Monitoring system for work device

Abstract

A monitoring system comprises a forward-movement-side sensor unit that is capable of detecting an object within a forward-movement-side warning area, a rearward-movement-side sensor unit that is capable of detecting an object within a rearward-movement-side warning area, and a control unit, the monitoring system monitoring a work device that moves in a reciprocating manner on a movement line. The control unit: receives input of signals from the forward-movement-side sensor unit and signals from the rearward-movement-side sensor unit, said signals being inputted independently of one another; confirms whether an obstacle is present on the forward-movement side of the work device on the basis of the input of a signal indicating that an object has been detected in the forward-movement-side warning area while the work device is moving; stops the work device when it is confirmed that an obstacle is present; confirms whether an obstacle is present on the rearward-movement side of the work device on the basis of the input of a signal indicating that an object has been detected in the rearward-movement-side warning area while the work device is moving; and stops the work device when it is confirmed that an obstacle is present.

Description

Monitoring System for Working Device

[0001] This specification discloses a monitoring system for a working device.

[0002] Conventionally, in a working device that performs work on each mounting device on an implementation line, there is proposed a device including a working device main body that can travel left and right along the implementation line, two left and right laser scanners attached to the left and right of the working device main body for detecting the presence or absence of interfering objects in the surrounding area as a monitoring area, and a light receiver (safety curtain) (see, for example, Patent Document 1). The monitoring area includes a protection area for bringing the working device main body to an emergency stop and a warning area that extends outward in the left and right directions from the protection area. The light receiver is attached at a position facing a light projector attached to a tray feeder installed on the implementation line (the traveling path of the working device), and monitors the presence or absence of interfering objects between the light projector and the light receiver based on the light reception state at the light receiver. When no interfering object is detected in the warning area while the working device main body is traveling, the control device of the working device sets a first area in the protection area, and when an interfering object is detected in the protection area, the working device main body is brought to an emergency stop. On the other hand, when an interfering object is detected in the warning area, the control device of the working device changes the protection area to a second area in which a part of the first area is cut out so that even if the working device main body approaches the interfering object further when the interfering object is a tray feeder, the interfering object is not detected in the protection area. Then, when an interfering object is detected in the protection area or it is determined that there is an interfering object between the light projector and the light receiver based on the light reception state of the light receiver, the control device of the working device brings the working device main body to an emergency stop.

[0003] International Publication No. 2023 / 47464

[0004] In a working device including two left and right laser scanners and a control device (safety controller), it is conceivable to make the two laser scanners in a master-slave relationship and input the detection results of the two laser scanners from the master laser scanner to the control device. However, in this case, when either of the two laser scanners detects an interfering object, the control device may not know on which side (left or right) the interfering object is present, and it may be difficult to respond appropriately.

[0005] The primary purpose of this disclosure is to appropriately address any interference present on either the forward or reverse side of a work device in a monitoring system for a work device capable of reciprocating along a moving line.

[0006] This disclosure employs the following means to achieve the primary objectives described above.

[0007] The monitoring system for a work device of the present disclosure is a monitoring system for a work device that is capable of reciprocating along a mobile line along a production line and performs work on the production line, comprising: a forward-side sensor unit installed on the work device and capable of detecting objects within a forward-side warning area set on the forward-moving side of the work device; a reverse-side sensor unit installed on the work device and capable of detecting objects within a reverse-side warning area set on the reverse-moving side of the work device; and a system that independently receives signals from the forward-side sensor unit and the reverse-side sensor unit, and receives a signal indicating that an object has been detected within the forward-side warning area by the forward-side sensor unit while the work device is moving. The gist of the system is that it includes a control unit which, based on the above, performs a forward-side obstacle confirmation process to check for the presence or absence of an object on the forward-moving side of the work device in the moving line, and if the presence or absence of an obstacle is confirmed by the forward-side obstacle confirmation process, the work device is stopped; and based on the fact that a signal indicating that an object has been detected in the return-side warning area by the return-side sensor unit while the work device is moving, performs a return-side obstacle confirmation process to check for the presence or absence of an object on the return-side of the work device in the moving line, and if the presence or absence of an obstacle is confirmed by the return-side obstacle confirmation process, the work device is stopped.

[0008] In the monitoring system for the work device of this disclosure, signals are input independently from the forward-side sensor unit and the reverse-side sensor unit, and the necessary processing is selectively executed from the forward-side obstacle detection processing and the reverse-side obstacle detection processing. This makes it possible to appropriately deal with any interference present on either the forward-side or reverse-side of the work device.

[0009] This is a schematic diagram showing the configuration of the component mounting system 10 of this embodiment. This is a schematic diagram showing the configuration of the component mounting device 20. This is a schematic diagram showing the configuration of the tape feeder 30. This is a schematic diagram showing the configuration of the loader 50. This is a schematic diagram showing the configuration of the tray feeder 70 installed on the component mounting device 20. This is an explanatory diagram showing the electrical connection relationship between the mounting control device 29 and the management device 80. This is an explanatory diagram showing the electrical connection relationship between the loader control device 59 and the management device 80. This is an explanatory diagram showing the monitoring area of ​​the laser scanners 57L and 57R. This is an explanatory diagram showing the electrical connection relationship between the laser scanners 57L and 57R, the loader CPU 59a and the safety controller 59b. This is a flowchart showing an example of laser scanner side processing. This is a flowchart showing an example of loader CPU side processing. This is a flowchart showing an example of safety controller side processing. This is an explanatory diagram showing how the right-side protective area changes when the tray feeder 70 is installed to the right of the loader 50 and the right-side laser scanner 57R detects the tray feeder 70 within the right-side warning area. This is an explanatory diagram showing an example of left-side area data and right-side area data. This is an explanatory diagram showing the connection relationships of a comparative example of laser scanners 57L and 57R, loader CPU 59a, and safety controller 59b. This is an explanatory diagram showing the area data of the comparative example. This is a configuration diagram showing the general configuration of the extraction device 170.

[0010] Next, the forms for implementing this disclosure will be described with reference to the drawings.

[0011] Figure 1 is a schematic diagram showing the configuration of the component mounting system 10 of this embodiment. Figure 2 is a schematic diagram showing the configuration of the component mounting device 20. Figure 3 is a schematic diagram showing the configuration of the tape feeder 30. Figure 4 is a schematic diagram showing the configuration of the loader 50. Figure 5 is a schematic diagram showing the configuration of the tray feeder 70 installed on the component mounting device 20. Figure 6 is an explanatory diagram showing the electrical connection relationship between the mounting control device 29 and the management device 80. Figure 7 is an explanatory diagram showing the electrical connection relationship between the loader control device 59 and the management device 80. In Figures 1 and 2, the left-right direction is the X-axis direction, the front-back direction is the Y-axis direction, and the up-down direction is the Z-axis direction.

