Component mounting system and control device

Abstract

This component mounting system for moving a carriage capable of carrying a member by using an AMR includes: a management device that manages a plurality of types of carriages according to members to be carried; at least one control device that receives a first instruction from the management device; and at least one AMR that operates in response to a second instruction from the control device. As the second instruction, the control device instructs the AMR to move to the position of a designated carriage designated by the first instruction among the plurality of types of carriages, to couple to the designated carriage, to move, in a state of being coupled to the designated carriage, to the work position designated by the first instruction, and to operate according to the type of the designated carriage at the work position.

Description

Component mounting system and control device

[0001] The technology disclosed in this specification relates to a component mounting system and a control device included in the system.

[0002] A component mounting system produces circuit boards on which electronic components are mounted using a line of multiple substrate-related work machines, including component mounters. Component replacement must be performed at various times for each work machine. A cart capable of transporting components is used for component replacement. An autonomous mobile robot can be coupled to the cart, allowing the cart to move as the autonomous mobile robot moves. An autonomous mobile robot is also known as an AMR, short for Autonomous Mobile Robot.

[0003] International Publication No. 2022 / 049743 discloses a technology in which an autonomous guided vehicle moves to a coupling position with a cart, automatically couples with the cart, and tows the cart.

[0004] The components required by each work machine include a variety of items, such as feeders, board magazines, and masks for solder printing. Therefore, the height and mechanism of each cart are adjusted in advance to match the components to be transported. In other words, the component mounting system uses multiple types of carts. These multiple types of carts require different operations when replacing components on the work machine.

[0005] If an AMR were to be used to realize the movements of multiple types of bogies, there was a risk that the system would become complicated in terms of AMR control, or that the number of AMRs used would increase due to associating each bogie with each AMR, etc. This specification presents a technology that solves these problems and uses an AMR to realize the required movements of various bogies.

[0006] This specification discloses a component mounting system that uses an autonomous mobile transport robot to move a carriage capable of transporting components. The component mounting system includes a management device that manages multiple types of carriages corresponding to the components to be transported, at least one control device that receives a first instruction from the management device, and at least one of the autonomous mobile transport robots that operates in accordance with a second instruction from the control device. The control device commands the autonomous mobile transport robot to move to a position of a designated carriage that is a carriage designated by the first instruction from among the multiple types of carriages, couple with the designated carriage, move while coupled with the designated carriage to a work position designated by the first instruction, and perform an operation at the work position according to the type of the designated carriage, as second instructions, and causes the autonomous mobile transport robot to execute these commands.

[0007] According to the above configuration, the control device commands the AMR to move to the position of the designated vehicle specified by the first instruction, couple with the designated vehicle, and move while coupled with the designated vehicle to the work position specified by the first instruction, as the second instruction, and causes the AMR to execute these commands. Furthermore, the control device commands the AMR to perform an operation corresponding to the type of the designated vehicle at the work position, as the second instruction, and causes the AMR to execute these commands. In other words, by configuring the control device to instruct the AMR to perform an operation corresponding to the type of the designated vehicle at the work position, system complexity can be avoided. Furthermore, because the AMR performs an operation corresponding to the type of the designated vehicle at the work position in accordance with instructions from the control device, a single AMR can perform operations corresponding to various types of vehicles. This allows the number of AMRs to be reduced, thereby reducing system operation costs.

[0008] Fig. 1 is a diagram showing an overview of a component mounting system. Fig. 2 is a block diagram showing the configuration of a control system of a management device, a control device, and an AMR. Fig. 3 is a flowchart showing a component replacement process realized by the component mounting system. Fig. 4 is a flowchart mainly showing details of the vehicle allocation process of step S100. Fig. 5 is a diagram showing an overview of a component mounting system according to a modified example.

[0009] The main features of the embodiments described below are listed below. Note that the technical elements described below are independent technical elements that exhibit technical utility alone or in various combinations, and are not limited to the combinations described in the claims at the time of filing.

[0010] In the component mounting system disclosed in this specification, one control device may be attached to one AMR, and the control device may receive the first instruction from the management device via wireless communication and issue the second instruction to the AMR in which it is attached. According to this configuration, a control device is attached to each AMR. Therefore, the management device can view the control device and the AMR as a single unit and easily control the AMR via the control device attached to the AMR.

[0011] In the component mounting system disclosed in this specification, the control device may be detachably attached to the AMR. By detachably attaching the control device to the AMR, the technology disclosed in this specification can be easily applied to an existing system.

