CN117044417A

CN117044417A - Warning management device, warning management method, warning management program, and recording medium

Info

Publication number: CN117044417A
Application number: CN202180096193.3A
Authority: CN
Inventors: 田中宽知; 高间和志
Original assignee: Yamaha Motor Co Ltd
Current assignee: Yamaha Motor Co Ltd
Priority date: 2021-06-18
Filing date: 2021-06-18
Publication date: 2023-11-10
Also published as: JPWO2022264423A1; WO2022264423A1; DE112021007260T5

Abstract

A calculation unit (71) of the management computer (7) causes one operation panel (16) of the component mounter (1 b) selected from a plurality of operation panels (16) to execute warning based on the travel path information (Idp) which is information on the operation of the AGV (5). Therefore, when the operator (OP 1) is present in the vicinity of the operation panel (16), the operator (OP 1) can be accurately warned. In this way, in the substrate production system (S) for producing the component mounting substrate by mounting the component (E) on the substrate (B), the operator (OP 1) approaching (AGV 5) can be accurately warned.

Description

Warning management device, warning management method, warning management program, and recording medium

Technical Field

The present invention relates to a technique for managing warning to an operator by a warning device used in a substrate production system for producing a component-mounted substrate by mounting a component on the substrate.

Background

Patent documents 1 and 2 describe techniques for managing the operation of an unmanned carrier (AGV) on a site where an operator exists. Specifically, patent document 1 discloses a technique for controlling travel of an automated guided vehicle in accordance with a distance between an operator and the automated guided vehicle. Patent document 2 discloses a technique of: the obstacle sensor is turned off and the automated guided vehicle is driven at a high speed when no operator is present in the travel area of the automated guided vehicle, and the obstacle sensor is turned on and the automated guided vehicle is driven at a low speed when no operator is present in the travel area of the automated guided vehicle.

Prior art literature

Patent literature

Patent document 1: japanese patent laid-open No. 2002-132348

Patent document 2: japanese patent laid-open No. 2000-187513

Disclosure of Invention

Problems to be solved by the invention

In addition, in a substrate production system for producing a component-mounted substrate by mounting a component on a substrate, there is a problem in that various components such as a component used for producing the component-mounted substrate, a feeder for supplying the component, and the like are transported. Therefore, it is considered to make the above-mentioned automated guided vehicle transport such a member. When an operator and an unmanned carrier are present in the substrate production system, the operator can be notified of the existence of the unmanned carrier by causing a warning device provided in the substrate production system to perform warning. However, the warning is required to be accurately given to an operator approaching the automated guided vehicle. This is because if the operator accumulates experience that the warning is not regarded as perceived approach of the automated guided vehicle, the operator may become insensitive to the warning, and the effectiveness of the warning may be impaired.

The present invention has been made in view of the above-described problems, and an object of the present invention is to accurately warn an operator approaching an automated guided vehicle in a substrate production system for producing a component-mounted substrate by mounting a component on a substrate.

Means for solving the problems

The warning management device of the present invention comprises: an acquisition unit that acquires operation information regarding operation of an automated guided vehicle that carries a component used for producing a component mounting substrate in a substrate production system that produces the component mounting substrate by mounting the component on the substrate; and a control unit for causing the warning device to execute warning, based on the operation information, from among a plurality of warning devices used in the substrate production system.

The warning management method of the present invention comprises the steps of: acquiring operation information regarding operation of an automated guided vehicle that carries a component used for producing a component mounting substrate in a substrate production system that mounts the component on the substrate to produce the component mounting substrate; and causing the subject warning device selected from the plurality of warning devices used in the substrate production system to execute warning based on the operation information.

The warning management program of the present invention causes a computer to execute: acquiring operation information regarding operation of an automated guided vehicle that carries a component used for producing a component mounting substrate in a substrate production system that mounts the component on the substrate to produce the component mounting substrate; and causing the subject warning device selected from the plurality of warning devices used in the substrate production system to execute warning based on the operation information.

The recording medium of the present invention records the warning management program in a manner that can be read by a computer.

According to the present invention (warning management device, warning management method, warning management program, and recording medium) thus configured, a plurality of warning devices are provided in a substrate production system, and warning is executed by a target warning device selected from the plurality of warning devices based on operation information, which is information related to the operation of the automated guided vehicle. That is, the object warning device corresponding to the operation of the automated guided vehicle among the plurality of warning devices selectively executes the warning. Therefore, when an operator is present in the vicinity of the object warning device, the operator can be warned accurately. In this way, in the substrate production system for producing the component mounting substrate by mounting the component on the substrate, it is possible to accurately warn the operator that the automated guided vehicle approaches.

The warning management device may be configured as follows: the travel information includes travel path information indicating a travel path through which the automated guided vehicle passes, and the control unit selects the target warning device based on the travel path information. In this configuration, the warning can be executed by the target warning device appropriately selected according to the travel path of the automated guided vehicle. As a result, the operator approaching the automated guided vehicle can be accurately warned.

The warning management device may be configured as follows: the operation information includes vehicle position information related to a position of the unmanned vehicle on the operation route, and the control unit selects the target warning device based on the vehicle position information. In this configuration, the warning can be executed by the target warning device appropriately selected according to the position of the automated guided vehicle. As a result, the operator approaching the automated guided vehicle can be accurately warned.

The warning management device may be configured as follows: the automated guided vehicle has a motor, and is operated by a driving force of the motor, and the acquisition unit acquires an output of an encoder of the motor of the automated guided vehicle as vehicle position information. In this configuration, the position of the automated guided vehicle can be accurately obtained by the output of the encoder of the motor of the automated guided vehicle.

The warning management device may be configured as follows: the acquisition unit acquires, as the vehicle position information, a detection result of a position sensor that detects the position of the automated guided vehicle. In this configuration, the position of the automated guided vehicle can be accurately acquired from the detection result of the position sensor.

The warning management device may be configured as follows: the substrate production system includes a plurality of component mounting-related lines for sharing operations performed on a substrate for producing a component mounting substrate, an acquisition unit for acquiring mounting-related information on the component mounting-related lines, and a control unit for selecting an object warning device based on the mounting-related information and the operation information. By using the information on the mounting related machine related to the component mounting related line in combination as described above, it is possible to accurately warn the operator who is present in the vicinity of the component mounting related line.

For example, the warning management device may be configured as follows: the mounting-related online information includes operator position information about a position of an operator capable of performing an operation on the component mounting-related machine, and the control unit selects the object warning device based on the operator position information and the operation information. In this configuration, it is possible to confirm that the worker is in the nearby component mounting-related line based on the worker position information about the position of the worker. Therefore, by using the operator position information and the operation information of the automated guided vehicle, the object warning device can be selected based on the positional relationship between the component mounting-related line and the automated guided vehicle in which the operator is in the vicinity. As a result, it is possible to accurately warn the operator who is present in the vicinity of the component mounting-related line where the automated guided vehicle approaches.

The warning management device may be configured as follows: the component mounting-related machine has a user interface that accepts an operation by an operator, and the operator position information shows that the user interface is being operated by the operator. In this configuration, it is possible to confirm that the operator is in the nearby component mounting-related line based on the operator position information showing that the user interface is being operated by the operator. Therefore, by using the operator position information and the operation information of the automated guided vehicle, the object warning device can be selected based on the positional relationship between the component mounting-related line and the automated guided vehicle in which the operator is in the vicinity. As a result, it is possible to accurately warn the operator who is present in the vicinity of the component mounting-related line where the automated guided vehicle approaches.

The warning management device may be configured as follows: the component mounting-related line has a first operator sensor that detects an operator, and the operator position information shows that the first operator sensor detects the component mounting-related line of the operator. In this configuration, the operator can be confirmed to be in the nearby component mounting-related line based on the operator position information indicating that the first operator sensor detects the component mounting-related line of the operator. Therefore, by using the operator position information and the operation information of the automated guided vehicle, the object warning device can be selected based on the positional relationship between the component mounting-related line and the automated guided vehicle in which the operator is in the vicinity. As a result, it is possible to accurately warn the operator who is present in the vicinity of the component mounting-related line where the automated guided vehicle approaches.