[0012] As shown in Figure 1, the component mounting system 10 comprises a printer 12, a print inspection machine 14, a plurality of component mounting devices 20, a mounting inspection machine (not shown), a loader 50, a feeder storage unit 60, a tray feeder 70 (see Figure 5), and a management device 80. The printer 12 prints solder onto the substrate S. The print inspection machine 14 inspects the condition of the solder printed by the printer 12. The component mounting devices 20 are aligned along the transport direction (X direction) of the substrate S and mount components supplied from tape feeders 30 and tray feeders 70 onto the substrate S. The mounting inspection machine inspects the mounting condition of the components mounted by the component mounting devices 20. The loader 50 moves between the feeder storage unit 60 and the plurality of component mounting devices 20, supplying the component mounting devices 20 with the necessary tape feeders 30 and collecting used tape feeders 30 from the component mounting devices 20. The feeder storage unit 60 is capable of storing tape feeders 30 intended for use in the component mounting device 20, as well as used tape feeders 30. The tray feeder 70 is detachably mounted on the front of the component mounting device 20 and supplies components to the mounted component mounting device 20 using trays containing multiple components. The management device 80 manages the entire system. The printer 12, the print inspection machine 14, and the multiple component mounting devices 20 are arranged in this order in the direction of transport of the substrate S to form a production line. The feeder storage unit 60 is incorporated into the production line of the component mounting system 10 and is installed between the upstream component mounting device 20 in the direction of transport of the substrate and the print inspection machine 14.

[0013] As shown in Figure 2, the component mounting apparatus 20 includes a substrate transport device 23 that transports the substrate S from left to right, a head 24 having a suction nozzle for picking up components, a head movement mechanism 25 that moves the head 24 in the forward / backward and left / right directions (XY direction), and a mounting control device 29 (see Figure 6) that controls the entire apparatus. In addition, the component mounting apparatus 20 also includes a mark camera 26, a parts camera 27, a nozzle station 28, and the like. The mark camera 26 is attached to the head 24 and captures images of reference marks on the substrate S from above. The parts camera 27 is installed between the tape feeder 30 or tray feeder 70 and the substrate transport device 23 and captures images of components from below as the suction nozzle, which has picked up components supplied from the tape feeder 30 or tray feeder 70, passes above the parts camera 27. The nozzle station 28 accommodates multiple types of suction nozzles that can be replaced depending on the type of component to be picked up. The mounting control device 29 is composed of a well-known CPU, ROM, RAM, etc. Image signals from the mark camera 26 and the parts camera 27 are input to the mounting control device 29. The mounting control device 29 processes the image of the substrate S captured by the mark camera 26 and recognizes the position of the substrate marks (not shown) attached to the substrate S, thereby recognizing the position of the substrate S. The mounting control device 29 also determines whether or not a component has been picked up by the suction nozzle (whether or not there is a suction error) based on the image captured by the parts camera 27, and determines the suction position and orientation of the component. Meanwhile, the mounting control device 29 outputs drive signals to the substrate transport device 23, the head 24, the head movement mechanism 25, etc. The mounting control device 29 performs suction operations, controlling the head 24 and the head movement mechanism 25 so that components supplied by the tape feeder 30 and the tray feeder 70 are picked up by the suction nozzle. The mounting control device 29 also performs mounting operations, controlling the head 24 and the head movement mechanism 25 so that the components picked up by the suction nozzle are mounted on the substrate S.

[0014] As shown in Figure 3, the tape feeder 30 comprises a tape reel 32, a tape feeding mechanism 33, a connector 35, a rail member 37, and a feeder control device 39 (see Figure 6). The tape is wound around the tape reel 32. The tape has a plurality of recesses formed at predetermined intervals along its longitudinal direction. Components are housed in each recess. These components are protected by a film covering the surface of the tape. The tape feeding mechanism 33 feeds the tape from the tape reel 32. The tape feeder 30 drives the tape feeding mechanism 33 to feed the tape backward in predetermined amounts, thereby sequentially supplying the components housed in the tape to the component supply position. The components housed in the tape are exposed at the component supply position when the film is peeled off before reaching the component supply position, and are then picked up by a suction nozzle. The connector 35 has two positioning pins 34 that protrude in the mounting direction. The rail member 37 is provided at the lower end of the tape feeder 30 and extends in the mounting direction. The feeder control device 39 is composed of a well-known CPU, ROM, RAM, etc., and outputs a drive signal to the tape feeding mechanism 33. The feeder control device 39 can also communicate with the control unit (such as the mounting control device 29 or management device 80) at the mounting location of the tape feeder 30 via the connector 35.

[0015] As shown in Figure 2, the tape feeder 30 is detachably mounted on a feeder stand 40 located in front of the component mounting device 20. Multiple feeder stands 40 are arranged in the X direction, and the tape feeders 30 are mounted so that they are aligned in the X direction. The feeder stand 40 is an L-shaped stand in side view and includes a slot 42, two positioning holes 44, and a connector 45. The rail member 37 of the tape feeder 30 is inserted into the slot 42. The two positioning pins 34 of the tape feeder 30 are inserted into the two positioning holes 44, and the tape feeder 30 is positioned on the feeder stand 40. The connector 45 is provided between the two positioning holes 44, and the connector 35 of the tape feeder 30 is connected to this connector 45.

[0016] The loader 50 is movable along an X-axis rail 16 that is provided parallel to the substrate transport direction (X-axis direction) on the front of the multiple component mounting devices 20 and the front of the feeder storage unit 60. Note that the X-axis rail 16 is not shown in Figure 2.

[0017] As shown in Figures 4 and 7, the loader 50 includes a loader body 50a which includes a loader moving mechanism 51 and a feeder transfer mechanism 53, an encoder 56, laser scanners 57L and 57R, light receivers 58L and 58R, and a loader control device 59.

[0018] The loader moving mechanism 51 moves the loader body 50a along the X-axis rail 16 and includes an X-axis motor 52a, such as a servo motor, for driving a drive belt, and a guide roller 52b for guiding the movement of the loader 50 along the X-axis rail 16. The feeder transfer mechanism 53 transfers the tape feeder 30 to the component mounting device 20 or the feeder storage unit 60 and includes a clamping section 54 for clamping the tape feeder 30 and a Y-axis slider 55 for moving the clamping section 54 along the Y-axis guide rail 55b. The Y-axis slider 55 is equipped with a Y-axis motor 55a, which drives the clamping section 54 in the forward / backward direction (Y-axis direction). The encoder 56 detects the movement position of the loader body 50a in the X direction.