[0012] In the component mounting system disclosed in this specification, one control device may be mounted on one of the carriages, and the control device mounted on the designated carriage may receive the first instruction from the management device via wireless communication and send the second instruction to the AMR via wireless communication. According to this configuration, a control device is mounted on each carriage. Therefore, the management device can view the control device and the carriage as a single unit and easily control the AMR via the control device for each carriage.

[0013] In the component mounting system disclosed in this specification, the control device may be detachably attached to the cart. By detachably attaching the control device to the cart, the technology disclosed in this specification can be easily applied to an existing system.

[0014] In the component mounting system disclosed in this specification, the management device may include an information management unit that has information on whether each AMR is in a usable state, and the first instruction may instruct the control device to issue the second instruction to an AMR that is indicated as being in a usable state by the information management unit. According to this configuration, the management device includes an information management unit, and the information management unit can be responsible for managing the information for each AMR.

[0015] In the component mounting system disclosed in this specification, the management device may be capable of communicating with an external information management unit that has information on whether each AMR is usable, and may instruct the control device by the first instruction to issue the second instruction to an AMR that is indicated as usable by the information management unit. In other words, the information management unit may be located outside the component mounting system. This configuration reduces the burden on the management device.

[0016] The category of technology disclosed in this specification is not limited to component mounting systems. This specification covers various technologies, such as methods implemented by component mounting systems and some systems and devices included in component mounting systems. This specification discloses, for example, a control device for controlling an AMR. The control device includes a reception unit that externally receives a designation of one of multiple types of carts corresponding to the members to be transported and a designation of a work position for the designated cart, and an instruction unit that commands the AMR to move to the position of the designated cart, couple with the designated cart, move to the work position while coupled with the designated cart, and perform an operation at the work position corresponding to the type of the designated cart.

[0017] The embodiments will be described with reference to the drawings. Each drawing is merely an example, and the present embodiment is not limited to the contents shown in the drawings. Also, since each drawing is an example, the shapes shown may not necessarily be accurate, and some parts may be omitted.

[0018] 1 is a schematic diagram of a component mounting system 1 according to this embodiment. The component mounting system 1 includes, for example, a component mounting line 2, a management device 10, a plurality of carts 20 capable of transporting components, at least one control device 30 that receives a first instruction from the management device 10, at least one AMR 40 that operates in response to a second instruction from the control device 30, and a kitting stand 50. The component mounting system 1 produces boards on which electronic components are mounted using the component mounting line 2. Electronic components are also simply referred to as components. The component mounting line 2 is formed by an array of a plurality of substrate-related operating machines 2a, 2b, 2c, 2d, 2e, etc., each of which performs an operation on a board.

[0019] The plurality of substrate-related operation machines 2a, 2b, 2c, 2d, 2e... includes a plurality of component mounters. The component mounters are, for example, devices that mount components supplied by a feeder onto a board. The feeders hold reels that accommodate a plurality of components and supply the components from the reels to the component mounters. The plurality of substrate-related operation machines 2a, 2b, 2c, 2d, 2e... may include, in addition to component mounters, other substrate-related operation machines such as a solder printer, a board inspection machine, etc.

[0020] The management device 10 is a computer capable of managing and controlling, for example, the substrate-related operating machines 2a, 2b, 2c, 2d, 2e, etc. on the component mounting line 2. Furthermore, in the component mounting system 1, the cart 20 is moved using an AMR 40. As will be described later, the management device 10 manages multiple types of carts 20 according to the components to be transported and controls the AMR 40 via the control device 30. This specification will explain the functions of the management device 10 that are necessary for this embodiment. The management device 10 includes, for example, a first management computer 10a and a second management computer 10b that are connected to each other so that they can communicate with each other. The first management computer 10a and the second management computer 10b may be computers of any type, such as desktop, laptop, or tablet, or may be smartphones or other mobile computers.

[0021] For convenience, the multiple types of carts 20 are distinguished and denoted as a first cart 20a and a second cart 20b. Of course, the component mounting system 1 may include three or more types of carts 20. The first cart 20a is a cart 20 whose height and mechanism are appropriately adjusted for transporting a first member. On the other hand, the second cart 20b is a cart 20 whose height and mechanism are appropriately adjusted for transporting a second member different from the first member.

[0022] The AMR 40 has wheels 47 for traveling, a drive unit for driving the wheels 47, a battery that serves as a power source for the drive unit, etc. The AMR 40 also has sensors such as a distance sensor that measures the distance to surrounding objects, a camera that photographs the surroundings, an encoder that measures the distance traveled, and a gyro sensor that measures changes in the orientation of the aircraft. See FIG. 2 for details about the drive unit, battery, and sensors.

