Manufacturing system for factory

Abstract

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

Description

Factory Manufacturing Systems

[0001] The present invention relates to a factory manufacturing system, and more particularly to a factory manufacturing system equipped with an autonomous mobile object that moves autonomously.

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

[0003] The above-mentioned Japanese Patent Application Laid-Open No. 2020-154655 discloses a management system equipped with autonomously moving unmanned vehicles.

[0004] The management system of JP 2020-154655 A includes a management device and the unmanned vehicle. The management device is configured to create travel course data for the unmanned vehicle at a work site. The travel course data is a course on which the unmanned vehicle can travel at the work site. The unmanned vehicle is configured to travel at the work site based on the travel course data for the work site created by the management device. The unmanned vehicle is configured to load ore and earth and sand at a loading site, and then travel toward a dump site along the travel course data. After arriving at the dump site, the unmanned vehicle is configured to unload the ore and earth and sand loaded at the dump site (perform dumping work).

[0005] Japanese Patent Application Laid-Open No. 2020-154655

[0006] In the management system of JP 2020-154655 A, if a worker enters the driving path of an unmanned vehicle at a work site or if a preceding vehicle stops on the driving path of an unmanned vehicle, the driving of the following unmanned vehicle is likely to stop. In such cases, the unmanned vehicle's earth removal work may be interrupted and significantly delayed. For this reason, it is desirable to prevent the unmanned vehicle (autonomous mobile body) from stopping its driving, thereby preventing interruptions and delays in work (product manufacturing) by a management system using the unmanned vehicle (autonomous mobile body).

[0007] The present invention has been made to solve the above-mentioned problems, and one object of the present invention is to provide a factory manufacturing system that is capable of preventing interruptions and delays in the production of products by a factory manufacturing system that uses autonomous mobile bodies.

[0008] A factory manufacturing system according to one aspect of the present invention includes an autonomous mobile body that autonomously moves within a movable area on a factory floor and performs work to continue the production of products within the factory, and a setting unit that sets a prohibited movement area based on a prohibited area setting signal for setting a prohibited movement area that prohibits the autonomous mobile body from moving within the movable area within the factory, and sets a detour path for the autonomous mobile body so that the autonomous mobile body moves while avoiding locations on the factory floor that correspond to the prohibited movement area.

[0009] In one aspect of the present invention, a factory manufacturing system includes a setting unit that sets a prohibited area based on a prohibited area setting signal for setting a prohibited area that prohibits the movement of an autonomous mobile body within a movable area within a factory, and sets a detour route for the autonomous mobile body so that the autonomous mobile body moves to avoid a location within the factory floor that corresponds to the prohibited area. As a result, even if a situation arises in which the autonomous mobile body cannot move within the movable area, such as when a worker temporarily stays in the movable area or when a worker temporarily places luggage in the movable area, the prohibited area is set based on the prohibited area setting signal and the movement route of the autonomous mobile body is changed to a detour route, allowing the autonomous mobile body to move along the detour route. As a result, the autonomous mobile body can continue to work, thereby preventing interruptions and delays in product production by the factory manufacturing system using the autonomous mobile body.

[0010] In the factory manufacturing system according to the above aspect, the setting unit is preferably configured to set a detour path for the autonomous mobile body during product manufacturing, based on the set restricted movement area, so that the autonomous mobile body moves while avoiding locations on the factory floor that correspond to the restricted movement area. With this configuration, by setting the restricted movement area in the movable area during product manufacturing, the autonomous mobile body can move along the detour path and continue its work, thereby preventing delays in product manufacturing due to the autonomous mobile body stopping during product manufacturing.

[0011] In the factory manufacturing system according to the above aspect, the setting unit is preferably configured to search for candidate detour routes for the autonomous mobile body that pass through the prohibited movement area, and when multiple candidate detour routes are obtained by the search, to set, as the detour route for the autonomous mobile body, a candidate detour route among the multiple candidate detour routes that has a shorter distance from the current position of the autonomous mobile body to the destination position than the other candidate detour routes. This configuration can suppress an increase in the travel distance from the current position of the autonomous mobile body to the destination position due to the autonomous mobile body traveling along the detour route, thereby suppressing an increase in the time it takes for the autonomous mobile body to reach the destination position. As a result, delays in product manufacturing can be minimized even when the autonomous mobile body travels along the detour route.

[0012] In this case, preferably, a plurality of autonomous moving bodies are arranged on a factory floor, and the setting unit is configured to set, as the detour route, a candidate detour route that is shorter than the other candidate detour routes and that is used by a smaller number of autonomous moving bodies other than the one autonomous moving body for which a candidate detour route shorter than the other candidate detour routes has been set among the plurality of autonomous moving bodies. With this configuration, it is possible to minimize delays in time for the one autonomous moving body to reach the destination position from its current position due to congestion of the one autonomous moving body on the detour route, and therefore it is possible to minimize delays in time for product manufacturing.

[0013] In the factory manufacturing system according to the above aspect, the setting unit is preferably configured to cancel the setting of the prohibited area based on a prohibited area cancellation signal for canceling the setting of the prohibited area. With this configuration, the movement path of the autonomous mobile body can be automatically returned from the detour path to the original movement path, and therefore the movement path from the current position of the autonomous mobile body to the destination position caused by the autonomous mobile body moving along the detour path can be automatically returned to a state suitable for manufacturing the original product.

[0014] The factory manufacturing system according to the above aspect preferably further includes a mounting line having a plurality of board working devices arranged thereon for manufacturing boards on which components are mounted as products, and the setting unit includes a control device configured to perform control to set a prohibited area in the movable area based on the prohibited area setting signal during manufacturing of the boards on the mounting line. With this configuration, it is possible to realize a factory manufacturing system that can minimize delays in board manufacturing.

