Management device and management method

Abstract

A management device for managing an autonomous mobile robot capable of transporting a component to a substrate processing machine comprises: a storage unit in which the travel speed, time information, and current value of a travel motor of an AMR executing first transport, which are acquired by communication from the AMR, are stored as reference values; a determination unit which determines whether there is a delay in second transport by comparing the reference values with acquired values, which are the travel speed, time information, and current value of the travel motor and are acquired by communication from an AMR executing the second transport; and a notification unit that issues a delay notification to the outside when the determination unit determines that there is a delay.

Description

Management Device and Management Method

[0001] The technology disclosed in this specification relates to a device and method for managing an autonomous mobile robot capable of executing conveyance of members to a substrate processing machine.

[0002] Product production using substrates is performed by a substrate production line including a plurality of substrate processing machines that perform operations on substrates. In order to supply members necessary for the operations to the substrate processing machines, the members are conveyed by an autonomous mobile robot. The autonomous mobile robot is also abbreviated as AMR (Autonomous Mobile Robot).

[0003] Japanese Unexamined Patent Application Publication No. 2013-49500 discloses a system for simulating a conveyance vehicle system that conveys workpieces between processing devices. According to this system, according to a virtual production plan in a processing device, a travel plan for a virtual conveyance vehicle is created, and according to the travel plan, a travel schedule representing the position and speed of the virtual conveyance vehicle as functions of time is created. Then, according to the travel schedule, a simulation is performed in which the virtual conveyance vehicle is made to travel in accordance with the constraints of an actual conveyance vehicle system and while avoiding interference between the conveyance vehicles.

[0004] The AMR generates an area map based on sensing of the surrounding environment, automatically calculates a travel route by referring to the area map, and travels along the calculated travel route. Also, when the AMR detects an obstacle on the travel route, it calculates a travel route for avoiding the obstacle and automatically avoids the obstacle. Thus, since the AMR can execute autonomous travel, for example, even if a delay occurs in travel due to avoidance of an obstacle or interference with an object in a narrow movement range, it is difficult for an operator to detect such a delay. Also, since the technology disclosed in the above prior literature is a simulation performed before moving a production plan to execution, it is not possible to make an operator recognize the delay that actually occurs in the conveyance of members.

[0005] This specification discloses a management device for managing an autonomous mobile transport robot capable of transporting materials to a substrate work machine. The management device includes a storage unit that stores as reference values ​​the travel speed, time information, and current value of the travel motor of the autonomous mobile transport robot, which are obtained by communication from the autonomous mobile transport robot that performs the first transport; a determination unit that determines whether or not a delay has occurred in the second transport by comparing the acquired values, which are the travel speed, time information, and current value of the travel motor, obtained by communication from the autonomous mobile transport robot that performs the second transport, with the reference values; and a notification unit that notifies an external party of the delay when the determination unit determines that a delay has occurred.

[0006] According to the above configuration, the management device compares a reference value stored based on the first transport of the autonomous mobile transport robot with a value acquired based on the second transport of the autonomous mobile transport robot. If it determines that a delay has occurred in the second transport, it sends a delay notification to an external party. This allows the operator to recognize that a delay has actually occurred in the movement of the autonomous mobile transport robot.

[0007] A simplified diagram of the system according to this embodiment. A simplified block diagram showing the configuration of the management device and AMR. A flowchart showing the delay determination process. A simplified diagram showing the input and output related to the AI ​​model. A diagram showing an example of a delay notification screen. A diagram showing an example of an area map. A perspective view showing how the AMR docks with the board work machine.

[0008] 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 usefulness individually or in various combinations, and are not limited to the combinations described in the claims at the time of filing.

