using the autonomous vehicle 3.

[0068] Furthermore, in the first embodiment, as described above, the management server 5 controls the autonomous vehicle 3 to avoid the area within the factory floor 101 corresponding to the restricted area Ar2 during substrate manufacturing by setting a restricted area Ar2. This allows the autonomous vehicle 3 to travel along the bypass route Ra and continue its work by setting a restricted area Ar2 within the drivable area Ar1 during substrate manufacturing, thereby preventing delays in substrate manufacturing caused by the autonomous vehicle 3 stopping during the manufacturing process.

[0069] Furthermore, in the first embodiment, as described above, the management server 5 searches for candidate detour routes Ra for the autonomous vehicle 3 that pass through the no-travel area Ar2. If multiple candidate detour routes Ra are obtained through this search, the system is configured to set the candidate detour route Ra for the autonomous vehicle 3 that has a shorter distance from the current position Pr of the autonomous vehicle 3 to the destination position De than the other candidate detour routes Ra. This suppresses the increase in the travel distance from the current position Pr of the autonomous vehicle 3 to the destination position De caused by the autonomous vehicle 3 traveling along the detour route Ra, thereby suppressing the increase in the time it takes for the autonomous vehicle 3 to reach the destination position De. As a result, even when the autonomous vehicle 3 travels along the detour route Ra, delays in substrate manufacturing can be minimized.

[0070] Furthermore, in the first embodiment, as described above, multiple autonomous vehicles 3 are arranged on the floor of the factory 101. The management server 5 controls the system to set a candidate detour route Ra as the detour route Ra that is shorter than other candidate detour routes Ra and has fewer other autonomous vehicles 3b passing through it besides the first autonomous vehicle 3a. This minimizes the time delay caused by congestion on the detour route Ra of the first autonomous vehicle 3a from its current position Pr to its destination position De, thereby minimizing delays in product manufacturing.

[0071] Furthermore, in the first embodiment, as described above, the management server 5 performs control to release the setting of the no-travel area Ar2 based on the no-travel area release signal for releasing the setting of the no-travel area Ar2. This allows the autonomous vehicle 3's travel path to be automatically returned from the detour path Ra to the original travel path, and thus the travel path from the autonomous vehicle 3's current position Pr to the target position De, which was caused by the autonomous vehicle 3 traveling on the detour path Ra, can be automatically returned to a state suitable for the manufacturing of the first substrate.

[0072] Furthermore, in the first embodiment, as described above, the substrate manufacturing system 100 includes a mounting line 1 on which multiple substrate work devices are arranged for manufacturing substrates with components mounted on them. The management server 5 controls the setting of a prohibited area Ar2 within the traversable area Ar1 based on a prohibited area setting signal while substrates are being manufactured on the mounting line 1. This makes it possible to realize a substrate manufacturing system 100 that can suppress delays in substrate manufacturing time as much as possible.

[0073] Furthermore, in the first embodiment, as described above, the substrate manufacturing system 100 is equipped with a display unit 42 capable of displaying the drivable area Ar1 and the prohibited area Ar2 acquired from the management server 5. The management server 5 controls the setting of the prohibited area Ar2 based on a prohibited area setting signal input by an operator who performs an input operation to specify the prohibited area Ar2 in relation to the drivable area Ar1 displayed on the display unit 42. As a result, the operator can set the prohibited area Ar2 simply by operating the drivable area Ar1 displayed on the display unit 42, making it easy for the operator to set the prohibited area Ar2.

[0074] Furthermore, in the first embodiment, as described above, when an operator performs an input operation to cancel the setting of the no-travel area Ar2 displayed on the display unit 42, the management server 5 performs control to cancel the setting of the no-travel area Ar2 and return it to the drivable area Ar1. As a result, the operator can easily cancel the setting of the no-travel area Ar2 by simply operating the no-travel area Ar2 displayed on the display unit 42 and returning it to the drivable area Ar1.

[0075] Furthermore, in the first embodiment, as described above, the management server 5 controls the setting of a predetermined area including the designated position Pt specified by the worker within the drivable area Ar1, as a no-travel area Ar2, based on the designated position Pt displayed on the display unit 42. As a result, the worker can set a no-travel area Ar2 for the entire drivable area Ar1, making it easy to set a no-travel area Ar2 of a size close to the worker's expectations.

[0076] Furthermore, in the first embodiment, as described above, the management server 5 controls the reduction or expansion of the no-travel area Ar2 of a predetermined area, based on the operator's operation to reduce or expand the range of the predetermined area, as displayed on the display unit 42. This makes it easy to set a no-travel area Ar2 that is close to the operator's intended size.