The warning management device may be configured as follows: the worker position information shows a component mounting-related line that communicates with a communication device carried by the worker. In this configuration, the operator can be confirmed to be in the vicinity of the component mounting-related line based on the operator position information indicating the component mounting-related line communicating with the communication device carried by the operator. Therefore, by using the operator position information and the operation information of the automated guided vehicle, the object warning device can be selected based on the positional relationship between the component mounting-related line and the automated guided vehicle in which the operator is in the vicinity. As a result, it is possible to accurately warn the operator who is present in the vicinity of the component mounting-related line where the automated guided vehicle approaches.

The warning management device may be configured as follows: the automated guided vehicle has a second operator sensor that detects the position of an operator, and the acquisition unit acquires the detection result of the second operator sensor as operator position information. In this configuration, it is possible to confirm that the operator is in the nearby component mounting-related line based on the operator position information indicating the position of the operator detected by the second operator sensor of the automated guided vehicle. Therefore, by using the operator position information and the operation information of the automated guided vehicle, the object warning device can be selected based on the positional relationship between the component mounting-related line and the automated guided vehicle in which the operator is in the vicinity. As a result, it is possible to accurately warn the operator who is present in the vicinity of the component mounting-related line where the automated guided vehicle approaches.

The warning management device may be configured as follows: the mounting-related machine information includes mounting-related machine operation information related to an operation condition of the component mounting-related machine, and the control unit selects the object warning device based on the mounting-related machine operation information and the operation information. That is, the positional relationship between the worker who performs the work on the component mounting-related line and the component mounting-related line can be estimated from the mounting-related line operation information. Therefore, by using the mounting-related-machine operation information and the operation information, the object warning device can be selected based on the positional relationship between the component mounting-related machine and the automated guided vehicle in which the operator is in the vicinity. As a result, it is possible to accurately warn the operator who is present in the vicinity of the component mounting-related line where the automated guided vehicle approaches.

The warning management device may be configured as follows: the component mounting-related line performs an emergency stop for stopping the substrate work to be borne when an error occurs, and the mounting-related line operation information indicates the component mounting-related line that performs the emergency stop. That is, with respect to the component mounting-related line that is performing the emergency stop, the possibility that the worker performs the work is high. Therefore, by using the mounting-related-line operation information and the operation information showing the component mounting-related line that performs the emergency stop, the object warning device can be selected based on the positional relationship between the component mounting-related line in which the operator is in the vicinity and the automated guided vehicle. As a result, it is possible to accurately warn the operator who is present in the vicinity of the component mounting-related line where the automated guided vehicle approaches.

The warning management device may be configured as follows: the component mounting-related line has a door that can be opened and closed, and the mounting-related line operation information shows the component mounting-related line with the door opened. That is, the possibility that the worker performs work is high for the door-open component mounting-related line. Therefore, by using the mounting-related line operation information and the operation information of the component mounting-related line showing the door opening, the object warning device can be selected based on the positional relationship between the component mounting-related line and the automated guided vehicle in which the operator is in the vicinity. As a result, it is possible to accurately warn the operator who is present in the vicinity of the component mounting-related line where the automated guided vehicle approaches.

The warning management device may be configured as follows: the warning device performs warning by acting on the vision or touch of the operator. That is, since the sound acting on the hearing of the operator is transmitted in all directions, it is not necessarily suitable for warning the operator. In contrast, by executing the warning that acts on the visual sense or the tactile sense of the operator, the warning can be accurately given to the operator who is the subject.

The warning management device may be configured as follows: the control unit causes the object warning device to confirm the operation permission of the automated guided vehicle to the operator, and causes the automated guided vehicle to continue to operate when the operator permits the operation of the automated guided vehicle, while causing the automated guided vehicle to stop when the operator does not permit the operation of the automated guided vehicle. In this configuration, the operation of the automated guided vehicle approaching the operator can be appropriately managed according to the intention of the operator.

The warning management device may be configured as follows: the control unit causes the object warning device to notify the operator of the position of the automated guided vehicle. In this configuration, the operator can grasp the position of the automated guided vehicle approaching the operator and can take appropriate measures.

Effects of the invention

According to the present invention, in a substrate production system for producing a component-mounted substrate by mounting a component on a substrate, an operator approaching an automated guided vehicle can be accurately warned.

Drawings

Fig. 1 is a plan view schematically showing a structure of an example of a component mounter of the present invention.

Fig. 2 is a block diagram showing an electrical structure of the component mounter of fig. 1.

Fig. 3 is a plan view schematically showing an example of a substrate production system including the component mounter of fig. 1.

Fig. 4 is a block diagram showing an example of the structure of the AGV.

Fig. 5 is a block diagram showing an example of the configuration of the management computer.

FIG. 6 is a flowchart showing a first example of the operation management of the AGV.

Fig. 7 is a plan view schematically showing a state in which the AGV passes in front of the operation panel of the component mounter.

FIG. 8 is a flowchart showing a second example of the operation management of the AGV.

Fig. 9 is a plan view schematically showing a modification of the configuration for acquiring the position information of the AGV.

FIG. 10 is a flowchart showing a third example of the operation management of the AGV.

Fig. 11 is a block diagram showing the structure of a component mounter as a premise of operation management of the AGV shown in fig. 10.

FIG. 12 is a flowchart showing a fourth example of the operation management of the AGV.

Fig. 13 is a block diagram showing the structure of a portable terminal device carried by an operator.

FIG. 14 is a flowchart showing a fifth example of the operation management of the AGV.

Fig. 15 is a diagram schematically showing a modification of the warning screen displayed to the operator.

Detailed Description

Fig. 1 is a plan view schematically showing a structure of an example of a component mounter of the present invention. Fig. 2 is a block diagram showing an electrical structure of the component mounter of fig. 1. Fig. 1 and the following figures appropriately show an X direction as a horizontal direction, a Y direction as a horizontal direction orthogonal to the X direction, and a Z direction as a vertical direction.

As shown in fig. 2, the component mounter 1 includes a controller 100 that comprehensively controls the entire apparatus. The controller 100 includes an operation processing unit 110 which is a processor including a CPU (Central Processing Unit) and a RAM (Random Access Memory) and a random access memory, a storage unit 120 which is a storage unit 120 including an HDD (Hard Disk Drive) or an SSD (Solid State Drive) and a Drive control unit 130 which controls a Drive system of the component mounter 1. The operation processing unit 110 controls the drive control unit 130 in accordance with the mounting program stored in the storage unit 120, and thereby performs component mounting in a step defined by the mounting program. The controller 100 further includes a communication unit 140 that communicates with an external device. The communication by the communication unit 140 may be either wired or wireless.

As shown in fig. 1, the component mounter 1 includes a conveying portion 12 for conveying a substrate B in an X direction (substrate conveying direction). The conveying section 12 includes a pair of conveyors 121 arranged side by side in the X direction on the base 11, and conveys the substrate B in the X direction by the conveyors 121. The interval between the conveyors 121 can be changed in the Y direction (width direction) orthogonal to the X direction, and the conveying unit 12 adjusts the interval between the conveyors 121 according to the width of the conveyed substrate B. The carrying section 12 carries in from the upstream side in the X direction, which is the substrate carrying direction, to a predetermined work position 123, and carries out from the work position 123 to the downstream side in the X direction, a substrate B on which the component E is mounted at the work position 123.

On both sides of the transport section 12 in the Y direction, two component supply sections 21 are arranged in the X direction, and a plurality of tape feeders 22 are arranged in the X direction in each component supply section 21. In each component supply unit 21, a plurality of reels 23 are arranged in the X direction in correspondence with the plurality of tape feeders 22. A carrier tape is wound around each reel 23, and the carrier tape accommodates a plurality of components E arranged at a predetermined pitch. The element E is, for example, an integrated circuit, a transistor, a capacitor, or the like. Each tape feeder 22 supplies the component E to the component supply portion 24 at the tip end portion thereof by intermittently conveying the carrier tape pulled out from the corresponding reel 23.

