Automated Guided Vehicles and Manufacturing Systems

Abstract

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

Description

Technical Field

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

Background Art

[0002] Conventionally, an automated guided vehicle having a roll holding part for holding a roll and a core holding part for holding a core having an adhesive on its surface is known. For example, Patent Document 1 discloses an automated guided vehicle that supplies a core to a sheet winding device and recovers a roll from the sheet winding device.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Here, when the automated guided vehicle enters the sheet winding device in a situation where the sheet is hanging from the roll set in the sheet winding device, a part of the automated guided vehicle and the sheet hanging from the roll may come into contact and get entangled, and as a result, the roll may be damaged.

[0005] An object of the present invention is to provide an automated guided vehicle that can prevent a situation where a roll is damaged when the automated guided vehicle enters a sheet winding device or the like.

Means for Solving the Problems

[0006] The automated guided vehicle of the present invention is an automated guided vehicle, comprising: a roll holding part for holding a roll; a detection part for acquiring information on a roll holding part passage area including a passage position of the roll holding part when the automated guided vehicle advances; and a lighting part for emitting illumination light toward the roll holding part passage area.

[0007] The present invention relates to an automated guided vehicle (AGV) comprising: a core holding unit that holds a core having an adhesive on its surface; a detection unit that acquires information about a core passage region, including the position where the core held by the core holding unit passes when the AGV moves; and an illumination unit that emits illumination light toward the core passage region. [Effects of the Invention]

[0008] According to the present invention, it is possible to provide an automated guided vehicle (AGV) and a manufacturing system that can prevent situations in which rolls are damaged when the AGV enters a sheet winding device. [Brief explanation of the drawing]

[0009] [Figure 1] This is a schematic diagram showing a manufacturing system including an automated guided vehicle according to one embodiment of the present invention. [Figure 2] This is a schematic diagram of the winding section according to this embodiment, viewed from the front (downstream side in the conveying direction). [Figure 3] This is a bird's-eye view of the main body of the core holding part according to this embodiment. [Figure 4] This is a schematic diagram of the core holding mechanism as viewed from the front of an automated guided vehicle (AGV). [Figure 5] This is a schematic diagram showing the roll holding section passage area and the winding core passage area according to this embodiment. [Figure 6] This is a schematic diagram showing the raising and lowering operation of the core holding mechanism. [Figure 7] This is a schematic diagram showing the lifting and lowering operation of the roll holding section. [Figure 8] This is a block diagram showing the hardware configuration of the automated guided vehicle according to this embodiment. [Figure 9] This is a block diagram showing the functional configuration of the automated guided vehicle control device according to this embodiment. [Figure 10] This is a block diagram showing the hardware configuration of the ceramic green sheet molding apparatus according to this embodiment. [Figure 11] This is a block diagram showing the functional configuration of the control device according to this embodiment. [Figure 12] This is a flowchart for explaining the flow of the roll manufacturing process according to this embodiment. [Figure 13] This is a flowchart for explaining the flow of the roll winding process included in the roll manufacturing process of FIG. 12. [Figure 14] This is a flowchart for explaining the flow of the roll removal process and the core set process when the roll winding process of FIG. 13 is continuously performed. [Figure 15] This is a schematic diagram for explaining the first half of the roll recovery operation included in the core set process of FIG. 14. [Figure 16] This is a schematic diagram for explaining the second half of the roll recovery operation included in the core set process of FIG. 14. [Figure 17] This is a schematic diagram for explaining the first half of the core set operation included in the core set process of FIG. 14. [Figure 18] This is a schematic diagram for explaining the second half of the core set operation included in the core set process of FIG. 14. [Figure 19] This is a flowchart for explaining the flow of the film sag detection process according to this embodiment. [Figure 20] [[ID=2�]]This is a schematic diagram for explaining the film sag detection method according to this embodiment. [Figure 21] This is a schematic diagram corresponding to FIG. 2 in the modified example. [Figure 22] This is a schematic diagram of the core holding part when viewed from the side of FIG. 21.

Embodiments for Carrying out the Invention

[0010] Hereinafter, the manufacturing system S including the automatic guided vehicle of this embodiment will be described with reference to FIGS. 1 and FIG. 2. FIG. 1 is a schematic diagram showing the manufacturing system S including the automatic guided vehicle according to an embodiment of the present invention. FIG. 2 is a schematic diagram of the winding unit according to this embodiment as viewed from the front (downstream side in the transport direction).

[0011] Manufacturing system S is a system for manufacturing rolls R on which green sheet film G is wound and transporting them to the next process. Green sheet film G is work-in-progress in the manufacturing process of multilayer ceramic electronic components. An example of multilayer ceramic electronic components is a multilayer ceramic capacitor.

[0012] Furthermore, the manufacturing system S is applicable not only to green sheet film G, but also to any manufacturing system that has a process of winding a sheet onto a core T to produce a roll R.

[0013] As shown in Figure 1, the manufacturing system S includes a ceramic green sheet molding apparatus 10, an automated guided vehicle (AGV) 20, and a control device 30. The manufacturing system S also has an AGV control device 27 (described later) for the AGV 20 and a control device 30 as control units. Details are described below.

[0014] <Ceramic Green Molding Machine> The ceramic green sheet molding apparatus 10 will be described with reference to Figures 1 and 2. The ceramic green sheet molding apparatus 10 of this embodiment is an apparatus for molding ceramic green sheets on a carrier film C. In the following description, the carrier film C on which the ceramic green sheets have been molded will be collectively referred to as green sheet film G. The ceramic green sheet molding apparatus 10 also manufactures a roll R by winding the green sheet film G as a sheet onto a core T. That is, a roll R is a core T with the green sheet film G wound onto it.

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

[0016] As shown in Figure 1, the ceramic green sheet molding apparatus 10 comprises an unwinding section 11, a coating section 12, and a winding section 13 as a sheet winding device. The ceramic green sheet molding apparatus 10 may also have a housing 10a. The housing 10a is configured to cover the unwinding section 11, the coating section 12, and the winding section 13, and can protect the molded green sheet film G from external environmental factors such as changes in ambient temperature and dust. The housing 10a also has an opening for an automated guided vehicle 20 that transports the manufactured rolls R to enter and exit, and a shutter 10b, which will be described later, is provided in the opening.

[0017] As shown in Figure 1, the unwinding section 11 unwinds the carrier film C from the upper side of the roll Rc on which the carrier film C is wound toward the coating section 12 and supplies it to the coating section 12. For the carrier film C, for example, a translucent plastic film is used.

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

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

[0020] As shown in Figure 1, the winding unit 13 manufactures and recovers a roll R by winding the green sheet film G, which has a ceramic green sheet molded on a carrier film C, into a roll shape from the upper side of the winding core T. The winding unit 13 comprises a pair of support parts 130 and a pair of chucking parts 131. In the manufacturing system S according to this embodiment, the winding unit 13 winds the green sheet film G into a roll shape from the upper side of the winding core T, but is not limited to this. For example, the winding unit 13 may wind the green sheet film G into a roll shape from the lower side of the winding core T.

[0021] As shown in Figures 1 and 2, the support section 130 is configured to support the chucking section 131. The support section 130 is provided so as to extend upward from the floor surface. However, the configuration of the support section 130 is not limited to this. For example, it may be anything that supports the chucking section 131, and it may extend horizontally from the equipment frame.

[0022] The chucking section 131 is configured to rotatably hold the winding core T. For example, the chucking section 131 according to this embodiment includes a pair of winding shafts 131a shown in Figure 2, a pair of chuck sections 131b, a chuck drive section 131c shown in Figure 10 (described later), and a winding drive section 131d.

[0023] The pair of winding shafts 131a are configured to chuck and rotate the winding core T. In this embodiment, one of the pair of winding shafts 131a is held by a support portion 130 so as to be slidable along a direction in which the pair of support portions 130 face each other, and is configured to slide in the opposing direction of the pair of winding shafts 131a when driven by a chuck drive portion 131c. However, the configuration is not limited to this, and both of the pair of winding shafts 131a may be held so as to be slidable along a direction in which they face each other, and are configured to slide in the opposing direction of the pair of winding shafts 131a when driven by a chuck drive portion 131c.