[0015] The factory manufacturing system according to the above aspect preferably further includes a display unit capable of displaying the movable area and the prohibited area acquired from the setting unit, and the setting unit is configured to set the prohibited area based on a prohibited area setting signal input by an operator performing an input operation to specify the prohibited area for the movable area displayed on the display unit. With this configuration, the operator can set the prohibited area simply by operating the movable area displayed on the display unit, thereby making it easy for the operator to set the prohibited area.

[0016] In this case, the setting unit is preferably configured to cancel the setting of the prohibited area and return it to a movable area when the worker performs an input operation to cancel the setting of the prohibited area displayed on the display unit. With this configuration, the worker can return the setting of the prohibited area to a movable area simply by operating the prohibited area displayed on the display unit, so the worker can easily cancel the setting of the prohibited area.

[0017] In the factory manufacturing system having the display unit, the setting unit is preferably configured to set a prohibited area settable section as a prohibited area when a worker performs an input operation to set a prohibited area for the prohibited area settable section displayed on the display unit that has been preset as a section of the movable area that can be changed to a prohibited area. With this configuration, the worker can easily recognize the sections that can be set as prohibited areas, and therefore the worker can easily set the prohibited area.

[0018] In the factory manufacturing system having the display unit, the setting unit is preferably configured to set a predetermined area including an arbitrary designated position designated by the worker within the movable area displayed on the display unit as a prohibited movement area. With this configuration, the worker can set the prohibited movement area within the entire movable area, so that the prohibited movement area can be set in a position closer to the worker's expectations.

[0019] In this case, the setting unit is preferably configured to reduce or expand the prohibited movement area to match the reduced or expanded predetermined area based on the operator's operation to reduce or expand the range of the prohibited movement area of ​​the predetermined area displayed on the display unit. With this configuration, it is possible to easily set the prohibited movement area to a size close to that expected by the operator.

[0020] In the factory manufacturing system equipped with the above-described mounting line, the control device preferably performs control to set a movable area near one of the plurality of board work devices that has transmitted the prohibited area setting signal as a prohibited area, based on a prohibited area setting signal transmitted from at least one of the plurality of board work devices. With this configuration, the prohibited area is automatically set based on the prohibited area setting signal transmitted from the board work device, thereby saving the worker the trouble of setting the prohibited area.

[0021] The factory manufacturing system having the display unit preferably further comprises a terminal that is provided with the display unit and that accepts input operations from a worker, and the display unit provided on the terminal is configured to display the detour route, the movable areas on the factory floor, and the prohibited areas. With this configuration, the worker can easily visually recognize the detour route, the movable areas on the factory floor, and the prohibited areas.

[0022] According to the present invention, as described above, it is possible to prevent interruptions and delays in the production of products by a factory manufacturing system using autonomous mobile bodies.

[0023] 1 is a schematic overall view of a board manufacturing system according to a first embodiment; FIG. 2 is a side view of an autonomous vehicle in the board manufacturing system according to the first embodiment; FIG. 3 is a schematic view showing a state in which a travel-prohibited area corresponding to a specified position is set on a setting screen displayed on a display unit of a client terminal in the board manufacturing system according to the first embodiment; FIG. 4 is a schematic view showing a state in which a travel-prohibited area corresponding to a specified position is enlarged on a setting screen displayed on a display unit of a client terminal in the board manufacturing system according to the first embodiment; FIG. 5 is a schematic view showing a case in which a first detour route is set as a detour route for an autonomous vehicle in the board manufacturing system according to the first embodiment; FIG. 6 is a schematic view showing a case in which a travel-allowed area, a travel-prohibited area, and a detour route are displayed on a display unit of a client terminal in the board manufacturing system according to the first embodiment; FIG. 10 is a schematic diagram showing a state in which a travel-prohibited area is set in a prohibited area settable section on a setting screen displayed on the display unit of a client terminal in a board manufacturing system of a second embodiment. FIG. 11 is a schematic diagram showing a state in which the size of the prohibited area settable section is changed on a setting screen displayed on the display unit of a client terminal in a board manufacturing system of a second embodiment. FIG. 12 is a schematic diagram showing a state in which the size of the prohibited area settable section and the setting location are changed on a setting screen displayed on the display unit of a client terminal in a board manufacturing system of a second embodiment. FIG. 13 is a schematic overall view of a board manufacturing system of a third embodiment. FIG. 14 is a schematic diagram showing a state in which a travel-prohibited area is set on a setting screen displayed on the display unit of a client terminal in a board manufacturing system of a third embodiment.

[0024] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, specific embodiments of the present invention will be described with reference to the accompanying drawings.

[0025] 1 to 9, the configuration of a substrate manufacturing system 100 according to a first embodiment of the present invention will be described. Note that the substrate manufacturing system 100 is an example of a "factory manufacturing system" in the claims.

[0026] (Board Manufacturing System) As shown in Fig. 1, a board manufacturing system 100 according to a first embodiment of the present invention is installed in a factory 101 that manufactures boards on which components are mounted. The board manufacturing system 100 includes a mounting line 1, a component storage warehouse 2, an autonomous vehicle 3, a client terminal 4, and a management server 5. The client terminal 4 is an example of a "terminal" in the claims. The management server 5 is an example of a "setting unit" and a "control device" in the claims. The autonomous vehicle 3 is an example of an "autonomous mobile body" in the claims.

[0027] (Mounting Line) The mounting line 1 is provided with a plurality of board working devices for manufacturing boards on which components are mounted as products. The mounting line 1 includes, as board working devices, a loader 11, a printer 12, a print inspection machine 13, a dispenser device 14, a component mounting device 15, a visual inspection device 16, a reflow machine 17, a visual inspection device 18, and an unloader 19. The mounting line 1 is configured to transport boards from the upstream side to the downstream side. A plurality of (two) mounting lines 1 are provided. Note that one mounting line 1, or three or more mounting lines 1 may be provided. Also, two or more component mounting devices 15 may be provided. Each of the loader 11, the printer 12, the print inspection machine 13, the dispenser device 14, the component mounting device 15, the visual inspection device 16, the reflow machine 17, the visual inspection device 18, and the unloader 19 is an example of a "board working device" as defined in the claims.