[0023] The carriage 20 is coupled to the AMR 40 and moves as the AMR 40 travels. Although two AMRs 40, a first AMR 40a and a second AMR 40b, are shown in FIG. 1 , the component mounting system 1 may include at least one AMR 40. When the AMR 40 is not being used to move the carriage 20, it remains stationary at predetermined standby positions P0a and P0b. The standby positions P0a and P0b are provided with, for example, charging docks (not shown), and the AMR 40 can charge its built-in battery at the standby positions P0a and P0b using the charging docks.

[0024] The control device 30 is, for example, a small, board-shaped computer that controls the AMRs 40. As shown in FIG. 1 , one control device 30 is attached to each AMR 40. Therefore, the control device 30 moves along with the AMR 40 to which it is attached. The control device 30 attached to the first AMR 40a is referred to as the first control device 30a, and the control device 30 attached to the second AMR 40b is referred to as the second control device 30b. As shown in FIG. 1 by the relationship between the second AMR 40b and the second control device 30b, the control device 30 may be detachably attached to the AMR 40. Because the control device 30 and the AMR 40 are integrally configured, the management device 10 can easily control each AMR 40 via the control device 30 for each AMR 40. Furthermore, because the control device 30 is detachable from the AMR 40, the technology disclosed herein can be easily introduced into existing systems that use AMRs 40 to move the cart 20.

[0025] The kitting stand 50 is a facility for preparing components to be transported by the carriage 20 to the substrate-related performing machine. Components are loaded from the kitting stand 50 onto the carriage 20 that has moved to a component preparation position P1 near the kitting stand 50. Furthermore, when the carriage 20 that has collected used components from the substrate-related performing machine moves to the component preparation position P1, the used components are returned from the carriage 20 to the kitting stand 50. Although FIG. 1 shows one kitting stand 50 and one component preparation position P1 for space reasons, it may be understood that a plurality of kitting stands 50 and one component preparation position P1 are prepared according to the types of components required by the substrate-related performing machines 2a, 2b, 2c, 2d, 2e, ...

[0026] 2 is a simplified block diagram showing the configuration of the control system for the management device 10, the control device 30, and the AMR 40. The first management computer 10a, which is part of the management device 10, includes a control unit 11a, a storage unit 12a, a communication IF 13a, a display unit 14a, and an operation unit 15a. IF stands for interface. In this embodiment, a communication IF is a general term for one or more IFs that allow a device having the communication IF to communicate with other devices via wired and / or wireless communication. In this embodiment, there is no particular restriction on the standards or protocols used for communication between devices.

[0027] The control unit 11a has a processor such as a CPU and a memory, and functions as, for example, a vehicle dispatch request unit 16a, a trolley management unit 17a, etc., by the processor executing arithmetic processing in accordance with a program stored in the memory, etc. The memory unit 12a stores various data and programs required by the control unit 11a. The memory unit 12a is configured with a storage medium. At least a part of the memory possessed by the control unit 11a may be considered as the memory unit 12a.

[0028] The display unit 14a is a means for displaying visual information. The operation unit 15a is a means for receiving operations by an operator, such as a keyboard, switches, etc. If the display unit 14a also functions as a touch panel, the display unit 14a is also an example of the operation unit 15a.

[0029] The second management computer 10b, which is part of the management device 10, includes a control unit 11b, a storage unit 12b, and a communication IF 13b, similar to the first management computer 10a. The control unit 11b has a processor such as a CPU and memory, and functions as, for example, an AMR information management unit 14b by the processor executing arithmetic processing in accordance with programs stored in the memory. The storage unit 12b stores various data and programs required by the control unit 11b.

[0030] 2 shows a first AMR 40a and a first control device 30a as an example of a pair of an AMR 40 and a control device 30 attached to the AMR 40. The following description will continue using the first AMR 40a and the first control device 30a as an example, but the description of the first AMR 40a and the first control device 30a also applies to other pairs of AMRs 40 and control devices 30.

[0031] The first control device 30a includes a control unit 31a, a storage unit 32a, a communication IF 33a, and an AMR connection unit 36a. The control unit 31a has a processor such as a CPU and memory, and functions as, for example, a reception unit 34a, an instruction unit 35a, etc. by the processor executing arithmetic processing in accordance with programs stored in the memory, etc. The storage unit 32a stores various data and programs required by the control unit 31a, such as operation pattern information 38. Because the first control device 30a is attached to the first AMR 40a, the communication IF 33a is a wireless communication IF for performing wireless communication. The AMR connection unit 36a is a type of IF for connecting to the attached AMR 40 so that the first control device 30a can communicate with the attached AMR 40. The first control device 30a receives a first instruction transmitted via wireless communication from the first management computer 10a serving as the management device 10 via the communication IF 33a and outputs a second instruction to the first AMR 40a attached to the first control device 30a via the AMR connection unit 36a.

