Automated guided vehicles

Abstract

This autonomous conveyance vehicle is capable of conveying a conveyance object that includes: an article which is used in a substrate work machine; and a case in which the article is held in a removable manner. The autonomous conveyance vehicle comprises: a body; a support section that is provided to the body and supports the case; a detection unit that is provided to the body and detects whether the article is present in or absent from the case in conveying the object to be conveyed; and a determination unit that determines, on the basis of a detection results from the detection unit, whether the article has been placed in or removed from the case.

Description

Technical Field

[0001] This specification relates to an automated guided vehicle.

Background Art

[0002] In recent years, as part of labor-saving measures, for example, as disclosed in Patent Document 1, in an article conveyance system, it has been common practice to convey articles by an automated guided vehicle. In this case, according to a preset conveyance plan, articles are automatically conveyed by the automated guided vehicle, and automatic delivery of the articles at the conveyance destination can be performed.

[0003] Also, for example, as disclosed in Patent Document 2, there are cases where a carriage that is detachably connected to an electronic component mounting device is used to convey a parts feeder as an article to be conveyed. Here, in the parts monitoring system disclosed in Patent Document 2, it is determined whether or not the storage state of the parts feeder has changed from when the parts feeder is loaded onto the carriage until the carriage is connected to the electronic component mounting device, and a monitoring device that performs a warning operation when the storage state of the parts feeder has changed is provided.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] Automated Guided Vehicles (AGVs) are being designed to be general-purpose rather than specialized, enabling them to transport a variety of goods, in order to enable more efficient operation. However, in production sites where various goods are transported by AGVs, workers are generally not present to monitor the transport process. Therefore, for example, even if articles forming the transported goods are attached or detached during transport, whether intentionally or negligently, it is only possible to determine whether or not the articles were attached or detached after the transported goods have been delivered to the destination. In this case, the delay in determination may affect production, for example, by resulting in a shortage of necessary parts. Therefore, it is desirable that AGVs be able to quickly determine whether articles have been attached or detached during transport.

[0006] This specification aims to provide an automated guided vehicle (AGV) that can detect and determine the attachment and detachment of articles during the transport of goods. [Means for solving the problem]

[0007] This specification discloses an automated guided vehicle (AGV) capable of transporting an object including an article used in a substrate work machine and a case for detachably holding the article, comprising: a main body; a support part provided on the main body for supporting the case; a detection unit provided on the main body for detecting the presence or absence of an article in the case during transport of the object; and a determination unit that determines whether or not an article has been attached to or detached from the case based on the detection result by the detection unit.

[0008] This specification also discloses the technical idea behind changing "the automated guided vehicle described in claim 1" to "the automated guided vehicle described in any one of claims 1-8" in the original claim 9. Furthermore, this specification also discloses the technical idea behind changing "the automated guided vehicle described in claim 1" to "the automated guided vehicle described in any one of claims 1-9" in the original claim 10. Moreover, this specification also discloses the technical idea behind changing "the automated guided vehicle described in claim 1 or 2" to "the automated guided vehicle described in any one of claims 1-13" in the original claim 14. [Effects of the Invention]

[0009] In the case of an automated guided vehicle (AGV), the detection unit can quickly detect and determine the attachment and detachment of items during transport. [Brief explanation of the drawing]

[0010] [Figure 1] This is a perspective view illustrating a production line equipped with automated guided vehicles (AGVs). [Figure 2] This is a schematic perspective view showing an automated guided vehicle (AGV) loaded with transported goods. [Figure 3] This is a schematic perspective view showing the trolley, which is the main body of the automated guided vehicle (AGV). [Figure 4] This diagram illustrates detection by the detection unit and guidance to the outside. [Figure 5] This is a schematic perspective view showing an automated guided vehicle (AGV) loaded with transported goods, relating to the first modified example. [Figure 6] This is a schematic perspective view relating to the first modified example, showing the trolley, which is the main body of the automated guided vehicle. [Figure 7] This is an enlarged perspective view illustrating the configuration of the detection unit in the first modified example. [Figure 8] This is a schematic perspective view showing an automated guided vehicle (AGV) loaded with transported goods, relating to the second modified example. [Figure 9] This is a schematic perspective view illustrating the second modified form, specifically the trolley which is the main body of the automated guided vehicle (AGV). [Figure 10] This diagram illustrates a third modified example, specifically the detection by the detection unit and the guidance provided to the outside. [Modes for carrying out the invention]

[0011] The automated guided vehicle (AGV) will be described below with reference to the drawings. This embodiment will be explained using an example where the AGV transports materials necessary for production in a production line equipped with a substrate handling machine.

[0012] 1. Overview of the Production Line PL As shown in Figure 1, the production line PL includes a warehouse 1, an automatic tape processing device 3 installed in an external setup area 2, a reel loading device 4, a buffer station 5 as a substrate work machine, and a component mounting machine 6. The production line PL also includes a reel transport vehicle VR and a feeder transport vehicle VF as automated guided vehicles capable of transporting transported goods C, including articles used in the component mounting machine 6 and cases that detachably hold the articles. In the production line PL, for example, articles (e.g., tape feeders, etc.) transported (moved) to the buffer station 5 by the feeder transport vehicle VF are supplied to each of the multiple component mounting machines 6 by a loader 7. In this embodiment, the case in which the feeder transport vehicle VF transports articles to the buffer station 5 is illustrated, but it is also possible for the feeder transport vehicle VF to transport articles to the component mounting machine 6.

[0013] Here, examples of items used in the component mounting machine 6 as a board-mounting machine include, for example, tape reels and tape feeders that supply electronic components to the component mounting machine 6, and suction nozzles that pick up the supplied components. Other items include, for example, masks when the board-mounting machine is a printing press, as well as trays and boards (workpieces). Furthermore, examples of cases that form the transported object C include racks on which tape reels, suction nozzles, masks, boards, etc. are placed, magazines that house tape feeders, and pallets on which trays are placed.

[0014] The reel transport vehicle VR transports the transported object C from the inlet / outlet 1a of warehouse 1 to the automatic tape processing device 3 installed in the external setup area 2. The reel transport vehicle VR also transports the transported object C from the automatic tape processing device 3 to the reel loading device 4. Here, an example of the transported object C transported by the reel transport vehicle VR is a tape reel R (hereinafter simply referred to as "reel R") which is an item placed on a rack T which is a case.

[0015] The feeder transfer vehicle VF conveys the conveyed item C from the loading / unloading port 1a of the warehouse 1 to the reel loading device 4. Also, the feeder transfer vehicle VF conveys the conveyed item C from the reel loading device 4 to the buffer station 5. Here, as the conveyed item C conveyed by the feeder transfer vehicle VF, a tape feeder F (hereinafter simply referred to as "feeder F") which is an item housed in a magazine M which is a case can be exemplified.