[0028] 1 have the same configuration, the following description will be given of the configuration of only one of the mounting lines 1. Note that the multiple mounting lines 1 may have different configurations.

[0029] The loader 11 serves to hold the board before components are mounted on it and to carry the board into the mounting line 1. The components include small piece-like electronic components such as LSIs, ICs, transistors, capacitors, and resistors.

[0030] The printer 12 is a screen printer and has a function of applying cream solder to the mounting surface of the board. The print inspection machine 13 has a function of inspecting the condition of the cream solder printed by the printer 12. The dispenser device 14 has a function of applying cream solder, adhesive, etc. to the board. The component mounting device 15 has a function of mounting (mounting) components at predetermined mounting positions on the board on which the cream solder has been printed. The appearance inspection device 16 is provided downstream of the component mounting device 15. The appearance inspection device 16 has a function of inspecting the appearance of the board on which components have been mounted by the component mounting device 15. The reflow device 17 has a function of melting the solder by performing a heat treatment to bond the components to the electrodes of the board. The reflow device 17 is configured to perform a heat treatment while transporting the board on the lane. The appearance inspection device 18 is provided downstream of the reflow device 17. The appearance inspection device 18 has a function of inspecting the appearance of the board after the heat treatment by the reflow device 17. The unloader 19 serves to unload the board from the mounting line 1 after the components have been mounted thereon.

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

[0032] (Components Storage Warehouse) The components storage warehouse 2 is configured to store components and jigs (backup pins, etc.) accommodated in reels R with the temperature, humidity, etc. within the warehouse appropriately adjusted. The components storage warehouse 2 is configured to retrieve the required reel R, for example, based on a request for the required reel R from the component mounting device 15. Three components storage warehouses 2 are provided in the factory 101. Note that one, two, or four or more components storage warehouses 2 may be provided in the factory 101.

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

[0034] For example, the autonomous vehicle 3 is configured to transport a reel R containing components removed from the component storage 2 to the component mounting device 15. The reel R transported by the autonomous vehicle 3 is supplied to the component mounting device 15 by a worker (not shown) who performs work related to the manufacture of circuit boards in the factory 101. The autonomous vehicle 3 may also directly supply the reel R to the component mounting device 15. For example, the autonomous vehicle 3 is configured to transport a used reel R from the component mounting device 15. The used reel R is loaded onto the autonomous vehicle 3 by a worker (not shown). The autonomous vehicle 3 may also directly remove the reel R from the component mounting device 15. The autonomous vehicle 3 is configured to store the role assigned to it (for example, transporting a reel R, transporting a jig, etc.). The autonomous vehicle 3 is also configured to acquire a travel route from the current position Pr to the destination position De (work location) from the management server 5.

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

[0036] The drive unit 31 is a motor. The drive unit 31 is provided for autonomous driving. The drive unit 31 drives a plurality of wheels to enable the autonomous vehicle 3 to drive autonomously. The imaging unit 32 is a camera. The imaging unit 32 is configured to capture images of the surroundings of the autonomous vehicle 3. The imaging unit 32 is configured to capture images to record the work status. The imaging unit 32 captures images to obtain information necessary for the autonomous driving and work of the autonomous vehicle 3.

[0037] The battery 33 is a secondary battery that can be repeatedly charged and discharged. The battery 33 is built into the autonomous vehicle 3. The battery 33 supplies power to the drive unit 31. The battery 33 supplies power to the control unit 35.

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

[0039] A plurality (five) of such autonomous vehicles 3 are arranged on the floor of the factory 101. Note that the number of autonomous vehicles 3 arranged on the floor of the factory 101 may be one to four, or six or more.

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

[0041] (Management Server) The management server 5 is a control device that manages information related to the mounting line 1. The management server 5 includes a control unit 51, a communication unit 52, and the like. The control unit 51 has a CPU and a storage unit having memories such as a ROM (Read Only Memory) and a RAM (Random Access Memory). A data management program that manages data related to mounting by the mounting line 1 is stored in the storage unit.

[0042] The management server 5 also has a function to acquire information such as the area Ar1 in which the autonomous vehicle 3 is permitted to travel, a prohibited area Ar2 (described later) for the autonomous vehicle 3 (see FIG. 3), the current position Pr of the autonomous vehicle 3 (see FIG. 5), the positions of the devices on the mounting line 1, the position of the component storage warehouse 2, and the positions of other autonomous vehicles 3b. The management server 5 also has a function to acquire information about the destination position De (work location) of the autonomous vehicle 3. The management server 5 has a function to create a travel route from the current position Pr of the autonomous vehicle 3 to the destination position De (work location) of the autonomous vehicle 3. The prohibited area Ar2 is an example of a "prohibited movement area" in the claims.

[0043] The communication unit 52 is connected to be able to communicate with each device (loader 11, printing machine 12, print inspection machine 13, dispenser device 14, component mounting device 15, appearance inspection device 16, reflow device 17, appearance inspection device 18, and unloader 19) of the mounting line 1. The communication unit 52 is also connected to be able to communicate with the autonomous vehicle 3.

[0044] (Setting a Detour Route) The floor of the factory 101 is provided with an area where the mounting line 1 is located, an area where the component storage 2 is located, and an area where workers can stay or pass through. These areas are no-entry areas into which the autonomous vehicle 3 cannot enter. Furthermore, in the drivable area Ar1 in which the autonomous vehicle 3 is traveling (an example of "movement" in the claims), workers are generally prohibited from entering, and placing objects other than the autonomous vehicle 3 is prohibited, because they would interfere with the traveling of the autonomous vehicle 3. However, there are cases in which a worker temporarily stays in the drivable area Ar1 or temporarily places luggage or the like in the drivable area Ar1. In such cases, if the traveling of the autonomous vehicle 3 is stopped and the manufacturing of boards by the board manufacturing system 100 is interrupted to avoid a collision with the autonomous vehicle 3, the manufacturing efficiency of the boards would deteriorate.