[0019] The laser scanners 57L and 57R each have a light-emitting unit and a light-receiving unit. The light-emitting unit emits laser light into the surrounding area, and the light-receiving unit receives the reflected light from the interfering object to detect the interfering object. As shown in Figures 8A, 8B, and 8C, the laser scanners 57L and 57R are installed on both sides of the loader body 50a in the direction of travel (left and right), and monitor for the presence or absence of interfering objects within a monitoring area set around the loader body 50a. The left laser scanner 57L is installed on the left side of the loader 50 (opposite the transport direction of the substrate S) and can mainly detect interfering objects to the left of the loader 50. The right laser scanner 57R is installed on the right side of the loader 50 (same side as the transport direction of the substrate S) and can mainly detect interfering objects to the right of the loader 50.

[0020] Furthermore, the monitoring area of ​​the left laser scanner 57L includes a left-side protective area and a left-side warning area. The monitoring area of ​​the right laser scanner 57R includes a right-side protective area and a right-side warning area. The left-side protective area and the right-side protective area are areas where the loader body 50a is brought to an emergency stop if an interfering object is detected, and are set to a range corresponding to the safety distance. The left-side warning area is an area that monitors the approach of an interfering object to the left-side protective area, and is set to extend to the left of the left-side protective area relative to the loader body 50a. The right-side warning area is an area that monitors the approach of an interfering object to the right-side protective area, and is set to extend to the right of the right-side protective area relative to the loader body 50a. The left-side protective area is normally set to area A (see Figure 8A), and when an interfering object is detected in the left-side warning area, it is switched to area B (see Figure 8B). Furthermore, the right-side protection area is normally set to Area A (see Figure 8A), and when an interference is detected in the right-side warning area, it switches to Area B (see Figure 8C). Area B is the area excluding the detection range of the safety curtain SC from Area A.

[0021] The light receivers 58L and 58R, in combination with the light emitter 78 installed on the tray feeder 70 (described later), constitute a safety curtain SC. The safety curtain SC monitors for the presence or absence of interference between the light emitter 78 and the light receivers 58L and 58R. In this embodiment, the light receivers 58L and 58R are installed on both sides (left and right) in the direction of travel of the loader body 50a, but they may be installed on only one side of the loader body 50a depending on the specifications of the production line (direction of substrate transport).

[0022] As shown in Figure 7, the loader control device 59 is composed of a well-known CPU (loader CPU 59a), ROM, RAM, etc. The loader control device 59 receives detection signals from the encoder 56, laser scanners 57L, 57R, and light receivers 58L, 58R, and outputs drive signals to the loader moving mechanism 51 (X-axis motor 52a) and the feeder transfer mechanism 53 (clamp section 54 and Y-axis motor 55a).

[0023] When the loader control device 59 is to attach the tape feeder 30 inside the loader 50 to the component mounting device 20, it first controls the X-axis motor 52a to move the loader 50 to a position facing the component mounting device 20 to which the tape feeder 30 should be attached. Next, the loader control device 59 clamps the tape feeder 30 to the clamp section 54. Then, the loader control device 59 controls the Y-axis motor 55a to move the Y-axis slider 55 backward (towards the component mounting device 20), inserting the rail member 37 of the tape feeder 30 into the slot 42 of the feeder base 40, and releasing the clamp from the clamp section 54. As a result, the tape feeder 30 is attached to the feeder base 40 of the component mounting device 20.

[0024] When the loader control device 59 removes the tape feeder 30 from the component mounting device 20 and retrieves it into the loader 50, it first controls the X-axis motor 52a to move the loader 50 to a position facing the component mounting device 20 on which the tape feeder 30 to be retrieved is attached. Next, the loader control device 59 clamps the tape feeder 30, which is attached to the feeder stand 40, into the clamp section 54. Then, the loader control device 59 controls the Y-axis motor 55a to move the Y-axis slider 55 forward (towards the loader 50). As a result, the tape feeder 30 is removed from the feeder stand 40 and retrieved into the loader 50.

[0025] Furthermore, the loader control device 59 includes a safety controller 59b in addition to the loader CPU 59a. The safety controller 59b checks the safety of the area around the loader body 50a and determines whether or not the loader body 50a can be operated.

[0026] As shown in Figure 9, the loader CPU 59a is electrically connected to the left laser scanner 57L, the right laser scanner 57R, and the safety controller 59b. The loader CPU 59a receives left-side warning data from the left laser scanner 57L indicating whether or not an interfering object has been detected in the left-side warning area, and outputs left-side area data (B, Bbar) to the laser scanner 57L, specifying the range of the left-side protective area. The loader CPU 59a also receives right-side warning data from the right laser scanner 57R indicating whether or not an interfering object has been detected in the right-side warning area, and outputs right-side area data (B, Bbar) to the laser scanner 57R, specifying the range of the right-side protective area. Furthermore, the loader CPU 59a also outputs left-side area data (B, Bbar) and right-side area data (B, Bbar) to the safety controller 59b. The safety controller 59b is configured to be the master of the left laser scanner 57L and is connected to the laser scanner 57L as a slave, and is also configured to be the master of the right laser scanner 57R and is connected to the laser scanner 57R as a slave. The safety controller 59b receives left-side protection data from the left laser scanner 57L indicating whether or not an interfering object has been detected in the left-side protection area, right-side protection data from the right laser scanner 57R indicating whether or not an interfering object has been detected in the right-side protection area, and receives received data from the light receivers 58L and 58R. The safety controller 59b then outputs a stop command to the loader CPU 59a to perform an emergency stop on the loader 50 as needed.

[0027] The feeder storage unit 60 is equipped with multiple feeder stands 40, each having the same configuration as the feeder stand 40 provided on the component mounting device 20, in order to accommodate multiple tape feeders 30. Furthermore, the feeder stands 40 of the feeder storage unit 60 are positioned at the same height (Z-direction position) as the feeder stands 40 of the component mounting device 20. Therefore, the loader 50 can attach and detach the tape feeders 30 to the feeder stands 40 of the feeder storage unit 60 in the same operation as attaching and detaching the tape feeders 30 to the feeder stands 40 of the component mounting device 20, when the loader 50 is facing the feeder storage unit 60.

[0028] Furthermore, a substrate transport device 62 for transporting substrates S in the X direction is provided behind the feeder storage unit 60. This substrate transport device 62 is installed in the same position in the front-to-back and up-to-down directions as the substrate transport device (not shown) of the printing inspection machine 14 and the substrate transport device 23 of the adjacent component mounting machine 20. Therefore, the substrate transport device 62 can receive substrates S from the substrate transport device of the printing inspection machine 14 and transport the received substrates S to the substrate transport device 23 of the adjacent component mounting machine 20.