[0032] The first AMR 40a includes a control unit 41a, a memory unit 42a, a drive unit 43a, a battery 44a, sensors 45a, and a carriage coupling unit 46a. The control unit 41a has a processor such as a CPU and a memory, and the processor executes arithmetic processing in accordance with programs stored in the memory, etc., thereby controlling, for example, the drive unit 43a and the carriage coupling unit 46a. The memory unit 42a stores various data and programs required by the control unit 41a, such as map information. The map information indicates, for example, a map of a predetermined area where the component mounting line 2, the kitting stand 50, etc. are installed.

[0033] The drive unit 43a includes a motor, gears, etc. for driving the wheels 47. The bogie coupling unit 46a is a mechanism for coupling to the bogie 20. The control unit 41a of the first AMR 40a automatically calculates a route to a specified position based on map information and information obtained from the sensors 45a, and controls the drive unit 43a to travel along the calculated route and reach the specified position. The first control device 30a may have a built-in battery (not shown) as a power source. Alternatively, the first control device 30a may receive power from the battery 44a of the first AMR 40a via the AMR connection unit 36a and operate using the supplied power.

[0034] Although not shown in the figures, the second management computer 10b, the first control device 30a, and the first AMR 40a may each have a display unit and an operation unit. Furthermore, the configuration in which the management device 10 is divided into the first management computer 10a and the second management computer 10b as shown in Figures 1 and 2 is merely an example. The management device 10 may be a single computer, or may be a management system realized by the cooperation of three or more computers connected to each other so as to be able to communicate.

[0035] 3 is a flowchart showing the component replacement process implemented by the component mounting system 1. "Component replacement" basically refers to the operation of supplying new components transported by the carriage 20 from the carriage 20 to a substrate-related operation machine or the like, and collecting used components from the substrate-related operation machine or the like. However, in the description of FIG. 3, the supply of new components without collecting used components and the collection of used components without supplying new components are also included as examples of component replacement.

[0036] First, the management device 10 executes a vehicle allocation process (step S100). The vehicle allocation process is a process in which the type of work, the carriage 20 to be used for the work, the work position of the carriage 20, the AMR 40 to be used to move the carriage 20, etc. are designated, and these details are sent to the control device 30. In the vehicle allocation process, the instruction received by the control device 30 from the management device 10 is a first instruction. Here, it is assumed that the management device 10 designates the first carriage 20a as the carriage 20 to be used for the work, and the first AMR 40a as the AMR 40 to be used to move the first carriage 20a as the designated carriage. In this case, the reception unit 34a of the first control device 30a attached to the first AMR 40a receives the first instruction from the management device 10. Details of the vehicle allocation process in step S100 will be described later with reference to FIG. 4.

[0037] In the first control device 30a that has received the first instruction, the instruction unit 35a transmits a second instruction to the first AMR 40a (step S110). The second instruction is an instruction to move to the position of the designated vehicle, which is the vehicle 20 designated by the first instruction, to couple with the designated vehicle, to move to the work position designated by the first instruction while coupled with the designated vehicle, or to perform an operation according to the type of the designated vehicle at the work position.

[0038] At the timing of step S110, the instructing unit 35a does not need to send all of these second instructions to the first AMR 40a all at once, but only needs to issue a second instruction to move the designated vehicle to its position. That is, the instructing unit 35a only needs to issue various second instructions to the first AMR 40a at appropriate timings, including step S110. Similarly, the management device 10 does not need to send all of the first instructions to the first control device 30a all at once at the timing of step S100, but only needs to issue various first instructions to the first control device 30a at appropriate timings, including step S100.

[0039] The first AMR 40a, which has been instructed to move to the position of the first bogie 20a, which is the designated bogie, moves from the standby position P0a to the position of the first bogie 20a instructed by the first control device 30a (step S120). Each bogie 20, for example, has a predetermined standby position. According to FIG. 1 , the first bogie 20a that is not coupled to the AMR 40 is on standby at the standby position P2a, and the second bogie 20b that is not coupled to the AMR 40 is on standby at the standby position P2b. Therefore, the first AMR 40a is instructed to move to the standby position P2a as the position of the first bogie 20a, and moves to the standby position P2a.