[0045] 3 to 6, the management server 5 of the first embodiment performs control to set a prohibited driving area Ar2 based on a prohibited area setting signal for setting a prohibited driving area Ar2 that prohibits the autonomous vehicle 3 from driving within the permitted area Ar1 within the factory 101. The management server 5 also performs control to set a detour route Ra for the autonomous vehicle 3 so that the autonomous vehicle 3 drives while avoiding locations within the floor of the factory 101 that correspond to the prohibited driving area Ar2.

[0046] That is, as shown in FIG. 3, during the manufacturing of boards on the mounting line 1, the management server 5 performs control to set a travel-prohibited area Ar2 in a travel-permitted area Ar1 based on a prohibited area setting signal.

[0047] Specifically, the management server 5 controls the setting of the prohibited area Ar2 based on a prohibited area setting signal input by the worker performing an input operation to specify the prohibited area Ar2 in the allowed area Ar1 displayed on the display unit 42. Here, the prohibited area setting signal is a signal transmitted from the client terminal 4 to the management server 5 via the communication unit 43. The input operation by the worker to specify the prohibited area Ar2 refers to an operation of touching a part of the allowed area Ar1 on the setting screen Gr displayed on the display unit 42, which simulates the mounting line 1, the component storage warehouse 2, and the floor of the factory 101, to specify a position. In other words, the management server 5 is configured to set a predetermined area including an arbitrary designated position Pt specified by the worker in the allowed area Ar1 displayed on the display unit 42 as the prohibited area Ar2. The size of the predetermined area (shown as a circle in FIG. 3 ) is set in advance.

[0048] After the travel-prohibited area Ar2 is displayed, the display unit 42 of the client terminal 4 displays the travel-allowed area Ar1 and the travel-prohibited area Ar2 acquired from the management server 5. That is, the setting screen Gr displays not only the mounting line 1, the component storage warehouse 2, the floor of the factory 101, and the travel-allowed area Ar1, but also the travel-prohibited area Ar2.

[0049] 4 , the management server 5 is configured to reduce or enlarge the travel-prohibited area Ar2 to match the reduced or enlarged specified area based on an operation performed by an operator to reduce or enlarge the range of the specified area Ar2 displayed on the display unit 42. Here, the input operation performed by the operator to reduce the travel-prohibited area Ar2 refers to an operation to reduce the dimensions of the specified area by touching a part of the travel-prohibited area Ar2 on the setting screen Gr displayed on the display unit 42. Furthermore, the input operation performed by the operator to enlarge the travel-prohibited area Ar2 refers to an operation to increase the dimensions of the specified area by touching a part of the travel-prohibited area Ar2 on the setting screen Gr displayed on the display unit 42.

[0050] 4 shows an example of the setting screen Gr in which the no-travel area Ar2 has been expanded to fit the expanded predetermined area based on an operation performed by the operator to expand the range of the predetermined area. Note that if the operator performs an operation to reduce the range of the predetermined area, the setting screen Gr in which the no-travel area Ar2 has been reduced to fit the reduced predetermined area is displayed on the display unit 42.

[0051] As shown in Figures 5 and 6, during the manufacture of the substrate, the management server 5 controls the setting of a detour route Ra for the autonomous vehicle 3 based on the set no-travel area Ar2 so that the autonomous vehicle 3 avoids areas within the floor of the factory 101 that correspond to the no-travel area Ar2.

[0052] 5 , the management server 5 searches for candidates for detour routes Ra for the autonomous vehicle 3 that pass through the travel-prohibited area Ar2, and if multiple candidates for detour routes Ra are obtained by the search, the management server 5 performs control to set, as the detour route Ra to be traveled by the autonomous vehicle 3, a candidate for detour routes Ra that has a shorter distance from the current position Pr to the destination position De than the other candidate detour routes Ra. That is, as an example of the control to set, as the detour route Ra, a candidate for detour routes Ra that is shorter than the other candidate detour routes Ra, when the management server 5 obtains a first candidate route Ra1, a second candidate route Ra2, and a third candidate route Ra3 as candidates for detour routes Ra for the autonomous vehicle 3, the management server 5 performs control to set, as the detour route Ra, the shortest candidate for detour routes Ra that is shorter than the second candidate route Ra2 and the third candidate route Ra3.

[0053] 6 , the management server 5 searches for candidate detour routes Ra for one of the autonomous vehicles 3a that passes through the travel-prohibited area Ar2 among the plurality of autonomous vehicles 3. When multiple candidate detour routes Ra are obtained as a result of the search, the management server 5 performs control to set, as the detour route Ra, a candidate detour route Ra that has a shorter distance from the current position Pr of the autonomous vehicle 3a to the destination position De than the other candidate detour routes Ra and that is used by fewer autonomous vehicles 3b other than the autonomous vehicle 3a. The autonomous vehicle 3a is an example of a "single autonomous mobile body" in the claims. The other autonomous vehicle 3b is an example of a "second autonomous mobile body" in the claims.

[0054] Specifically, when multiple candidates for detour routes Ra for one autonomous vehicle 3a are obtained, the management server 5 controls to set as the detour route Ra for the one autonomous vehicle 3a a candidate for detour routes Ra that is shorter than the other candidate detour routes Ra and through which the number of other autonomous vehicles 3b passing through is less than a predetermined number (for example, five).

[0055] 6 , when a first candidate route Ra1, a second candidate route Ra2, and a third candidate route Ra3 are acquired as candidates for the detour route Ra for one autonomous vehicle 3a, the shortest detour route Ra is the first candidate route Ra1, but the number of other autonomous vehicles 3b traveling at least part of the first candidate route Ra1 is 5. For this reason, the first candidate route Ra1 is not set as the detour route Ra for the one autonomous vehicle 3a.