[0029] As shown in Figure 5, the tray feeder 70 is installed in front of the component mounting device 20 and on the travel path of the loader 50, and includes a magazine 71 capable of accommodating multiple trays, each containing multiple components, vertically. Furthermore, as shown in Figure 6, the tray feeder 70 includes a lifting mechanism 72 for raising and lowering the magazine 71, a pull-out mechanism 73 for pulling the trays out of the magazine 71 to the component supply position at predetermined lifting positions, a light emitter 78, and a feeder control device 79. Once the trays are pulled out to the component supply position by the pull-out mechanism 73, the components contained in the trays become pickable by the suction nozzles of the component mounting device 20. The light emitter 78 is installed along the travel path of the loader 50 to emit light toward the loader 50, and in combination with one of the opposing light receivers 58L, 58R of the loader 50 described above, it constitutes a safety curtain SC. The safety curtain SC detects an interfering object when the light from the light emitter 78 to the opposing light receiver (one of the light receivers 58L and 58R) is blocked by the interfering object. As described above, the feeder storage unit 60 is installed between the upstream component mounting device 20 and the printing inspection machine 14 in the substrate transport direction, the loader 50 moves between the feeder storage unit 60 and the multiple component mounting devices 20, and the tray feeder 70 is installed in front of the component mounting device 20 (on the travel path of the loader 50). For this reason, the tray feeder 70 is basically installed in front of the component mounting device 20 on the downstream side (opposite side from the feeder storage unit 60) in the substrate transport direction so as not to block the travel path between the feeder storage unit 60 and the component mounting device 20. In this embodiment, as shown in Figure 1, the substrate transport direction is to the right in Figure 1, and the tray feeder 70 is installed to the right of the loader 50. Therefore, the light emitter 78 is attached to the left side of the tray feeder 70, as shown in Figure 5. In this case, the light receiver 58R attached to the right side of the loader body 50a faces the light emitter 78, and the light emitter 78 and the right-side light receiver 58R form a safety curtain SC. If the substrate transport direction is in the opposite direction (left), the tray feeder 70 is installed to the left of the loader 50, and the light emitter 78 is attached to the right side of the tray feeder 70.In this case, a light receiver 58L mounted on the left side of the loader body 50a faces the light emitter 78, and the light emitter 78 and the left light receiver 58L form a safety curtain SC. The feeder control device 79 is composed of a well-known CPU, ROM, RAM, etc., and outputs drive signals to the lifting mechanism 72, the drawing mechanism 73, and the light emitter 78. Furthermore, when the tray feeder 70 is mounted on the component mounting device 20, the feeder control device 79 is connected to the mounting control device 29 of the mounted component mounting device 20 in a communicative manner. The feeder control device 79 receives a request signal from the mounting control device 29 requesting components and outputs information regarding the type and remaining number of components to be stored in each tray to the mounting control device 29.

[0030] The control device 80 is a general-purpose computer that, as shown in Figure 6, receives signals from an input device 82 operated by an operator, outputs image signals to a display 84, and outputs drive signals to a substrate transport device 62 that transports substrates S. Production job data is stored in the memory of the control device 80. The production job data specifies which components to mount on which substrates S and in what order in each component mounting device 20, and how many such mounted substrates S to be produced. The control device 80 is connected to the mounting control device 29 via wired communication and to the loader control device 59 via wireless communication, receiving information from the mounting control device 29 regarding the mounting status of the component mounting device 20 and from the loader control device 59 regarding the drive status of the loader 50. In addition, the control device 80 is also connected to the control devices of the printing press 12, the printing inspection machine 14, and the mounting inspection machine, and receives various information from the corresponding devices.

[0031] Furthermore, the management device 80 also manages the feeder storage unit 60. The management device 80 is communicated via connectors 35 and 45 to the feeder control device 39 of the tape feeder 30 attached to the feeder stand 40 of the feeder storage unit 60. The management device 80 stores storage information, including the mounting position and identification information of the tape feeders 30 stored in the feeder storage unit 60, the type of stored parts, and the number of remaining parts. The management device 80 updates the storage information to the latest information when a tape feeder 30 is removed from the feeder storage unit 60 or when a new tape feeder 30 is installed in the feeder storage unit 60.

[0032] The operation of the component mounting system 10 configured in this way, particularly the operation of the loader 50, will now be described. The operation of the loader 50 mainly includes the operation of the laser scanners 57L and 57R, the operation of the loader CPU 59a, and the operation of the safety controller 59b. In this embodiment, the left and right laser scanners 57L and 57R, the light receivers 58L and 58R, and the loader control device 59 including the loader CPU 59a and the safety controller 59b correspond to the monitoring system of the work device of this disclosure.

[0033] Figure 10 is a flowchart showing an example of laser scanner-side processing performed by laser scanners 57L and 57R, respectively. Figure 11 is a flowchart showing an example of loader CPU-side processing performed by loader CPU 59a. Figure 12 is a flowchart showing an example of safety controller-side processing performed by safety controller 59b. These processes are repeatedly executed at predetermined intervals while the loader body 50a is moving. Details of each process will be described below.

[0034] When the laser scanner side processing is executed, the laser scanners 57L and 57R first determine whether or not they have detected an interfering object within the warning area (left warning area, right warning area) (S100). If the laser scanners 57L and 57R determine that they have detected an interfering object within the warning area, they output low (L) warning data (left warning data, right warning data) to the loader CPU 59a (S102). If they determine that they have not detected an interfering object within the warning area, they output high (H) warning data to the loader CPU 59a (S104). In other words, the left laser scanner 57L determines whether or not it has detected an interfering object within the left warning area. If it determines that it has detected an interfering object, it outputs low (L) left warning data to the loader CPU 59a. If it determines that it has not detected an interfering object, it outputs high (H) left warning data to the loader CPU 59a. Similarly, the laser scanner 57R on the right side determines whether or not it has detected an interfering object within the right-side warning area. If it determines that an interfering object has been detected, it outputs low (L) right-side warning data to the loader CPU 59a. If it determines that no interfering object has been detected, it outputs high (H) right-side warning data to the loader CPU 59a.

[0035] Next, the laser scanners 57L and 57R receive area data (left area data, right area data) from the loader CPU 59a (S106) and determine whether the input area data specifies area A (S108). If the laser scanners 57L and 57R determine that the input area data specifies area A, they set the protected area to area A (S110). If they determine that the input area data specifies area B instead of area A, they set the protected area to area B (S112). Then, the laser scanners 57L and 57R determine whether they have detected an interfering object within the set protected area (S114). If the laser scanners 57L and 57R determine that they have detected an interfering object, they output low (L) protection data to the safety controller 59b (S116). If they determine that they have not detected an interfering object, they output high (H) protection data to the safety controller 59b (S118) and terminate the laser scanner side processing. Specifically, the left laser scanner 57L sets Area A in the left protective area if the left area data specifies Area A, and sets Area B in the left protective area if the left area data specifies Area B. The left laser scanner 57L then determines whether or not it has detected an interfering object within the left protective area. If it determines that an interfering object has been detected, it outputs low (L) left protective data to the safety controller 59b. If it determines that no interfering object has been detected, it outputs high (H) left protective data to the safety controller 59b. On the other hand, the right laser scanner 57R sets Area A in the right protective area if the right area data specifies Area A, and sets Area B in the right protective area if the right area data specifies Area B. The laser scanner 57R on the right side then determines whether or not it has detected an interfering object within the right-side protection area. If it determines that it has detected an interfering object, it outputs low (L) right-side protection data to the safety controller 59b. If it determines that it has not detected an interfering object, it outputs high (H) right-side protection data to the safety controller 59b.