[0040] The first AMR 40a, which has moved to the position of the first bogie 20a, couples with the first bogie 20a in accordance with the second instruction (step S130). In this embodiment, coupling and uncoupling between the AMR 40 and the bogie 20 are performed automatically without human intervention. The control unit 41a of the first AMR 40a controls the bogie coupling unit 46a to couple with the first bogie 20a. For example, the bogie 20 is also provided with a coupling unit for coupling with the AMR 40, and coupling between the first AMR 40a and the first bogie 20a is completed by connecting the bogie coupling unit 46a to the coupling unit of the first bogie 20a. In this embodiment, the method for coupling the AMR 40 and the bogie 20 is not particularly limited as long as the bogie 20 can ultimately move together with the AMR 40, and various coupling methods, including known methods, can be used.

[0041] When coupled to the designated vehicle, the first AMR 40a may acquire predetermined information, for example, identification information for identifying the type of the designated vehicle, from the designated vehicle through an electrical connection with the designated vehicle. This allows the first control device 30a to acquire the identification information from the first AMR 40a through the AMR connection unit 36a and recognize the type of the designated vehicle. Note that the first control device 30a can also recognize the type of the designated vehicle based on a first instruction from the management device 10.

[0042] Next, the first AMR 40a moves to the component preparation position P1 in accordance with the second instruction (step S140). The movement of the first AMR 40a during steps S140 to S200 is movement while coupled to the first carriage 20a, and is synonymous with movement of the first carriage 20a. Step S140 is executed only when necessary. In other words, when the management device 10 issues a first instruction to the first control device 30a to move to the component preparation position P1 before movement to the work position, the first control device 30a issues a second instruction to the first AMR 40a to move to the component preparation position P1 before movement to the work position. Therefore, the first AMR 40a executes step S140 when it is instructed to move to the component preparation position P1 before movement to the work position.

[0043] The kitting stand 50 prepares components for the first cart 20a that has moved to the component preparation position P1 (step S150). Step S150 is a process premised on step S140. Component preparation refers to the preparation of components required for the type of work specified by the management device 10. For example, if the type of work is the replacement of a feeder F as the first component, in step S150, a new feeder F is loaded from the kitting stand 50 onto the first cart 20a, or a new reel is set on the feeder loaded on the first cart 20a. The process at the kitting stand 50, including step S190 described below, may be automated or may involve some manual work.

[0044] After step S130 or step S150, in step S160, the first AMR 40a moves from the current position to the work position in accordance with the second instruction. The current position here refers to the standby position P2a or the component preparation position P1. The positions indicated by the reference symbols P3a, P3b, P3c, P3d, and P3e in FIG. 1 are examples of work positions corresponding to the substrate-related operation machines 2a, 2b, 2c, 2d, and 2e, respectively. The management device 10, for example, designates one of the positions P3a, P3b, P3c, P3d, and P3e as the work position and transmits this as a first instruction to the first control device 30a. Alternatively, the management device 10 may designate a predetermined position where components are supplied to or retrieved from a loader that automatically supplies components to the substrate-related operation machine as the work position and transmit this as a first instruction to the first control device 30a.

[0045] The first member is exchanged between the first carriage 20a that has reached the work position and the substrate-related performing machine or loader (step S170). The member exchange in step S170 may be an automated process or may involve manual operation. The first control device 30a issues, as a second instruction, a command to the first AMR 40a to perform an operation according to the type of the designated carriage at the work position, and causes the first AMR 40a to perform the operation at or near the work position during step S170.

[0046] The operation corresponding to the type of designated carriage at the work position is the operation required for the component replacement in step S170, such as a small change in the position of the designated carriage relative to the substrate-related operation machine, forward / backward or left / right, raising / lowering the designated carriage, or rotating the designated carriage. The operation patterns, such as the speed, amount of change, number of times, sequence, necessity, operation time, etc. of these position changes, raising / lowering, rotation, etc., differ depending on the type of designated carriage. The operation patterns for each type of carriage 20, such as the first carriage 20a and the second carriage 20b, are described in advance in operation pattern information 38. The operation pattern information 38 is held by each control device 30. Therefore, if the designated carriage is the first carriage 20a, the first control device 30a refers to the operation pattern information 38 to acquire the operation pattern of the first carriage 20a. Then, the first control device 30a commands the first AMR 40a to operate the first carriage 20a in accordance with the operation pattern as a second instruction, and causes the first AMR 40a to operate in accordance with the operation pattern during the period of step S170.