[0024] The chuck drive unit 131c may use, for example, an air cylinder or a motor as a drive source. The other end of the pair of winding shafts 131a is fixed to the support unit 130. Thus, the pair of winding shafts 131a can be moved to the chuck position for chucking the winding core T by sliding one of the winding shafts 131a so that the distance between the pair of winding shafts 131a is narrowed by the drive of the chuck drive unit 131c. Also, the pair of winding shafts 131a can be moved to the chuck release position for releasing the winding core T by sliding one of the winding shafts 131a so that the distance between the pair of winding shafts 131a is widened by the drive of the chuck drive unit 131c.

[0025] Furthermore, the pair of chuck portions 131b are configured to hold the winding core T. The chuck portions 131b are frustoconical members, formed such that their diameter decreases towards one direction in the direction of the central axis and increases towards the other direction. More specifically, in the direction of the central axis, one side of the chuck portion 131b is formed to be smaller than the hollow portion of the winding core T. Also, in the direction of the central axis, the other side of the chuck portion 131b is formed to be larger than the hollow portion of the winding core T. Note that the shape of the chuck portions 131b is not limited to these.

[0026] Furthermore, the other side of the chuck portion 131b is provided on one end of the winding shaft 131a. Therefore, one side of the chuck portion 131b can be inserted into the hollow portion of the winding core T, and by pushing it in, the circumferential surface of the chuck portion 131b can be pressed against the inner surface of the hollow portion and fitted into place. In other words, the pair of chuck portions 131b can be fitted and chucked by being pushed into the hollow portion of the winding core T from both sides by the pair of winding shafts 131a.

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

[0028] Thus, the chucking unit 131 can chuck the winding core T by moving the pair of winding shafts 131a to the chuck position, with the winding core T positioned between the pair of winding shafts 131a such that the centerlines of the pair of winding shafts 131a and the centerline of the winding core T substantially coincide. Furthermore, with the winding core T chucked, the chucking unit 131 can perform a winding operation by rotating the other of the pair of chucking units 131b driven by the winding drive unit 131d.

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

[0030] The winding section 13 of the manufacturing system S may also be equipped with an air blowing section 132. For example, in the manufacturing system S according to this embodiment, the air blowing section 132 is provided in the upper part near the winding section 13 inside the housing 10a.

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

[0032] As shown in Figures 1 and 5, the air outlet 132 blows air W so that the translucent film, when hanging from a roll set in the winding unit 13, shakes. The air outlet 132 may blow air directly onto the translucent film hanging from the roll R, or it may blow air onto the film via another component.

[0033] The air outlet 132 allows air to be blown onto the sagging green sheet film G, effectively shaking the translucent film. This improves the detection efficiency of the translucent film by the detection unit.

[0034] Furthermore, the winding section 13 of the manufacturing system S may be equipped with a shutter 10b that blocks the entry of the automated guided vehicle 20, as shown in Figures 1, 2, and 5. An example of a shutter 10b is composed of a door body, a rail that supports the door body so as to be slidable in the vertical direction, and a shutter drive unit that slides the door body in the vertical direction. The shutter 10b has an open state in which the door body is slid upward and moved to the top, allowing the entry of the automated guided vehicle, and a closed state in which the door body is slid downward and moved to the bottom, not allowing the entry of the automated guided vehicle 20.

[0035] <Automated Guided Vehicle> Next, the automated guided vehicle 20 will be described using Figures 1, 3 to 9. Figure 3 is a bird's-eye view of the holding body 210 of the core holding unit 21 according to this embodiment. Figure 4 is a schematic diagram of the core holding unit 21 as seen from the front of the automated guided vehicle 20. Note that in Figure 4, for the sake of explanation, the roller 212, which will be described later, is not shown. Figure 5 is a schematic diagram showing the roll holding unit passage area R1 and the core passing area R2 according to this embodiment. Figure 6 is a schematic diagram showing the lifting and lowering operation of the core holding unit 21. Figure 7 is a schematic diagram showing the lifting and lowering operation of the roll holding unit 22. Figure 8 is a block diagram showing the hardware configuration of the automated guided vehicle 20 according to this embodiment. Figure 9 is a block diagram showing the functional configuration of the automated guided vehicle control device 27 according to this embodiment.

[0036] The automated guided vehicle (AGV) 20 supplies the core T to the winding unit 13, which acts as a sheet winding device, and retrieves the roll R from the winding unit 13. More specifically, the AGV 20 supplies the core T to the chucking unit 131 of the winding unit 13. The AGV 20 also retrieves the roll R, which is produced by winding the green sheet film G onto the core T, from the winding unit 13 and transports the retrieved roll R to a designated location.

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

[0038] As shown in Figures 1, 3 to 9, the automated guided vehicle 20 includes a core holding section 21 for holding the core T, a roll holding section 22 for holding the roll, a stopper 213 as a movement restricting section for restricting the movement of the core in the core axis direction, a detection section 23, a lighting section 24, a vehicle body section 25, a floor obstacle detection section 26, and an automated guided vehicle control device 27 shown in Figure 8. For the sake of explanation, the stopper 213 is omitted from the illustration except in Figure 4.

[0039] [Core holding part] As shown in Figures 3, 6-9, the core holding section 21 comprises a lifting section 211, a holding section body 210, and a roller 212 as a rolling section.

[0040] (Access point) The lifting section 211, as shown in Figures 4, 6-9, is configured to raise and lower the holding section body 210. For example, the lifting section 211 in this embodiment is composed of a hydraulic mechanism (not shown) and a core lifter configured to be able to move up and down by the hydraulic mechanism. The core lifter is arranged to be expandable and retractable in a hollow section 25a1 formed in the bogie section 25a of the vehicle body section 25, which will be described later. The core lifter has a known telescopic mechanism such as a telescopic pipe or a multi-section link mechanism, and is configured to extend when raised and contract when lowered. That is, the core lifter is expanded and contracted by the hydraulic mechanism and moves up and down. Note that the drive source for the lifting mechanism is not limited to a hydraulic mechanism. For example, it may be an electric motor.

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

[0042] The holding part body 210 is made of, for example, stainless steel. However, the material of the holding part body 210 is not limited to stainless steel. Preferably, the holding part body 210 is made of a rigid material, preferably a metal. In this case, the surface of the holding part body 210 is metal. The holding part body 210 may also be made by placing a rubber sheet, such as a urethane rubber sheet, on the surface of a metal such as stainless steel.

[0043] The holding unit body 210 is configured to be vertically movable. For example, the holding unit body 210 is held by the core lifter of the lifting unit 211 and moves up and down by the drive of the lifting unit 211. The holding unit body 210 is positioned between a lowered position h1 and an raised position h2 by the lifting unit 211. For example, the lowered position h1 is the position of the holding unit body 210 shown in Figures 1, 4, 5, and 7. The raised position h2 is the position of the holding unit body 210 shown in Figure 6. The holding unit body 210 may also be equipped with detection means such as a proximity sensor or a touch sensor to detect whether or not it is holding the core T.

[0044] (Laura) The roller 212 is configured to support the winding core T so that it can move in the winding core axis direction. The roller 212 is held so as to be able to roll relative to the holding body 210. The roller 212 is also pivotally supported in a direction intersecting the winding core axis direction. Therefore, the roller 212 can support the winding core T so that it can move freely in the axial direction of the winding core T. The surface 212a of the roller 212 is formed of a highly mold-release surface that has better mold-release properties than the surface 210a of the holding body 210.

[0045] At least the surface 212a of the roller 212 may be formed of a material containing fluororesin. For example, the roller 212 may be formed of fluororesin. Alternatively, the surface 212a of the roller 212 may be coated with fluororesin-containing electroplated nickel. Alternatively, the surface 212a of the roller 212 may be coated with a fluororesin coating. Furthermore, the surface 212a of the roller 212 may be treated with a release surface treatment. For example, the surface 212a of the roller 212 may be a release surface with reduced contact area with the winding core T, formed by sandblasting or the like.