The component mounter 1 is provided with a pair of Y-axis rails 31 extending in the Y-direction, a Y-axis ball screw 32 extending in the Y-direction, and a Y-axis motor My that drives the Y-axis ball screw 32 to rotate, and the X-axis rails 34 are fixed to nuts of the Y-axis ball screw 32 in a state of being supported on the pair of Y-axis rails 31 so as to be movable in the Y-direction. An X-axis ball screw 35 extending in the X-direction and an X-axis motor Mx for driving the X-axis ball screw 35 to rotate are attached to the X-axis rail 34, and the head unit 40 is fixed to a nut of the X-axis ball screw 35 in a state of being supported movably in the X-direction on the X-axis rail 34. Accordingly, the drive control unit 130 can move the head unit 40 in the Y direction by rotating the Y-axis ball screw 32 by the Y-axis motor My, or can move the head unit 40 in the X direction by rotating the X-axis ball screw 35 by the X-axis motor Mx.

The head unit 40 has a plurality of (3) mounting heads 4 arranged in a straight line in the X direction. The mounting head 4 is a spin head having a plurality of nozzles arranged in a circumferential direction, and suction and mounting of the component E are performed by the nozzles. Specifically, the mounting head 4 suctions the component E supplied from the tape feeder 22 to the component supply portion 24 through the suction nozzle and transfers the component E to the substrate B at the work position 123, thereby mounting the component E on the substrate B.

The component mounter 1 includes a cover 13 that covers at least the movement range of the head unit 40, and a door 14 that opens and closes the cover 13. In fig. 1, the internal structure of the component mounter 1 is shown through a cover 13. The doors 14 are provided on both sides of the cover 13 in the Y direction, and a door sensor 141 (fig. 2) for detecting the opening and closing of the doors 14 is provided for each door 14. The door sensor 141 outputs an open signal to the arithmetic processing unit 110 when the door 14 of the subject is open, and outputs a close signal to the arithmetic processing unit 110 when the door 14 of the subject is closed. For example, the operator opens the door 14 when performing a work on the component mounter 1, and closes the door 14 after the completion of the work. Therefore, based on whether the output signal of the gate sensor 141 is an open signal or a close signal, the presence or absence of the work of the worker facing the component mounter 1 can be estimated.

A warning lamp 15 (fig. 2) is disposed on the upper surface of the cover 13. Therefore, the arithmetic processing unit 110 turns on the warning lamp 15 to warn the operator who works with the component mounter 1.

The component mounter 1 is further provided with an operation panel 16 functioning as a user interface. The operation panel 16 is attached to the front surface of the cover 13 on both sides in the Y direction, and is disposed adjacent to the door 14. The operation panel 16 is configured by, for example, a touch panel display, displays an operation screen to an operator standing in front of the operation panel 16, and accepts an operation of the operator on the operation screen. The operation panel 16 also has a function of warning the operator, which will be described later. The operation of the operation panel 16 is controlled by the arithmetic processing unit 110.

Fig. 3 is a plan view schematically showing an example of a substrate production system including the component mounter of fig. 1. Fig. 3 schematically illustrates a plurality of operators OP1 to OP4 that perform operations with respect to the component mounter 1 in the substrate production system S. The substrate production system S includes a plurality of component mounters 1, and uses the component mounters 1 to mount components E on a substrate B to produce a component-mounted substrate. In particular, in the example of fig. 3, one substrate line L is constituted by a predetermined number (3) of component mounters 1 arranged in series, and a total of 3 substrate lines L are provided. The number of substrate lines L and the number of component mounters 1 constituting the substrate lines L are not limited to the examples herein.

As described above, in the component mounter 1, component mounting onto the substrate B is performed using the components E held in the reels 23. Therefore, it is necessary to convey a new reel 23 to the component supply section 21 according to the timing when the component E of the reel 23 is exhausted. When the type of the tape feeder 22 is changed in response to the change in the type of the component mounting board to be produced, the changed tape feeder 22 needs to be transported to the component supply section 21. In this way, the transport of the components (tape feeder 22, reel 23, etc.) used for producing the component mounting board is performed by the AGV (Automatic Guided Vehicle: automated guided vehicle) 5. That is, the AGV5 carries the components from a component storage (not shown) to the component mounter 1.

Fig. 4 is a block diagram showing an example of the structure of the AGV. The AGV5 includes an arithmetic unit 51 for comprehensively controlling the entire AGV5, and a communication unit 52 for performing communication with an external device. The computation unit 51 is a processor configured by a CPU or the like, and performs communication by wireless based on the communication unit 52. The AGV5 includes a storage unit 53 configured by an HDD or SSD, and travel path information Idp showing a travel plan of the AGV5 is stored in the storage unit 53. The travel path information Idp shows a travel path along which the AGV5 moves in order to convey components to one component mounter 1 as a destination among the plurality of component mounters 1 and a time day at which the travel along the travel path is started. The AGV5 also includes a surrounding sensor 54 that detects the surrounding environment of the AGV 5. Detection of the surrounding environment based on the surrounding sensors 54 is performed by, for example, LIDAR (Light Detection and Ranging: light detection and ranging, laser Imaging Detection and Ranging: laser imaging detection and ranging). The AGV5 is provided with a servomotor 55, and operates by the driving force of the servomotor 55. The servomotor 55 has an encoder 551 that outputs the rotational position of the servomotor 55. The rotational position of the servomotor 55 output by the servomotor 55 corresponds to the AGV position information Ia indicating the position of the AGV 5.

The arithmetic unit 51 controls the servo motor 55 based on the travel path information Idp, and thereby the AGV5 travels along the travel path indicated by the travel path information Idp. When the surrounding sensor 54 detects an obstacle, the arithmetic unit 51 controls the servomotor 55 based on the detection result of the surrounding sensor 54. Thereby, the AGV5 can avoid the obstacle and perform the operation up to the component mounter 1 as the destination.

The board production system S further includes a management computer 7 that manages production of component mounting boards using the component mounting machine 1 and transportation of components by the AGV 5. Fig. 5 is a block diagram showing an example of the configuration of the management computer. The management computer 7 includes an arithmetic unit 71 that performs arithmetic operations, and a communication unit 72 that performs communication with an external device. The computing unit 71 is a processor including a CPU or the like, and the communication unit 52 performs communication with the communication unit 140 of the component mounter 1 and the communication unit 52 of the AGV 5. Communication with the former is performed by wire or wireless, and communication with the latter is performed by wireless. The management computer 7 includes a storage unit 73 including an HDD or an SSD and a UI (User Interface) 74. The UI74 is composed of an input device such as a keyboard and a mouse, and an output device such as a display. However, the input device and the output device of the UI74 may be integrally configured by, for example, a touch panel display.

The above-described travel path information Idp is acquired by the management computer 7. Specifically, the computing unit 51 calculates timing at which the components (the tape feeder 22 or the tape reel 23) should be transported to each component mounter 1 based on the production plan of the component mounting substrate in the substrate production system S, and generates the travel path information Idp based on the result. In other words, the operation unit 51 (acquisition unit) calculates the travel path information Idp based on the production plan of the component mounting substrate, thereby acquiring the travel path information Idp. The travel path information Idp is stored in the storage unit 73 and transmitted to the AGV5 via the communication unit 72, and the AGV5 stores the travel path information Idp received from the management computer 7 in the storage unit 53. However, the method of obtaining the route information Idp by the operation unit 51 is not limited to the calculation of the production plan of the component mounting board, and the operation unit 71 may obtain the route information Idp from an external device via the communication unit 72, or may obtain the route information Idp by generating the route information Idp based on the input of the operator to the UI 74.

The storage unit 73 stores an operation control program P for controlling the operation of the AGV5, mounting machine operation information Im to be referred to in the operation control based on the operation control program P, and the like. The management computer 7 reads the operation control program P recorded in the recording medium M such as a USB (Universal Serial Bus: universal serial bus) memory or an optical disk, and stores the program P in the storage unit 73. However, the method of acquiring the operation control program P is not limited to this, and the management computer 7 may download the operation control program P recorded in the storage device of the external computer and store it in the storage unit 73.