[0009] According to the management device disclosed herein, the determination unit may be able to recognize the docking area in which the autonomous mobile transport robot docks with the substrate work machine during transport by referring to an area map of the area in which the autonomous mobile transport robot travels. The determination unit may then determine whether or not an abnormality has occurred in the docking during the second transport by comparing the reference value and the acquired value that correspond to the docking area, respectively, and the notification unit may notify an external party of the docking abnormality if the determination unit determines that an abnormality has occurred in the docking. With this configuration, the operator can recognize that an abnormality has occurred in the docking during the second transport of the autonomous mobile transport robot.

[0010] According to the management device disclosed herein, the determination unit may be able to recognize the travel area of ​​the autonomous mobile transport robot other than the docking area by referring to the area map. The determination unit may then determine whether or not there is a delay in travel in the second travel area during transport by comparing the reference value and the acquired value corresponding to the travel area, respectively, among the reference value and the acquired value, and the notification unit may notify the outside of the delay in travel in the travel area if the determination unit determines that there is a delay in travel in the travel area. With this configuration, the operator can recognize that there is a delay in the travel of the autonomous mobile transport robot in the second travel area during transport.

[0011] The category of technology disclosed herein is not limited to management devices. According to this specification, for example, the processing performed by a management device can also be considered as a method. A management method for managing an autonomous mobile transport robot capable of transporting materials to a substrate work machine comprises: a reference value acquisition step of acquiring the travel speed, time information, and the current value of the travel motor of the autonomous mobile transport robot as reference values ​​via communication from the autonomous mobile transport robot that performs the first transport, and storing them in a storage medium; a determination step of determining whether or not a delay has occurred in the second transport by comparing the acquired values, which are the travel speed, time information, and the current value of the travel motor acquired via communication from the autonomous mobile transport robot that performs the second transport, with the reference values; and a notification step of notifying an external party of the delay if the determination step determines that a delay has occurred.

[0012] The embodiments will be described with reference to the drawings. Each figure is for illustrative purposes only, and these embodiments are not limited to what is shown. Also, since each figure is illustrative, some parts may be omitted.

[0013] Figure 1 shows a simplified representation of the system 10 according to this embodiment. The system 10 includes, for example, a management device 20, a board processing machine 30, an autonomous mobile robot (AMR) 40, and a kitting stand 50. There may be multiple board processing machines 30 and AMRs 40. The system 10 may also include a board production line consisting of multiple board processing machines 30 arranged in a row. The board processing machines 30 can be various types of board processing machines, such as solder printing machines, component mounting machines, and board inspection machines.

[0014] The management device 20 is a computer that communicates with the AMR 40 to manage the AMR 40. Managing the AMR 40 includes at least the process of obtaining necessary information from the AMR 40. Communication between the management device 20 and the AMR 40 is basically wireless. However, the management device 20 and the AMR 40 may communicate via a wired connection. For example, the system 10 is equipped with a charging dock (not shown) as a standby position for the AMR 40, and the AMR 40 waiting at the charging dock may communicate with the management device 20 via a wired connection. In this embodiment, there are no particular restrictions on the communication standards.

[0015] The management device 20 may also function as a computer capable of managing and controlling the circuit board handling machines 30 that constitute the circuit board production line. The management device 20 may be implemented not only as a single device, but also as a system (management system, control system) including multiple computers that are connected to each other in a communicative manner. The computers may be of any form, such as desktop computers, laptop computers, tablet computers, servers, etc., or they may be smartphones or other mobile computers.

[0016] The AMR 40 is capable of transporting components 31 to the board processing machine 30. The AMR 40 has wheels 47 for travel. The components 31 vary widely depending on the board processing machine 30. For example, if the board processing machine 30 is a solder printing machine, then metal masks used for solder printing on boards are considered components 31. Also, if the board processing machine 30 is a component mounting machine, then feeders used by the component mounting machine to supply mounted components are also an example of components 31.