[0046] The core holding section 21 has at least four rollers 212. For example, the core holding section 21 has two or more rollers 212 on each of the two inclined surfaces of the holding section body 210. In this embodiment, cylindrical rollers are used as rolling parts, but the rolling parts are not limited to cylindrical rollers. For example, spherical ball rollers may also be used.

[0047] <Stopper> The automated guided vehicle 20 further includes a stopper 213 that restricts the movement of the core T held by the core holding body 210 of the core holding unit 21 in the direction of the core axis when the holding body 210 of the core holding unit 210 is set to the lowered position h1, and exposes the end of the core T held by the holding body 210 of the core holding unit 21 when the holding body 210 of the core holding unit 21 is set to the raised position h2.

[0048] As shown in Figure 4, the stopper 213 is composed of a pair of plate-shaped members positioned on the vehicle body 25 at both ends of the holding unit body 210 in the winding core axis direction. That is, the stopper 213 is provided so as to be fixed on the vehicle body 25. Therefore, as shown in Figure 4, when the holding unit body 210 is set to the lowered position h1, the plate-shaped members acting as shielding parts block both ends of the winding core T placed on the roller 212, thereby restricting the movement of the winding core T in the winding core axis direction. Also, when the holding unit body 210 is set to the raised position h2, the plate-shaped members acting as shielding parts expose both ends of the winding core T placed on the roller 212, thereby releasing the restriction on the movement of the winding core T in the winding core axis direction.

[0049] Furthermore, the pair of plate-like members are formed to widen as they extend upward. This widens the opening for setting the core T, making it easier to set the core T in the holding body 210. Also, when setting the core T, its position in the axial direction is guided to be positioned in the appropriate location on the holding body 210. After the core T is set in the holding body 210, its movement in the axial direction is restricted.

[0050] [Roll holding section] The roll holding unit 22 collects and holds the roll R, which is a roll-shaped green sheet film G wound up by the winding unit 13 of the ceramic green sheet molding apparatus 10. As shown in Figures 5 to 9, the roll holding unit 22 comprises a roll lifting unit 221 and a holding unit body 220.

[0051] (Roll lifting mechanism) The roll lifting section 221 is configured to raise and lower the holding section body 220. For example, the roll lifting section 221 in this embodiment is composed of a hydraulic mechanism (not shown) and a roll lifter configured to be able to move up and down by the hydraulic mechanism. The roll lifter, like the core lifter, is positioned in a hollow section formed in the bogie section 25a of the vehicle body 25 and is raised and lowered by the hydraulic mechanism. Note that the drive source for the lifting mechanism is not limited to a hydraulic mechanism. For example, an electric motor may be used.

[0052] (Main body of the roll holding part) The surface of the holding unit body 220 that holds the roll R has a curved surface that matches the size of the roll R to be recovered. Preferably, this curved surface has a radius of curvature slightly larger than that of the roll R to be recovered. However, the surface of the holding unit body 220 that holds the roll R is not limited to a curved surface. For example, it may have two inclined surfaces.

[0053] The holding part body 220 is made of, for example, stainless steel. However, the material of the holding part body 220 is not limited to stainless steel. The holding part body 220 is preferably made of a rigid material, and is preferably made of metal. The holding part body 220 may also be made by placing a rubber sheet, such as a urethane rubber sheet, on the surface of a metal such as stainless steel. That is, the surface of the holding part body 220 may be rubber. This prevents direct contact between the roll and the metal surface and protects the roll. In addition, by providing a rubber layer, the effects of pressure distribution and shock absorption when holding the roll can be obtained.

[0054] The holding unit body 220 is formed to be vertically movable. The holding unit body 220 is positioned between a lowered position H1 and an raised position H2 by the roll lifting unit 221. For example, the lowered position H1 is the position of the holding unit body 210 shown in Figures 1, 5, and 6. The raised position H2 is the position of the holding unit body 210 shown in Figure 7. The holding unit body 220 may also be equipped with detection means such as a proximity sensor or a touch sensor to detect whether or not it is holding the roll R.

[0055] [Detection unit for detecting obstacles on the floor surface] The automated guided vehicle (AGV) 20 may be equipped with a floor obstacle detection unit 26 for detecting the presence or absence of obstacles on the floor surface on which the AGV 20 travels, as shown in Figures 1, 5, 8, and 9. In this specification, for the sake of clarity, the floor obstacle detection unit 26 may not be shown. The floor obstacle detection unit 26 may be provided in one direction and the other direction in the direction of travel of the AGV 20. For example, the floor obstacle detection unit 26 may be provided in front of and behind the AGV 20 in the direction of travel.

[0056] The floor obstacle detection unit 26 may be an image sensor, a laser scanner, an ultrasonic sensor, or other non-contact sensor. For example, when using a laser scanner, the plane direction is detected by detecting the reflected light of the laser beam L2 that is emitted while scanning, as shown in Figures 1 and 5, and obstacles located on the floor surface are detected.

[0057] [Detection unit] The detection unit 23 acquires information about the area through which the roll holding unit passes. In this embodiment, the detection unit 23 is a sheet sagging detection unit that detects the presence of a sheet HS hanging down from the roll R. During the winding of the roll R, the end portion of the roll R may sag after the roll R has finished winding. Therefore, if the sheet HS is hanging down from the roll R, and the automated guided vehicle 20 enters the winding unit 13 as a sheet winding device, the automated guided vehicle 20 may come into contact with the sagging sheet HS, potentially causing problems such as damage to the roll.

[0058] More specifically, if the automated guided vehicle 20 enters the winding section 13 while the film is hanging down from the roll R set in the winding section 13, the sheet HS hanging down from the roll R may come into contact with the holding section body 220 or the roll lifting section 221 of the roll holding section 22 of the automated guided vehicle 20, and as a result, the roll R may be damaged.

[0059] Furthermore, if the automated guided vehicle 20 enters the winding unit 13 while the film is hanging down from the roll R set in the winding unit 13, the sheet HS hanging down from the roll R may get caught in the wheels of the running section 25b of the automated guided vehicle 20, potentially damaging the roll R.

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

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

[0062] In this embodiment, the formation of the green sheet film G onto the carrier film C is usually performed on the portion of the roll R excluding the beginning and end of the roll. Therefore, the beginning and end portions of the roll R are composed solely of the carrier film C, and the green sheet film G is not formed there. In this embodiment, the carrier film C is made of a translucent film. Therefore, the sheet HS hanging from the roll R is made of a translucent film.

[0063] As shown in Figure 5, the detection unit 23 acquires information about the roll holding area R1, which includes the position through which the roll holding unit 22 passes when the automated guided vehicle 20 moves. Therefore, the detection unit 23 can confirm that there are no obstacles in the path through which the roll holding unit 22 passes.

[0064] Furthermore, as shown in Figure 5, the detection unit 23 of this embodiment acquires information on the core passage region R2, which includes the position through which the core T held in the core holding unit 21 passes when the automated guided vehicle 20 moves. Therefore, the detection unit 23 can confirm that there are no obstacles in the path through which the core holding unit 21 passes.

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

[0066] The detection unit 23 according to this embodiment acquires image information of the roll holding unit passing region R1 and the winding core passing region R2 at multiple timings corresponding to the emission timing of multiple illumination light L1s by the illumination unit 24 described later.

[0067] Furthermore, the detection unit 23, which acquires information from at least one of the roll holding section passage area R1 and the core passage area R2, does not need to detect the presence or absence of obstacles located on the floor surface near the automated guided vehicle 20. Preferably, this detection unit 23 is a detection unit that acquires information from a detection area above the detection area of ​​the aforementioned floor surface obstacle detection unit 26.

[0068] Furthermore, it is preferable that the detection unit acquires information over a wider area than the detection area of ​​the floor obstacle detection unit 26. More specifically, it is preferable that the detection unit acquires information over a wider area in the height direction than the detection area of ​​the floor obstacle detection unit. The detection unit 23, as a sheet sagging detection unit, can also detect the presence of a sheet HS that has not reached the floor, even if the sheet HS hanging from the roll R has not reached the floor.