[0016] The reel transfer vehicle VR and the feeder transfer vehicle VF which are automated guided vehicles are capable of communicating with the management device 8. Thereby, the reel transfer vehicle VR unloads the rack T on which the target reel R is placed, that is, the conveyed item C, from the loading / unloading port 1a of the warehouse 1 in accordance with a command based on the conveyance plan from the management device 8, and loads it into the tape automatic processing device 3. Also, the reel transfer vehicle VR unloads the rack T on which the reel R wound with the carrier tape that has undergone the necessary processing in the tape automatic processing device 3 is placed, that is, the conveyed item C, from the tape automatic processing device 3 and loads it into the reel loading device 4.

[0017] On the other hand, the feeder transfer vehicle VF unloads the magazine M that houses the target feeder F, that is, the conveyed item C, from the loading / unloading port 1a of the warehouse 1 in accordance with a command based on the conveyance plan from the management device 8, and loads it into the reel loading device . Also, the feeder transfer vehicle VF unloads the magazine M that houses a plurality of feeders F loaded with the reel R, that is, the conveyed item C, from the reel loading device 4 and loads it into the buffer station 5. Further, the feeder transfer vehicle VF unloads, as the conveyed item C, the magazine M that houses the feeder F after component supply or the empty magazine M that does not house the feeder F from the buffer station 5, and loads it into, for example, the loading / unloading port 1a of the warehouse 1.

[0018] Here, the reel transport vehicle VR and the feeder transport vehicle VF differ in that the reel transport vehicle VR transports reels R placed on rack T as transported items C, while the feeder transport vehicle VF transports feeders F housed in magazine M as transported items C. However, the configurations of the reel transport vehicle VR and the feeder transport vehicle VF are similar. Therefore, in the following explanation, the feeder transport vehicle VF will be used as a specific example.

[0019] In this embodiment, the case in which the automatic tape processing device 3 and the reel loading device 4 are arranged independently is illustrated, but it is also possible to configure the automatic tape processing device 3 and the reel loading device 4 to be provided as a single unit. In this case, after processing by the automatic tape processing device 3, the loading process by the reel loading device 4 is performed immediately. For this reason, in the production line PL, instead of having both a reel transport vehicle VR that transports only reels R placed on the rack T as transported items C and a feeder transport vehicle VF that transports only feeders F contained in the magazine M as transported items C, it is also possible to configure the feeder transport vehicle VF to transport reels R placed on the rack T as well as transported items C.

[0020] 2. Feeder transport vehicle VF (Automated Guided Vehicle) Next, we will explain the configuration of the feeder transport vehicle VF, which is used as an example of an automated guided vehicle (AGV). As mentioned above, the feeder transport vehicle VF automatically transports magazines M containing or empty feeders F as transported items C, according to a pre-set transport plan. The transport plan is set for each transported item C (specific feeder F and magazine M) that the feeder transport vehicle VF will transport, based on the production plan set in the production line PL. The transport plan is pre-set to include the type and number of feeders F to be contained in the magazine M, the position of the contained feeders F relative to the magazine M, i.e., the state of the magazine M being transported, the transport route for transporting the transported items C, and the location (transportation target) where the transported items C are loaded and unloaded, i.e., where the transported items C are handed over.

[0021] By the way, when the feeder transport vehicle VF automatically (autonomously) transports the transported goods C, there is a possibility that unintended attachment or detachment of items, i.e., items not included in the transport plan, may occur during transport, whether intentionally or negligently. For example, a feeder F that should have been stored in magazine M may be forgotten, or a feeder F that should not have been stored in magazine M may be stored. In this case, an operator may, for example, store the correct feeder F in magazine M or remove the wrong feeder F from magazine M during transport by the feeder transport vehicle VF. However, since such insertion and removal of feeder F from magazine M is an act of returning magazine M to the correct state based on the transport plan, the impact on production is minimal.

[0022] However, when feeder F is inserted and removed during the transport of transported goods C by feeder transport vehicle VF, even if the state of magazine M is correct according to the transport plan, it is possible that, for example, a feeder F not included in the production plan may be mistakenly added to and stored in magazine M, or the correct feeder F may be removed from magazine M. In other words, when such attachment and detachment of items occurs, the state of magazine M transported as transported goods C by feeder transport vehicle VF will differ from the state of magazine M pre-set in the transport plan.

[0023] Here, if an incorrect feeder F or a shortage of the correct feeder F cannot be determined during the transport of the transported material C, it will be determined and discovered, for example, when the transported material C is transported (handed over) to the buffer station 5. In other words, an incorrect feeder F or a shortage of the correct feeder F can be discovered at the destination where the transported material C is transported, and therefore, it takes time to discover it, resulting in a delay in discovery. If the discovery of an incorrect feeder F or a shortage of the correct feeder F is delayed, the state of the magazine M will differ from the transport plan, which may, for example, cause a shortage of parts at the parts mounting machine 6, stopping production, or make it impossible to track the whereabouts or origin of feeders F or parts, potentially affecting production.

[0024] Therefore, when an automated guided vehicle (AGV), including the feeder transporter VF, transports the transported item C, it is necessary to detect, judge, and monitor the attachment and detachment of the item even during transport. When the attachment and detachment of an item is detected and judged during monitoring, notification information is promptly output to the management device 8 to inform that attachment and detachment has occurred, and this information should be conveyed to workers or managers, for example, via a display device installed on the production line PL. Furthermore, when attaching or detaching the feeder F to the magazine M during transport, for example, the storage (set) of the feeder F into the magazine M is likely to be incomplete, and as a result, there is a risk that the feeder F may fall out of the magazine M during the transport operation by the feeder transporter VF.

[0025] Therefore, in this embodiment, the feeder transport vehicle VF, which is an automated guided vehicle, mainly comprises a trolley 10 as the main body, a trolley control unit 16, a traveling device 20, and a detection unit 30 that detects the attachment and detachment (insertion and removal) of the feeder F as an item to the magazine M, which is the case, during the transport of the transported item C. In the following description, the front and rear, left and right, and up and down of the feeder transport vehicle VF are defined for convenience as shown in Figure 2.

[0026] The trolley 10 and the running gear 20 are configured to be approximately symmetrical with respect to a centerline extending in the front-rear direction. The main body, the trolley 10, is connected to the running gear 20 by a coupling mechanism (not shown). The running gear 20 can, for example, enter from the rear beneath the trolley 10, pull and move the connected trolley 10, and exit behind the trolley 10. The detection unit 30 is provided on the main body, the trolley 10.