[0017] In the example shown in Figure 1, the AMR 40 transports the component 31 while connected to the trolley 60. That is, the component 31 is placed on the trolley 60, and the AMR 40 travels together with the trolley 60 carrying the component 31. The trolley 60 does not have a self-propelled function. However, in this embodiment, the trolley 60 is not essential, and the AMR 40 may directly load and transport the component 31 without using the trolley 60. In the following explanation, regardless of whether the trolley 60 is used or not, we will simply describe the AMR 40 loading and transporting the component 31.

[0018] The kitting stand 50 is equipment for preparing the components 31 that the AMR 40 will transport to the circuit board processing machine 30. When the AMR 40 has traveled close to the kitting stand 50, the components 31 are loaded from the kitting stand 50. Also, when the AMR 40, which has collected used components 31 from the circuit board processing machine 30, travels close to the kitting stand 50, the used components 31 are returned from the AMR 40 to the kitting stand 50. Figure 1 shows one kitting stand 50, but it may be understood that multiple kitting stands 50 are provided, for example, depending on the type of component 31.

[0019] Figure 2 shows a simplified block diagram of the configuration of the management device 20 and the AMR 40. The management device 20 includes a first control unit 21, a first storage unit 22, a first communication IF 23, a display unit 24, and an operation reception unit 25. IF stands for interface. The first communication IF 23 is a collective term for one or more IFs that allow the management device 20 to communicate wirelessly and / or via wired connection with other devices such as the AMR 40.

[0020] The first control unit 21 has a processor such as a CPU and memory, and functions as a determination unit 21a, notification unit 21b, etc., by having the processor perform arithmetic processing according to a program stored in the memory, etc. The first storage unit 22 is composed of a storage medium. At least a part of the memory of the first control unit 21 may be considered as the first storage unit 22, or the first storage unit 22 may be considered as a part of the first control unit 21.

[0021] The display unit 24 is a means for displaying visual information. The operation reception unit 25 is a means for receiving operations from an operator, such as a keyboard, mouse, switches, buttons, etc. If the display unit 24 also functions as a touch panel, then the display unit 24 corresponds to an example of the operation reception unit 25.

[0022] The AMR 40 includes a second control unit 41, a second storage unit 42, a second communication IF 43, a drive unit 44, a battery 45, and sensors 46. The second control unit 41 has a processor such as a CPU and memory, and controls the AMR 40 by having the processor perform calculation processing according to a program stored in the memory, etc. The second storage unit 42 is composed of a storage medium. The second communication IF 43 is a general term for one or more IFs for the AMR 40 to communicate wirelessly and / or by wired with other devices such as a management device 20.

[0023] The drive unit 44 includes a motor 44a and gears for driving the wheels 47. The drive unit 44 drives the wheels 47 in response to commands from the second control unit 41 to enable the AMR 40 to move. The motor 44a is the driving motor. Each part of the AMR 40, including the second control unit 41 and the drive unit 44, operates using power supplied from the battery 45. The battery 45 is charged, for example, by the charging dock described above. The sensors 46 include various sensors and measuring instruments that the AMR 40 is equipped with for autonomous driving, such as a distance sensor for measuring the distance to surrounding objects, a camera for taking pictures of the surroundings, an encoder for measuring the distance traveled, and a gyro sensor for measuring changes in the orientation of the machine.

[0024] Figure 3 shows a flowchart illustrating the delay determination process of the AMR 40 executed by the first control unit 21 of the management device 20. The explanation in Figure 3 is an example of a management method. The first control unit 21 receives the travel speed, time information, and motor 44a current value from the AMR 40, which performs the "first transport" of the material 31 to the substrate work machine 30, via communication, and stores this acquired information in the first storage unit 22 (step S100). The information acquired from the AMR 40 in step S100 is called the "reference value". Step S100 is an example of the "reference value acquisition process".