[0069] [Lighting Department] The illumination unit 24 is configured to improve the detection efficiency of the detection unit 23. As shown in Figure 5, the illumination unit 24 emits illumination light L1 toward the roll holding unit passage area R1, which includes the position where the roll holding unit 22 passes when the automated guided vehicle 20 moves. The illumination unit 24 also emits illumination light L1 toward the core passage area R2, which includes the position where the core T held by the core holding unit 21 passes when the automated guided vehicle 20 moves.

[0070] The illumination unit 24 may be integrated with the detection unit 23. The illumination unit 24 in this embodiment emits flash light as illumination light L1. The illumination unit 24 in this embodiment is controlled to emit multiple illumination lights L1 at intervals of time. For example, the illumination unit 24 intermittently illuminates at intervals of 1 second or less from the time the shutter 10b is opened until the automated guided vehicle 20 reaches the roll retrieval position.

[0071] [Vehicle body] The vehicle body 25 comprises a trolley section 25a and a running section 25b. The trolley section 25a is equipped with various components of the automated guided vehicle 20. For example, the trolley section 25a is equipped with a core holding section 21, a roll holding section 22, a detection section 23, a lighting section 24, and a floor obstacle detection section 26 for detecting floor obstacles. The running section 25b is configured to support the trolley section 25a so that it can move. The running section 25b comprises, for example, a plurality of wheels rotatably mounted on the trolley section 25a and a drive section that rotates the plurality of wheels. However, the configuration of the running section 25b is not limited to this.

[0072] [Automated Guided Vehicle Control System] Next, an example of an automated guided vehicle (AGV) control device 27 will be described using Figure 8. The AGV control device 27 is configured to control various operations of the AGV 20, such as roll retrieval, core setting, and travel, as well as film sagging detection processing, which will be described later. The AGV control device 27 has a processor, and the various operations are controlled by the processor performing calculations. As shown in Figure 8, the AGV control device 27 includes a processor 270, a ROM 271, a RAM 272, a bus 273, an input / output interface 274, an input unit 275, an output unit 276, a storage unit 277, a communication unit 278, and a power supply unit 279. However, the configuration of the AGV control device 27 is not limited to this.

[0073] The processor 270 performs various calculations and control processes necessary for the operation of the automated guided vehicle control device 27. The processor 270 may be a CPU (Central Processing Unit), MPU (Micro Processing Unit), SoC (System on a Chip), DSP (Digital Signal Processor), GPU (Graphics Processing Unit), ASIC (Application Specific Integrated Circuit), PLD (Programmable Logic Device), or FPGA (Field-Programmable Gate Array), or a combination thereof. The processor 270 may also be a combination of these processors with hardware accelerators.

[0074] The processor 270 controls various parts of the automated guided vehicle (AGV) control device 27 to realize various functions of the AGV control device 27 based on programs such as firmware, system software, and application software stored in ROM 271 or RAM 272, etc. The processor 270 also executes the processing described later based on the program. Note that some or all of the program may be incorporated into the circuit of the processor 270.

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

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

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

[0078] The communication unit 278 is a device that communicates wirelessly with other computers, etc., using a communication method based on communication standards such as BLE (Bluetooth® Low Energy) or Wi-Fi (Wireless Fidelity). However, it is not limited to these methods; for example, the communication unit 278 may also communicate with other computers, etc., via a wired connection using a network cable.

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

[0080] (Control block) Next, the functional configuration of the automated guided vehicle (AGV) control device 27 will be explained using Figure 9. The control unit 280, which performs various controls on the AGV 20, is realized by a processor that executes a program to perform calculation processing. The control unit 280 in this embodiment includes an input control unit 281, an output control unit 282, a communication control unit 283, a transport management unit 284, a lighting control unit 285, an information acquisition unit 286, a determination unit 287, a travel control unit 288, a notification unit 289, a winding core holding unit lifting / lowering control unit 290, and a roll holding unit lifting / lowering control unit 291.

[0081] The input control unit 281 executes a process to receive operations from the administrator or other person responsible for the automated guided vehicle 20 to the input unit 275. For example, the input control unit 281 executes a process to receive an operation from the administrator or other person responsible for turning on the power of the automated guided vehicle 20.

[0082] The output control unit 282 performs processing to display an image on the monitor 276a of the output unit 276. For example, the output control unit 282 performs processing to output the menu screen for operating the automated guided vehicle 20 to the monitor 276a.

[0083] The communication control unit 283 performs processing for communicating with external devices via the communication unit 278. For example, the communication control unit 283 performs processing to receive transport instruction information for rolls R and cores T transmitted from the control device 30 via the communication unit 278.

[0084] The transport management unit 284 executes processes to manage the transport of rolls R and other items by the automated guided vehicle 20.

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

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

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

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

[0089] The travel control unit 288 performs roll transport control, roll retrieval preparation control, core replacement set preparation control, and film sagging detection processing.

[0090] Roll transport control is a control system that causes the traveling unit 25b to travel along a predetermined route. For example, rails may be laid along the predetermined route, and the automated guided vehicle 20 may travel along these rails.

[0091] The roll retrieval preparation control is a control that causes the travel unit 25b to move so that the holding body 220 of the roll holding unit 22 moves to the roll retrieval position below the winding shaft 131a, as shown in Figure 15, which will be described later. The core set preparation control is a control that causes the travel unit 25b to move so that the holding body 210 of the core holding unit 21 moves to the core set position below the winding shaft 131a, as shown in Figure 17, which will be described later. Sensors may be provided on the rail at predetermined intervals so that the control unit 280 can determine the position of the automated guided vehicle 20.

[0092] When the travel control unit 288 detects film sagging and determines that a translucent film has sagged from the roll R set in the winding unit 13, it performs control to stop the movement of the automated guided vehicle 20. For example, it performs control to stop the drive of the travel unit 25b of the automated guided vehicle 20.

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

[0094] The core holding unit lifting control unit 290 controls the operation of the lifting unit 211 of the core holding unit 21. For example, when the holding unit body 210 of the core holding unit 21 moves to the core setting position below the winding shaft 131a due to the core setting preparation control by the travel control unit 288, the holding unit body 210 of the core holding unit 21 is raised to move to the raised position h2.

[0095] The roll holding unit lifting control unit 291 controls the operation of the roll lifting unit 221 of the roll holding unit 22. For example, when the holding unit body 220 of the roll holding unit 22 moves to the roll retrieval position below the winding shaft 131a due to roll retrieval preparation control by the travel control unit 288, the holding unit body 220 of the roll holding unit 22 is raised to move to the raised position H2.

[0096] [Control device] Next, an example of the control device 30 will be described using Figure 10. Figure 10 is a block diagram showing the hardware configuration of the ceramic green sheet molding apparatus according to this embodiment. Note that components that are common or similar to those already described may be given the same name and their detailed descriptions may be omitted.

[0097] The control device 30 is configured to perform various controls for manufacturing and transporting rolls R on which the green sheet film G of the manufacturing system S is wound to subsequent processes. The control device 30 has a processor and the like, and various operations are controlled by the processor performing calculation processing. As shown in Figure 10, the control device 30 has a processor 300, a ROM 301, a RAM 302, a bus 303, an input / output interface 304, an input unit 305, an output unit 306, a storage unit 307, a communication unit 308, and a power supply unit 309. However, the configuration of the control device 30 is not limited to this.

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

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

[0100] Alternatively, the shutter control unit 314 may open the shutter 10b when it receives a command to open the shutter 10b from the automated guided vehicle 20. In this case, the automated guided vehicle 20 may send a command to open the shutter 10b to the control device 30 when it is close to the shutter 10b.

[0101] The unwinding control unit 315 performs various controls on the unwinding unit 11. For example, the unwinding control unit 315 controls the chuck operation of the roll Rc on which the carrier film C is wound by the unwinding unit 11. The control of the chuck operation of the roll Rc by the unwinding control unit 315 is the same as the control of the chuck operation of the roll R by the chuck control unit 318, which will be described later, so the explanation will be omitted.

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

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

[0104] The chuck control unit 318 controls the chuck operation by the chucking unit 131. For example, the chuck control unit 318 controls the chuck operation when the chucking unit 131 is not chucking the core T. In this case, the chuck control unit 318 checks whether the holding unit body 210 of the core holding unit 21 of the automated guided vehicle 20 has moved to the raised position h2 with the core T on it. The chuck control unit 318 starts the chuck operation to move the core T to the chuck position when the holding unit body 210 has moved to the raised position h2.