[0027] 2-1. Trolley 10 As shown in Figures 2 and 3, the trolley 10 mainly comprises a loading platform 11, left and right side sections 12, left and right leg sections 13, two front wheels 14 (only the left side is shown in Figure 2, etc.), two rear wheels 15, and a trolley control unit 16. As shown in Figure 3, the loading platform 11 is formed in a roughly rectangular shape in plan view and is positioned horizontally, separated from the floor. The main body of the trolley 10 is provided with a loading / unloading section 17 as a support section on the upper surface of the loading platform 11, and a detection unit 30 is installed on the upper rear surface of the loading platform 11 in the front-rear direction.

[0028] The left and right side sections 12 are provided so as to extend downward from the left and right edges of the cargo bed 11. A space for the running gear 20 to enter is defined between the left and right side sections 12 on the underside of the cargo bed 11. On the underside of each side section 12, left and right legs 13 are provided, extending in the front-rear direction. Front wheels 14 for running are provided on the lower front of the legs 13, and rear wheels 15 for running are provided on the lower rear of the legs 13. In total, the four front wheels 14 and rear wheels 15 are swivel wheels with variable direction of travel. In addition, stoppers are provided on the two rear wheels 15.

[0029] 2-2. Bogie control unit 16 (decision unit 161) The trolley control unit 16 is a microcomputer whose main components are a CPU, ROM, RAM, and various interfaces. The trolley control unit 16 comprehensively controls the operation of the trolley 10 (specifically, the operation of the loading / unloading section 17, etc.) by executing various programs that are not shown in the diagram.

[0030] Furthermore, as shown in Figures 1 and 4, the trolley control unit 16 can communicate with the management device 8. In addition, the trolley control unit 16 of this embodiment is equipped with a determination unit 161, which acquires the detection result S output from the connected detection unit 30. Based on the detection result S from the detection unit 30, the determination unit 161 determines whether or not the feeder F, which is an item, has been attached to or removed from the magazine M, which is a case. The trolley control unit 16 then communicates with the management device 8, and if the determination unit 161 determines that the feeder F has been attached or removed, it outputs notification information J regarding the attachment or removal of the feeder F to the management device 8. As a result, in this embodiment, the management device 8 can quickly guide, for example, workers or managers, on the attachment or removal of the feeder F.

[0031] In this embodiment, the case in which the decision unit 161 is provided in the bogie control unit 16 is illustrated. However, the decision unit 161 can also be provided in control devices other than the bogie control unit 16 (for example, the running control unit 25 described later) or in various calculation devices. Furthermore, the decision unit 161 can also be provided in a management device 8 that can communicate with the bogie control unit 16. Moreover, the decision unit 161 can be formed on the cloud.

[0032] 2-3. Loading / Unloading Section 17 (Support Section) The loading / unloading section 17 loads or unloads magazines M containing or empty feeders F from the front of the trolley 10 in a front-to-back direction. As shown in Figure 3, the loading / unloading section 17 consists of a main roller 171, six drive rollers 172, a guide roller 173, a locking mechanism 174, a locking hook 175, an operation panel 176, and a drive motor (not shown). The three types of rollers are cylindrical or cylindrical members that extend in the left-to-right direction and are supported so as to be able to rotate around a central axis. From the front to the rear of the trolley 10, the guide roller 173, three drive rollers 172, the main roller 171, and three drive rollers 172 are arranged in that order.

[0033] The main roller 171 is driven by the forward and reverse rotation of the drive motor and rotates in both forward and reverse directions. Six drive rollers 172 are connected to the main roller 171 by a transmission belt (not shown) and rotate synchronously with the main roller 171 in the same direction and at the same rotational speed. The guide roller 173 is not driven and can rotate freely. The forward rotation of the main roller 171 and drive rollers 172 loads the magazine M (conveyed goods C including rack T, etc.), and the reverse rotation unloads the magazine M (conveyed goods C including rack T, etc.). The drive motor's operation and stopping, as well as its rotation direction, are controlled by the trolley control unit 16.

[0034] The locking mechanism 174 is positioned behind the rearmost drive roller 172. The locking mechanism 174 uses a locking hook 175 to lock the stacked magazine M (including the transported items C such as rack T). As shown in Figure 3, the front of the locking hook 175 is bent upward and is supported by an elastic member so as to be able to swing up and down.

[0035] As a result, when a magazine M (conveyed item C including rack T, etc.) is loaded, the locking hook 175 lowers and then rises, automatically locking the locking portion (not shown) provided at the rear end of the magazine M (conveyed item C including rack T, etc.). Alternatively, the locking hook 175 lowers and then rises, automatically fitting into the locking hole provided at the rear end of the magazine M (conveyed item C including rack T, etc.). On the other hand, just before the magazine M (conveyed item C including rack T, etc.) is lowered, the locking hook 175 is driven downward by, for example, an electromagnetic solenoid (not shown), releasing the lock on the magazine M (conveyed item C including rack T, etc.). In this case, the operation of the electromagnetic solenoid is controlled by the trolley control unit 16.

[0036] As described above, the loading and unloading operations of the loading and unloading unit 17 are primarily performed automatically by the control of the trolley control unit 16. In addition, some operations of the loading and unloading unit 17 can be manually controlled by operating the operation panel 176 located at the rear of the loading platform 11. Specifically, by operating the operation panel 176, it is possible to, for example, clear the error if the loading and unloading unit 17 stops due to an abnormality (error) in the loading and unloading operation, or to perform an emergency stop of the loading and unloading unit 17. Here, in order for the loading and unloading unit 17 to perform stable loading and unloading operations, it is important that the feeder transport vehicle VF, more specifically the trolley 10, transports (moves) along the transport path set by the pre-set transport plan, stops precisely at the stopping position, and faces the transport destination, which is the transport target, at the stopping position.

[0037] Here, the trolley 10 is equipped with a power receiving connector (not shown) on the loading platform 11. The power receiving connector is positioned, for example, to face the running gear 20 which enters the space formed between the bottom plate of the loading platform 11, i.e., the left and right side portions 12. As a result, when the trolley 10 and the running gear 20 are connected, the power receiving connector is fitted to a power supply connector (not shown) provided on the running gear 20 side. The power supply connector is connected to a battery (not shown) built into the running gear 20. Therefore, when the power receiving connector on the trolley 10 side is fitted to the power supply connector on the running gear 20 side, power to drive the trolley control unit 16 and the loading / unloading unit 17 is supplied from the battery on the running gear 20 side. In other words, the trolley 10 does not need to have a battery to supply power to drive the trolley control unit 16 and the loading / unloading unit 17.