[0025] The first transport is the transport that serves as the basis for determining the delay. The operator sets the position and orientation of the circuit board work machine 30, kitting stand 50, etc. to an ideal state in anticipation of the "second transport" described later, and ensures that there are no unnecessary obstacles within the range in which the AMR 40 is scheduled to travel, before having the AMR 40 perform the first transport. The first and second transports are a series of trips in which the AMR 40 travels from the standby position, via the kitting stand 50, to the circuit board work machine 30, and then returns to the standby position. During this trip, the AMR 40 receives and delivers materials 31 to the kitting stand 50 and the circuit board work machine 30.

[0026] During the execution of the first transport, the second control unit 41 repeatedly transmits the travel speed of the AMR 40, time information, and the current value of the motor 44a to the management device 20 via the second communication IF 43, for example, periodically. The management device 20 receives the transmitted information as it is received via the first communication IF 23, and the first control unit 21 stores the received information in the first storage unit 22 as a reference value. The time information may also be called date and time information. The current value of the motor 44a represents the magnitude of the load (torque) received by the motor 44a.

[0027] The second control unit 41 may store various pieces of information, such as the travel speed during the first transport, time information, and the current value of the motor 44a, in the second storage unit 42. The second control unit 41 may then transmit all the information stored in the second storage unit 42 during the first transport to the management device 20 via the second communication IF 43 after the first transport is completed. In other words, the timing of when the AMR 40 performs the first transport and the timing of when the management device 20 obtains and stores the reference values ​​from the AMR 40 may be different.

[0028] After step S100, the first control unit 21 receives the travel speed, time information, and current value of the motor 44a from the AMR 40, which performs the "second transport" of the material 31 to the substrate work machine 30, via communication, and stores this acquired information in the first storage unit 22 (step S110). The information acquired from the AMR 40 in step S110 is called the "acquired value".

[0029] The second transport is, for example, the transport of components 31 performed by the AMR 40 in conjunction with product production by a substrate production line. During the execution of the second transport, the second control unit 41 repeatedly transmits the travel speed of the AMR 40, time information, and the current value of the motor 44a to the management device 20 via the second communication IF 43, for example periodically. The management device 20 receives the transmitted information in this manner via the first communication IF 23 as needed, and the first control unit 21 stores the received information as acquired values ​​in the first storage unit 22. Similar to the relationship between the first transport and the reference value, the timing of when the AMR 40 performs the second transport and the timing of when the management device 20 acquires and stores the acquired values ​​from the AMR 40 may be out of sync.

[0030] The determination unit 21a of the first control unit 21 determines whether or not a delay has occurred in the second transport by comparing the acquired value with a reference value (step S120). The branching of steps S120 and S130 corresponds to an example of the "determination process". The comparison between the reference value and the acquired value is a comparison between at least a part of the reference value and at least a part of the acquired value.

[0031] The determination unit 21a determines that a delay has occurred in the second transport if the acquired value deviates from the reference value by a predetermined amount or more. For example, the determination unit 21a can determine that a delay has occurred in the second transport if the acquired value's travel speed is lower than the reference value's travel speed by a predetermined amount or more. For example, the determination unit 21a may determine that a delay has occurred in the second transport if the time required for the second transport, as determined from the acquired value's time information, exceeds the time required for the first transport, as determined from the reference value's time information, by a predetermined amount or more. For example, the determination unit 21a may determine that an excessive load has been placed on the second transport, i.e., a delay has occurred, if the acquired value's current value exceeds the reference value's current value by a predetermined amount or more. The determination unit 21a may combine the determinations of each of these elements, such as travel speed, time, and current value, to comprehensively determine whether or not a delay has occurred in the second transport.

[0032] In step S120, the determination unit 21a may use a trained AI model to determine whether or not a delay has occurred in the second transport. For example, the AMR 40 repeatedly performs the first transport, and the reference value is repeatedly stored in the first storage unit 22 in accordance with such multiple first transports. In other words, step S100 is performed multiple times in advance. The determination unit 21a generates an AI model 26 that has been trained using multiple reference values ​​corresponding to multiple first transports as training data. Alternatively, the determination unit 21a acquires such an AI model 26 from outside the management device 20.