In particular, the operation control program P causes the management computer 7 to perform management of warning notifying the worker of the approach of the AGV 5. That is, the management computer 7 executes the operation specified in the operation control program P by the operation unit 71, thereby appropriately warning the operator of the approach of the AGV5 and executing the operation management of the AGV 5. Next, the operation control of the AGV5 performed by the arithmetic unit 71 of the management computer 7 based on the operation control program P will be described in detail.

FIG. 6 is a flowchart showing a first example of the operation management of the AGV. The flowchart is executed by control of the arithmetic unit 71 based on the operation control program P. In step S101, the arithmetic unit 71 refers to the travel path information Idp stored in the storage unit 73. The travel path information Idp shows a path along which the AGV5 returns to the standby position after transporting the component from the standby position (for example, adjacent to the component repository) to the component mounter 1 as the destination. By referring to the travel path information Idp, the arithmetic unit 71 confirms the timing of transporting the component to the component mounter 1 as the destination by the AGV5, and the travel path of the AGV 5. Then, in step S102, the arithmetic unit 71 determines whether or not the AGV5 has arrived at the standby position after passing through the component mounter 1 at the destination, based on the travel path information Idp. When it is determined that the AGV5 has reached the standby position (yes in step S102), the flowchart of fig. 6 is terminated.

On the other hand, when it is determined that the AGV5 has not reached the standby position (no in step S102), the flow proceeds to step S103. In step S103, the arithmetic unit 71 determines whether or not the component mounter 1 passing ahead by the AGV5 is present in the plurality of component mounters 1 of the substrate production system S, based on the travel path information Idp. This determination is performed with reference to the operation panel 16 that is the object of the work by the operator. That is, the arithmetic unit 71 determines whether or not there are any component mounting machines 1 in which the AGV5 passes in front of the operation panel 16, and any predetermined component mounting machines 1 in which the AGV5 passes in front of the operation panel 16 during the predetermined distance in which the AGV5 advances in the traveling direction.

Fig. 7 is a plan view schematically showing a state in which the AGV passes in front of the operation panel of the component mounter. In fig. 7, in order to distinguish a plurality of component mounters 1, they are labeled with different reference numerals 1a to 1f. In fig. 7, the area in which the AGV5 exists and the area at a predetermined distance from the AGV5 in the traveling direction of the AGV5 (blank arrow in the figure) are shown as passing areas PTa of the AGV 5. Further, a region having a predetermined width on both sides of the passing range PTa in a direction orthogonal to the traveling direction of the AGV5 is shown as an interference region PTb. In this way, when the AGV5 passes in front of the operation panel 16 overlapped with the passing area PTa or the interference area PTb set for the AGV5, the operation unit 71 determines that it is. In the example of fig. 7, the AGV5 passes in front of the operation panel 16 of each of the component mounting machines 1b and 1 c. More specifically, the component mounter 1b includes an operation panel 16 disposed on one side in the Y direction and an operation panel 16 disposed on the other side opposite to the one side in the Y direction, and only the operation panel 16 on one side in the Y direction of the two operation panels 16 of the component mounter 1b overlaps the passing area PTa or the interference area PTb. Therefore, it is determined that the AGV5 passes in front of one of the two operation panels 16. The same applies to the component mounter 1 c. The panel position information showing the positions of the operation panels 16 of the plurality of component mounting machines 1 is stored in the storage unit 73 in advance, and the operation unit 71 determines the positional relationship between the pass region PTa and the interference region PTb and the operation panel 16 based on the panel position information.

If it is determined in step S103 in fig. 6 that there is no component mounter 1 that passes in front of the operation panel 16 of the AGV5 (no), the process returns to step S101. On the other hand, in the example shown in fig. 7, it is determined that there are component mounters 1b, 1c through which the AGV5 passes in front of the operation panel 16 (yes in step S103).

Therefore, the process advances to step S104, and the computing unit 71 determines whether or not the component mounting apparatuses 1b and 1c corresponding to each other are in a predetermined operation state based on the mounting apparatus operation information Im. Specific examples of the predetermined operation conditions include:

the component mounter 1 is in an emergency stop state in response to the occurrence of an error;

a state in which the door 14 is opened and the door sensor 141 outputs an open signal, and the like. The management computer 7 collects mounting machine operation information Im showing the operation conditions of the component mounting machines 1 from the respective component mounting machines 1 in advance and stores the information in the storage unit 73.

In the example of fig. 7, the operator OP1 performs an operation on the component mounter 1b, and the door 14 of the component mounter 1b is opened (that is, the door sensor 141 facing the door 14 outputs an open signal). Accordingly, the computing unit 71 determines that the component mounter 1b is in a predetermined operation state (yes in step S104), and executes a warning for the component mounter 1b (step S105). Specifically, the operation unit 71 causes the operation panel 16 of the component mounter 1b to display a warning screen indicating that the AGV5 is approaching. Therefore, the operator OP1 who performs the work on the component mounter 1b can recognize the approach of the AGV5 by visually checking the display of the operation panel 16. In this way, after the warning is executed in step S105, the flow returns to step S101.

The component mounter 1b has two operation panels 16. In contrast, in the example of fig. 7, since the operation panel 16 on one side in the Y direction of the two operation panels 16 overlaps at least one of the passing region PTa and the interference region PTb, the warning is executed, and since the operation panel 16 on the other side in the Y direction does not overlap both the passing region PTa and the interference region PTb, the warning is not executed. However, in a case where one of the two operation panels 16 overlaps the passing area Pa or the interference area Ptb without distinguishing the two operation panels 16, both the two operation panels 16 may be caused to execute the warning.

In the example of fig. 7, the component mounter 1c is performing component mounting (i.e., the component mounter 1c does not make an emergency stop), and the door 14 of the component mounter 1c is also closed (i.e., the door sensor 141 outputs a closing signal). Therefore, the computing unit 71 determines that the component mounter 1c is not in the predetermined operation state (no in step S104), and returns to step S101. That is, the operation panel 16 of the component mounter 1c does not execute warning for notifying the operator of the approach of the AGV 5.

According to the embodiment described above, two operation panels 16 are provided in each of the plurality of component mounting machines 1, and a plurality of (the number of component mounting machines 1×2) operation panels 16 are provided in the substrate production system S. The plurality of operation panels 16 (warning devices) can perform warning notifying the operator OP1 to OP4 of the approach of the AGV 5. In contrast, the arithmetic unit 71 of the management computer 7 causes one operation panel 16 (object warning device) of the component mounter 1b selected from the plurality of operation panels 16 to perform warning based on the operation path information Idp (operation information) which is information on the operation of the AGV 5. That is, the operation panel 16 corresponding to the operation of the AGV5 among the plurality of operation panels 16 selectively performs the warning. Therefore, when the operator OP1 is present in the vicinity of the operation panel 16, the operator OP1 can be accurately warned. In this way, in the substrate production system S for producing the component mounting substrate by mounting the component E on the substrate B, the operator OP1 approaching the AGV5 can be accurately warned.

The arithmetic unit 71 selects the operation panel 16 (object warning device) for executing the warning based on the travel path information Idp (travel information) showing the travel path through which the AGV5 passes. In this configuration, the operation panel 16 appropriately selected according to the travel path of the AGV5 can be warned. As a result, the operator OP1 approaching the AGV5 can be accurately warned.

The board production system S further includes a plurality of component mounters 1 each for mounting the component E on the board B. In contrast, the computing unit 71 acquires mounting machine operation information Im (mounting machine information) concerning the operation condition of the component mounting machine 1, and selects the operation panel 16 for executing the warning based on the mounting machine operation information Im and the operation path information Idp. In this way, by using the mounting machine operation information Im in combination, it is possible to accurately warn the operator OP1 who is present in the vicinity of the component mounting machine 1.

Further, the positional relationship between the operator who performs the work on the component mounter 1 and the component mounter 1 can be estimated from the mounting machine operation information Im. This is because if the door 14 of the component mounter 1 is opened or the component mounter 1 is stopped in an emergency, there is a high possibility that an operator performs an operation at the component mounter 1. Therefore, by using the mounter operation information Im and the travel path information Idp, the operation panel 16 that performs warning can be selected based on the positional relationship between the component mounter 1 and the AGV5 in which the operator is in the vicinity. As a result, the operator who is present in the vicinity of the component mounter 1 where the AGV5 approaches can be accurately warned.