[0038] Furthermore, the trolley 10 is provided with a coupling mechanism for connecting to the running gear 20, which enters the space formed between the left and right side portions 12 of the loading platform 11. In addition, the trolley 10 is provided with a positioning mechanism (bumper) in front of the loading platform 11, which enables the positioning of the trolley 10, i.e., the feeder transport vehicle VF, when loading and unloading the transported goods C. The configuration and operation of the coupling mechanism and the positioning mechanism are not directly related to this embodiment and will therefore not be described.

[0039] 2-4. Running gear 20 As shown in Figure 2, the running device 20 consists of a main body 21, a pair of left and right drive wheels 22 (only the left side is shown in Figure 2), a pair of left and right front wheels 23 (only the left side is shown in Figure 2), a pair of left and right rear wheels 24 (only the left side is shown in Figure 2), a running control unit 25, an operation panel 26, and a running motor (not shown). The main body 21 is generally a rectangular parallelepiped shape that is long in the front-to-back direction, and has rounded corners when viewed from above. The main body 21 is positioned horizontally, slightly separated from the floor surface.

[0040] The drive wheels 22 are positioned at an intermediate position in the front-rear direction on the underside of the main body 21 of the device. Each of the drive wheels 22 is driven by the forward and reverse rotation of a travel motor controlled by the travel control unit 25. Each of the drive wheels 22 can rotate at different rotational speeds and in different directions from each other. This allows the travel device 20 to move forward, backward, and change direction freely.

[0041] The front wheels 23 are positioned in front of the drive wheels 22 in the longitudinal direction on the underside of the device body 21. The rear wheels 24 are positioned behind the drive wheels 22 in the longitudinal direction on the underside of the device body 21. The four front wheels 23 and rear wheels 24 are swivel wheels with variable direction of travel. The front wheels 23 and rear wheels 24 rotate in accordance with the rotational state of the drive wheels 22. The distance between the left and right wheels, i.e., the tread width, is maximized for the drive wheels 22, minimized for the front wheels 23, and intermediate for the rear wheels 24. In this way, the maximum tread width of the drive wheels 22 ensures good steering performance of the running gear 20.

[0042] The travel control unit 25 is a microcomputer whose main components are a CPU, ROM, RAM, and various interfaces. The travel control unit 25 comprehensively controls the operation of the travel device 20 (specifically, the operation of the travel motor, such as driving, stopping, and rotation direction) by executing various programs that are not shown in the diagram.

[0043] Furthermore, as shown in Figure 1, the travel control unit 25 can communicate with the management device 8. This allows the travel control unit 25 to control the movement of the travel device 20 according to the transport route and transport target set by the transport plan through communication with the management device 8. Additionally, the travel control unit 25 can communicate with the trolley control unit 16 when the trolley 10 and the travel device 20 are connected. This allows the trolley control unit 16 to obtain various information related to travel (movement), including the positions of the feeder transport vehicle VF and the reel transport vehicle VR, from the travel control unit 25.

[0044] Here, for example, an AGV (Automatic Guided Vehicle) can be used as the traveling device 20. In this case, the traveling device 20 is equipped with a tape detection unit that detects route indicator tapes (see Figure 1) provided on the floor of the production line PL corresponding to the transport route and transport target, and outputs the detection result to the traveling control unit 25. As a result, the traveling control unit 25 controls the control amount of the drive wheels 22 (travel motor) according to the detection result output from the tape detection unit, causing the traveling device 20 to travel along the transport route and to stop at the transport target. The tape detection unit is positioned at the front and rear positions in the front-rear direction on the lower centerline of the device body 21. In addition, magnetic display type tapes or optical display type tapes can be used for the route indicator tapes.

[0045] As described above, the movement of the travel device 20 is autonomously controlled by the travel control unit 25. In addition, some operations of the travel device 20 can be manually controlled by operating the operation panel 26 located at the rear of the upper surface of the main body 21. Specifically, by operating the operation panel 26, it is possible to, for example, clear errors in the event of an error in the travel device 20's movement (e.g., deviating from the path or stopping in the wrong position), or to perform an emergency stop of the travel device 20.

[0046] 2-5. Detection unit 30 The detection unit 30 detects when a feeder F (reel R, etc.), which is an item, is attached to or detached from a magazine M (rack T, etc.), which is a case, placed on the support part of the trolley 10, i.e., the loading / unloading part 17, during the transport of the transported item C. Specifically, as shown in Figures 2 and 3, the detection unit 30 of this embodiment is positioned on the upper surface at the rear of the loading platform 11 in the front-rear direction of the trolley 10.

[0047] More specifically, as shown in Figure 2, the detection unit 30 of this embodiment is positioned on the upper surface of the loading platform 11 so as to be near the opening M1 of the magazine M supported by the loading / unloading section 17. As a result, the detection unit 30 of this embodiment detects the presence or absence of the feeder F, which is an item, at the opening M1 of the magazine M, that is, whether the feeder F has been inserted or removed (an item has been attached or removed) through the opening M1.

[0048] Then, as shown in Figure 4, when the detection unit 30 detects that the feeder F has been inserted into or removed from the magazine M, it outputs the detection result S to the determination unit 161 of the trolley control unit 16. As a result, the determination unit 161 determines that the feeder F has been inserted into or removed (attached or detached) when the detection unit 30 detects the presence of the feeder F in the opening M1.

[0049] The detection unit 30 detects the insertion and removal of the feeder F, which is an item, based on an electromagnetically measurable physical quantity. For this reason, in this embodiment, for example, the detection unit 30 is provided as an example equipped with a photoelectric sensor that uses light, which is an electromagnetic wave.

[0050] As shown in Figures 2 and 3, the detection unit 30 of this embodiment includes a light-emitting unit 31 and a light-receiving unit 32. As a result, when light emitted from the light-emitting unit 31 toward the light-receiving unit 32 is received by the light-receiving unit 32, the emitted light is not blocked, that is, the feeder F is not present in the opening M1 and the feeder F is not being inserted or removed, so the detection unit 30 does not output a detection result S.

[0051] On the other hand, if the light emitted from the light-emitting unit 31 toward the light-receiving unit 32 is not received by the light-receiving unit 32, or if the light is not received by the light-receiving unit 32 for a predetermined shading time based on the time required to insert and remove the feeder F, the emitted light is blocked, that is, the feeder F is present in the opening M1 and the feeder F is being inserted and removed, so the detection unit 30 outputs a detection result S. In this case, the situation in which the light-receiving unit 32 cannot receive light beyond the shading time is thought to be, for example, a malfunction in the storage of the feeder F in the magazine M (such as the feeder F coming loose) caused by vibrations during the movement of the feeder transport vehicle VF. In this case as well, the detection unit 30 outputs the detection result S to the trolley control unit 16.