[0033] The AI ​​model 26 takes as input the acquired values ​​obtained during the execution of the second transport (one of the following: travel speed, time information, and motor 44a current value, or a combination of several or all of these). The AI ​​model 26 then evaluates the error between the input data and the reference value, predicts whether the input data is close to the reference value (normal) or deviates from it (abnormal), and outputs the prediction result (judgment result). As shown in Figure 4, the judgment unit 21a inputs the acquired values ​​to the AI ​​model 26, and if the prediction result is normal, it determines that there is no delay in the second transport; if the prediction result is abnormal, it determines that there is a delay in the second transport.

[0034] If the determination unit 21a determines that there is a delay in the second transport, it proceeds from the "Yes" determination in step S130 to step S140. On the other hand, if the determination unit 21a determines that there is no delay in the second transport, it proceeds from the "No" determination in step S130 to step S110. In the process from step S130 to step S110, the next second transport is executed, and the acquired values ​​for that next second transport are stored. In other words, by repeating steps S110 to S130, the presence or absence of a delay in the latest second transport is determined.

[0035] If the determination process determines that there is a delay in the second transport, in step S140, the notification unit 21b sends a delay notification to the outside. The delay notification is a process that notifies the outside that there is a delay in the second transport. Images and / or sound may be used for the delay notification. Step S140 is an example of a "notification process". The notification unit 21b, for example, displays a screen for delay notification (delay notification screen) on the display unit 24. Also, as shown in Figure 1, if the substrate handling machine 30 is equipped with a display unit 32, the notification unit 21b may display the delay notification screen on the display unit 32. In addition, the notification unit 21b may display the delay notification screen on, for example, a smartphone (not shown) held by the operator or on a display unit (not shown) provided on the kitting stand 50. After step S140, the first control unit 21 terminates the flowchart in Figure 3. However, the first control unit 21 may repeatedly execute steps S110 and below even after step S140.

[0036] Figure 5 shows an example of a delay notification screen 70 displayed on a predetermined display unit such as the display unit 24 in step S140. The delay notification screen 70 includes a delay alert 71 indicating that there is a delay in the second transport. By viewing the delay alert 71, the operator recognizes that there is a delay in the second transport. In other words, when the transport of the component 31 is carried out by the autonomous driving capability of the AMR 40, the operator will be able to notice delays that were previously difficult to notice. The delay alert 71 may also include specific delay details 72, such as how much the second transport is delayed compared to the first transport.

[0037] Figure 6 shows an example of an area map 80 of the area in which the AMR 40 travels. The AMR 40 is capable of generating an area map 80. There are various methods for generating the area map 80, including known technologies, so details are omitted, but the second control unit 41 of the AMR 40 generates the area map 80 based on information collected by sensors 46 while traveling. The second control unit 41 can store the generated area map 80 in the second storage unit 42. The area map 80 shown in Figure 6 is a two-dimensional map from an overhead viewpoint, and objects recognized by the AMR 40 are indicated by dashed lines. Objects recognized by the AMR 40 may include the substrate work machine 30 and the kitting stand 50, as well as various obstacles. The area map 80 may also be a three-dimensional map.

[0038] The AMR 40 generates an area map 80, for example, in conjunction with the first transport. Alternatively, the AMR 40 may have already generated the area map 80 before the first transport. Furthermore, each time the AMR 40 performs a second transport, it can update the area map 80 to the latest state based on information collected by the sensors 46. The AMR 40 determines its current position and orientation within the area map 80 based on the area map 80 and the information collected by the sensors 46. In the example in Figure 6, the circles and triangles within the area map 80 indicate the position and orientation of the AMR 40.