When an error occurs, the component mounter 1 executes an emergency stop for stopping the mounting of the components E on the board B. In contrast, the mounting machine operation information Im shows the component mounting machine 1 that performs the emergency stop. That is, with respect to the component mounter 1 that is performing emergency stop, there is a high possibility that an operator performs work. Therefore, by using the mounting machine operation information Im and the travel path information Idp showing the component mounting machine 1 that performs the emergency stop, the operation panel 16 that performs the warning can be selected based on the positional relationship between the component mounting machine 1 and the AGV5 in which the operator is in the vicinity. As a result, the operator who is present in the vicinity of the component mounter 1 where the AGV5 approaches can be accurately warned.

The component mounter 1 further includes a door 14 that can be opened and closed. In contrast, the mounting machine operation information Im shows the component mounting machine 1 with the door 14 opened. That is, with respect to the component mounter 1 in which the door 14 is opened, there is a high possibility that an operator performs work. Therefore, by using the mounting machine operation information Im and the travel path information Idp of the component mounting machine 1 in which the door 14 is opened, the operation panel 16 that performs warning can be selected based on the positional relationship between the component mounting machine 1 and the AGV5 in which the operator is in the vicinity. As a result, the operator who is present in the vicinity of the component mounter 1 where the AGV5 approaches can be accurately warned.

The operation panel 16 performs warning (display of a warning screen) by acting on the vision of the operator. That is, since the sound acting on the hearing of the operator is transmitted in all directions, it is not necessarily suitable for warning the operator. In contrast, by performing warning that acts on the vision of the operator using the operation panel 16, the warning can be accurately given to the operator who is the subject.

FIG. 8 is a flowchart showing a second example of the operation management of the AGV. The flowchart is executed by control of the arithmetic unit 71 based on the operation control program P. In this second example, the arithmetic unit 71 refers to the travel path information Idp stored in the storage unit 73 (step S201), and acquires the AGV position information Ia showing the position of the AGV5 (step S202). That is, the arithmetic unit 71 acquires the output of the encoder 551 of the AGV5 as the AGV position information Ia as described above. Thus, the arithmetic unit 71 can determine the current position of the AGV5 from the travel path indicated by the travel path information Idp.

In step S203, the arithmetic unit 71 determines whether or not the AGV5 has reached the standby position after passing through the component mounter 1 at the destination, based on the travel path information Idp and the AGV position information Ia. When it is determined that the AGV5 has reached the standby position (yes in step S203), the flowchart of fig. 8 is terminated. On the other hand, when it is determined that the AGV5 has not reached the standby position (no in step S203), the flow proceeds to step S204.

In step S204, the arithmetic unit 71 determines whether or not there is a component mounter 1 passing forward by the AGV5 among the plurality of component mounters 1 in the board production system S. Specifically, the arithmetic unit 71 determines the current position of the AGV5 from the travel path indicated by the travel path information Idp based on the AGV position information Ia. The calculating unit 71 determines whether or not the component mounter 1 passing the AGV5 in front based on the current position of the AGV5 and the position of each component mounter 1. The determination is performed based on the positional relationship between the pass region PTa and the interference region PTb and the operation panel 16, as in the case of the above-described example using fig. 7. Based on the determination result in step S204, steps S205 and S206 are executed in the same manner as steps 104 and S105 of the first example.

According to the embodiment described above, the arithmetic unit 71 selects the operation panel 16 for executing the warning based on the AGV position information Ia (carrier position information). In this configuration, the operation panel 16 appropriately selected according to the position of the AGV5 can be warned. As a result, the operator approaching the AGV5 can be accurately warned.

The AGV5 has a servomotor 55, and operates by the driving force of the servomotor 55. In contrast, the arithmetic unit 71 obtains the output of the encoder 551 of the servomotor 55 of the AGV5 as the AGV position information Ia. In this configuration, the position of the AGV5 can be accurately obtained by the output of the encoder 551 of the servo motor 55 of the AGV 5.

Fig. 9 is a plan view schematically showing a modification of the configuration for acquiring the position information of the AGV. That is, in the above example, the output of the encoder 551 of the servomotor 55 is acquired as the AGV position information Ia. In contrast, in the example of fig. 9, a position display 18 is laid on the mounting surface of the component mounter 1 in the board production system S. The position display 18 is, for example, a copper belt, and has a pattern corresponding to the position coordinates in the substrate production system S. On the other hand, the surrounding sensor 54 of the AGV5 includes a pattern sensor (position sensor) that reads the pattern of the position display 18. As the pattern sensor, a sensor that detects the proximity of copper can be used. The arithmetic unit 71 acquires the result of reading the pattern sensor as the AGV position information Ia. In this configuration, the position of the AGV5 can be accurately acquired by the detection result of the pattern sensor included in the surrounding sensor 54.

The AGV position information Ia indicating the position of the AGV5 may be obtained by a suitable method other than the above. For example, the output value of a GPS (Global Positioning System: global positioning system) receiver (position sensor) mounted on the AGV5 may be acquired as the AGV position information Ia.

FIG. 10 is a flowchart showing a third example of the operation management of the AGV. Fig. 11 is a block diagram showing the structure of a component mounter as a premise of operation management of the AGV shown in fig. 10.

The component mounter 1 shown in fig. 11 and 2 is different in configuration from each other in the presence or absence of an imaging system for imaging an operator. That is, in the component mounter 1 of fig. 11, imaging cameras Co that image an operator are disposed for the two doors 14, respectively. The imaging camera Co captures an image of the imaging range including the front of the corresponding door 14. Therefore, the imaging camera Co can image an operator who opens the corresponding door 14 and performs an operation. The image captured by the imaging camera Co may be either a still picture or a moving picture. The image of the operator captured by the imaging camera Co corresponds to operator position information Io showing that the operator is positioned in front of the door 14 corresponding to the imaging camera Co. For example, by attaching information showing the imaging camera Co that captured the imaging image to the imaging image and generating the operator position information Io, the arithmetic unit 71 or the like of the management computer 7 can confirm the position of the operator based on the operator position information Io. The controller 100 of the component mounter 1 further includes an imaging control unit 150 that controls the imaging camera Co, and the imaging control unit 150 transfers the operator position information Io (that is, an imaging image including the imaging camera Co of the operator) to the arithmetic processing unit 110. The flowchart of fig. 10 will be described on the premise of the component mounter 1 having the above-described structure.

The flowchart of fig. 10 showing the third example of the AGV operation management is executed by the control of the arithmetic unit 71 based on the operation control program P. In this third example, steps S301 to S303 are performed in the same manner as steps S101 to S103 of the first example of fig. 6. As a result, according to the example of fig. 7, it is determined that the AGV5 passes in front of the operation panel 16 of each of the component mounting machines 1b and 1c (step S303).

On the other hand, in step S304 following step S303, the computing unit 71 determines whether or not the imaging camera Co of the component mounter 1b, 1c matches the operator who performs the operation on the component mounter 1b, 1 c. Specifically, the arithmetic unit 71 performs image processing on the image captured by the imaging camera Co, and determines that there is an operator who performs work on the component mounter 1 within the imaging range of the imaging camera Co when the operator can be identified from the image. This determination can be performed based on the identification of the operator, and it is not necessarily required to confirm that the operator is actually performing the work.

In the example of fig. 7, the operator OP1 performs an operation on the component mounter 1 b. Specifically, the door 14 of the component mounter 1 adjacent to the operation panel 16 is opened, the operator OP1 performs an operation, and an image of the operator OP1 captured by the imaging camera Co corresponding to the door 14 is transmitted to the operation unit 71 of the management computer 7. The arithmetic unit 71 recognizes an operator included in the captured image received from the imaging camera Co. As described above, the captured image including the operator corresponds to the operator position information Io indicating the position of the operator.