[0052] Here, the determination unit 161 determines that the insertion and removal (attachment and detachment) of the feeder F has been performed, and if the detection unit 30 does not continue to detect the presence of the feeder F for a predetermined time (for example, a light-shielding time which can be set as appropriate as described above) or longer, it determines that the attachment and detachment of the feeder F is complete. Then, the trolley control unit 16 and the running control unit 25 work together to continue transporting the transported goods C when the determination unit 161 determines that the insertion and removal (attachment and detachment) of the feeder F is complete.

[0053] On the other hand, the determination unit 161 determines that the attachment and detachment of the feeder F is incomplete if, for example, the feeder F becomes detached as described above, the detection unit 30 continues to detect the presence of the feeder F for a predetermined period of time or longer. The trolley control unit 16 and the travel control unit 25 then work together to stop transporting the transported material C if the determination unit 161 determines that the insertion and removal (attachment and detachment) of the feeder F is incomplete. This makes it possible to prevent the feeder F from falling out of the magazine M while the feeder transport vehicle VF is transporting it.

[0054] Furthermore, when the determination unit 161 determines that the feeder F has been inserted or removed, the trolley control unit 16 outputs notification information J to the externally installed management device 8 via communication, as shown in Figure 4, indicating that the feeder F has been inserted or removed during transport. In other words, when the determination unit 161 determines that the feeder F, which is an item, has been attached or removed during the transport of the transported object C, the trolley control unit 16 can output notification information J regarding the insertion or removal (attachment or detachment) of the feeder F to the management device 8.

[0055] Here, when the control device 8 receives notification information J from the trolley control unit 16 of the feeder transport vehicle VF, it provides guidance (or an alarm) to the worker or manager using a guidance device. In other words, the guidance device provides guidance, for example, that the feeder F has been inserted into or removed from the magazine M while it is being transported to the buffer station 5 by the feeder transport vehicle VF. Examples of guidance devices include a display device provided in the control device 8, a display device provided in the production line PL, or a portable terminal or voice speaker carried by the worker.

[0056] As can be understood from the above explanation, the feeder transporter VF (reel transporter VR) as an automated guided vehicle of this embodiment is an automated guided vehicle capable of transporting a transported object C including a feeder F (reel R) as an item used in a buffer station 5 and a component mounting machine 6, which are substrate work machines, and a magazine M (rack T) as a case that detachably holds the feeder F (reel R). The VF comprises a trolley 10 which is the main body, a loading / unloading section 17 provided on the trolley 10 which serves as a support section for supporting the magazine M (rack T), a detection section 30 provided on the trolley 10 which detects the presence or absence of the feeder F (reel R) to the magazine M (rack T) during the transport of the transported object C, and a determination section 161 which determines whether or not the feeder F (reel R) has been attached to or removed from the magazine M (rack T) based on the detection result S by the detection section 30.

[0057] With the feeder transport vehicle VF and the reel transport vehicle VR, the detection unit 30 can quickly detect the insertion and removal of the feeder F from the magazine M and the attachment and detachment of the reel R from the rack T during the transport of the transported material C. Furthermore, with the feeder transport vehicle VF and the reel transport vehicle VR, if the judgment unit 161 determines, based on the detection result S from the detection unit 30, that the insertion and removal of the feeder F from the magazine M and the attachment and detachment of the reel R from the rack T have occurred, it can output notification information J to the management device 8, etc., and promptly guide workers and managers. As a result, even if, for example, the insertion and removal of the feeder F from the magazine M and the attachment and detachment of the reel R from the rack T occur during the transport of the transported material C, it is possible to suppress the occurrence of shortages of parts necessary for production, and as a result, the impact on production can be kept to a minimum.

[0058] 3. First variation In the embodiment described above, the detection unit 30 is shown as detecting the presence or absence of a feeder F, which is an item, at the opening M1 of the magazine M, which is a case supported on the loading platform 11 of the trolley 10. In this case, the determination unit 161 determines that the feeder F has been inserted or removed through the opening M1 of the magazine M during the transport of the transported item C by the feeder transport vehicle VF, which is an automated guided vehicle. As a result, the trolley control unit 16 can output notification information J to the management device 8.

[0059] By the way, if a feeder F is inserted or removed that is not included in the transport plan, which includes the attachment and detachment of feeder F (reel R) to and from the pre-set magazine M (rack T) and the attachment and detachment of magazine M (rack T) to and from the loading and unloading section 17, it is preferable to be able to identify the inserted or removed feeder F. In other words, if an unintended insertion or removal of feeder F occurs that is not included in the transport plan, it is preferable to be able to identify the inserted or removed feeder F, i.e., the part that is expected to be in short supply, from the viewpoint of minimizing the impact on production due to a shortage of parts. Specifically, since the position of the feeder F to be housed in the magazine M is pre-set by the transport plan, it is preferable to be able to detect the position of the inserted or removed feeder F relative to the magazine M.

[0060] Therefore, in the first modified example, the detection unit 30 is positioned on the loading platform 11 of the trolley 10 so as shown in Figure 5, that it is below the feeder F, which is the item, through a slit M3, which is a gap in the bottom surface M2 of the magazine M, which is a case supported by the loading / unloading section 17, which is the support section (see also Figure 7). More specifically, in the first modified example, the detection unit 30 is positioned below the drive roller 172, which is rearward of the main roller 171 of the loading / unloading section 17, as shown in Figure 6, and is positioned to match the formation position of the slit M3 when the magazine M is supported, for example, by matching the gap between the drive rollers 172 formed in the front-rear direction.

[0061] Furthermore, in the first modified example, the detection unit 30 is arranged in multiple units according to the width (pitch) of the feeder F housed in the magazine M in order to detect the presence or absence of the feeder F relative to the magazine M. In other words, the detection unit 30 in the first modified example is provided in a one-to-one relationship with the feeder F housed in the magazine M.

[0062] The detection unit 30 of the first modification also includes a photoelectric sensor that uses light, which is an electromagnetic wave, similar to the detection unit 30 of the embodiment described above. However, the detection unit 30 of the first modification has a light-emitting unit 33 and a light-receiving unit 34, as shown in an enlarged view in Figure 7. As a result, when the detection unit 30 is positioned in the magazine M where the feeder F is housed, the light-emitting unit 33 emits light upward, the light is reflected from the lower surface of the housed feeder F (i.e., located inside the magazine M), and the reflected light is received by the light-receiving unit 34. On the other hand, when the detection unit 30 is positioned in the magazine M where the feeder F is not housed (i.e., the feeder F is not inside the magazine M), no reflected light is produced even if the light-emitting unit 33 emits light upward, and as a result, the light-receiving unit 34 does not receive the reflected light.