[0047] After step S170 is completed, the first AMR 40a moves to the component preparation position P1 in accordance with the second instruction (step S180). Like step S140, step S180 is executed only when necessary. That is, when the management device 10 issues a first instruction to the first control device 30a to move to the component preparation position P1 after component replacement, the first control device 30a issues a second instruction to the first AMR 40a to move to the component preparation position P1 after component replacement. When the first AMR 40a is instructed to move to the component preparation position P1 after component replacement, it executes step S180.

[0048] In step S190, the first carriage 20a, which has moved to the component preparation position P1, returns components to the kitting stand 50. Step S190 is a process that presupposes step S180. The component return is a process of returning used components that have been collected from a substrate-related operation machine or the like at the operation position to the kitting stand 50.

[0049] After step S170 or step S190, in step S200, the first AMR 40a moves from its current position to the position of the designated vehicle in accordance with the second instruction. The current position here naturally refers to the work position or the member preparation position P1. Furthermore, the position of the designated vehicle does not refer to the current position of the designated vehicle, but to the position where the designated vehicle should be when not in use, that is, the standby position P2a if the designated vehicle is the first vehicle 20a. Step S200 can be considered a process of returning the designated vehicle to a predetermined position.

[0050] The first AMR 40a, which has moved to the standby position P2a of the first carriage 20a, releases the coupling with the first carriage 20a in accordance with the second instruction (step S210). The control unit 41a of the first AMR 40a controls the carriage coupling unit 46a to release the coupling with the first carriage 20a. The first AMR 40a, which has released the coupling with the designated carriage, returns to its own standby position P0a in accordance with the second instruction (step S220).

[0051] This completes one execution of the flowchart in FIG. 3 . The component mounting system 1 can repeatedly execute this flowchart. For example, the management device 10 can designate the first carriage 20a as the designated carriage and move the first carriage 20a to the first AMR 40a as described above, and then designate the second carriage 20b as the designated carriage and move the second carriage 20b to the first AMR 40a. The management device 10 can also move multiple carriages 20 simultaneously using multiple AMRs 40. For example, the management device 10 moves the first carriage 20a to the first AMR 40a, and in parallel with this, moves the second carriage 20b to the second AMR 40b.

[0052] 4 is a flowchart showing the details of the vehicle dispatch process, mainly in step S100. In FIG. 4, the processes executed by the vehicle dispatch request unit 16a, the bogie management unit 17a, the AMR information management unit 14b, and the first control device 30a are shown in parallel. The vehicle dispatch request unit 16a, the bogie management unit 17a, and the AMR information management unit 14b may each be understood as a function realized by cooperation between a specific application and the processor of the management device 10.

[0053] The vehicle allocation request unit 16a makes a vehicle allocation request to the carriage management unit 17a (step S101). The vehicle allocation request unit 16a makes the vehicle allocation request at a predetermined timing based on information such as the schedule and job progress of each of the substrate-related operation machines 2a, 2b, 2c, 2d, 2e, ... that make up the component mounting line 2, and the consumption rate of various components. The vehicle allocation request includes at least a specification of the type of work and the work position of the carriage 20. The vehicle allocation request may also include a specification of the desired date and time for vehicle allocation.

[0054] The trolley management unit 17a, which has received the dispatch request, queries the AMR information management unit 14b about available AMRs 40 (step S102). The trolley management unit 17a manages information about various trolleys 20. By having such a trolley management unit 17a, it can be said that the management device 10 manages multiple types of trolleys 20 according to the materials to be transported.

[0055] Upon receiving the inquiry from the bogie management unit 17a, the AMR information management unit 14b sends identification information indicating the AMRs 40 in a usable state to the bogie management unit 17a as a response to the inquiry (step S103). In this embodiment, identification information is assigned in advance to each AMR 40, and the management device 10 identifies each AMR 40 by the identification information. The AMR information management unit 14b is an example of an information management unit that has information on whether each AMR 40 is in a usable state.

[0056] There are various possible methods for the AMR information management unit 14b to grasp the status of each AMR 40. For example, at the timing of step S220 when the AMR 40 attached to the control device 30 returns to the standby position, the control device 30 transmits a return notification to the management device 10 indicating that the AMR 40 has returned to the standby position. The AMR information management unit 14b currently recognizes an AMR 40 that has received a return notification and has not yet transmitted identification information to the bogie management unit 17a after receiving the return notification as being in a usable state. Furthermore, the control device 30 may periodically transmit position information of the AMR 40 attached to the control device 30 to the management device 10. The transmission of the position information may be performed by the AMR 40. In the management device 10, the AMR information management unit 14b may acquire the position information of such an AMR 40 and recognize an AMR 40 whose position information indicates a standby position as being in a usable state.