[0077] Furthermore, in the first embodiment, as described above, the substrate manufacturing system 100 is equipped with a display unit 42 and a client terminal 4 that accepts input operations from an operator. The display unit 42 provided on the client terminal 4 is configured to display the detour route Ra, the drivable area Ar1 and the prohibited area Ar2 on the floor of the factory 101. This allows the operator to easily visually recognize the detour route Ra, the drivable area Ar1 and the prohibited area Ar2 on the floor of the factory 101.

[0078] [Second Embodiment] Referring to Figures 10 to 13, the configuration of the substrate manufacturing system 200 according to the second embodiment will be described. In the second embodiment, unlike the first embodiment, the prohibited area setting area Se is displayed on the setting screen Gr. Note that in the second embodiment, detailed explanations of the same configuration as in the first embodiment will be omitted.

[0079] Referring to Figures 10 to 13, the configuration of the substrate manufacturing system 200 according to the second embodiment of the present invention will be described. Note that the substrate manufacturing system 200 is an example of a "factory manufacturing system" within the scope of the claims.

[0080] (Circuit board manufacturing system) As shown in Figure 10, the substrate manufacturing system 200 according to the second embodiment of the present invention is installed in a factory 101 that manufactures substrates with mounted components. The substrate manufacturing system 200 comprises a mounting line 1, a component storage unit 2, an autonomous vehicle 3, a client terminal 4, and a management server 205. The client terminal 4 is an example of a "terminal" as defined in the claims. The management server 205 is an example of a "setting unit" and a "control device" as defined in the claims. The autonomous vehicle 3 is an example of an "autonomous mobile device" as defined in the claims.

[0081] (Management Server) The management server 205 is a control device that manages information related to implementation line 1. The management server 205 includes a control unit 51, a communication unit 52, and the like.

[0082] (Setting a detour route) In the second embodiment, the management server 205 controls the setting of a prohibited area Ar2 based on a prohibited area setting signal for setting a prohibited area that prohibits the autonomous vehicle 3 from traveling in the drivable area Ar1 within the factory 101 (an example of "movement" in the scope of the claim). The management server 5 also controls the setting of a detour route Ra for the autonomous vehicle 3 so that it avoids the area within the factory 101 floor that corresponds to the prohibited area Ar2. Note that the drivable area Ar1 is an example of a "movable area" in the scope of the claim. Similarly, the prohibited area Ar2 is an example of a "movement prohibited area" in the scope of the claim.

[0083] As shown in Figure 11, the management server 205 is configured to set a prohibited area setting area Se (shown as a right-diagonal hatch in Figure 11) as a prohibited area setting area Ar2 when an operator performs an input operation to set a prohibited area Ar2 for a prohibited area setting area Se that has been pre-configured on the display unit 42 as a prohibited area setting area Se that can be changed to a prohibited area Ar2 within the drivable area Ar1. In Figure 11, on the setting screen Gr, one of the multiple prohibited area setting area Ses has been set as a prohibited area Ar2 by the operator. On the setting screen Gr, two or more prohibited area setting area Ses may be set as a prohibited area Ar2 by the operator.

[0084] Here, in the settings screen Gr, the number and dimensions of the prohibited area Se in the drivable area Ar1 can be changed by the operator, as shown in Figures 12 and 13. The other configurations of the second embodiment are the same as those of the first embodiment described above.

[0085] (Effects of the second embodiment) In the second embodiment, similar to the first embodiment, the substrate manufacturing system 200 includes a management server 205 that sets a no-travel area Ar2 and sets a detour route Ra for the autonomous vehicle 3 so that it avoids areas within the factory floor 101 corresponding to the no-travel area Ar2. This makes it possible to prevent interruptions and delays in the manufacturing of substrates by the substrate manufacturing system 200 using the autonomous vehicle 3.

[0086] Furthermore, in the second embodiment, as described above, when a worker performs an input operation to set a prohibited area Ar2 on a prohibited area setting area Se, which is pre-set as a section of the drivable area Ar1 that can be changed to a prohibited area Ar2 and is displayed on the display unit 42, the management server 205 controls the setting of the prohibited area setting area Se as a prohibited area Ar2. This makes it easy for workers to recognize the section that can be set as a prohibited area Ar2, and thus makes it easy for workers to set a prohibited area Ar2. The other effects of the second embodiment are the same as those of the first embodiment.