Accordingly, the computing unit 71 determines that the worker performs the work on the component mounter 1b based on the worker position information Io (yes in step S304), and performs the warning on the component mounter 1b (step S305). Specifically, the arithmetic unit 71 displays the proximity of the AGV5 on the operation panel 16 of the component mounter 1 b. Therefore, the operator OP1 who performs the work on the component mounter 1b can recognize the approach of the AGV5 by visually checking the display of the operation panel 16. In this way, after the warning is executed in step S305, the flow returns to step S301.

The component mounter 1b has two operation panels 16. In contrast, in the example of fig. 7, since the operation panel 16 on one side in the Y direction of the two operation panels 16 overlaps at least one of the passing region PTa and the interference region PTb, the warning is executed, and since the operation panel 16 on the other side in the Y direction does not overlap both the passing region PTa and the interference region PTb, the warning is not executed. However, as described above, when one of the two operation panels 16 overlaps the pass region Pa or the interference region Ptb without distinguishing the two operation panels 16, both the two operation panels 16 may be caused to execute the warning.

In the example of fig. 7, no worker is working on the component mounter 1c, and the image captured by the imaging camera Co of the component mounter 1c does not include the worker. Therefore, the operation unit 71 determines that there is no worker who works the component mounter 1c (no in step S304), and returns to step S301.

According to the embodiment described above, the operation unit 71 selects the operation panel 16 for executing the warning based on the operator position information Io (based on the image captured by the imaging camera Co) and the travel path information Idp concerning the position of the operator. That is, based on the operator position information Io, the component mounter 1 in which the operator is in the vicinity can be confirmed. Therefore, by using the operator position information Io and the travel path information Idp of the AGV5, the operation panel 16 that performs warning can be selected based on the positional relationship between the component mounter 1 and the AGV5 in which the operator is in the vicinity. As a result, the operator who is present in the vicinity of the component mounter 1 where the AGV5 approaches can be accurately warned.

The component mounter 1 further includes an imaging camera Co (first operator sensor) that images (detects) an operator. The worker position information Io shows the component mounter 1 that has captured the worker by the imaging camera Co. In this configuration, the component mounter 1 in which the worker is in the vicinity can be confirmed based on the worker position information Io showing the component mounter 1 of the worker captured by the imaging camera Co. Therefore, by using the operator position information Io and the travel path information Idp of the AGV5, the operation panel 16 that performs warning can be selected based on the positional relationship between the component mounter 1 and the AGV5 in which the operator is in the vicinity. As a result, the operator who is present in the vicinity of the component mounter 1 where the AGV5 approaches can be accurately warned.

FIG. 12 is a flowchart showing a fourth example of the operation management of the AGV. The flowchart is executed by control of the arithmetic unit 71 based on the operation control program P. In this fourth example, the arithmetic unit 71 executes steps S401 to 404 in the same manner as steps S201 to S204 in the second example of fig. 8. That is, the calculation unit 71 determines whether or not the component mounter 1 has passed in front of the operation panel 16 of the respective component mounters 1 by the AGV5 based on the current position of the AGV5 and the position of the operation panel 16 of the respective component mounters 1 determined from the AGV position information Ia in the travel path shown by the travel path information Idp (step S404).

The arithmetic unit 71 executes steps S405 and S406 in the same manner as steps S304 and S305 in fig. 10. That is, when it is determined that there is a component mounter 1 that is performing work by the worker based on the worker position information Io acquired by the imaging camera Co (yes in step S405), the operation unit 71 causes the operation panel 16 of the component mounter 1 to execute warning (step S406).

The operation unit 71 selects the operation panel 16 for executing the warning based on the operator position information Io and the travel path information Idp concerning the position of the operator. By using the operator position information Io and the travel path information Idp of the AGV5 in this way, the operation panel 16 for executing the warning can be selected based on the positional relationship between the component mounter 1 and the AGV5 in which the operator is in the vicinity. As a result, the operator who is present in the vicinity of the component mounter 1 where the AGV5 approaches can be accurately warned.

The method for acquiring the operator position information Io is not limited to the method based on the camera Co described above. That is, the component mounter 1 has an operation panel 16 (user interface) that receives an operation of an operator. Therefore, the operator position information Io may be information indicating the component mounter 1 whose operation panel 16 is operated by the operator. In this configuration, the component mounter 1 in which the operator is in the vicinity can be confirmed based on the operator position information Io of the component mounter 1 showing that the operator is operating the operation panel 16. Therefore, by using the operator position information Io and the operation information (the operation path information Idp, the AGV position information Ia) of the AGV5, the operation panel 16 for executing the warning can be selected based on the positional relationship between the component mounter 1 and the AGV5 in which the operator is in the vicinity. As a result, the operator who is present in the vicinity of the component mounter 1 where the AGV5 approaches can be accurately warned.

The operator can carry the portable terminal device shown in fig. 13. Fig. 13 is a block diagram showing the configuration of a portable terminal device carried by an operator. The portable terminal device 8 includes an arithmetic unit 81 which is a processor including a CPU or the like, a communication unit 82 which performs communication with an external device, and a UI83. The communication section 82 performs communication with the communication section 140 of the component mounter 1 by wireless. The UI83 is configured by, for example, a touch panel display, displays an operation screen to an operator carrying the mobile terminal device 8, and accepts an operation of the operator on the operation screen. In particular, the UI83 displays information received by the communication unit 82 from the component mounter 1 on the operation screen, and the communication unit 82 can transmit information input by the operator on the operation screen of the UI83 to the component mounter 1. The mobile terminal device 8 is provided with a vibration generator 84, and the vibration generator 84 generates vibrations, so that notification can be performed to an operator carrying the mobile terminal device 8.

When the worker carries such a portable terminal device 8, the worker position information Io may be information showing the component mounter 1 that communicates with the portable terminal device 8 (communication device). In this configuration, the component mounter 1 in the vicinity of the worker can be confirmed based on the worker position information Io indicating the component mounter 1 in communication with the portable terminal device 8 carried by the worker. Therefore, by using the operator position information Io and the operation information (the operation path information Idp, the AGV position information Ia) of the AGV5, the operation panel 16 for executing the warning can be selected based on the positional relationship between the component mounter 1 and the AGV5 in which the operator is in the vicinity. As a result, the operator who is present in the vicinity of the component mounter 1 where the AGV5 approaches can be accurately warned.

Alternatively, the surrounding sensor 54 of the AGV5 may be used to acquire the operator position information Io. In this example, the surrounding sensor 54 of the AGV5 detects the position of the worker facing the component mounter 1. Specifically, the ambient sensors 54 perform mapping of the ambient environment via the LIDAR. As a result of this mapping, the surrounding sensor 54 generates worker position information Io by calculating the position of the worker when the worker is detected. The arithmetic unit 71 of the management computer 7 acquires the operator position information Io from the surrounding sensor 54 of the AGV 5.

In this example, the component mounter 1 in which the worker is in the vicinity can be confirmed based on worker position information Io indicating the position of the worker detected by the surrounding sensor 54 (second worker sensor) of the AGV 5. Therefore, by using the operator position information Io and the operation information (the operation path information Idp, the AGV position information Ia) of the AGV5, the operation panel 16 for executing the warning can be selected based on the positional relationship between the component mounter 1 and the AGV5 in which the operator is in the vicinity. As a result, the operator who is present in the vicinity of the component mounter 1 where the AGV5 approaches can be accurately warned.

FIG. 14 is a flowchart showing a fifth example of the operation management of the AGV. The flowchart is executed by control of the arithmetic unit 71 based on the operation control program P. In this fifth example, the arithmetic unit 71 executes steps S501 to 503 in the same manner as steps S201 to S203 in the second example of fig. 8. That is, the arithmetic unit 71 refers to the travel path information Idp (step S501), acquires the AGV position information Ia (step S502), and determines whether or not the AGV5 has reached the standby position after passing through the component mounter 1 at the destination (step S503).

When the AGV5 does not reach the standby position (no in step S503), the arithmetic unit 71 determines whether or not the surrounding sensor 54 detects an operator within a predetermined range from the AGV5 (step S504). The predetermined range can set a range in which the pass region PTa and the interference region PTb exist, for example, as shown in fig. 7. When the surrounding sensor 54 does not detect the operator within a predetermined range from the AGV5 (no in step S504), the flow returns to step S502.