[0063] Therefore, in the first modified example, the determination unit 161 outputs a detection result S when, for example, the light receiving unit 34 of the detection unit 30 changes from a state where it is receiving reflected light to a state where it is not receiving reflected light, because the feeder F has been removed from the magazine M. Also, the determination unit 161 outputs a detection result S when, for example, the light receiving unit 34 changes from a state where it is not receiving reflected light to a state where it is receiving reflected light, because the feeder F has been housed in the magazine M. Here, in the first modified example, the detection unit 30 outputs the detection result S associated with identification information (such as an identification number) that identifies itself.

[0064] Furthermore, in the first modified example, the determination unit 161 does not output a detection result S if, for example, the state in which the light receiving unit 34 is receiving reflected light does not change until loading and unloading takes place at the handover position (transportation target) in the transport plan, because the feeder F has not been removed from the magazine M. Also, the determination unit 161 does not output a detection result S if, for example, the state in which the light receiving unit 34 is not receiving reflected light does not change until loading and unloading takes place at the handover position (transportation target), because the feeder F has not been housed in the magazine M.

[0065] In other words, the determination unit 161 of the first modified example determines whether the feeder F has been inserted or removed based on the change in the presence or absence state of the feeder F detected by the detection unit 30, specifically, the change in the detection result S that occurs when the light receiving unit 34 is receiving reflected light or when the light receiving unit 34 is not receiving reflected light. Then, in the first modified example, when the determination unit 161 determines that the feeder F has been inserted or removed based on the detection result S by the detection unit 30, the trolley control unit 16 outputs notification information J to the management device 8 via communication, indicating that the feeder F has been inserted or removed during the transport of the transported object C, and representing the identification information (identification number) of the detection unit 30 for identifying the inserted or removed feeder F. In other words, in the first modified example, when the detection unit 30 detects the attachment or detachment of a feeder F, which is an item, during the transport of the transported object C, it can output to the management device 8 as notification information J regarding the detected insertion or removal (attachment or detachment) of the feeder F, which is an item that has been inserted or removed (attached or detached), and the position of the feeder F, which is an item that has been inserted or removed (attached or detached), relative to the magazine M.

[0066] In this first modified example, when the control device 8 receives notification information J from the trolley control unit 16 of the feeder transport vehicle VF, it provides guidance (or an alarm) to workers and managers using the guidance device. However, in this first modified example, for example, it is notified that the feeder F has been inserted into or removed from the magazine M while the feeder transport vehicle VF is transporting the magazine M to the buffer station 5, and the position of the feeder F that has been stored (inserted) or removed (extracted) from the magazine M is also provided. Therefore, in this first modified example, in addition to obtaining the same effects as in the embodiment described above, it is possible to detect the position of the inserted or removed feeder F (the position of the attached or removed item). As a result, for example, workers and managers can quickly identify parts that are expected to be in short supply, and as a result, they can take more rapid action such as resupply, thereby minimizing the impact on production.

[0067] 4. Second variation In the embodiments described above and the first modified example described above, the detection unit 30 is shown as detecting the insertion and removal (attachment and detachment) of the feeder F, which is an item, based on an electromagnetically measurable physical quantity. Incidentally, when the feeder F housed in the magazine M, which is a case, or the reel R placed on the rack T is inserted or removed (attached and detached), the state of the magazine M and the rack T changes.

[0068] For example, the feeder F and reel R have a certain amount of weight. Therefore, when the feeder F is inserted into or removed from the magazine M, the weight of the magazine M, which is supported by the loading / unloading section 17, and the feeder F, i.e., the transported goods C, contained within the magazine M change. Similarly, when the reel R is attached to or removed from the rack T, the weight of the rack T, which is supported by the loading / unloading section 17, and the reel R, i.e., the transported goods C, placed on the rack T, change.

[0069] Therefore, in the second modified example, the detection unit 30 detects measurable physical quantities related to the state changes of the cases, namely the magazine M and rack T. The judgment unit 161 then determines whether the feeder F and reel R, which are the items, have been attached or detached (inserted or removed) based on the changes in the physical quantities detected by the detection unit 30. Specifically, in the second modified example, the detection unit 30 measures the weight of the magazine M and rack T, which are the cases that change when the feeder F and reel R are attached or detached (inserted or removed), i.e., the weight of the conveyed item C, as a physical quantity.

[0070] In the second modified example, as shown in Figure 8, the detection unit 30 is provided on the loading platform 11 of the trolley 10 so as to be below the magazine M and rack T, which are cases supported by the loading / unloading section 17, which is a support section. More specifically, as shown in Figure 9, the detection unit 30 in the second modified example is positioned at the rear in the front-rear direction of the loading platform 11 and is positioned between the lower surface of the supported magazine M and rack T and the upper surface of the loading platform 11, that is, sandwiched between the lower surface of the magazine M and rack T and the upper surface of the loading platform 11.

[0071] The detection unit 30 of the second modified version measures the measurable weight in relation to the state change of the magazine M and rack T, as described above. Here, the detection unit 30 of the second modified version is equipped with a piezoelectric element that converts the pressure generated when the magazine M or rack T is clamped between the loading platform 11 into an electrical signal. The pressure output as an electrical signal can be easily converted into weight by multiplying it by the area of ​​the lower surface of the magazine M or rack T.

[0072] When the detection unit 30 measures weight using a piezoelectric element, there is no vertical displacement of the magazine M or rack T supported by the loading / unloading unit 17. As a result, even in the second modified example where the detection unit 30 measures the weight of the transported object C, there is no interference with the loading / unloading operation of the magazine M or rack T by the loading / unloading unit 17. However, when measuring the weight of the transported object C, for example, if a normal weighing scale is used, vertical displacement of the transported object C supported by the loading / unloading unit 17 is required when measuring the weight. Therefore, when the loading / unloading unit 17 loads or unloads the magazine M or rack T at the buffer station 5, for example, a difference in height occurs between the loading / unloading unit 17 and the buffer station 5, which may result in an error stop due to inability to load or unload.

[0073] In the second modified version, the determination unit 161 determines that, during the transport of the transported goods C by the feeder transport vehicle VF, if the measured weight increases or decreases by more than the standard weight determined based on the weight of one feeder F or reel R, then the feeder F or reel R has been attached or detached (inserted or removed). Also, in the second modified version, the determination unit 161 determines that, during the transport of the transported goods C by the feeder transport vehicle VF, if the measured weight does not change until the goods are loaded and unloaded at the handover position (transportation target), then the feeder F or reel R has not been attached or detached (inserted or removed). Furthermore, as shown in Figure 9, if the detection units 30 are arranged on the left and right sides, although precise position determination is not possible, it is possible to assume that the insertion or removal of the feeder F occurred on the right or left side, especially for the magazine M.