[0057] In step S103, the AMR information management unit 14b transmits, for example, the identification information of the first AMR 40a to the vehicle management unit 17a. In response to the inquiry in step S102, the vehicle management unit 17a receives the identification information of the first AMR 40a and designates the first AMR 40a identified by the identification information as the AMR 40 to be used to move the designated vehicle. The vehicle management unit 17a then transmits a first instruction to the control device 30 attached to the designated AMR 40, i.e., the first control device 30a (step S104). As can be seen from the above description, the vehicle management unit 17a includes in the first instruction the designation of the work position, the designation of the vehicle 20, the designation of the AMR 40, etc., in accordance with the vehicle dispatch request. The vehicle management unit 17a designates a vehicle 20 of a type corresponding to the type of work specified in the vehicle dispatch request, for example, the first vehicle 20a, as the designated vehicle. The vehicle management unit 17a may include in the first instruction a designation of a desired date and time for vehicle allocation according to the vehicle allocation request. These steps S101 to S104 correspond to step S100 in FIG.

[0058] In the first control device 30a, where the reception unit 34a has received the first instruction, the instruction unit 35a sends a second instruction to the first AMR 40a (step S110), as already described. According to this processing flow, the first instruction also serves to instruct the control device 30 to issue a second instruction to the AMR 40. Therefore, it can be said that the management device 10, by using the first instruction, instructs the control device 30 to issue a second instruction to the AMR 40 that has been indicated as available by the information management unit.

[0059] When the first instruction received from the vehicle management unit 17a includes a desired vehicle dispatch date and time, the first control device 30a may execute step S110 when the current date and time becomes the desired vehicle dispatch date and time. As a result, step S120 (FIG. 3) is started at the desired vehicle dispatch date and time specified by the vehicle dispatch request unit 16a.

[0060] When the first control device 30a is coupled to the designated vehicle in step S130, the first control device 30a may transmit a coupling notification indicating that the first AMR 40a has been coupled to the designated vehicle to the management device 10 in step S132, as shown in FIG. 4. The first control device 30a can recognize the type of designated vehicle coupled to the first AMR 40a through the AMR connection unit 36a, and therefore the coupling notification may include information indicating the type of vehicle 20 to which the first AMR 40a has been coupled. In the management device 10, when the vehicle management unit 17a receives the coupling notification from the first control device 30a, it sends a vehicle allocation completion notification to the vehicle allocation request unit 16a (step S105). The vehicle allocation completion notification includes information indicating which AMR 40 has been coupled to which vehicle 20 based on the coupling notification. As a result, the vehicle allocation request unit 16a can recognize that the AMR 40 and vehicle 20 have been appropriately allocated in accordance with its own vehicle allocation request.

[0061] The information management unit may exist outside the component mounting system 1. In other words, the second management computer 10b having the AMR information management unit 14b may not be included in the management device 10, but may be considered as a computer outside the component mounting system 1. The first management computer 10a serving as the management device 10 may be capable of communicating with the AMR information management unit 14b, which is an external information management unit, and may instruct the control device 30 by a first instruction to issue a second instruction to an AMR 40 that is indicated as being available by the AMR information management unit 14b.

[0062] According to this embodiment, the control device 30 receives a first instruction from the management device 10, and the AMR 40 operates in response to a second instruction from the control device 30. The control device 30 then issues second instructions to the AMR 40, including instructions to move to the position of a designated vehicle 20 selected by the first instruction, to couple with the designated vehicle, to move while coupled with the designated vehicle to the work position designated by the first instruction, and to perform an operation corresponding to the type of designated vehicle at the work position. In other words, by configuring the control device 30 to instruct the AMR 40 to perform an operation corresponding to the type of designated vehicle at the work position, the management device 10 and the AMR 40 do not need to install or update programs to accommodate such various operations, thereby avoiding system complexity. Furthermore, the AMR 40 performs an operation corresponding to the type of designated vehicle at the work position in accordance with the second instruction from the control device 30, allowing a single AMR 40 to perform an operation corresponding to various types of vehicle 20. Therefore, the number of AMRs 40 can be reduced as much as possible, thereby reducing the cost of operating the system.

[0063] FIG. 5 schematically shows a component mounting system 1 according to a modified example. Regarding this modified example, differences from the embodiments shown so far in this specification will be described, and common descriptions will be omitted. The control device 30 does not have to be attached to the AMR 40. For example, one control device 30 may be attached to one carriage 20. According to FIG. 5, the first control device 30a is attached to the first carriage 20a, and the second control device 30b is attached to the second carriage 20b. The control device 30 may be detachably attached to the carriage 20. The control device 30 and the AMR 40 communicate wirelessly.