[0039] The AMR 40 can also share the area map 80 and its own position and orientation information with the management device 20. In other words, the AMR 40 can transmit the generated or updated area map 80 to the management device 20 via the second communication IF 43. The AMR 40 also transmits its own position and orientation information to the management device 20 via the second communication IF 43 as needed. In the management device 20, the first control unit 21 receives the area map 80 from the AMR 40 via the first communication IF 23 and stores it in the first storage unit 22. Alternatively, the first control unit 21 can generate the area map 80. In other words, the AMR 40 may transmit information collected by the sensors 46 to the management device 20 as needed, and the first control unit 21 in the management device 20 may generate the area map 80 based on the information transmitted from the AMR 40 and store it in the first storage unit 22. In any case, the first control unit 21 can refer to the area map 80 and understand the position and orientation of the AMR 40 at each point in time on the area map 80, as well as any changes in its position and orientation.

[0040] The determination unit 21a can refer to the area map 80 to recognize the docking area where the AMR 40 docks with the substrate handling machine 30 during transport. The determination unit 21a can also refer to the area map 80 to recognize the travel area of ​​the AMR 40 other than the docking area. In Figure 6, the docking area is generally enclosed by a dashed line and indicated by the symbol A1, and the travel area of ​​the AMR 40 other than the docking area A1 is generally enclosed by a dashed line and indicated by the symbol A2.

[0041] In docking area A1, the AMR 40 approaches the substrate work machine 30 in the closest possible position. In this embodiment, docking refers to the AMR 40 approaching the substrate work machine 30 in order to pass or receive the component 31 between them. In docking area A1, the AMR 40, the trolley 60, and the component 31 may come into contact with or connect to parts of the substrate work machine 30 as needed. Therefore, in docking area A1, the AMR 40 travels at a reduced speed compared to travel area A2, and performs precise movements and changes of direction, including temporary stops as needed.

[0042] Figure 7 is a perspective view showing how the AMR 40 docks with the substrate handling machine 30. In the example in Figure 7, the AMR 40 is coupled to a trolley 60 and moves together with the trolley 60. Also in the example in Figure 7, a component 31 is mounted on the trolley 60. The AMR 40 continues to move toward the substrate handling machine 30 along direction D and docks with the substrate handling machine 30. The substrate handling machine 30 is provided with guide parts 33 and 34 positioned to sandwich the approaching AMR 40 from the left and right, and the AMR 40 enters the narrow space between these guide parts 33 and 34. Therefore, if there is an error in the position or orientation of the AMR 40 relative to the substrate handling machine 30 at the time of docking, the AMR 40, trolley 60, and component 31 are likely to interfere unnecessarily with the guide parts 33 and 34. Such interference places an excessive load on the AMR 40 and leads to delays in component transport.

[0043] The determination unit 21a recognizes the docking area A1 and the travel area A2 in the area map 80, for example, according to instructions from the operator. Alternatively, the determination unit 21a may identify the docking area A1 and the travel area A2 based on the position and travel speed changes of the AMR 40, the length of time required to travel to each location, etc. The determination unit 21a may simply recognize an area of ​​a predetermined size based on the position of the substrate work machine 30 as the docking area A1, and the other areas as the travel area A2.

[0044] In step S120, the determination unit 21a may determine whether an abnormality has occurred in the docking during the second conveyance by comparing the reference value and the acquired value corresponding to the docking area A1 among the reference value and the acquired value. The abnormality in docking is a kind of delay. For example, when the average traveling speed of the acquired value corresponding to the docking area A1 is lower than the average traveling speed of the reference value corresponding to the docking area A1 by a predetermined degree or more, the determination unit 21a determines that an abnormality has occurred in the docking during the second conveyance. For example, when the time required for the docking during the second conveyance grasped from the time information of the acquired value corresponding to the docking area A1 exceeds the time required for the docking during the first conveyance grasped from the time information of the reference value corresponding to the docking area A1 by a predetermined degree or more, the determination unit 21a may determine that an abnormality has occurred in the docking during the second conveyance. For example, when the current value of the acquired value corresponding to the docking area A1 exceeds the current value of the reference value corresponding to the docking area A1 by a predetermined degree or more, the determination unit 21a may determine that an abnormality has occurred in the docking during the second conveyance. The determination unit 21a may comprehensively determine whether an abnormality has occurred in the docking during the second conveyance by combining the determinations of each element such as the traveling speed, time, and current value.