[0056] Next, of the second candidate route Ra2 and the third candidate route Ra3, the third candidate route Ra3, which has the shorter distance from the current position Pr to the destination position De, is determined to be capable of being set as a detour route Ra for the first autonomous vehicle 3a. For the third candidate route Ra3, the number of other autonomous vehicles 3b traveling on at least a portion of the third candidate route Ra3 is zero. Therefore, the third candidate route Ra3 is set as the detour route Ra for the first autonomous vehicle 3a.

[0057] Here, if a detour route Ra for one autonomous vehicle 3a is not obtained (for example, if all detour routes Ra overlap with the driving routes of more than a predetermined number of other autonomous vehicles 3), the management server 5 controls the display unit 42 of the client terminal 4 to display text such as "There is no detour route."

[0058] 7 , the management server 5 controls transmission of the set detour route Ra to the client terminal 4 via the communication unit 52. After the detour route Ra is set, the display unit 42 of the client terminal 4 displays the detour route Ra acquired from the management server 5. That is, the setting screen Gr of the display unit 42 provided on the client terminal 4 displays not only the mounting line 1, the component storage warehouse 2, the floors of the factory 101, the drivable area Ar1, and the prohibited area Ar2, but also the detour route Ra.

[0059] 8 , the management server 5 performs control to cancel the setting of the travel-prohibited area Ar2 based on a prohibited area cancellation signal for canceling the setting of the travel-prohibited area Ar2. That is, when the worker performs an input operation to cancel the setting of the travel-prohibited area Ar2 on the travel-prohibited area Ar2 displayed on the display unit 42, the management server 5 performs control to cancel the setting of the travel-prohibited area Ar2 and return it to the travel-permitted area Ar1. Here, the input operation by the worker to cancel the setting of the travel-prohibited area Ar2 refers to an operation of touching a part of the travel-prohibited area Ar2 on the setting screen Gr displayed on the display unit 42.

[0060] (Detour Route Setting Process) The detour route setting process performed by the management server 5 will be described below with reference to FIG.

[0061] As shown in FIG. 9 , in step S1, a prohibited area Ar2 is set in the permitted area Ar1 on the floor of the factory 101 based on an operation by a worker to set the prohibited area Ar2 on the setting screen Gr displayed on the display unit 42 of the client terminal 4. In step S2, an autonomous vehicle 3 (one autonomous vehicle 3a) passing through the prohibited area Ar2 is acquired. In step S3, a detour route Ra is searched for. Searching for a detour route Ra refers to searching for a route that allows the autonomous vehicle 3 (one autonomous vehicle 3a) passing through the prohibited area Ar2 to reach the destination position De from the current position Pr. In step S4, it is determined whether a detour route Ra exists. If a detour route Ra exists, the process proceeds to step S5; if a detour route Ra does not exist, the process proceeds to step S10.

[0062] In step S5, a detour route Ra is set for the autonomous vehicle 3 (one autonomous vehicle 3a) passing through the travel-prohibited area Ar2. In step S6, the detour route Ra for the autonomous vehicle 3 (one autonomous vehicle 3a) is displayed on the setting screen Gr displayed on the display unit 42 of the client terminal 4, thereby notifying the worker of the detour route Ra. In step S7, a signal to continue manufacturing of boards is sent to the mounting line 1 by having the autonomous vehicle 3 (one autonomous vehicle 3a) passing through the travel-prohibited area Ar2 travel along the detour route Ra.

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

[0064] In step S10, the fact that there is no detour route Ra for the autonomous vehicle 3 (one autonomous vehicle 3a) passing through the travel-prohibited area Ar2 is displayed on the display unit 42 of the client terminal 4, thereby notifying the worker. That is, text such as "There is no detour route" is displayed on the display unit 42 of the client terminal 4. In step S11, travel of the autonomous vehicle 3 (one autonomous vehicle 3a) through the travel-prohibited area Ar2 is stopped.

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

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

[0067] In the first embodiment, as described above, the substrate manufacturing system 100 includes a management server 5 that sets a prohibited area Ar2 based on a prohibited area setting signal for setting a prohibited area Ar2 that prohibits the autonomous vehicle 3 from traveling within the permitted area Ar1 within the factory 101, and that sets a detour route Ra for the autonomous vehicle 3 so that the autonomous vehicle 3 travels around a location within the floor of the factory 101 that corresponds to the prohibited area Ar2. As a result, even if a situation arises in which the autonomous vehicle 3 cannot travel within the permitted area Ar1, such as when a worker temporarily stays in the permitted area Ar1 or when a worker temporarily places luggage in the permitted area Ar1, the prohibited area Ar2 is set based on the prohibited area setting signal and the autonomous vehicle 3's travel route is changed to the detour route Ra, allowing the autonomous vehicle 3 to travel along the detour route Ra. As a result, the autonomous vehicle 3 can continue to work, thereby preventing interruptions and delays in the production of substrates by the substrate manufacturing system 100 using the autonomous vehicle 3.

[0068] Furthermore, in the first embodiment, as described above, during the manufacture of the substrate, management server 5 performs control to set a detour route Ra for autonomous vehicle 3 based on the set no-travel area Ar2 so that autonomous vehicle 3 travels while avoiding locations on the floor of factory 101 that correspond to no-travel area Ar2. In this way, by setting no-travel area Ar2 in travel-permitted area Ar1 during the manufacture of the substrate, autonomous vehicle 3 can travel on detour route Ra and continue its work, thereby preventing delays in the manufacture of the substrate due to the autonomous vehicle 3 stopping during the manufacture of the substrate.