On the other hand, when the surrounding sensor 54 of the AGV5 detects the worker (yes in step S504), the surrounding sensor 54 transmits worker position information Io indicating the position of the worker to the communication unit 72 of the management computer 7, and the calculation unit 71 confirms the position of the worker based on the worker position information Io received by the communication unit 72.

In step S505, the arithmetic unit 71 determines whether or not the worker is present in the travel path based on the position of the worker and the travel path indicated by the travel path information Idp. If the operator is not in the travel path (no in step S505), the routine returns to step S502. On the other hand, when the operator is in the path (yes in step S505), the arithmetic unit 71 determines whether or not the operator is present in front of the component mounter 1 (step S506). Specifically, the presence or absence of an operator in front of the component mounter 1 (the adjacent component mounter 1) existing within a predetermined range from the operator among the plurality of component mounters 1 is checked.

The presence or absence of the operator can be performed by various methods. For example, as in step S104 of the first example of fig. 6, it can be determined that the operator is in front of the adjacent component mounter 1 in order to work on the adjacent component mounter 1 in a predetermined operation state. Alternatively, as in step S304 of the third example of fig. 10, by identifying the operator who performs the operation on the neighboring component mounter 1 based on the image captured by the imaging camera Co of the neighboring component mounter 1, it can be determined that the operator is in front of the neighboring component mounter 1.

When it is determined that the operator is in front of the adjacent component mounter 1 (yes in step S506), the operation unit 71 causes the operation panel 16 of the adjacent component mounter 1 to perform warning (step S506). At this time, the operation unit 71 causes the operation panel 16 located on the side where the operator is present out of the two operation panels 16 of the component mounter 1 to execute warning.

In the embodiment thus configured, a plurality of operation panels 16 are also provided in the substrate production system S, and the warning is executed on the operation panel 16 selected from the plurality of operation panels 16 based on the travel path information Idp showing the travel path of the AGV 5. That is, the operation panel 16 corresponding to the operation of the AGV5 among the plurality of operation panels 16 selectively performs the warning. Therefore, when an operator is present in the vicinity of the operation panel 16, the operator can be accurately warned. In this way, in the substrate production system S for producing the component mounting substrate by mounting the component E on the substrate B, the operator approaching the AGV5 can be accurately warned.

The arithmetic unit 71 selects the operation panel 16 for executing the warning based on the travel path information Idp showing the travel path through which the AGV5 passes. In this configuration, the operation panel 16 appropriately selected according to the travel path of the AGV5 can be warned. As a result, the operator approaching the AGV5 can be accurately warned.

The operation unit 71 selects the operation panel 16 for executing the warning based on the operator position information Io and the travel path information Idp concerning the position of the operator. In this configuration, the component mounter 1 in which the worker is in the vicinity can be confirmed based on the worker position information Io concerning the position of the worker. Therefore, by using the operator position information Io and the travel path information Idp of the AGV5, the operation panel 16 that performs warning can be selected based on the positional relationship between the component mounter 1 and the AGV5 in which the operator is in the vicinity. As a result, the operator who is present in the vicinity of the component mounter 1 where the AGV5 approaches can be accurately warned.

In particular, the AGV5 includes a surrounding sensor 54 for detecting the position of the operator, and the arithmetic unit 71 acquires the detection result of the surrounding sensor 54 as the operator position information Io. In this configuration, the component mounter 1 in which the worker is in the vicinity can be confirmed based on the worker position information Io indicating the position of the worker detected by the surrounding sensor 54 of the AGV 5. By using the operator position information Io and the travel path information Idp of the AGV5 in this way, the operation panel 16 for executing the warning can be selected based on the positional relationship between the component mounter 1 and the AGV5 in which the operator is in the vicinity. As a result, the operator who is present in the vicinity of the component mounter 1 where the AGV5 approaches can be accurately warned.

As described above, in the above-described embodiment, the substrate B corresponds to an example of the "substrate" of the present invention, the element E corresponds to an example of the "element" of the present invention, the substrate production system S corresponds to an example of the "substrate production system" of the present invention, the AGV5 corresponds to an example of the "automated guided vehicle" of the present invention, the travel path information Idp and the AGV position information Ia correspond to an example of the "travel information" of the present invention, the operation unit 71 corresponds to an example of the "acquisition unit" of the present invention, the operation panel 16 corresponds to an example of the "warning device" of the present invention, the operation panel 16 for executing a warning corresponds to an example of the "subject warning device" of the present invention, the operation unit 71 corresponds to an example of the "control unit" of the present invention, the management computer 7 corresponds to an example of the "warning management device" of the present invention, the travel path information Idp corresponds to an example of the "travel path information" of the present invention, the AGV position information Ia corresponds to an example of the "carrier position information" of the present invention, the servo motor 55 corresponds to an example of the "motor" of the present invention, the encoder 551 corresponds to an example of the "encoder" of the present invention, the surrounding sensor 54 corresponds to an example of the "position sensor" of the present invention, the component mounter 1 corresponds to an example of the "component mounting association line" of the present invention, the mounter operation information Im and the operator position information Io correspond to an example of the "mounting association machine information" of the present invention, the operator position information Io corresponds to an example of the "operator position information" of the present invention, the operation panel 16 corresponds to an example of the "user interface" of the present invention, the camera Co corresponds to an example of the "first operator sensor" of the present invention, the portable terminal device 8 corresponds to an example of the "communication apparatus" of the present invention, the peripheral sensor 54 corresponds to an example of the "second operator sensor" of the present invention, the mounting machine operation information Im corresponds to an example of the "mounting-related on-line operation information" of the present invention, the door 14 corresponds to an example of the "door" of the present invention, the operation control program P corresponds to an example of the warning management program of the present invention, the management computer 7 corresponds to an example of the "computer" of the present invention, the operation control program P corresponds to an example of the "operation control program" of the present invention, and the recording medium M corresponds to an example of the "recording medium" of the present invention.

The present invention is not limited to the above-described embodiments, and various modifications may be made to the above-described embodiments without departing from the spirit thereof. For example, the warning screen displayed to the operator may be changed as appropriate. Fig. 15 is a diagram schematically showing a modification of the warning screen displayed to the operator. In this modification, the screen of fig. 15 is displayed by the control computer 7 controlling the operation panel 16 for executing the warning.

Specifically, the operation panel 16 that performs warning displays "the AGV is approaching from the right side". Thus, the position of the AGV5 relative to the operator (i.e., the right side of the operator) is shown on the warning screen. The warning-executing operation panel 16 displays a button ("yes" button) for allowing the operator to input whether or not the approaching AGV5 is allowed to pass. When the operator operates the yes button to permit the passage of the AGV5, a passage permit command is transmitted from the component mounter 1 to the management computer 7. After confirming the passage permission command, the arithmetic unit 71 of the management computer 7 causes the AGV5 to continue operating. On the other hand, when the operator does not operate the yes button for a predetermined period of time, a passage prohibition instruction is transmitted from the component mounter 1 to the management computer 7. The arithmetic unit 71 of the management computer 7 confirms the passage prohibition instruction and then stops the AGV 5.

In this way, the operation unit 71 causes the operation panel 16 (object warning device) to confirm the operation permission of the AGV5 to the operator, and causes the AGV5 to continue to operate when the operator allows the AGV5 to operate, while causing the AGV5 to stop when the operator does not allow the AGV5 to operate. In this configuration, the operation of the AGV5 approaching the worker can be appropriately managed according to the intention of the worker.

The operation unit 71 causes the operation panel 16 (object warning device) to notify the operator of the position of the AGV 5. In this configuration, the operator can grasp the position of the AGV5 approaching the operator and take appropriate measures.

The method of determining whether or not the AGV5 passes in front of the component mounter 1 is not limited to the example shown in fig. 7. Therefore, for example, the determination can be performed according to the following modification. In this modification, the worker inputs the positional relationship between the AGV5 and the component mounter 1, which is determined to be passing in front of the component mounter 1, into the UI74 of the management computer 7 in advance, and stores the inputted positional relationship in the storage 73. When the AGV5 and the component mounter 1 satisfy the positional relationship during the operation of the AGV5, the arithmetic unit 71 determines that the AGV5 passes in front of the component mounter 1.