[0064] In this modified example, in step S104, the carriage management unit 17a transmits a first instruction to the control device 30 mounted on the designated carriage, for example, the first control device 30a mounted on the first carriage 20a. The control device 30 mounted on the designated carriage, for example, the first control device 30a, receives the first instruction from the management device 10 via wireless communication and transmits a second instruction to the AMR 40 via wireless communication (step S110). In other words, the first instruction also includes a designation of the AMR 40 to be used to move the designated carriage, and the first control device 30a transmits a second instruction to the designated AMR 40, for example, the first AMR 40a, and causes the AMR 40 to perform an operation in accordance with the second instruction.

[0065] According to this modification, the control device 30 for each bogie 20 can couple the AMR 40 to the bogie 20 to which it is attached, and cause the AMR 40 to perform an operation corresponding to the type of the bogie 20 at the work position. For example, the first control device 30a attached to the first bogie 20a can couple the first AMR 40a to the first bogie 20a, and after the coupling is released, the second control device 30b attached to the second bogie 20b can couple the first AMR 40a to the second bogie 20b. Therefore, it is possible to realize various operations corresponding to the type of bogie 20 with a single AMR 40.

[0066] Although specific examples of the technology disclosed in this specification have been described in detail above, these are merely examples and do not limit the scope of the claims. The technology described in the claims includes various modifications and variations of the specific examples exemplified above. Furthermore, the technical elements described in this specification or drawings exhibit technical utility alone or in various combinations, and are not limited to the combinations described in the claims at the time of filing. Furthermore, the technology exemplified in this specification or drawings simultaneously achieves multiple objectives, and achieving one of those objectives itself has technical utility.

[0067] 1: Component mounting system 2: Component mounting line 2a, 2b, 2c, 2d, 2e: Substrate-related processing machine 10: Management device 10a: First management computer 10b: Second management computer 20: Cart 20a: First cart 20b: Second cart 30: Control device 30a: First control device 30b: Second control device 40: AMR 40a: First AMR 40b: Second AMR 50: Kitting stand

Claims

1. A component mounting system that uses an autonomous mobile transport robot to move a cart capable of transporting components, comprising: a management device that manages multiple types of carts corresponding to the components to be transported; at least one control device that receives a first instruction from the management device; and at least one autonomous mobile transport robot that operates in accordance with a second instruction from the control device, wherein the control device commands the autonomous mobile transport robot to move to the position of a designated cart that is the cart designated by the first instruction from among the multiple types of carts, couple with the designated cart, move while coupled with the designated cart to a work position designated by the first instruction, and operate in accordance with the type of the designated cart at the work position, as the second instructions, and causes the autonomous mobile transport robot to execute these commands.

2. A component mounting system as described in claim 1, wherein one control device is attached to one of the autonomous mobile transport robots, and the control device receives the first instruction from the management device via wireless communication and issues the second instruction to the autonomous mobile transport robot to which it is attached.

3. The component mounting system according to claim 2, wherein the control device is detachably attached to the autonomous transport robot.

4. A component mounting system as described in claim 1, wherein one control device is attached to one of the carriages, and the control device attached to the designated carriage receives the first instruction from the management device via wireless communication and issues the second instruction to the autonomous mobile transport robot via wireless communication.

5. The component mounting system according to claim 4, wherein the control device is detachably attached to the carriage.

6. The component mounting system of claim 1, wherein the management device includes an information management unit that has information on whether each of the autonomous mobile transport robots is in a usable state, and the first instruction instructs the control device to issue the second instruction to the autonomous mobile transport robot that is indicated as being in a usable state by the information management unit.

7. The component mounting system of claim 1, wherein the management device is capable of communicating with an external information management unit that has information on whether each autonomous mobile transport robot is in a usable state, and the first instruction instructs the control device to issue the second instruction to the autonomous mobile transport robot that is indicated as being in a usable state by the information management unit.

8. A control device for controlling an autonomous mobile transport robot, comprising: a reception unit that receives from the outside a designation of one of a plurality of types of carts corresponding to the material to be transported, and a designation of a work position for the designated cart that is the designated cart; and an instruction unit that commands and causes the autonomous mobile transport robot to move to the position of the designated cart, couple with the designated cart, move to the work position while coupled with the designated cart, and perform an operation corresponding to the type of the designated cart at the work position.

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