[0069] Furthermore, in the first embodiment, as described above, the management server 5 is configured to search for candidate detour routes Ra for the autonomous vehicle 3 that pass through the travel-restricted area Ar2. If multiple candidate detour routes Ra are obtained as a result of the search, the management server 5 is configured to set, as the detour route Ra for the autonomous vehicle 3, a candidate detour route Ra that has a shorter distance from the current position Pr of the autonomous vehicle 3 to the destination position De than the other candidate detour routes Ra. This makes it possible to suppress an increase in the travel distance from the current position Pr of the autonomous vehicle 3 to the destination position De due to the autonomous vehicle 3 traveling along the detour route Ra, thereby suppressing an increase in the time it takes for the autonomous vehicle 3 to reach the destination position De. As a result, delays in the manufacture of substrates can be minimized even when the autonomous vehicle 3 travels along the detour route Ra.

[0070] Furthermore, in the first embodiment, as described above, multiple autonomous vehicles 3 are arranged on the floor of the factory 101. The management server 5 performs control to set, as the detour route Ra, a candidate detour route Ra that is shorter than the other candidate detour routes Ra and that is passed by fewer autonomous vehicles 3b other than the one autonomous vehicle 3a. This makes it possible to minimize delays in the time it takes for the one autonomous vehicle 3a to reach the destination position De from the current position Pr due to congestion on the detour route Ra for the one autonomous vehicle 3a, and therefore minimize delays in the manufacture of products.

[0071] Furthermore, in the first embodiment, as described above, management server 5 performs control to cancel the setting of travel-prohibited area Ar2 based on a prohibited area cancellation signal for canceling the setting of travel-prohibited area Ar2. This allows the travel route of autonomous vehicle 3 to automatically return from detour route Ra to the original travel route, and therefore the travel route from current position Pr of autonomous vehicle 3 to destination position De, which is caused by autonomous vehicle 3 traveling along detour route Ra, can automatically be returned to a state suitable for manufacturing the first board.

[0072] Furthermore, in the first embodiment, as described above, board manufacturing system 100 includes mounting line 1 on which a plurality of board working devices are arranged for manufacturing boards on which components are mounted. Management server 5 performs control to set prohibited area Ar2 in permitted area Ar1 based on the prohibited area setting signal during the manufacturing of boards on mounting line 1. This makes it possible to realize board manufacturing system 100 that can minimize delays in the manufacturing of boards.

[0073] Furthermore, in the first embodiment, as described above, the substrate manufacturing system 100 includes a display unit 42 that can display the travel-allowed area Ar1 and the travel-prohibited area Ar2 acquired from the management server 5. The management server 5 controls the setting of the travel-prohibited area Ar2 based on a prohibited area setting signal that is input when the worker performs an input operation to specify the travel-prohibited area Ar2 for the travel-allowed area Ar1 displayed on the display unit 42. This allows the worker to set the travel-prohibited area Ar2 simply by operating the travel-allowed area Ar1 displayed on the display unit 42, thereby enabling the worker to easily set the travel-prohibited area Ar2.

[0074] Furthermore, in the first embodiment, as described above, when an operator performs an input operation to cancel the setting of the prohibited area Ar2 displayed on the display unit 42, the management server 5 performs control to cancel the setting of the prohibited area Ar2 and return it to the permitted area Ar1. This allows the operator to return the setting of the prohibited area Ar2 to the permitted area Ar1 simply by operating the prohibited area Ar2 displayed on the display unit 42, thereby enabling the operator to easily cancel the setting of the prohibited area Ar2.

[0075] Furthermore, in the first embodiment, as described above, the management server 5 performs control to set a predetermined area including a designated position Pt as a no-travel area Ar2 based on an arbitrary designated position Pt designated by the worker within the travelable area Ar1 displayed on the display unit 42. This allows the worker to set the no-travel area Ar2 throughout the entire travelable area Ar1, making it possible to easily set a no-travel area Ar2 of a size close to that expected by the worker.

[0076] Furthermore, in the first embodiment, as described above, the management server 5 performs control to reduce or expand the no-travel area Ar2 to match the reduced or expanded predetermined area, based on the operator's operation to reduce or expand the range of the no-travel area Ar2 of the predetermined area displayed on the display unit 42. This makes it possible to easily set the no-travel area Ar2 to a size close to that expected by the operator.

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

[0078] 10 to 13, the configuration of a board manufacturing system 200 according to a second embodiment will be described. In the second embodiment, unlike the first embodiment, a prohibited area settable section Se is displayed on the setting screen Gr. Note that in the second embodiment, detailed description of the same configuration as in the first embodiment will be omitted.

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

[0080] (Board Manufacturing System) As shown in Figure 10, a board manufacturing system 200 according to the second embodiment of the present invention is installed in a factory 101 that manufactures boards on which components are mounted. The board manufacturing system 200 includes a mounting line 1, a component storage 2, an autonomous vehicle 3, a client terminal 4, and a management server 205. The client terminal 4 is an example of a "terminal" in the claims. The management server 205 is an example of a "setting unit" and a "control device" in the claims. The autonomous vehicle 3 is an example of an "autonomous mobile body" in the claims.

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

[0082] (Setting a detour route) The management server 205 of the second embodiment controls the setting of a prohibited driving area Ar2 based on a prohibited area setting signal for setting a prohibited driving area Ar2 that prohibits the autonomous vehicle 3 from driving (an example of "movement" in the claims) within the permitted driving area Ar1 within the factory 101. The management server 5 also controls the setting of a detour route Ra for the autonomous vehicle 3 so that the autonomous vehicle 3 avoids locations within the floor of the factory 101 that correspond to the prohibited driving area Ar2. The permitted driving area Ar1 is an example of a "permitted driving area" in the claims. The prohibited driving area Ar2 is an example of a "prohibited driving area" in the claims.

[0083] 11 , when an operator performs an input operation to set a prohibited area settable section Se (shown by diagonal right hatching in FIG. 11 ) that is pre-set as a section of the travelable area Ar1 that can be changed to a prohibited area Ar2 and that is displayed on the display unit 42, the management server 205 is configured to set the prohibited area settable section Se as a prohibited area Ar2 (shown by diagonal left hatching in FIG. 11 ). In FIG. 11 , on the setting screen Gr, the operator sets one of the multiple prohibited area settable sections Se as the travel prohibited area Ar2. On the setting screen Gr, the operator may set two or more of the multiple prohibited area settable sections Se as the travel prohibited area Ar2.