Further, the main body that performs the warning showing the approach of the AGV5 is not limited to the operation panel 16. Therefore, the warning can be executed by the warning lamp 15 provided in the component mounter 1 or the portable terminal device 8. When the warning is performed by the warning lamp 15, the warning lamp 15 of the component mounter 1 determined in steps S103, S204, S303, S404 that the AGV5 passes in front of the operation panel 16 thereof is turned on. Alternatively, the warning lamp 15 of the component mounter 1 determined in step S506 to be in front of the worker is turned on.

When the warning is to be executed by the portable terminal device 8, the portable terminal device 8 of the worker who determines in steps S103, S204, S303, S404 that the AGV5 is present at the one of the two sides in the Y direction of the component mounter 1 through which the AGV5 passes in front of the operation panel 16 thereof is caused to execute the warning. Alternatively, the portable terminal device 8 of the worker determined to be present at the side through which the AGV5 passes out of the two sides in the Y direction of the component mounter 1 of the worker in front of the worker in step S506 is caused to execute the warning. The management computer 7 can confirm the position of the operator by, for example, the output value of the GPS receiver mounted on the portable terminal device 8 carried by the operator. The portable terminal device 8 of the worker present on the side where the AGV5 passes corresponds to the portable terminal device 8 present in at least one of the passing area PTa and the interference area PTb in fig. 7.

The warning scheme is not limited to the scheme for acting on the vision of the operator. For example, in the case of causing the portable terminal device 8 to execute the warning, the warning may be executed by applying vibration to the operator from the vibration generator 84, that is, by applying a tactile sensation to the operator. Alternatively, the operator may be warned by providing a speaker in the operation panel 16 or the portable terminal device 8 in advance and notifying the AGV5 of the approach by the sound of the speaker. In this case, the names of the operators may be notified in a voice.

The technique that can be used for detecting the surrounding environment by the surrounding sensor 54 is not limited to LIDAR. For example, a camera, a stereo camera, a ToF (Time of Flight) sensor, or an ultrasonic sensor can be used for detection of the surrounding environment by the surrounding sensor 54.

The specific structure of the component mounter 1 may be changed as appropriate. For example, the number of the operation panels 16 provided in the component mounter 1 is not limited to two, and may be one or three or more.

The positional relationship between the component mounter 1 and the AGV5 is not necessarily determined with reference to the operation panel 16, and may be determined with reference to the door 14, for example.

In the above-described example, the component mounter 1 that performs the operation of mounting components onto the board B corresponds to an example of the "component mounting-related line" of the present invention. However, a specific example of the component mounting-related line is not limited to the component mounter 1, and may be a solder printer that performs a job of printing solder on the substrate B, such as the printing apparatus described in WO2019/234819 (US 2021/012152). The operation panel 16 can be provided in the solder printer as in the case of the component mounter 1, and the operation panel 16 can be made to function as a "warning device" or a "user interface". In addition, the door sensor 141, the warning lamp 15, the communication unit 140, the imaging camera Co, and the like can be provided in the solder printer as in the case of the component mounter 1. In the substrate production system S including the substrate production line L in which the solder printer and the component mounter 1 are arranged in series, the operation control of the AGV can be executed as described above. The component mounting-related machine includes a solder inspection machine that inspects the substrate B on which the solder is printed, a mounting inspection machine that inspects the substrate B on which the component is mounted, a reflow furnace that melts the solder printed on the substrate B, and the like, and the above-described embodiments can be similarly applied to these.

Description of the reference numerals

1 … component mounting machine

14 … door

16 … operation panel

5…AGV

54 … ambient sensor

55 … servo motor

551 … encoder

7 … management computer

71 and … arithmetic unit

8 … portable terminal device

B … substrate

Co … camera

E … element

Ia … AGV position information

Idp … path information

Im … mounting machine operation information

Io … operator position information

S … substrate production system

M … recording Medium M

P … run control program P

Claims

1. A warning management device is provided with:

an acquisition unit that acquires operation information regarding operation of an automated guided vehicle that carries a component used for producing a component-mounted substrate in a substrate production system that produces the component-mounted substrate by mounting the component on the substrate; and

and a control unit configured to cause an object warning device selected from a plurality of warning devices used in the substrate production system to execute a warning based on the operation information.

2. The warning management device of claim 1, wherein,

the travel information includes travel path information indicating a travel path through which the automated guided vehicle passes,

the control unit selects the object warning device based on the travel path information.

3. The warning management device of claim 2, wherein,

the travel information includes truck position information relating to a position of the automated guided vehicle on the travel path,

the control unit selects the object warning device based on the vehicle position information.

4. The warning management device of claim 3, wherein,

the automated guided vehicle has a motor, is operated by a driving force of the motor,

the acquisition unit acquires, as the vehicle position information, an output of an encoder of the motor of the automated guided vehicle.

5. The warning management device of claim 3, wherein,

the acquisition unit acquires, as the vehicle position information, a detection result of a position sensor that detects a position of the automated guided vehicle.

6. The warning management device according to any one of claims 1 to 5, wherein,

the substrate production system includes a plurality of component mounting-related lines that share operations performed on the substrates for producing component mounting substrates,

the acquisition unit acquires mounting related machine information on the component mounting related line,

The control section selects the object warning device based on the installation correlator information and the run information.

7. The warning management device of claim 6, wherein,

the mounting-related on-line information includes operator position information regarding a position of an operator capable of performing an operation on the component mounting-related machine,

the control unit selects the object warning device based on the worker position information and the operation information.

8. The warning management device of claim 7, wherein,

the component mounting correlator has a user interface that accepts an operator's operation,

the operator position information shows the component mounting-related line in which the user interface is being operated by an operator.

9. The warning management device of claim 7 or 8, wherein,

the component mounting association line has a first operator sensor for detecting an operator,

the worker position information shows that the first worker sensor detects the component mounting-related line of the worker.

10. The warning management device according to any one of claims 7 to 9, wherein,

the worker position information shows the component mounting-related line communicating with a communication device carried by the worker.

11. The warning management device according to any one of claims 7 to 10, wherein,

the automated guided vehicle has a second operator sensor for detecting the position of an operator,

the acquisition unit acquires a detection result of the second operator sensor as the operator position information.

12. The warning management device according to any one of claims 6 to 11, wherein,

the mounting-related line information includes mounting-related line operation information related to an operation condition of the component mounting-related line,

the control unit selects the object warning device based on the installation-related online operation information and the operation information.

13. The warning management device of claim 12, wherein,

the component mounting-related line performs an emergency stop for stopping the work to be carried out on the substrate in the event of an error,

the mounting-related-line operation information shows the component mounting-related line that performs the emergency stop.

14. The warning management device of claim 12 or 13, wherein,

the component mounting and closing machine has a door capable of opening and closing,

the mounting-related-line operation information shows the component mounting-related line in which the door is opened.

15. The warning management device according to any one of claims 1 to 14, wherein,

the warning device performs warning by acting on the vision or touch of the operator.

16. The warning management device according to any one of claims 1 to 15, wherein,

the control unit causes the object warning device to confirm the operation permission of the automated guided vehicle to an operator, causes the automated guided vehicle to continue to operate when the operator permits the automated guided vehicle to operate, and causes the automated guided vehicle to stop when the operator does not permit the automated guided vehicle to operate.

17. The warning management device according to any one of claims 1 to 16, wherein,

the control unit causes the object warning device to notify an operator of the position of the automated guided vehicle.

18. A warning management method comprising the steps of:

acquiring operation information regarding operation of an automated guided vehicle that carries a component used for producing a component mounting substrate in a substrate production system that produces the component mounting substrate by mounting the component on the substrate; and

and causing an object warning device selected from a plurality of warning devices used in the substrate production system based on the operation information to execute warning.

19. A warning management program causes a computer to execute:

20. A recording medium in which the warning management program according to claim 19 is recorded in a manner readable by a computer.