[0087] [Third Embodiment] The configuration of the substrate manufacturing system 300 according to the third embodiment will be described with reference to Figures 14 and 15. In the third embodiment, unlike the first embodiment, the prohibited area setting area Se is set based on a signal from the substrate work device of the mounting line 1. In the third embodiment, detailed explanations of the same configuration as in the first embodiment will be omitted.

[0088] Referring to Figures 14 and 15, the configuration of the substrate manufacturing system 300 according to the third embodiment of the present invention will be described. Note that the substrate manufacturing system 300 is an example of a "factory manufacturing system" within the scope of the claims.

[0089] (Circuit board manufacturing system) As shown in Figure 14, the substrate manufacturing system 300 according to the third embodiment of the present invention is installed in a factory 101 that manufactures substrates with mounted components. The substrate manufacturing system 300 comprises a mounting line 1, a component storage unit 2, an autonomous vehicle 3, a client terminal 4, and a management server 305. The client terminal 4 is an example of a "terminal" as defined in the claims. The management server 205 is an example of a "setting unit" and a "control device" as defined in the claims. The autonomous vehicle 3 is an example of an "autonomous mobile device" as defined in the claims.

[0090] The mounting line 1 includes a loader 11, a printer 12, a print inspection machine 13, a dispenser 14, a component mounting machine 15, a visual inspection machine 16, a reflow machine 17, a visual inspection machine 18, and an unloader 19 as board handling equipment.

[0091] (Management Server) The management server 305 is a control device that manages information related to the implementation line 1. The management server 305 includes a control unit 51, a communication unit 52, and the like.

[0092] (Setting a detour route) As shown in Figure 15, the management server 305 of the second embodiment controls the setting of a prohibited area Ar2 based on a prohibited area setting signal for setting a prohibited area Ar2 that prohibits the autonomous vehicle 3 from traveling in the drivable area Ar1 within the factory 101 (an example of "movement" in the scope of the claim). The management server 305 also controls the setting of a detour route Ra for the autonomous vehicle 3 so that it avoids the area within the factory 101 floor corresponding to the prohibited area Ar2. Note that the drivable area Ar1 is an example of a "movable area" in the scope of the claim. Similarly, the prohibited area Ar2 is an example of a "movement prohibited area" in the scope of the claim.

[0093] As shown in Figure 11, the management server 305 controls the operation of a board work device to set the traversable area Ar1 near the device from which the traversable area setting signal was transmitted to the board work device to a no-travel area Ar2, based on a no-travel area setting signal transmitted from at least one of the board work devices. Specifically, the management server 305 controls the operation of a board work device to set the traversable area Ar1 near the device from which the traversable area setting signal was transmitted to the board work area Ar2 (shown as a left-diagonal hatch in Figure 15), based on a no-travel area setting signal transmitted from at least one of the board work devices, which includes a signal indicating that the device's cover is open and a signal indicating that an error has occurred in the device. Errors in the device include errors in printing paste solder onto the board in the printer 12 and errors in mounting components onto the board in the component mounting device 15.

[0094] Figure 15 shows, as an example, that when the management server 305 receives a prohibited area setting signal indicating that the cover of component mounting device 15, one of the multiple board work devices, has been opened, the setting screen Gr shows that the drivable area Ar1 near component mounting device 15 has been set to a prohibited area Ar2. Furthermore, when the management server 305 receives prohibited area setting signals transmitted from two or more of the multiple board work devices, the setting screen Gr shows that the drivable area Ar1 near the corresponding board work device has been set to a prohibited area Ar2. The other configurations of the third embodiment are the same as those of the first embodiment described above.

[0095] (Effects of the third embodiment) In the third embodiment, similar to the first embodiment, the substrate manufacturing system 300 includes a management server 305 that sets a no-travel area Ar2 and sets a detour route Ra for the autonomous vehicle 3 so that it avoids areas within the factory floor 101 corresponding to the no-travel area Ar2. This makes it possible to suppress interruptions and delays in the manufacturing of substrates by the substrate manufacturing system 300 using the autonomous vehicle 3.

[0096] Furthermore, in the third embodiment, as described above, the management server 305 controls the operation to set the drivable area Ar1 near the board work device from which the prohibited area setting signal was transmitted as a no-travel area Ar2, based on a no-travel area setting signal transmitted from at least one of the board work devices. As a result, the no-travel area Ar2 is automatically set based on the no-travel area setting signal transmitted from the board work device, eliminating the need for operators to manually set the no-travel area Ar2. The other effects of the third embodiment are the same as those of the first embodiment.

[0097] [Differentiation] It should be noted that the embodiments disclosed herein are illustrative and not restrictive in all respects. The scope of the present invention is indicated by the claims rather than by the description of the embodiments above, and further includes all modifications (exceptions) within the meaning and scope of the claims.