[0074] As a result, in the second modified example as well, if the determination unit 161 determines that the feeder F (reel R) has been attached or detached (inserted or removed) based on the detection result S by the detection unit 30, the trolley control unit 16 outputs notification information J to the management device 8 via communication, indicating that the feeder F or reel R has been attached or detached (inserted or removed) during the transport of the transported object C. Here, in the second modified example as well, if the management device 8 receives notification information J from the trolley control unit 16 of the feeder transport vehicle VF, it provides guidance (or an alarm) to the worker or manager using the guidance device. In other words, in the second modified example as well, for example, it is notified that the feeder F has been inserted or removed from the magazine M while the feeder transport vehicle VF is transporting it to the buffer station 5. Therefore, the same effects as in the above-described embodiment can be obtained in the second modified example as well.

[0075] In the second modified example described above, two detection units 30 are provided to, for example, detect weight changes on the left and right sides of the magazine M, or to perform an averaging process on the detected weights. However, the number of detection units 30 in the second modified example is not limited; there may be one, or there may be three or more. Also, in the second modified example described above, as shown in Figure 9, the detection unit 30 is positioned at the rear in the front-rear direction of the cargo bed 11. However, the position of the detection unit 30 in the second modified example is not limited to the rear in the front-rear direction of the cargo bed 11; it can also be positioned in the center in the front-rear direction of the cargo bed 11, as shown by the dashed line in Figures 8 and 9. In other words, the position of the detection unit 30 can be changed as appropriate depending on the shape of the magazine M and rack T.

[0076] 5. Third variation In the embodiments described above, the first modified example described above, and the second modified example described above, the detection unit 30 constantly detects the presence or absence of the feeder F and reel R, which are items, when transporting the transported object C, such as the magazine M or rack T, and the judgment unit 161 constantly determines whether or not the feeder F or reel R has been attached or detached (inserted or removed). However, the detection unit 30 and the judgment unit 161 are not limited to constantly detecting the presence or absence of the feeder F and reel R and determining whether or not they have been attached or detached (inserted or removed), as described above. In other words, the detection unit 30 and the judgment unit 161 can also, for example, detect the presence or absence of the feeder F and reel R and determine whether or not they have been attached or detached (inserted or removed) when a predetermined condition occurs. A third modified example will be described below.

[0077] In the third modified example, the detection unit 30 detects the presence or absence of the feeder F and reel R when a predetermined condition occurs during the transport of the transported object C. Furthermore, the judgment unit 161 in the third modified example determines whether or not the feeder F and reel R have been attached or detached (inserted or removed) when a predetermined condition occurs during the transport of the transported object C. In this third modified example, as shown in Figure 10, when a predetermined condition occurs, the judgment unit 161 outputs a detection command D to the detection unit 30 to detect the presence or absence of the item, specifically, the presence or absence of the feeder F (reel R) to the magazine M (rack T).

[0078] Here, a predetermined state can be exemplified as a state in which the feeder F and reel R can be attached and detached (inserted and removed) unintentionally, that is, a state in which the feeder transport vehicle VF or reel transport vehicle VR is not included in the transport plan described above. Specifically, for example, when the feeder transport vehicle VF or reel transport vehicle VR stops unintentionally at a location other than the transport target on the transport path, it becomes easier to attach and detach (insert and remove) the feeder F and reel R to the magazine M and rack T compared to when the feeder transport vehicle VF or reel transport vehicle VR is moving.

[0079] Therefore, for example, the determination unit 161 outputs a detection command D to the detection unit 30 at a predetermined position on the transport path during the transport of the transported object C, or at periodic timings during the transport of the transported object C. As a result, the detection unit 30 detects the presence or absence of the feeder F and reel R at a predetermined position on the transport path or at periodic timings, and outputs a detection result S to the determination unit 161 (cart control unit 16). The determination unit 161 then determines whether to attach or detach (insert or remove) the feeder F and reel R based on the obtained detection result S at a predetermined position on the transport path or at periodic timings. The cart control unit 16, which is equipped with the determination unit 161, is aware of the pre-set transport plan and is aware of the status of the feeder transport vehicle VF and reel transport vehicle VR based on various information obtained from the travel control unit 25.

[0080] In this third variation, we illustrate a case where the detection unit 30 detects the presence or absence of the feeder F and reel R at predetermined positions on the transport path or at periodic intervals, and the judgment unit 161 determines whether the feeder F and reel R are attached or detached (inserted or removed). However, for example, the detection unit 30 may always detect the presence or absence of the feeder F and reel R during the transport of the transported object C, and only the judgment unit 161 may determine whether the feeder F and reel R are attached or detached (inserted or removed) at predetermined positions on the transport path or at periodic intervals. In other words, in this case, the judgment unit 161 does not output a detection command D to the detection unit 30.

[0081] Alternatively, the determination unit 161 may, for example, always determine whether to attach or detach (insert / remove) the feeder F or reel R during the transport of the transported object C based on a detection result S that does not change for a certain period of time, and only the detection unit 30 may detect the presence or absence of the feeder F or reel R at predetermined positions on the transport path or at periodic timings. In other words, in this case, when the determination unit 161 outputs a detection command D to the detection unit 30 at a predetermined position or at periodic timings, it determines whether to attach or detach (insert / remove) the feeder F or reel R based on the updated detection result S.

[0082] Furthermore, a predetermined state can be exemplified as a state in which an abnormality (error) occurs during the transport of transported object C, as described above, and then the system recovers. In this case, the determination unit 161 determines, in more detail, the attachment and detachment (insertion and removal) of the feeder F and reel R, which are the items, in the first state in which the abnormality (error) occurs and the second state in which the system recovers from the abnormality (error). Signals such as error stop are aggregated in the trolley control unit 16.

[0083] Then, for example, if the trolley control unit 16 determines that the first state has occurred, the determination unit 161 outputs a detection command D to the detection unit 30. As a result, the determination unit 161 determines whether to attach or detach (insert / remove) items such as the feeder F and reel R based on the detection result S before the abnormality (error) occurred, in other words, before recovery from the abnormality (error). Furthermore, if the trolley control unit 16 determines that the second state has occurred, the determination unit 161 outputs a detection command D to the detection unit 30. As a result, the determination unit 161 determines whether to attach or detach (insert / remove) items such as the feeder F and reel R based on the detection result S after recovery from the abnormality (error).

[0084] In other words, the determination unit 161 outputs a detection command D to the detection unit 30 when a first state occurs in which an abnormality (error) has occurred, and a second state occurs in which the system has recovered from the abnormality (error), that is, before and after the recovery from the abnormality (error) as predetermined states. Based on this, the determination unit 161 determines whether to attach or detach (insert or remove) items such as feeders F and reels R, based on the change in the detection result S of the detection unit 30 before and after the recovery from the abnormality (error).