[0084] Here, the number and dimensions of the prohibited area settable sections Se in the travelable area Ar1 can be changed by the operator on the setting screen Gr, as shown in Figures 12 and 13. Note that other configurations of the second embodiment are the same as those of the first embodiment.

[0085] Effect of Second Embodiment In the second embodiment, similarly to the first embodiment, substrate manufacturing system 200 sets no-travel areas Ar2 and includes management server 205 that sets detour routes Ra for autonomous vehicle 3 so that autonomous vehicle 3 avoids locations on the floor of factory 101 that correspond to no-travel areas Ar2. This makes it possible to prevent interruptions and delays in the manufacturing of substrates by substrate manufacturing system 200 that uses autonomous vehicle 3.

[0086] Furthermore, in the second embodiment, as described above, when an operator performs an input operation to set a prohibited area Ar2 for a settable prohibited area section Se that is displayed on the display unit 42 and that has been preset as a section of the travelable area Ar1 that can be changed to a prohibited area Ar2, the management server 205 performs control to set the settable prohibited area section Se as the travel prohibited area Ar2. This allows the operator to easily recognize the sections that can be set as the travel prohibited area Ar2, and therefore the operator can easily set the travel prohibited area Ar2. Note that other effects of the second embodiment are similar to those of the first embodiment.

[0087] 14 and 15 , the configuration of a board manufacturing system 300 according to a third embodiment will be described. Unlike the first embodiment, the third embodiment sets the prohibited area settable section Se based on a signal from a board working device on the mounting line 1. Note that in the third embodiment, detailed description of the same configuration as in the first embodiment will be omitted.

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

[0089] (Board Manufacturing System) As shown in Figure 14, a board manufacturing system 300 according to the third embodiment of the present invention is installed in a factory 101 that manufactures boards on which components are mounted. The board manufacturing system 300 includes a mounting line 1, a component storage warehouse 2, an autonomous vehicle 3, a client terminal 4, and a management server 305. The client terminal 4 is an example of a "terminal" in the claims. The management server 205 is an example of a "setting unit" and a "control device" in the claims. The autonomous vehicle 3 is an example of an "autonomous mobile body" in the claims.

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

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

[0092] (Setting a Detour Route) As shown in FIG. 15 , the management server 305 of the second embodiment controls the setting of a prohibited driving area Ar2 based on a prohibited area setting signal for setting a prohibited driving area Ar2 that prohibits the autonomous vehicle 3 from driving (an example of "movement" in the claims) within a permitted driving area Ar1 within the factory 101. The management server 305 also controls the setting of a detour route Ra for the autonomous vehicle 3 so that the autonomous vehicle 3 avoids locations within the floor of the factory 101 that correspond to the prohibited driving area Ar2. The permitted driving area Ar1 is an example of a "permitted driving area" in the claims. The prohibited driving area Ar2 is an example of a "prohibited driving area" in the claims.

[0093] 11 , the management server 305 controls the setting of a travel-allowed area Ar1 near a device from which the prohibited area setting signal was sent as a travel-prohibited area Ar2 based on a prohibited area setting signal sent from at least one of the plurality of board work devices. Specifically, the management server 305 controls the setting of a travel-allowed area Ar1 near a device from which the prohibited area setting signal was sent as a travel-prohibited area Ar2 (shown by left-hand hatching in FIG. 15 ) based on a prohibited area setting signal sent from at least one of the plurality of board work devices, the prohibited area setting signal including a signal indicating that the cover of the device has been opened and a signal indicating that an error has occurred in the device. The device error may be, for example, an error in printing cream solder on the board by the printer 12 or an error in mounting components on the board by the component mounting device 15.

[0094] 15 shows, as an example, that when the management server 305 acquires a prohibited area setting signal indicating that the cover of component mounting device 15 among the plurality of board work devices has been opened, the setting screen Gr shows that the travel-allowed area Ar1 near component mounting device 15 has been set to travel-prohibited area Ar2. Note that when the management server 305 acquires prohibited area setting signals transmitted from each of two or more board work devices among the plurality of board work devices, the travel-allowed area Ar1 near the corresponding board work device is set to travel-prohibited area Ar2 on the setting screen Gr. Note that the other configurations of the third embodiment are similar to those of the first embodiment.

[0095] Effect of Third Embodiment In the third embodiment, similarly to the first embodiment, substrate manufacturing system 300 includes management server 305 that sets no-travel areas Ar2 and sets detour routes Ra for autonomous vehicle 3 so that autonomous vehicle 3 avoids locations on the floor of factory 101 that correspond to no-travel areas Ar2. This makes it possible to prevent interruptions and delays in the manufacturing of substrates by substrate manufacturing system 300 that uses autonomous vehicle 3.

[0096] Furthermore, in the third embodiment, as described above, the management server 305 performs control to set the travel-allowed area Ar1 near the device that transmitted the prohibited area setting signal as the travel-prohibited area Ar2, based on the prohibited area setting signal transmitted from at least one of the plurality of board work devices. As a result, the travel-prohibited area Ar2 is automatically set based on the prohibited area setting signal transmitted from the board work device, so that the worker is not required to take the trouble of setting the travel-prohibited area Ar2. Note that other effects of the third embodiment are similar to those of the first embodiment.

[0097] [Modifications] The embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is defined by the claims, not by the description of the above-mentioned embodiments, and further includes all modifications (modifications) within the meaning and scope of the claims.

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

[0099] Furthermore, in the first to third embodiments, an example was shown in which the management server 5 (205, 305) (setting unit) controls the setting of the detour route Ra for the autonomous vehicle 3, but the present invention is not limited to this. In the present invention, the setting of the detour route may be performed by the board processing device or the terminal.