[0105] Furthermore, the chuck control unit 318 controls the chuck operation while the chucking unit 131 has finished winding the roll R and is chucked in it. In this case, the chuck control unit 318 checks whether the holding unit body 220 of the roll holding unit 22 of the automated guided vehicle 20 has moved to the raised position H2. When the holding unit body 220 has moved to the raised position H2, the chuck control unit 318 starts a chuck operation to move the roll R to the chuck release position to release the chuck.

[0106] Furthermore, known techniques can be used to detect whether the holding body 210 of the core holding section 21 of the automated guided vehicle 20 has moved to the raised position h2, or whether the holding body 220 of the roll holding section 22 has moved to the raised position H2. For example, photoelectric sensors provided on each of the pair of support sections 130 may be used. In this case, it may be determined that the holding body 210 of the core holding section 21 has moved to the raised position h2, or that the holding body 220 of the roll holding section 22 has moved to the raised position H2, by blocking the light between the photoelectric sensors.

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

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

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

[0110] The roll coating process (step S11) involves applying a slurry containing ceramic material onto a carrier film C to form a ceramic green sheet on the carrier film C. Alternatively, the ceramic green sheet formed on the carrier film C may be dried during the roll coating process (step S11).

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

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

[0113] In this embodiment, when the roll winding process (step S12) is performed consecutively, the roll removal process (step S24) of the earlier roll winding process (step S12) and the core setting process (step S20) of the later roll winding process (step S12) are performed consecutively. Details will be described later.

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

[0115] The film application process (step S21) is the process of attaching the film end face of the carrier film C to the winding core T set on the winding shaft 131a. Film application may be performed manually, or a film application device or the like may be provided to perform the film application.

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

[0117] The sheet cutting process (step S23) is a process of cutting the sheets of carrier film C to complete the roll. Since one end of the carrier film C is adhered to the core of the roll Rc, after a certain amount of the carrier film C is wound up to form the roll R, the roll Rc and the carrier film C are connected. Therefore, sheet cutting is performed to separate the sheets of carrier film C from the core of the roll Rc. Sheet cutting may be performed manually, or a sheet cutting device may be provided to perform the cutting.

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

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

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

[0121] Figure 14 is a flowchart illustrating the flow of the roll removal process and the core setting process when the roll winding process shown in Figure 13 is performed continuously. Figure 15 is a schematic diagram illustrating the first half of the roll retrieval operation included in the core setting process in Figure 14. Figure 16 is a schematic diagram illustrating the second half of the roll retrieval operation included in the core setting process in Figure 14. Figure 17 is a schematic diagram illustrating the first half of the core setting operation included in the core setting process in Figure 14. Figure 18 is a schematic diagram illustrating the second half of the core setting operation included in the core setting process in Figure 14.

[0122] When performed consecutively, the roll removal process (step S24) and the core setting process (step S20) include a core transport process (step S30), a roll recovery process (step S31), a core setting process (step S32), and a roll transport process (step S33).

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

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

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

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

[0127] Next, the automated guided vehicle 20, having moved to the roll retrieval position, raises the roll holding section from the lowered position H1 to the raised position H2. Specifically, as shown in Figure 16, the roll holding section lifting control unit 291 raises the holding section body 220 of the roll holding section 221, moving it from the lowered position H1 to the raised position H2.

[0128] Next, when the holding body 220 of the roll holding unit 22 reaches the raised position H2, the control device 30 causes the chucking unit 131 of the winding unit 13 to release the chuck of the roll R. Specifically, when the holding body 220 reaches the raised position H2, detected by a sensor (not shown) or the like, the chuck control unit 318 causes the chuck drive unit 131c to slide so that the distance between the pair of winding shafts 131a widens, thereby releasing the chuck of the winding core T and completing the removal of the roll.

[0129] Next, the automated guided vehicle 20 lowers the roll holding section from the raised position H2 to the lowered position H1. Specifically, the roll holding section lifting control unit 291 lowers the holding section body 220 of the roll holding section 221 using the roll lifting unit 221, moving it from the raised position H2 to the lowered position H1.

[0130] Next, the core setting process (step S32) begins. The core setting process (step S32) is the process in which the automated guided vehicle 20 sets the core. First, the automated guided vehicle 20 moves to the core setting position. For example, the travel control unit 288 causes the automated guided vehicle 20 to transport the core T and travel to the core setting preparation position on the travel unit 25b as shown in Figure 17.

[0131] Next, the automated guided vehicle 20, having moved to the core setting position, raises the holding body 210 of the core holding unit 21 from the lowered position h1 to the raised position h2. Specifically, the core holding unit lifting control unit 290 raises the holding body 210 of the core holding unit 211 in the lifting unit 211, as shown in Figure 18, moving it from the lowered position h1 to the raised position h2.

[0132] Next, the control device 30 causes the winding unit 13 to perform a chuck operation on the winding core T when the holding unit body 210 reaches the raised position h2. Specifically, when the chuck control unit 318 detects that the holding unit body 210 has reached the raised position h2 using a sensor (not shown), it controls the chuck drive unit 131c to slide the pair of winding shafts 131a from the chuck release position to the chuck position. The pair of winding shafts 131a slide so that the distance between them narrows, chucking the winding core T and completing the winding core setting.

[0133] Next, the core holding unit lifting control unit 290 lowers the holding unit body 210 of the core holding unit 21 from the raised position h2 to the lowered position h1. Specifically, as shown in Figure 18, the core holding unit lifting control unit 290 lowers the holding unit body 210 of the core holding unit 211 using the lifting unit 211, moving it from the raised position h2 to the lowered position h1.

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

[0135] <Sheet sagging detection process> As mentioned above, the end portion of the roll R may sag after the roll R has finished winding, and the automated guided vehicle 20 may come into contact with the sagging sheet HS, potentially causing damage to the roll or other problems. Therefore, in the manufacturing system S according to this embodiment, the sheet sagging detection process detects sheet sagging using the detection unit 23, and performs actions such as stopping the automated guided vehicle 20 to prevent the automated guided vehicle 20 from coming into contact with the sagging sheet HS.

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

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

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

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

[0140] If it is determined that there is no sheet HS hanging from the roll R set in the winding unit 13 (step S43: NO), the control unit 280 checks whether the winding sheet retrieval position has been reached (step S47). If the winding sheet retrieval position has not been reached (step S47: NO), the process moves to step S41, and the check for the presence of a sheet HS hanging from the roll is repeated until the winding sheet retrieval position is reached. If the winding sheet retrieval position has been reached (step S47: YES), the control unit 280 terminates the sheet sagging detection process.

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

[0142] If the notification unit 289 determines that there is a sheet HS hanging down from the roll set in the winding unit 13, it will make a notification, for example, through the speaker 276b of the output unit 276 (step S46). For example, it may make a notification prompting the driver to stop driving the automated guided vehicle 20, or it may make a notification prompting the operator to wind the hanging sheet HS onto the roll R.

[0143] Here, the detection unit 23 acquires image information to detect the sagging sheet HS and detects the sagging sheet. For example, as shown in Figure 20, it is configured to detect the sagging sheet HS by detecting the light reflected from the sagging sheet HS.

[0144] Figure 20 is a schematic diagram illustrating the film sagging detection method according to this embodiment. More specifically, Figure 20 is an image detected by the detection unit 23 of the automated guided vehicle 20 when it enters the interior of the housing 10a for the transport of the winding core T and the retrieval of the roll R in the winding unit 13. Note that the carrier film C sagging from the roll R is a translucent film and is transparent, so normally the coated part 12 etc. can be seen through it, but in Figure 20, for the sake of explanation, this is omitted. Also, in Figure 20, reflective parts D1, D2, and D3 are shown. Reflective parts D1, D2, and D3 are the parts that reflect the illumination light L1 emitted by the illumination unit 24 of the automated guided vehicle 20.