[0036] Next, the loader CPU side processing will be explained. When the loader CPU side processing is executed, the loader CPU 59a first receives left-side warning data from the left laser scanner 57L (S200) and determines whether the input left-side warning data is low (L) or not (S202). The processing in S202 determines whether the left laser scanner 57L has detected an interfering object within the left-side warning area. If the loader CPU 59a determines that the left-side warning data is high (H) and not low (L), that is, that no interfering object has been detected, it outputs left-side area data, specifying the left-side protective area as area A, to the left laser scanner 57L and the safety controller 59b (S204). On the other hand, if the loader CPU 59a determines that the left-side warning data is low (L), that is, that an interfering object has been detected, it outputs left-side area data, specifying the left-side protective area as area B, to the left laser scanner 57L and the safety controller 59b (S206). As described above, when left-side area data with area A specified is input to the left-side laser scanner 57L, it sets the left-side protective area to area A, and when left-side area data with area B specified is input to the left-side protective area to area B.

[0037] Next, the loader CPU 59a receives right-side warning data from the right-side laser scanner 57R (S208) and determines whether the input right-side warning data is low (L) or not (S210). The process in S210 determines whether the right-side laser scanner 57R has detected an interfering object within the right-side warning area. If the loader CPU 59a determines that the right-side warning data is high (H) and not low (L), that is, that no interfering object has been detected, it outputs right-side area data, specifying the right-side protection area as area A, to the right-side laser scanner 57R and the safety controller 59b (S212). On the other hand, if the loader CPU 59a determines that the right-side warning data is low (L), that is, that an interfering object has been detected, it outputs right-side area data, specifying the right-side protection area as area B, to the right-side laser scanner 57R and the safety controller 59b (S214). As described above, when the right-side laser scanner 57R receives right-side area data designated as Area A, it sets the right-side protective area to Area A, and when it receives right-side area data designated as Area B, it sets the right-side protective area to Area B.

[0038] Figure 13 is an explanatory diagram showing how the right-side protective area changes when the tray feeder 70 is installed to the right of the loader 50 and the right-side laser scanner 57R detects the tray feeder 70 within the right-side warning area. As shown in the figure, the right-side protective area is set to the normal area A until the right-side laser scanner 57R detects the tray feeder 70 as an obstruction within the right-side warning area (see Figure 13A). Once the tray feeder 70 is detected within the right-side warning area, the area changes from area A to area B, which excludes the area of ​​the safety curtain SC set to the right of the loader body 50a (see Figure 13B). This allows the loader 50 to approach the tray feeder 70 without it being detected in the right-side protective area (area B) and perform work. In addition, the right-side safety curtain SC monitors for the presence of obstructions between the loader 50 and the tray feeder 70 to ensure safety. The same applies when the tray feeder 70 is installed to the left of the loader 50.

[0039] Then, the loader CPU 59a determines whether or not an emergency stop instruction has been input from the safety controller 59b (S216). If the loader CPU 59a determines that an emergency stop instruction has been input, it controls the loader movement mechanism 51 to bring the loader body 50a to an emergency stop (S218), and terminates the loader CPU side processing. On the other hand, if the loader CPU 59a determines that no emergency stop instruction has been input, it determines whether or not an emergency stop is in progress (S220). If the loader CPU 59a determines that an emergency stop is in progress, it controls the loader movement mechanism 51 to resume movement (S222), and proceeds to S224. If it determines that an emergency stop is not in progress, it skips to S222 and proceeds to S224.

[0040] Next, the loader CPU 59a receives input from the encoder 56 regarding the current location of the loader body 50a (S224), and determines whether the loader body 50a has reached the work position based on the input current location (S226). If the loader CPU 59a determines that the loader body 50a has not reached the work position, it continues moving and temporarily terminates the loader CPU-side processing. If the loader CPU 59a determines that the loader body 50a has reached the work position, it controls the loader movement mechanism 51 to stop the loader body 50a and controls the feeder transfer mechanism 53 to perform tasks such as attaching and retrieving the tape feeder 30 to the component mounting device 20 at the work position (S228), and terminates the loader CPU-side processing.

[0041] Next, the processing on the safety controller side will be explained. When the processing on the safety controller side is executed, the safety controller 59b first receives left-side protection data from the left-side laser scanner 57L (S300), and determines whether the input left-side protection data is low (L), that is, whether an interfering object has been detected in the left-side protection area by the left-side laser scanner 57L (S302). If the safety controller 59b determines that the left-side protection data is low (L), that is, that an interfering object has been detected in the left-side protection area, it instructs the loader CPU 59a to perform an emergency stop of the loader body 50a (S304), and terminates the processing on the safety controller side. As described above, when the loader CPU 59a receives the instruction to perform an emergency stop in S216, it controls the loader movement mechanism 51 in S218 to perform an emergency stop of the loader body 50a.

[0042] If the safety controller 59b determines in S302 that the left-side protection data is high (H) and not low (L), that is, that no interfering object has been detected in the left-side protection area, it then inputs right-side protection data from the right-side laser scanner 57R (S306) and determines whether the input right-side protection data is low (L), that is, whether an interfering object has been detected in the right-side protection area by the right-side laser scanner 57R (S308). If the safety controller 59b determines that the right-side protection data is low (L), that is, that an interfering object has been detected in the right-side protection area, it instructs the loader CPU 59a to perform an emergency stop of the loader body 50a (S304), and terminates the safety controller side processing.

[0043] If the safety controller 59b determines in S308 that the right-side protection data is high (H) and not low (L), that is, that no interference has been detected in the right-side protection area, it then inputs left-side area data from the loader CPU 59a (S310) and determines whether the left-side area data specifies area B (S312). If the safety controller 59b determines that the left-side area data specifies area B, it inputs light reception data from the left-side light receiver 58L (S314) and determines, based on the input light reception data, whether an interference has been detected in the left-side safety curtain SC between the light emitter 78 and the left-side light receiver 58L (S316). If the safety controller 59b determines that an interference has been detected in the left-side safety curtain SC, it instructs the loader CPU 59a to perform an emergency stop of the loader body 50a (S304) and terminates the safety controller side processing.