[0045] When the determination unit 21a determines that an abnormality has occurred in the docking during the second conveyance, it proceeds from the "Yes" determination in step S130 to step S140. In step S140, the notification unit 21b may notify the outside of the abnormality in the docking during the second conveyance. Such a notification is a kind of delay notification. According to such a configuration, the operator can recognize that an abnormality has occurred in the docking with the substrate handling machine 30 during the second conveyance of the AMR 40 through the display unit 24 or other display units 32 or the like.

[0046] As described above, in docking area A1, the AMR 40 is required to move precisely within a narrow area such as the space between the guide sections 33 and 34. For this reason, a magnetic tape (not shown) may be attached to the floor of docking area A1 to ensure accurate docking of the AMR 40 with the board work machine 30. In other words, in docking area A1, the AMR 40 detects the magnetic tape using a predetermined magnetic sensor and docks with the board work machine 30 by moving according to the guidance of the magnetic tape. If the magnetic tape is not attached in an appropriate position, an error will occur in the positional relationship between the AMR 40 and the board work machine 30 during docking, making it easy for unnecessary interference as described above to occur.

[0047] Therefore, an operator who recognizes an abnormality in docking during the second transport through notification from the notification unit 21b can review the position of the magnetic tape in the docking area A1 and make improvements such as reattaching the magnetic tape as necessary. This will eliminate docking abnormalities for subsequent second transports and improve the efficiency of the second transport.

[0048] In step S120, the determination unit 21a may determine whether there is a delay in traveling in the traveling area A2 during the second conveyance by comparing the reference value and the acquired value corresponding to the traveling area A2 among the reference value and the acquired value. For example, the determination unit 21a determines that there is a delay in traveling in the traveling area A2 during the second conveyance when the average traveling speed of the acquired value corresponding to the traveling area A2 is lower than the average traveling speed of the reference value corresponding to the traveling area A2 by a predetermined degree or more. For example, the determination unit 21a determines that there is a delay in traveling in the traveling area A2 during the second conveyance when the time required for traveling in the traveling area A2 during the second conveyance grasped from the time information of the acquired value corresponding to the traveling area A2 exceeds the time required for traveling in the traveling area A2 during the first conveyance grasped from the time information of the reference value corresponding to the traveling area A2 by a predetermined degree or more. For example, the determination unit 21a determines that there is a delay in traveling in the traveling area A2 during the second conveyance when the current value of the acquired value corresponding to the traveling area A2 exceeds the current value of the reference value corresponding to the traveling area A2 by a predetermined degree or more. The determination unit 21a may comprehensively determine whether there is a delay in traveling in the traveling area A2 during the second conveyance by combining the determinations of each element such as the traveling speed, time, and current value.

[0049] When the determination unit 21a determines that there is a delay in traveling in the traveling area A2 during the second conveyance, it proceeds from the determination of "Yes" in step S130 to step S140. In step S140, the notification unit 21b may notify the outside of the delay in traveling in the traveling area A2 during the second conveyance. Such notification is a kind of delay notification. According to such a configuration, the operator can recognize that there is a delay in traveling in the traveling area A2 during the second conveyance of the AMR 40 through the display unit 24 or other display units 32 or the like.

[0050] For example, suppose an obstacle that was not present during the first transport is placed in the travel area A2 at a later time, and during the subsequent second transport, the AMR 40 avoids this obstacle, causing a delay. In this embodiment, the operator can recognize such delays caused by obstacles placed later in the travel area A2. Therefore, the operator can move the obstacle in the travel area A2 to eliminate the cause of the delay and improve the efficiency of the subsequent second transport.