[0145] As described above, the roll R is formed by coating a carrier film C with a slurry containing ceramic material, and then winding the resulting green sheet film G onto a core T. However, the leading edge of the long carrier film C is not coated with slurry, and the detection target of the detection unit 23 is a translucent film, making it difficult to detect using image information, etc.

[0146] However, in this embodiment, since the determination is made based on multiple images corresponding to the timing of multiple illumination light L1 emissions, detection becomes easier. The illumination light L1 emitted by the illumination unit 24 is preferably flash light, and the detection unit 23 detects the presence of the translucent film by obtaining an image showing the reflection of the flash light on the translucent film. That is, the detection unit 23 can obtain an image showing the reflective parts D1, D2, and D3 shown in Figure 20, and can determine the presence of the sheet HS, which is the carrier film C hanging from the roll R, based on the presence of the reflective parts D1, D2, and D3.

[0147] The images acquired by the detection unit 23 may be stored in a memory device or displayed on the monitor of any device on the network N. This configuration allows for monitoring the status of the automated guided vehicle 20 and analyzing the cause of its stoppage.

[0148] Furthermore, in this embodiment, if a sagging sheet HS is detected in at least one of the multiple images corresponding to the emission timing of multiple illumination light L1 cycles, it is determined that a sagging sheet HS exists from the roll R set in the winding unit 13. Alternatively, the presence of a sagging sheet HS may be determined by the difference between multiple image information. For example, the determination unit 287 may acquire the difference between two image information after noise reduction or binarization processing, and determine that a sagging sheet HS exists from the roll R if the difference extends over a predetermined area or more.

[0149] Furthermore, in this embodiment, the air blowing section 132 of the winding section 13 blows air so that the sheet HS, which is the translucent film hanging down from the roll R set on the winding shaft 131a of the winding section 13, shakes. As a result, the hanging sheet HS flaps and tilts, and is not in a constant state, making it easier to detect the presence of the translucent film by any of the multiple images corresponding to the timing of multiple illumination light L1 emission.

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

[0151] The anti-reflective cover AR is a component that assists in detecting the sheet HS hanging from the roll R, and is, for example, a plate-shaped member with an anti-reflective surface. However, when the illumination unit 24 emits a flash of light, reflection may occur not only from the sheet HS hanging from the roll R, but also from objects located on the depth side of the device relative to the roll R of the winding unit 13. In this case, the detection unit 23 of the automated guided vehicle 20 may make a false detection.

[0152] The anti-reflective cover AR is positioned on the depth side of the device beyond the support section 130, as shown in Figure 22, in order to suppress reflections from objects located on the depth side of the device beyond the roll R of the winding section 13. More specifically, it is positioned outside the range in which the automated guided vehicle 20 moves when retrieving the roll R.

[0153] Furthermore, as shown in Figure 21, the dimensions of the anti-reflective cover AR are preferably longer in the height direction than the distance from the floor surface to the lower end of the roll R set on the winding shaft 131a. Also, the dimensions of the anti-reflective cover AR are preferably longer in the width direction than the width of the roll R set on the winding shaft 131a. By setting the dimensions of the anti-reflective cover AR as described above, the sagging sheet HS can be identified more clearly.

[0154] The manufacturing system S, by equipping an anti-reflective cover AR, can prevent reflection from objects located on the depth side of the device relative to the roll R of the winding unit 13 when the illumination unit 24 of the automated guided vehicle 20 irradiates illumination light L1. This suppresses false detection by the detection unit 23 of the automated guided vehicle 20, and allows for clearer identification of sagging sheets HS, thereby preventing situations where the roll may be damaged when supplying the core to the sheet winding device more reliably.

[0155] The automated guided vehicle 20 configured as described above provides the following benefits. As mentioned above, the end of the roll may sag after the roll has finished winding. If the automated guided vehicle enters the sheet winding device while the film is sagging from the roll set in the sheet winding device, the sagging sheet may come into contact with the roll holding part body or lifting mechanism of the automated guided vehicle, for example, and as a result the roll may be damaged.

[0156] Furthermore, if an automated guided vehicle (AGV) enters the sheet winding device while film is hanging down from a roll set in the device, the hanging sheet HS may get caught in the AGV's wheels, potentially damaging the roll.

[0157] Furthermore, if the automated guided vehicle (AGV) has a core holding mechanism, and the AGV enters the sheet winding device while film is hanging from a roll set in the device, the core held by the AGV's core holding mechanism and the film hanging from the roll may stick together, potentially damaging the roll.

[0158] Conventionally, there are automated guided vehicles (AGVs) equipped with a detection unit for detecting obstacles on the floor surface in which the AGV travels. However, such a detection unit does not acquire information about the area through which the roll holding unit passes when the AGV moves, including the position the roll holding unit passes. Therefore, it has been difficult to detect sheets HS hanging from the rolls.

[0159] Furthermore, the molding of the ceramic green sheet onto the carrier film is typically performed on the portion of the roll excluding the beginning and end. Therefore, the beginning and end of the roll consist solely of the carrier film, and the ceramic green sheet is not molded there. Moreover, if the carrier film is made of a translucent film, the sheet hanging from the roll becomes a translucent component, making it even more difficult to detect by optical means.

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

[0161] The automated guided vehicle 20 according to this embodiment is an automated guided vehicle comprising: a roll holding unit 22 that holds a roll R; a detection unit 23 that acquires information on a roll holding unit passage area R1 including the position where the roll holding unit 22 passes when the automated guided vehicle 20 moves; and an illumination unit 24 that emits illumination light L1 toward the roll holding unit passage area R1.

[0162] As a result, the automated guided vehicle of this embodiment can prevent situations in which the roll is damaged when the automated guided vehicle 20 enters the winding section 13, which serves as a sheet winding device.

[0163] Furthermore, the automated guided vehicle 20 according to this embodiment further includes a core holding section 21 that holds a core T having an adhesive on its surface, and the detection section 23 acquires information on the core passage region R2, including the position where the core T held by the core holding section 21 passes when the automated guided vehicle 20 moves, and the illumination section 24 emits illumination light L1 toward the core passage region R2.

[0164] As a result, the automated guided vehicle 20 of this embodiment can suppress situations in which the roll R is damaged by contact between the sheet HS hanging down on the adhesive surface of the core T and the winding section 13, which acts as a sheet winding device, when the core T is supplied to the winding section 13.

[0165] Furthermore, in the automated guided vehicle 20 according to this embodiment, the detection unit 23 is an image sensor that acquires image information of the roll holding section passage area R1.

[0166] This allows for the determination of whether or not a sheet HS is hanging from the roll R based on image information, enabling more accurate detection of hanging sheets HS. As a result, it is possible to more reliably prevent situations in which the roll R is damaged when the automated guided vehicle 20 enters the winding section 13.

[0167] Furthermore, in the automated guided vehicle 20 according to this embodiment, the detection unit 23 is an image sensor that acquires image information of the core passing region R2.

[0168] This allows for the determination of whether or not a sheet HS is hanging from the roll R based on image information, enabling more accurate detection of hanging sheets HS. As a result, it is possible to suppress situations in which the roll R is damaged by the hanging sheets HS coming into contact with the adhesive surface of the core T when the automated guided vehicle 20 enters the winding section 13.

[0169] Furthermore, in the automated guided vehicle 20 according to this embodiment, the illumination light L1 emitted by the lighting unit 24 is a flash light.

[0170] This makes it easier to detect reflections from the sheet HS hanging from the roll R using flash light, thus more reliably preventing situations where the roll R is damaged when the automated guided vehicle 20 enters the winding section 13.

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

[0172] This makes it possible to more reliably prevent the roll R from being damaged when it is retrieved from the winding unit 13.

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

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

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

[0176] This allows the floor obstacle detection unit 26 to detect and address obstacles on the floor surface. On the other hand, if the sheet HS is sagging, the detection unit 23, which acts as a sheet sagging detection unit, can prevent the roll from being damaged when the automated guided vehicle 20 enters the winding unit 13.

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

[0178] This prevents the roll R from being damaged when the automated guided vehicle 20 enters the winding section 13.

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

[0180] This allows the detection unit 23 to determine the presence or absence of a sheet HS hanging from the roll R multiple times, making it possible to more reliably prevent the roll R from being damaged when the automated guided vehicle moves near the winding unit 13 to retrieve the roll R.