[0044] If the safety controller 59b determines in S312 that the left area data specifies area A and not area B, or determines in S316 that no interference has been detected within the left safety curtain SC, it receives the right area data from the loader CPU 59a (S318) and determines whether the right area data specifies area B (S320). If the safety controller 59b determines that the right area data specifies area B, it receives the received light data from the right light receiver 58R (S322) and determines, based on the received light data, whether an interference has been detected within the right safety curtain SC between the light emitter 78 and the right light receiver 58R (S324). If the safety controller 59b determines that an interference has been detected within the right safety curtain SC, it instructs the loader CPU 59a to perform an emergency stop on the loader body 50a (S304) and terminates the safety controller side processing. On the other hand, if the safety controller 59b determines in S320 that the data for the right-side area specifies area A and not area B, or if it determines in S324 that no obstruction has been detected within the right-side safety curtain SC, it terminates its processing without issuing an emergency stop command.

[0045] Thus, the left laser scanner 57L outputs left warning data corresponding to the presence or absence of detection of an interference object in the left warning area to the loader CPU 59a, and the loader CPU 59a outputs left area data specifying the left protection area to the left laser scanner 57L and the safety controller 59b based on the input left warning data. Also, the right laser scanner 57R outputs right warning data corresponding to the presence or absence of detection of an interference object in the right warning area to the loader CPU 59a, and the loader CPU 59a outputs right area data specifying the right protection area to the right laser scanner 57L and the safety controller 59b based on the input right warning data.

[0046] Here, the left area data and the right area data consist of four types each, area numbers 1 to 4, as shown in Figure 14, for example. Each area number 1 to 4 is defined by a combination of high (H) and low (L) values ​​of A, Abar, B, and Bbar. For example, area numbers 1 and 2 are data indicating that the designated protected area (left protected area, right protected area) is area A, and are defined as H, L, H, L in the order of A, Abar, B, Bbar. Similarly, area numbers 3 and 4 are data indicating that the designated protected area is area B, and are defined as L, H, L, H in the order of A, Abar, B, Bbar. Note that Abar and Bbar are inverted signals of A and B, respectively, and are used to monitor whether there are any abnormalities in the data. In this embodiment, only B and Bbar from the left area data A, Abar, B, Bbar are input to the left laser scanner 57L and safety controller 59b, and only B and Bbar from the right area data A, Abar, B, Bbar are input to the right laser scanner 57R and safety controller 59b. The left laser scanner 57L sets the left protective area to area A if the input left area data B and Bbar are H and L, and sets the left protective area to area B if the input left area data B and Bbar are L and H. Similarly, the right laser scanner 57R sets the right protective area to area A if the input right area data B and Bbar are H and L, and sets the right protective area to area B if the input right area data B and Bbar are L and H. Therefore, the safety controller 59b can recognize that the left-side protective area is set to area A if the input left-side area data B and Bbar are H and L, and can recognize that the left-side protective area is set to area B if the input left-side area data B and Bbar are L and H. Similarly, the safety controller 59b can recognize that the right-side protective area is set to area A if the input right-side area data B and Bbar are H and L, and can recognize that the right-side protective area is set to area B if the input right-side area data B and Bbar are L and H.Note that the left area data and the right area data are assumed to have area numbers 1 and 2 assigned to area A and area numbers 3 and 4 assigned to area B. However, other data other than area A and area B may be assigned to any of the area numbers.

[0047] When the safety controller 59b inputs the left area data and recognizes that the left protection area is set to area B, it determines that the tray feeder 70 is on the left side of the loader 50, inputs the light reception data from the left light receiver 58L, and checks whether there is an interference object in the left safety curtain SC based on the presence or absence of the input light reception data. Also, when the safety controller 59b inputs the right area data and recognizes that the right protection area is set to area B, it determines that the tray feeder 70 is on the right side of the loader 50, inputs the light reception data from the right light receiver 58R, and checks whether there is an interference object in the right safety curtain SC based on the presence or absence of the input light reception data. Then, when the safety controller 59b confirms that an interference object has been detected in the safety curtain SC, it outputs an instruction for an emergency stop to the loader CPU 59a.

[0048] Also, the left laser scanner 57L sets the left protection area based on the left area data input from the loader CPU 59a, and outputs left protection data corresponding to the presence or absence of detection of an interference object in the set left protection area to the safety controller 59b. Also, the right laser scanner 57R sets the right protection area based on the right area data input from the loader CPU 59a, and outputs right protection data corresponding to the presence or absence of detection of an interference object in the set right protection area to the safety controller 59b. When the safety controller 59b inputs left protection data indicating that an interference object has been detected in the left protection area or right protection data indicating that an interference object has been detected in the right protection area, it outputs an instruction for an emergency stop to the loader CPU 59a.

[0049] In a loader 50 equipped with two laser scanners 57L and 57R, a loader CPU 59a, and a safety controller 59b, if there is a limit to the number of signals that can be input to the safety controller 59b, as shown in Figure 15, it is conceivable to reduce the number of types of signals input to the safety controller 59b by arranging the two laser scanners 57L and 57R in a master-slave relationship and performing data exchange with the loader CPU 59a and safety controller 59b via the master laser scanner 57L. In this case, when either of the two laser scanners 57L or 57R detects an interference object in either the left warning area or the right warning area, the loader CPU 59a cannot recognize whether the interference object is on the left or right, making it difficult to output appropriate area data to the safety controller 59b. Therefore, the loader CPU 59a needs to receive line information such as whether or not the tray feeder 70 is installed and its installation location from a management device 80 or the like, and then generate area data after determining whether the tray feeder 70 is on the left or right side of the loader body 50a. In this case, for example, as shown in Figure 16, area numbers 1 and 2 are both data indicating that the designated area of ​​the left and right protective areas is area A (H, L, H, L in the order of A, Abar, B, Bbar), area number 3 is data indicating that the designated area of ​​the left protective area is area B (H, L, L, H in the order of A, Abar, B, Bbar), and area number 4 is data indicating that the designated area of ​​the right protective area is area B (L, H, L, H in the order of A, Abar, B, Bbar). Thus, since there are three possible combinations of left-side and right-side protective areas in the area data, it is not possible to distinguish between them using only B and Bbar, as in this embodiment. Therefore, in the comparative example, in addition to the loader CPU 59a needing to input line information separately, the safety controller 59b needs to input all of the area data: A, Abar, B, and Bbar.

[0050] In contrast, in this embodiment, as shown in Figure 9, both laser scanners 57L and 57R are designated as masters and connected to the loader CPU 59a and the safety controller 59b. The safety controller 59b receives only B and Bbar as left area data and right area data from the loader CPU 59a, respectively. The safety controller 59b then determines whether an interfering object has been detected within the left safety curtain SC based on the light received from the left light receiver 58L if the left area data (left protective area) indicates area B. On the other hand, the safety controller 59b determines whether an interfering object has been detected within the right safety curtain SC based on the light received from the right light receiver 58R if the right area data (right protective area) indicates area B. As a result, even if the number of signals that can be input to the safety controller 59b is limited, the safety controller 59b can recognize whether an interfering object is located on the left or right when it is detected by either the laser scanner 57L or 57R, and can take appropriate action based on the limited number of input signals.