[0098] For example, in the first to third embodiments described above, an example was shown in which the settings screen Gr is displayed on the display unit 42 of the client terminal 4, but the present invention is not limited thereto. In the present invention, the settings screen may be displayed on at least one of the display units of each of the multiple board work devices on the mounting line. Alternatively, the settings screen may be displayed on the display unit of the control device.

[0099] Furthermore, while the first to third embodiments described above show an example in which the management server 5 (205, 305) (setting unit) controls the autonomous vehicle 3 to set a detour route Ra, the present invention is not limited to this. In the present invention, the setting of the detour route may be performed by a circuit board work device or a terminal.

[0100] Furthermore, while a substrate manufacturing system 100 (200, 300) was shown as an example of the "factory manufacturing system" in the claims in the first to third embodiments, the present invention is not limited thereto. In the present invention, the factory manufacturing system may be a system that uses autonomous vehicles when manufacturing products within a factory other than a substrate manufacturing system.

[0101] Furthermore, in the first to third embodiments, the client terminal 4 (terminal) was shown to be a portable terminal such as a tablet carried by the worker, but the present invention is not limited to this. In the present invention, the terminal may not be a portable terminal such as a tablet carried by the worker, but may be a stationary personal computer or the like.

[0102] Furthermore, in the third embodiment, an example was shown in which the prohibited area setting signal included a signal indicating that the device cover was open and a signal indicating that an error had occurred in the device, but the present invention is not limited thereto. In the present invention, the prohibited area setting signal may be either a signal indicating that the device cover was open or a signal indicating that an error had occurred in the device.

[0103] Furthermore, while the first to third embodiments show the autonomous vehicle 3 (autonomous mobile body) as an AGV, the present invention is not limited to this. In the present invention, the autonomous mobile body may be an AMR (Autonomous Mobile Robot), which is an autonomous mobile robot capable of autonomously driving and transporting (carrying) an object; an autonomous vehicle other than an AGV capable of autonomously driving and transporting (carrying) an object; or an autonomous vehicle equipped with a multi-joint robot.

[0104] Furthermore, in the first to third embodiments described above, for the sake of explanation, an example was shown in which the control processing of the management server 5 (205, 305) (setting unit) was explained using a flow-driven flowchart that processes sequentially according to the processing flow, but the present invention is not limited to this. In the present invention, the control processing of the setting unit may be performed by event-driven processing that executes processing on an event-by-event basis. In this case, it may be performed as a completely event-driven system, or a combination of event-driven and flow-driven systems may be used. [Explanation of Symbols]

[0105] 1 Implementation Line 3. Autonomous vehicles (autonomous mobile devices) 3a One autonomous vehicle (one autonomous mobile device) 3b Other autonomous vehicles (other autonomous mobile devices) 4. Client terminal (terminal) 5, 205, 305 Management Server (Configuration Unit, Control Unit) 11. Loader (Circuit board handling device) 12. Printing machine (circuit board processing equipment) 13. Printing inspection machine (circuit board processing device) 14. Dispenser device (circuit board handling device) 15. Component mounting equipment (PCB work equipment) 16. Visual Inspection Equipment (Circuit Board Processing Equipment) 17. Reflow soldering equipment (circuit board processing equipment) 18. Visual inspection equipment (circuit board handling equipment) 19. Unloader (Circuit board handling device) 42 Display section 100, 200, 300 PCB manufacturing systems (factory manufacturing systems) 101 Factory Ar1 Driving area (movable area) Ar2 No-Driving Area (No-Movement Area) Desired position Pr Current position Pt specified position Ra detour route Ra1 First detour route (detour route) Ra2 Second Detour Route (Detour Route) Ra3 Third Detour Route (Detour Route) Se restricted area setting possible section

Claims

1. An autonomous mobile unit that moves autonomously within the movable area of ​​the factory floor and moves to a target position in order to perform work to continue the manufacturing of products within the factory, The aforementioned product includes a mounting line with multiple board processing machines for manufacturing circuit boards with components mounted on them, The system includes a setting unit that, based on a prohibited area setting signal for setting a no-movement zone that prohibits the movement of the autonomous mobile body within the movable area of ​​the factory, sets the no-movement zone in the movable area including the travel path to the work area of ​​the substrate work apparatus as the target location, and sets a detour route that allows the autonomous mobile body to reach the target location from its current location so that it avoids the location on the factory floor corresponding to the no-movement zone. The aforementioned mounting line includes a first mounting line and a second mounting line separate from the first mounting line. The setting unit is configured to search for candidate detour routes for the autonomous mobile body that pass through the no-movement area when the target position is located on an inter-line path in the area between the first and second mounting lines within the movable area, and to select and set the detour route on which the autonomous mobile body will travel from among a plurality of candidate detour routes, including a first detour route that reaches the target position via the inter-line path obtained through the search, and a second detour route that reaches the target position via an off-line path in an area other than the area between the first and second mounting lines within the movable area.