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

[0182] This allows the detection unit 23 to determine whether or not a sheet HS has hung down from the roll R multiple times, thus more reliably preventing situations in which the roll R is damaged when the automated guided vehicle 20 enters the winding unit 13.

[0183] Furthermore, in the manufacturing system S according to this embodiment, if the automated guided vehicle (AGV) control device 27 determines that there is a sheet HS hanging down from the roll R set in the winding unit 13, it controls the movement of the AGV 20 to stop.

[0184] As a result, if the detection unit 23 determines that there are sheets HS hanging from the roll R multiple times, the automated guided vehicle 20 can automatically stop moving, thus more reliably preventing situations in which the roll R is damaged.

[0185] Furthermore, the manufacturing system S according to this embodiment includes an air blowing unit 132, which blows air W so that the hanging sheet HS sways when the sheet is hanging down from the roll R set in the winding unit 13.

[0186] As a result, the sheet HS hanging from the roll R sways, making it easier for the illumination light L1 from the lighting unit 24 to reflect off it. This allows the detection unit 23 to more reliably detect the sheet HS hanging from the roll R, preventing the roll R from being damaged.

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

[0188] This allows the present invention to be effective even in structures that surround the winding section 13, such as a housing 10a equipped with a shutter 10b. For example, inside the housing 10a equipped with a shutter 10b, the detection unit 23 can acquire information about the roll holding section passage area R1 when the shutter 10b is open.

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

[0190] As a result, even when an automated guided vehicle 20 enters the winding section 13 located inside the housing 10a which has a shutter 10b, the detection unit 23 can determine whether there are multiple instances of the sheet HS hanging down, thereby more reliably preventing situations in which the roll R is damaged.

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

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

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

[0194] This prevents the roll R from being damaged when the automated guided vehicle 20 supplies the core T to the winding section 13.

[0195] Furthermore, the automated guided vehicle 20 according to this embodiment is an automated guided vehicle comprising: a core holding unit 21 that holds a core T having an adhesive on its surface; a detection unit 23 that acquires information on a core passage region R2 including the position where the core T held by the core holding unit 21 passes when the automated guided vehicle 20 moves; and an illumination unit 24 that emits illumination light L1 toward the core passage region R2.

[0196] As a result, the automated guided vehicle 20 of this embodiment can prevent the roll R from being damaged when supplying the core T to the winding section 13, etc.

[0197] <Other variations> In the above embodiment, the control unit of the manufacturing system S, including the automated guided vehicle (AGV) 20, was typically described as the control unit 280 and the control unit 310, but it is not limited to these. For example, the control unit of the manufacturing system S, including the AGV 20, may be distributed across the AGV control device 27 and the control device 30, or some or all of it may be located on a server on a network. Even if the control unit is distributed, if it functionally cooperates with the functions of the AGV 20, it can be considered substantially as the control unit 280 of the AGV 20. Similarly, even if the control unit is distributed, if it functionally cooperates with the functions of the manufacturing system S, it can be considered substantially as the control unit 310 of the manufacturing system S.

[0198] Furthermore, the present invention is not limited to the configuration of the above embodiments, and can be appropriately modified and applied without altering the essence of the invention. Also, a combination of two or more of the desirable configurations described in the above embodiments also constitutes the present invention.

[0199] <1> It is an automated guided vehicle, A roll holding section that holds the roll, A detection unit that acquires information about the area through which the roll holding section passes, including the position through which the automated guided vehicle passes when it moves, A lighting unit that emits illumination light toward the area through which the roll holding unit passes, An automated guided vehicle equipped with the following features. <2> It further comprises a core holding section that holds a core having an adhesive on its surface, The detection unit acquires information about the core passage area, including the position where the core held in the core holding unit passes when the automated guided vehicle moves. The illumination unit emits illumination light toward the core passing region. <1> The automated guided vehicle described above. <3> The detection unit is an image sensor that acquires image information of the region through which the roll holding unit passes. <1> or <2> The automated guided vehicle described above. <4> The detection unit is an image sensor that acquires image information of the core passing region. <2> The automated guided vehicle described above. <5> The illumination light emitted by the aforementioned illumination unit is a flash light. <1> from <4> An automated guided vehicle (AGV) as described in any one of the following. <6> An automated guided vehicle (AGV) is an AGV that retrieves rolls from a sheet winding device and transports them. The detection unit detects the presence of a sheet hanging from a roll set in the sheet winding device. <1> from <5> An automated guided vehicle (AGV) as described in any one of the following. <7> An automated guided vehicle (AGV) is an AGV that transports a core to a sheet winding device. The detection unit detects the presence of a sheet hanging from a roll set in the sheet winding device. <2> The automated guided vehicle described above. <8> The system further includes a floor obstacle detection unit for detecting the presence or absence of obstacles on the floor surface ahead of the automated guided vehicle. <1> from <7> An automated guided vehicle (AGV) as described in any one of the following. <9> <1> A manufacturing system including an automated guided vehicle as described above, A sheet winding machine that winds up sheets to produce rolls, It comprises a control unit and, The control unit determines, based on the information of the area through which the roll holding unit passes, acquired by the detection unit, whether or not there is a sheet hanging down from the roll set in the sheet winding device, in this manufacturing system. <10> The aforementioned lighting unit emits illumination light multiple times at intervals, The detection unit acquires information on the roll holding section passage area at multiple timings corresponding to the emission timing of multiple illumination lights, The control unit determines, based on the information of the roll holding section passage region at the multiple timings, whether or not there is a sheet hanging down from the roll set in the sheet winding device. <9> The manufacturing system described above. <11> If the control unit determines that there is a sheet hanging down from the roll set in the sheet winding device, it will perform control to stop the progress of the automated guided vehicle. <9> or <10> The manufacturing system described above. <12> It is equipped with an air blowing section, and the air blowing section blows air so that the hanging sheet shakes when the sheet is hanging from a roll set in the sheet winding device. <9> from <11> A manufacturing system as described in any one of the following. <13> Equipped with shutters to block the entry of automated guided vehicles, The control unit determines, based on the information of the area through which the roll holding unit passes, acquired by the detection unit when the shutter is open, whether or not there is a sheet hanging down from the roll set in the sheet winding device. <9> from <12> A manufacturing system as described in any one of the following. <14> The lighting unit emits multiple illumination beams while the shutter is open. <13> The manufacturing system described above. <15> <2> A manufacturing system including an automated guided vehicle as described above, A sheet winding machine that winds up sheets to produce rolls, It comprises a control unit and, The control unit determines, based on the information of the core passage area acquired by the detection unit, whether or not a sheet has fallen from a roll set in a sheet winding device, as part of the manufacturing system. <16> The aforementioned lighting unit emits illumination light multiple times at intervals, The detection unit acquires information on the winding core passing region at multiple timings corresponding to the emission timing of multiple illumination light cycles. The control unit determines, based on the information of the core passing region at the multiple timings, whether or not there is a sheet hanging from the roll set in the sheet winding device. <15> The manufacturing system described above. <17> If the control unit determines that there is a sheet hanging down from the roll set in the sheet winding device, it will perform control to stop the progress of the automated guided vehicle. <15> or <16> The manufacturing system described above. <18> It is equipped with an air blowing section, and the air blowing section blows air so that the hanging sheet shakes when the sheet is hanging from a roll set in the sheet winding device. <15> from <17> A manufacturing system as described in any one of the following. <19> Equipped with shutters to block the entry of automated guided vehicles, The control unit determines, based on the information of the core passage area acquired by the detection unit when the shutter is open, whether or not there is a sheet hanging down from the roll set in the sheet winding device. <15> from <18> The manufacturing system described in any one of the following. <20> The lighting unit emits multiple illumination beams while the shutter is open. <19> The manufacturing system described above. <21> An automated guided vehicle comprising: a core holding unit that holds a core having an adhesive on its surface; a detection unit that acquires information about a core passage area, including the position where the core held by the core holding unit passes when the automated guided vehicle moves; and an illumination unit that emits illumination light toward the core passage area.