[0051] Here, the correspondence between the main elements of the embodiment and the main elements of the disclosure described in the claims will be explained. Specifically, the loader 50 (loader body 50a) is an example of a work device, the laser scanner 57R is an example of a forward-side sensor unit, the laser scanner 57L is an example of a return-side sensor unit, and the loader control device 59 is an example of a control unit. The light receivers 58L and 58R are examples of light receiving units. The loader CPU 59a is an example of a first control unit, and the safety controller 59b is an example of a second control unit. The tray feeder 70 is an example of a production-related component.

[0052] It goes without saying that this disclosure is not limited in any way to the embodiments described above, and can be implemented in various forms as long as they fall within the technical scope of this disclosure.

[0053] For example, in the embodiment described above, the safety controller 59b outputs an emergency stop instruction to the loader CPU 59a, and the loader CPU 59a controls the loader movement mechanism 51 to perform an emergency stop on the loader body 50a upon receiving the emergency stop instruction. However, the safety controller 59b may also directly control the loader movement mechanism 51 to perform an emergency stop on the loader body 50a.

[0054] In the embodiment described above, the line component is a tray feeder 70, but it is not limited to this, and any component may be used as long as it constitutes part of the work line and is arranged on the travel path of the loader 50 (mobile body). For example, the component mounting system may include a pull-out device 170 that pulls the component mounting device 20 forward so that it protrudes from the base 18, as shown in Figure 17. The pull-out device 170 includes a pair of left and right Y-axis guide rails 171 that extend in the front-rear direction (Y direction) and are provided on the upper part of the base 18, and a Y-axis slider 172 that is provided on the lower part of the component mounting device 20 and slides along the Y-axis guide rails 171. The Y-axis slider 172 is connected to a motor (not shown) via a ball screw mechanism. The pull-out device 170 pulls out the component mounting device 20 by driving and controlling the motor with a mounting control device 29. Even with such a component mounting system, by providing a floodlight similar to that in this embodiment to the component mounting device 20, the safety curtain SC can monitor the area between the pulled-out component mounting device 20 and the loader 50.

[0055] As described above, the monitoring system for the work device of this disclosure receives signals independently from the forward-side sensor unit and the reverse-side sensor unit, and selectively executes the necessary processing from the forward-side obstacle detection processing and the reverse-side obstacle detection processing. This makes it possible to appropriately deal with any interference present on either the forward-side or reverse-side of the work device.

[0056] In the monitoring system for the work device described herein, the system includes a light-receiving unit installed on the work device and capable of receiving light from a light-emitting unit installed on the forward-moving side of the work device on the moving line. When the control unit receives a signal from the forward-moving sensor unit indicating that an object has been detected within the forward-moving warning area while the work device is moving, it may perform a forward-moving obstacle confirmation process, which involves checking the light-receiving state of the light-receiving unit and, based on the result of the confirmation of the light-receiving state, confirming the presence or absence of an obstacle between the light-emitting unit and the light-receiving unit. This reduces the processing burden on the control unit compared to a system that constantly checks for the presence or absence of an obstacle between the light-emitting unit and the light-receiving unit.

[0057] Furthermore, in the monitoring system for the work device of this disclosure, a light receiving unit is provided which is installed on the work device and which is capable of receiving light from a light emitting unit installed on the return side of the work device on the moving line. When the control unit receives a signal from the return side sensor unit indicating that an object has been detected in the return side warning area while the work device is moving, it may perform a return side obstacle confirmation process, which involves checking the light receiving state of the light receiving unit and, based on the result of the confirmation of the light receiving state, checking for the presence or absence of an obstacle between the light emitting unit and the light receiving unit. This reduces the processing burden on the control unit compared to a system that constantly checks for the presence or absence of an obstacle between the light emitting unit and the light receiving unit.

[0058] Furthermore, in a monitoring system for a work device of the present disclosure that checks for the presence or absence of an obstacle between a light-emitting unit and a light-receiving unit, the forward-moving sensor unit is capable of detecting an object within a forward-moving protective area set on the forward-moving side of the work device, in a range closer to the work device than the forward-moving warning area, the return-moving sensor unit is capable of detecting an object within a return-moving protective area set on the return-moving side of the work device, in a range closer to the work device than the return-moving warning area, and the control unit is activated when the forward-moving sensor unit inputs a signal indicating that an object has been detected within the forward-moving protective area, when the forward-moving obstacle confirmation process confirms the presence of an obstacle, or when the return-moving sensor unit inputs a signal indicating that an object has been detected within the return-moving protective area. Alternatively, if the presence of an obstacle is confirmed by the return-side obstacle confirmation process, the work device may be stopped. The forward-side protection area may be set to the first forward-side protection area when no object is detected in the forward-side warning area, and to the second forward-side protection area excluding at least the area between the light-emitting unit and the light-receiving unit of the first forward-side protection area when an object is detected in the forward-side warning area. The return-side protection area may be set to the first return-side protection area when no object is detected in the return-side warning area, and to the second return-side protection area excluding at least the area between the light-emitting unit and the light-receiving unit of the first return-side protection area when an object is detected in the return-side warning area. In this way, the work device can approach the light-emitting unit and the component on which the light-emitting unit is installed without detecting the light-emitting unit or the component on which the light-emitting unit is installed, in both the forward-moving side protection area and the return-moving side protection area, and can also appropriately detect and deal with obstacles between the light-emitting unit and the light-receiving unit.

[0059] In this case, the control unit comprises a first control unit and a second control unit, the first control unit inputs a signal from the forward-side sensor unit indicating whether or not an object has been detected in the forward-side warning area and outputs setting information regarding the setting of the forward-side protective area to the forward-side sensor unit and the second control unit, and inputs a signal from the return-side sensor unit indicating whether or not an object has been detected in the return-side warning area and outputs setting information regarding the setting of the return-side protective area to the return-side sensor unit and the second control unit, and the forward-side sensor unit receives the forward-side signal from the first control unit The forward-side protection area may be set based on the setting information for the side protection area, the return-side sensor unit may set the return-side protection area based on the setting information for the return-side protection area input from the first control unit, the second control unit may execute the forward-side obstacle confirmation process if the setting information for the forward-side protection area input from the first control unit is information indicating that the second forward-side protection area should be set, and the return-side obstacle confirmation process may be executed if the setting information for the return-side protection area input from the first control unit is information indicating that the second return-side protection area should be set. In this way, even if there is a limit to the signals that can be input to the second control unit, it is possible to appropriately deal with any interference present on either the forward-side or return-side of the work device.