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

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

[0102] In the third embodiment, the prohibited area setting signal includes a signal indicating that the cover of the device is open and a signal indicating that an error has occurred in the device, but the present invention is not limited to this. In the present invention, the prohibited area setting signal may be either a signal indicating that the cover of the device is open or a signal indicating that an error has occurred in the device.

[0103] Furthermore, in the first to third embodiments, the autonomous vehicle 3 (autonomous moving body) is an AGV, but the present invention is not limited to this. In the present invention, the autonomous moving body may be an AMR (Autonomous Mobile Robot), which is an autonomous mobile robot that can autonomously travel and transport (convey) an object, an autonomous moving vehicle other than an AGV that can autonomously travel and transport (convey) an object, or an autonomous moving vehicle equipped with an articulated robot.

[0104] Furthermore, in the above first to third embodiments, for the sake of convenience, an example has been shown in which the control processing of the management server 5 (205, 305) (setting unit) is explained using a flow-driven flowchart in which processing is performed in order according to a processing flow, but the present invention is not limited to this. In the present invention, the control processing of the setting unit may be performed by event-driven processing in which processing is performed on an event-by-event basis. In this case, the control processing may be performed completely event-driven, or may be performed by combining event-driven and flow-driven processing.

[0105] DESCRIPTION OF SYMBOLS 1 Mounting line 3 Autonomous vehicle (autonomous mobile body) 3a One autonomous vehicle (one autonomous mobile body) 3b Other autonomous vehicles (other autonomous mobile bodies) 4 Client terminal (terminal) 5, 205, 305 Management server (setting unit, control device) 11 Loader (board work device) 12 Printing machine (board work device) 13 Printing inspection machine (board work device) 14 Dispenser device (board work device) 15 Component mounting device (board work device) 16 Visual inspection device (board work device) 17 Reflow device (board work device) 18 Visual inspection device (board work device) 19 Unloader (board work device) 42 Display unit 100, 200, 300 Board manufacturing system (factory manufacturing system) 101 Factory Ar1 Travelable area (movable area) Ar2 Travel-prohibited area (movement-prohibited area) De Destination position Pr Current position Pt Designated position Ra Detour route Ra1 First detour route (detour route) Ra2 Second detour route (detour route) Ra3 Third detour route (detour route) Se Section where prohibited area can be set

Claims

1. an autonomous mobile body that autonomously moves within a movable area of ​​a floor in a factory and moves to a destination position to perform work for continuing the production of products in the factory; a setting unit that sets a prohibited area based on a prohibited area setting signal for setting a prohibited area that prohibits movement of the autonomous mobile body within the movable area within the factory, and sets a detour route that allows the autonomous mobile body to reach the destination position from a current position so that the autonomous mobile body moves while avoiding a location within the factory floor that corresponds to the prohibited area.

2. 2. The factory manufacturing system according to claim 1, wherein the setting unit is configured to set the detour path for the autonomous mobile body during the manufacture of the product, based on the set prohibited movement area, so that the autonomous mobile body moves while avoiding locations on the factory floor that correspond to the prohibited movement area.

3. 2. The factory manufacturing system according to claim 1, wherein the setting unit is configured to search for candidate detour routes for the autonomous moving body that pass through the prohibited movement area, and when a plurality of candidate detour routes are obtained by the search, set, among the plurality of candidate detour routes, a candidate detour route that has a distance from a current position of the autonomous moving body to a destination position that is shorter than other candidate detour routes, as the detour route along which the autonomous moving body moves.

4. a plurality of the autonomous moving bodies are arranged on a floor of the factory; 4. The factory manufacturing system according to claim 3, wherein the setting unit is configured to set, as the detour route, a candidate detour route that is shorter than the other candidate detour routes and that is passed through by a smaller number of autonomous moving bodies other than the one autonomous moving body for which a candidate detour route shorter than the other candidate detour routes has been set among the plurality of autonomous moving bodies.

5. 2. The factory manufacturing system according to claim 1, wherein the setting unit is configured to cancel the setting of the prohibited movement area based on a prohibited area cancellation signal for canceling the setting of the prohibited movement area.

6. a mounting line in which a plurality of board working devices are arranged for manufacturing boards on which components are mounted as the products; 2. The factory manufacturing system according to claim 1, wherein the setting unit includes a control device configured to perform control to set the prohibited area in the movable area based on the prohibited area setting signal during manufacturing of the board on the mounting line.

7. a display unit capable of displaying the movable area and the prohibited area acquired from the setting unit, 2. The factory manufacturing system according to claim 1, wherein the setting unit is configured to set the prohibited movement area based on the prohibited area setting signal input by a worker performing an input operation to specify the prohibited movement area with respect to the movable area displayed on the display unit.

8. 8. The factory manufacturing system according to claim 7, wherein the setting unit is configured to cancel the setting of the prohibited movement area and return it to the movable area when the worker performs an input operation to cancel the setting of the prohibited movement area displayed on the display unit.

9. 8. The factory manufacturing system of claim 7, wherein the setting unit is configured to set a prohibited area settable section as the prohibited area when the worker performs an input operation to set the prohibited area for a prohibited area settable section displayed on the display unit that has been pre-set as a section that can be changed to the prohibited area among the movable areas.

10. 8. The factory manufacturing system of claim 7, wherein the setting unit is configured to set a predetermined area including an arbitrary designated position designated by the worker within the movable area displayed on the display unit as the prohibited movement area.

11. 11. The factory manufacturing system of claim 10, wherein the setting unit is configured to reduce or expand the prohibited movement area to match the reduced or expanded specified area based on the operator performing an operation to reduce or expand the range of the specified area displayed on the display unit.

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

13. a terminal on which the display unit is provided and which accepts input operations by the worker; 8. The manufacturing system for a factory according to claim 7, wherein the display unit provided in the terminal is configured to display the detour route, the movable area and the prohibited area on the floor of the factory.