2. The factory manufacturing system according to claim 1, wherein the setting unit is configured to set a detour route for the autonomous mobile body so that it moves while avoiding the location on the factory floor corresponding to the restricted area, based on the set restricted area, during the manufacturing of the product.

3. The factory manufacturing system according to claim 1, wherein the setting unit is configured to search for candidate detour routes for the autonomous mobile body that pass through the no-movement area, and if a plurality of candidate detour routes are obtained as a result of the search, the candidate detour route in which the distance from the current position of the autonomous mobile body to the destination position is shorter than that of the other candidate detour routes is set as the detour route on which the autonomous mobile body will travel.

4. Multiple autonomous mobile units are arranged on the floor of the factory. The factory manufacturing system according to claim 3, wherein the setting unit is configured to set as the detour route a candidate detour route that is shorter than the other candidate detour routes, and that is traversed by fewer other autonomous mobile bodies than the one autonomous mobile body for which the shorter detour route candidate is set.

5. The factory manufacturing system according to claim 1, wherein the setting unit is configured to release the setting of the no-movement area based on a no-movement area release signal for releasing the setting of the no-movement area.

6. The factory manufacturing system according to claim 1, wherein the setting unit includes a control device configured to perform control to set the no-movement area in the movable area, including the travel path to the work location in the substrate work apparatus as the target location, based on the no-movement area setting signal during the manufacturing of the substrate on the mounting line.

7. The system further includes a display unit capable of displaying the movable area and the prohibited area acquired from the setting unit, The factory manufacturing system according to claim 1, wherein the setting unit is configured to set the no-movement area based on the no-movement area setting signal input by an operator performing an input operation to specify the no-movement area in relation to the movable area displayed on the display unit.

8. The factory manufacturing system according to claim 7, wherein the setting unit is configured to release the setting of the no-movement area and return it to the movable area when the operator performs an input operation to release the setting of the no-movement area displayed on the display unit.

9. The factory manufacturing system according to claim 7, wherein the setting unit is configured to set a prohibited area as the prohibited area when the operator performs an input operation to set the prohibited area as the prohibited area, with respect to a prohibited area that can be set as a section of the movable area that is set in advance as a section of the movable area that can be changed to the prohibited area, as displayed on the display unit.

10. The factory manufacturing system according to claim 7, wherein the setting unit is configured to set a predetermined area including the designated position as the no-movement area based on an arbitrary designated position specified by the worker among the movable area displayed on the display unit.

11. The factory manufacturing system according to claim 10, wherein the setting unit is configured to reduce or expand the no-movement area in the predetermined area, based on the operator performing an operation to reduce or expand the range of the predetermined area, as displayed on the display unit, in order to match the reduced or expanded predetermined area.

12. The factory manufacturing system according to claim 6, wherein the control device performs control to set the movable area near the device from which the prohibited area setting signal was transmitted among the plurality of substrate work devices as the prohibited area, based on the prohibited area setting signal transmitted from at least one of the plurality of substrate work devices.

13. The aforementioned display unit is provided, and the terminal further comprises a terminal that accepts input operations from the operator. The factory manufacturing system according to claim 7, wherein the display unit provided on the terminal is configured to display the detour route, the movable area on the factory floor, and the restricted area.

14. An autonomous mobile unit that moves autonomously within the movable area of ​​the factory floor and moves to a target position in order to perform work to continue the manufacturing of products within the factory, A setting unit sets a no-movement zone based on a no-movement zone setting signal for setting a no-movement zone that prohibits the movement of the autonomous mobile body within the movable area of ​​the factory, and sets a detour route that allows the autonomous mobile body to reach the target location from its current position so that it avoids the location on the factory floor corresponding to the no-movement zone. The aforementioned product comprises a mounting line in which multiple board processing devices for manufacturing boards on which components are mounted are arranged, The setting unit, during the manufacturing of the substrate on the mounting line, sets the movable area near the substrate work device from which the prohibited area setting signal was transmitted as the prohibited area setting area, based on the prohibited area setting signal transmitted from at least one of the plurality of substrate work devices, as the prohibited area setting area among the plurality of substrate work devices. This is a factory manufacturing system.

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