[0200] <1> It is an automated guided vehicle, A core holding part that holds a core having an adhesive on its surface, A detection unit that acquires information about the winding core passage area, including the passage position of the winding core held in the winding core holding unit when the automated guided vehicle moves, A lighting unit that emits illumination light toward the winding core passing region, An automated guided vehicle equipped with the following features. <2> It further includes a roll holding section for holding the roll, The detection unit acquires information about the area through which the roll holding unit passes, including the position through which the automated guided vehicle passes when it moves forward. The illumination unit emits illumination light toward the area through which the roll holding unit passes. <1> The automated guided vehicle described above. <3> The detection unit is an image sensor that acquires image information of the core passing region. <1> or <2> The automated guided vehicle described above. <4> The automated guided vehicle according to claim 2, wherein the detection unit is an image sensor that acquires image information of the area through which the roll holding unit passes. <5> The illumination light emitted by the aforementioned illumination unit is a flash light. <1> from <4> An automated guided vehicle (AGV) as described in any one of the following. <6> An automated guided vehicle (AGV) is an AGV that transports the core from a sheet winding device. The detection unit detects the presence of a sheet hanging from a roll set in the sheet winding device. <1> from <5> An automated guided vehicle (AGV) as described in any one of the following. <7> An automated guided vehicle (AGV) is an AGV that collects rolls of sheets into a sheet winding device and transports them. The detection unit detects the presence of a sheet hanging from a roll set in the sheet winding device. <2> The automated guided vehicle described above. <8> It further includes a floor obstacle detection unit for detecting the presence or absence of obstacles on the floor surface ahead of the automated guided vehicle's movement. <1> from <7> A manufacturing system as described in any one of the following. <9> <1> A manufacturing system including an automated guided vehicle as described above, A sheet winding machine that winds up sheets to produce rolls, It comprises a control unit and, A manufacturing system in which the control unit determines whether or not there is a sheet hanging from a roll set in the sheet winding device, based on the information of the core passing region acquired by the detection unit. <10> The aforementioned lighting unit emits illumination light multiple times at intervals, The detection unit acquires information on the winding core passing region at multiple timings corresponding to the emission timing of multiple illumination light cycles. The control unit determines, based on the information of the core passing region at the multiple timings, whether or not there is a sheet hanging from the roll set in the sheet winding device. <9> The manufacturing system described above. <11> If the control unit determines that there is a sheet hanging down from the roll set in the sheet winding device, it will perform control to stop the progress of the automated guided vehicle. <9> or <10> The manufacturing system described above. <12> Equipped with an air outlet, The air blowing section blows air so that the hanging sheet sways when the sheet is hanging from the roll set in the sheet winding device. <9> from <11> A manufacturing system as described in any one of the following. <13> Equipped with shutters to block the entry of automated guided vehicles, The control unit determines, based on the information of the core passage area acquired by the detection unit when the shutter is open, whether or not there is a sheet hanging down from the roll set in the sheet winding device. <9> from <12> A manufacturing system as described in any one of the following. <14> The lighting unit emits multiple illumination beams while the shutter is open. <13> The manufacturing system described above. <15> <2> A manufacturing system including an automated guided vehicle as described above, A sheet winding machine that winds up sheets to produce rolls, It comprises a control unit and, The control unit determines, based on the information of the area through which the roll holding unit passes, acquired by the detection unit, whether or not there is a sheet hanging down from a roll set in a sheet winding device, in this manufacturing system. <16> The aforementioned lighting unit emits illumination light multiple times at intervals, The detection unit acquires information on the roll holding section passage area at multiple timings corresponding to the emission timing of multiple illumination lights, The control unit determines, based on the information of the roll holding section passage region at the multiple timings, whether or not there is a sheet hanging down from the roll set in the sheet winding device. <15> The manufacturing system described above. <17> If the control unit determines that there is a sheet hanging down from the roll set in the sheet winding device, it will perform control to stop the progress of the automated guided vehicle. <15> or <16> The manufacturing system described above. <18> It is equipped with an air blowing section, and the air blowing section blows air so that the hanging sheet shakes when the sheet is hanging from a roll set in the sheet winding device. <15> from <17> A manufacturing system as described in any one of the following. <19> Equipped with shutters to block the entry of automated guided vehicles, The control unit determines, based on the information of the area through which the roll holding unit passes, acquired by the detection unit when the shutter is open, whether or not there is a sheet hanging down from the roll set in the sheet winding device. <15> from <18> A manufacturing system as described in any one of the following. <20> The lighting unit emits multiple illumination beams while the shutter is open. <19> The manufacturing system described above. <21> It is an automated guided vehicle, A roll holding section that holds the roll, A detection unit that acquires information about the area through which the roll holding section passes, including the position through which the roll holding section passes when the automated guided vehicle moves, A lighting unit that emits illumination light toward the area through which the roll holding unit passes, An automated guided vehicle equipped with the following features. [Explanation of symbols]

[0201] R1 Roll holding section passage area L1 illumination light 20 Automated Guided Vehicles 22 Roll holding section 23 Detection unit 24 Lighting Section

Claims

1. An automated guided vehicle in a manufacturing system equipped with a molding apparatus having an anti-reflective cover, The molding apparatus includes a roll holding section for holding a roll formed by winding a sheet containing a translucent film, A detection unit that acquires information about the area through which the roll holding section passes, including the position through which the automated guided vehicle passes when it moves, An illumination unit that emits illumination light that spreads in the height and width directions along the direction in which the roll holding portion passes and toward the anti-reflective cover, An automated guided vehicle equipped with the following features.

2. It further comprises a core holding section that holds a core having an adhesive on its surface, The detection unit acquires information about the core passage area, including the position where the core held in the core holding unit passes when the automated guided vehicle moves. The illumination unit emits illumination light toward the core passing region. The automated guided vehicle according to claim 1.

3. The automated guided vehicle according to claim 1 or 2, wherein the detection unit is an image sensor that acquires image information of the area through which the roll holding unit passes.

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

5. The automated guided vehicle according to claim 1 or 2, wherein the illumination light emitted from the illumination unit is a flash light.

6. An automated guided vehicle (AGV) is an AGV that retrieves rolls from a sheet winding device and transports them. The automated guided vehicle according to claim 1 or 2, wherein the detection unit detects the presence of a sheet hanging from a roll set in the sheet winding device.

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

8. The automated guided vehicle according to claim 1 or 2, further comprising a floor obstacle detection unit for detecting the presence or absence of obstacles on the floor surface ahead of the automated guided vehicle's movement.

9. A manufacturing system including an automated guided vehicle as described in claim 1, A sheet winding device that winds up the aforementioned sheet to produce a roll, It comprises a control unit and, The control unit determines, based on the information of the area through which the roll holding unit passes, acquired by the detection unit, whether or not there is a sheet hanging down from the roll set in the sheet winding device, in this manufacturing system.

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

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

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

13. Equipped with shutters to block the entry of automated guided vehicles, The manufacturing system according to claim 9 or 10, wherein the control unit determines whether or not there is a sheet hanging down from the roll set in the sheet winding device, based on the information of the area through which the roll holding unit passes, acquired by the detection unit when the shutter is open.

14. The manufacturing system according to claim 13, wherein the lighting unit emits multiple illumination lights while the shutter is open.

15. A manufacturing system including an automated guided vehicle as described in claim 2, A sheet winding device that winds up the aforementioned sheet to produce a roll, It comprises a control unit and, The control unit determines, based on the information of the core passage area acquired by the detection unit, whether or not a sheet has fallen from a roll set in a sheet winding device, as part of the manufacturing system.

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

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

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

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

20. The manufacturing system according to claim 19, wherein the lighting unit emits multiple illumination lights while the shutter is open.

21. An automated guided vehicle in a manufacturing system equipped with a molding apparatus having an anti-reflective cover, A core holding section having an adhesive on its surface and holding a core for winding a sheet containing a translucent film in the molding apparatus, A detection unit that acquires information about the core passage area, including the position where the core held in the core holding unit passes when the automated guided vehicle moves, An illumination unit that emits illumination light that spreads in the height and width directions along the winding core passing region and toward the anti-reflective cover, An automated guided vehicle equipped with the following features.

Images