[0085] Furthermore, a predetermined state can be exemplified by, for example, the state in which the transported object C is handed over. In this case, the determination unit 161 determines, in more detail as a predetermined state, the attachment and detachment (insertion and removal) of the feeder F and reel R, which are the items, in a third state before the transported object C is handed over from the feeder transport vehicle VF or reel transport vehicle VR to the buffer station 5, and in a fourth state after the transported object C is handed over from the buffer station 5 to the feeder transport vehicle VF or reel transport vehicle VR. As described above, the trolley control unit 16 controls the loading and unloading of the transported object C by the loading and unloading unit 17, that is, the handover of the transported object C to the substrate work machine.

[0086] Then, if the trolley control unit 16 determines that a third state has occurred, the determination unit 161 outputs a detection command D to the detection unit 30. As a result, the determination unit 161 determines whether items such as feeders F and reels R have been attached or detached (inserted or removed) based on the detection result S before the transfer of the transported item C. Furthermore, if the trolley control unit 16 determines that a fourth state has occurred, the determination unit 161 outputs a detection command D to the detection unit 30. As a result, the determination unit 161 detects whether items such as feeders F and reels R have been attached or detached (inserted or removed) based on the detection result S after the transfer of the transported item C.

[0087] Specifically, the determination unit 161 outputs a detection command D to the detection unit 30 when a third state occurs before the delivery of the transported object C, and a fourth state occurs after the delivery of the transported object C, that is, when a predetermined state occurs before and after the delivery of the transported object C. As a result, the detection unit 30 detects the presence or absence of the feeder F to the magazine M and the presence or absence of the reel R to the rack T before and after the delivery of the transported object C, and the determination unit 161 determines the attachment or detachment (insertion or removal) of items such as the feeder F and reel R based on the changes in the detection result S of the detection unit 30 before and after the delivery of the transported object C.

[0088] Therefore, in the third modified example, the attachment and detachment (insertion and removal) of the feeder F and reel R can be judged, or in other words, monitored, particularly in predetermined conditions where the attachment and detachment (insertion and removal) of the feeder F and reel R is likely to occur. As for other effects, the same effects as those of the above-described embodiment, the first modified example, and the second modified example can be obtained. [Explanation of symbols]

[0089] 1...Warehouse, 1a...Inbound / Outbound Entrance, 2...Outside Setup Area, 3...Automatic Tape Processing Device, 4...Reel Loading Device, 5...Buffer Station (for PCB work), 6...Component Mounting Machine (for PCB work), 7...Loader, 8...Management Device, 10...Cart (Main Body), 11...Loading Platform, 12...Side Section, 13...Legs, 14...Front Wheels, 15...Rear Wheels, 16...Cart Control Unit, 161...Decision Unit, 17...Loading / Unloading Section (Support Section), 171...Main Roller, 172...Drive Roller, 173...Guide Roller, 174...Locking Mechanism, 175...Locking Hook 176...Operation panel, 20...Traveling device, 21...Device body, 22...Drive wheels, 23...Front wheels, 24...Rear wheels, 25...Travel control unit, 26...Operation panel, 30...Detection unit, 31...Light-emitting unit, 32...Light-receiving unit, 33...Light-emitting unit, 34...Light-receiving unit, S...Production line, VR...Reel transport vehicle (Automated Guided Vehicle), VF...Feeder transport vehicle (Automated Guided Vehicle), C...Transported item, T...Rack (case), R...Tape reel (item), M...Magazine (case), F...Tape feeder (item), S...Detection result, J...Notification information, D...Detection command

Claims

1. An automated guided vehicle capable of transporting items including articles used in a circuit board handling machine and a case for detachably holding said articles, The main unit and The main body is provided with a support portion that supports the case, The main body is provided with a detection unit that detects the presence or absence of the article in the case during the transport of the transported object, A determination unit that determines whether or not the article has been attached to or detached from the case based on the detection result from the detection unit, An automated guided vehicle equipped with [a specific feature].

2. The detection unit detects the presence or absence of the article at the opening for attaching and detaching the article in the case supported by the support unit, The automated guided vehicle according to claim 1, wherein the determination unit determines that the item has been attached or detached when the detection unit detects the presence of the item.

3. The automated guided vehicle according to claim 2, wherein the determination unit, after determining that the article has been attached or detached, determines that the attachment or detachment of the article is complete if the detection unit does not continue to detect the presence of the article for a predetermined period of time or longer, and determines that the attachment or detachment of the article is incomplete if the detection unit continues to detect the presence of the article for a predetermined period of time or longer.

4. The automated guided vehicle according to claim 2, wherein the determination unit determines that the attachment and detachment of the article is complete, and the transport of the transported goods is stopped when the determination unit determines that the attachment and detachment of the article is not complete.

5. The detection unit is positioned below the article via a slit provided in the bottom surface of the case supported by the support unit, and detects the presence or absence of the article. The automated guided vehicle according to claim 1, wherein the determination unit determines that the item has been attached or detached based on the switching of the presence or absence state of the item by the detection unit.

6. The automated guided vehicle according to claim 5, wherein the detection unit detects the position in which the article has been attached to or detached from the case.

7. The detection unit detects a measurable physical quantity in relation to the change in the state of the case, The automated guided vehicle according to claim 1, wherein the determination unit determines whether to attach or detach the article based on the change in the physical quantity detected by the detection unit.

8. The automated guided vehicle according to claim 7, wherein the physical quantity is the weight of the transported object.

9. The automated guided vehicle according to claim 1, wherein when the determination unit determines that the article has been attached or detached, it outputs notification information regarding the attachment or detachment of the article to a management device that manages the transport of the transported items.

10. The automated guided vehicle according to claim 1, wherein the determination unit determines whether the attachment or detachment of the article is not included in a transport plan that includes a pre-set transport plan that includes the attachment or detachment of the article to the case and the attachment or detachment of the case to the support unit.

11. The automated guided vehicle according to claim 10, wherein at least one of the following is performed: detection of the presence or absence of the article by the detection unit, and determination of the attachment or detachment of the article by the determination unit, at a predetermined position in the transport of the transported object, or at periodic timings in the transport of the transported object.

12. The automated guided vehicle according to claim 10, wherein the determination unit determines whether to attach or detach the article based on the change in the detection result of the detection unit before and after recovery from the abnormality when an abnormality occurs in the transport of the transported item.

13. The automated guided vehicle according to claim 1, wherein the detection unit detects the presence or absence of the article in the case before and after the delivery of the transported item.

14. The aforementioned article is a feeder that supplies components to the substrate work machine, The case is a magazine from which multiple feeders can be inserted and removed. The automated guided vehicle according to claim 1 or 2, wherein the detection unit detects the insertion and removal of the feeder from the magazine during the transport of the transported object.

Images