[0051] The determination unit 21a may use the AI ​​model 26 described above to determine whether or not there is an abnormality in the docking during the second transport, and whether or not there is a delay in travel in the travel area A2 during the second transport, or both. As described above, in step S140, either an abnormality in the docking during the second transport or a delay in travel in the travel area A2 during the second transport is notified, or both are notified. As in this embodiment, by notifying of a delay in step S140, the operator can further check various things that could be the cause of the delay, such as wear and tear on the wheels 47, battery 45, motor 44a, etc. of the AMR 40, or defects in the connection between the AMR 40 and the trolley 60, and work to resolve the delay.

[0052] The specific examples of the technologies disclosed herein have been described in detail above, but these are merely illustrative and do not limit the scope of the claims. The technologies described in the claims include various modifications and changes to the specific examples described above. Furthermore, the technical elements described herein or in the drawings exhibit technical usefulness individually or in various combinations, and are not limited to the combinations described in the claims at the time of filing. In addition, the technologies illustrated herein or in the drawings achieve multiple objectives simultaneously, and achieving even one of these objectives constitutes technical usefulness in itself.

[0053] 10: System 20: Management device 21: First control unit 21a: Judgment unit 21b: Notification unit 22: First storage unit 23: First communication IF 24: Display unit 30: Board work machine 31: Component 32: Display unit 33,34: Guide unit 40: AMR 41: Second control unit 42: Second storage unit 43: Second communication IF 44: Drive unit 44a: Motor 45: Battery 46: Sensors 47: Wheels 50: Kitting stand 60: Cart 70: Delay notification screen 80: Area map A1: Docking area A2: Driving area

Claims

1. A management device for managing an autonomous mobile transport robot capable of transporting materials to a substrate work machine, comprising: a storage unit that stores as reference values ​​the travel speed, time information, and current value of the travel motor of the autonomous mobile transport robot that performs the first transport, obtained by communication from the autonomous mobile transport robot; a determination unit that determines whether or not a delay has occurred in the second transport by comparing the acquired values, which are the travel speed, time information, and current value of the travel motor obtained by communication from the autonomous mobile transport robot that performs the second transport, with the reference values; and a notification unit that notifies an external party of the delay when the determination unit determines that a delay has occurred.

2. The determination unit is capable of recognizing the docking area in which the autonomous mobile transport robot docks with the substrate work machine during transport by referring to an area map of the area in which the autonomous mobile transport robot travels, and by comparing the reference value and the acquired value that correspond to the docking area, respectively, among the reference value and the acquired value, it determines whether or not an abnormality has occurred in the docking during transport, and the notification unit notifies the outside of the docking abnormality when the determination unit determines that an abnormality has occurred in the docking, as described in claim 1.

3. The management device according to claim 2, wherein the determination unit is capable of recognizing the driving area of ​​the autonomous transport robot other than the docking area by referring to the area map, and determines whether or not there is a delay in the driving in the second driving area during transport by comparing the reference value and the acquired value that correspond to the driving area, respectively, among the reference value and the acquired value, and the notification unit notifies an external party of the delay in the driving in the driving area when the determination unit determines that there is a delay in the driving in the driving area.

4. A management method for managing an autonomous mobile transport robot capable of transporting materials to a substrate work machine, comprising: a reference value acquisition step of acquiring the travel speed, time information, and current value of the travel motor of the autonomous mobile transport robot as reference values ​​via communication from the autonomous mobile transport robot that performs the first transport, and storing them in a storage medium; a determination step of determining whether or not a delay has occurred in the second transport by comparing the acquired values, which are the travel speed, time information, and current value of the travel motor acquired via communication from the autonomous mobile transport robot that performs the second transport, with the reference values; and a notification step of notifying an external party of the delay if the determination step determines that a delay has occurred.

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