[0060] Furthermore, in a monitoring system for a work device of the present disclosure that checks for the presence or absence of obstacles between a light-emitting unit and a light-receiving unit, the work device reciprocates along the moving line that follows the production line and performs work on the production line, and the light-emitting unit may be installed on the moving line and also provided on production-related components used in the production line.

[0061] This specification also discloses a technical concept in which "the monitoring system for the work device described in claim 1" was changed to "the monitoring system for the work device described in claim 1 or 2" in claim 3 of the original application, and a technical concept in which "the monitoring system for the work device described in claim 2 or 3" was changed to "the monitoring system for the work device described in any one of claims 2 to 5" in claim 6 of the original application.

[0062] This disclosure can be used in industries such as the manufacturing of monitoring systems for work equipment.

[0063] 10 Component mounting system, 12 Printing machine, 14 Print inspection machine, 16 X-axis rail, 18 Base, 20 Component mounting device, 23 Board transport device, 24 Head, 25 Head movement mechanism, 26 Mark camera, 27 Parts camera, 28 Nozzle station, 29 Mounting control device, 30 Tape feeder, 32 Tape reel, 33 Tape feeding mechanism, 34 Positioning pin, 35 Connector, 37 Rail member, 39 Feeder control device, 40 Feeder stand, 42 Slot, 44 Positioning hole, 45 Connector, 50 Loader, 50a Loader body, 51 Loader movement mechanism, 52a X-axis motor, 52b Guide roller, 53 Feeder transfer mechanism, 54 Clamp section, 55 Y-axis slider, 55a Y-axis motor, 55b Y-axis guide rail, 56 Encoder, 57L, 57R Laser scanner, 58L, 58R; Receiver, 59; Loader control device, 59a; Loader CPU, 59b; Safety controller, 60; Feeder storage, 62; Substrate transport device, 70; Tray feeder, 72; Lifting mechanism, 73; Pull-out mechanism, 78; Light emitter, 79; Feeder control device, 80; Management device, 82; Input device, 84; Display, 170; Pull-out device, 171; Y-axis guide rail, 172; Y-axis slider, S; Substrate.

Claims

1. A monitoring system for a work device that moves back and forth on a moving line to perform a predetermined task, comprising: a forward-side sensor unit installed on the work device and capable of detecting an object within a forward-side warning area set on the forward-moving side of the work device; and a reverse-side sensor unit installed on the work device and capable of detecting an object within a reverse-side warning area set on the reverse-moving side of the work device. A monitoring system for a work device comprising: a control unit that independently inputs signals from the forward-side sensor unit and the return-side sensor unit, and, based on the input of a signal from the forward-side sensor unit indicating that an object has been detected in the forward-side warning area while the work device is moving, executes a forward-side obstacle confirmation process to check for the presence or absence of an obstacle on the forward-side side of the work device in the movement line, and if the presence or absence of an obstacle is confirmed by the forward-side obstacle confirmation process, stops the work device; and, based on the input of a signal from the return-side sensor unit indicating that an object has been detected in the return-side warning area while the work device is moving, executes a return-side obstacle confirmation process to check for the presence or absence of an obstacle on the return-side side of the work device in the movement line, and if the presence or absence of an obstacle is confirmed by the return-side obstacle confirmation process, stops the work device.

2. A monitoring system for a work device according to claim 1, comprising a light receiving unit installed on the work device and capable of receiving light from a light emitting unit installed on the forward side of the work device on the moving line, wherein the control unit, when a signal indicating that an object has been detected in the forward side warning area by the forward side sensor unit during the movement of the work device is input, performs forward side obstacle confirmation processing, which includes checking the light receiving state of the light receiving unit and confirming the presence or absence of an obstacle between the light emitting unit and the light receiving unit based on the result of the confirmation of the light receiving state.

3. A monitoring system for a work device according to claim 1, comprising a light receiving unit installed on the work device and capable of receiving light from a light emitting unit installed on the return side of the work device on the moving line, wherein the control unit, when a signal indicating that an object has been detected in the return side warning area by the return side sensor unit during the movement of the work device is input, performs a return side obstacle confirmation process, which includes checking the light receiving state of the light receiving unit and confirming the presence or absence of an obstacle between the light emitting unit and the light receiving unit based on the result of the confirmation of the light receiving state.

4. A monitoring system for a work device according to claim 2 or 3, wherein the forward-side sensor unit is capable of detecting objects within a forward-side protective area set to be closer to the work device than the forward-side warning area on the forward-side of the work device, the return-side sensor unit is capable of detecting objects within a return-side protective area set to be closer to the work device than the return-side warning area on the return-side of the work device, and the control unit stops the work device when it receives a signal from the forward-side sensor unit indicating that an object has been detected within the forward-side protective area, or when it is confirmed that an obstacle exists through the forward-side obstacle confirmation process, or when it receives a signal from the return-side sensor unit indicating that an object has been detected within the return-side protective area, or when it is confirmed that an obstacle exists through the return-side obstacle confirmation process. A monitoring system for a work device, wherein the forward-moving side protection area is set to a first forward-moving side protection area when no object is detected in the forward-moving side warning area, and is set to a second forward-moving side protection area excluding at least the area between the light-emitting unit and the light-receiving unit of the first forward-moving side protection area when an object is detected in the forward-moving side warning area, and the return-moving side protection area is set to a first return-moving side protection area when no object is detected in the return-moving side warning area, and is set to a second return-moving side protection area excluding at least the area between the light-emitting unit and the light-receiving unit of the first return-moving side protection area when an object is detected in the return-moving side warning area.

5. A monitoring system for a work apparatus according to claim 4, wherein the control unit comprises a first control unit and a second control unit, the first control unit inputs a signal from the forward-side sensor unit indicating whether or not an object has been detected in the forward-side warning area and outputs setting information regarding the setting of the forward-side protective area to the forward-side sensor unit and the second control unit, and inputs a signal from the return-side sensor unit indicating whether or not an object has been detected in the return-side warning area and outputs setting information regarding the setting of the return-side protective area to the return-side sensor unit and the second control unit, the forward-side sensor unit sets the forward-side protective area based on the setting information for the forward-side protective area input from the first control unit, and the return-side sensor unit sets the return-side protective area based on the setting information for the return-side protective area input from the first control unit. A monitoring system for work equipment, wherein the second control unit executes the forward-side obstacle confirmation process when the setting information for the forward-side protection area input from the first control unit is information indicating the setting of the second forward-side protection area, and executes the return-side obstacle confirmation process when the setting information for the return-side protection area input from the first control unit is information indicating the setting of the second return-side protection area.

6. A monitoring system for a work device according to claim 2 or 3, wherein the work device reciprocates along the mobile line along the production line and performs work on the production line, and the light-emitting unit is installed on the mobile line and provided on production-related components used in the production line.

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