DE112021007260T5 - Alert control device, alert control method, alert control program and storage medium - Google Patents

Abstract

Computing unit 71 of a control computer 7, which causes the control panel 16 (target warning device) selected from several control panels 16 of an assembly machine 1b based on the route information (Idp) (driving operation information) to drive a driverless transport vehicle (AGV) 5 to issue a warning message. In this way, a precise warning message can be issued to the operating personnel OP1 who is in the vicinity of the corresponding control panel 16. In a circuit board production system S for the production of populated circuit boards by equipping the circuit boards B with components E, it is therefore possible to precisely warn the operating personnel OP1, to whom the AGV 5 is approaching.

Description

Technical part

This invention relates to a technique for controlling warning messages to operators by means of a warning device used in circuit board manufacturing plants for producing populated circuit boards by mounting components on the circuit boards.

State of the art

Patents 1 and 2 disclose technologies for controlling the operation of automated guided vehicles (AGVs) at locations where operators are present. Patent Document 1 specifically discloses a technology for controlling the movement of an AGV depending on the distance between the operator and the AGV. Patent Document 2 discloses a technology in which either the obstacle sensor system is switched off and the AGV is driven at high speed if there are no operators in the driving range of the AGV, or the obstacle sensor system is switched on and the AGV is driven at low speed if there are operators in the driving range of the AGV is located. State of the art documents

Patent literature

• Patent Literature 1: Patent Publication No. 2002-132348
• Patent Literature 2: Patent Publication No. 2000-187513

Summary of the invention

Task to be solved by the invention

In circuit board manufacturing systems for the production of circuit boards that are equipped with components, work processes occur in which the components used for the production of circuit boards equipped with components and various parts are transported by feeders that supply the components in question. Therefore, consideration is being given to having such parts transported using the aforementioned AGVs. If operating personnel and AGVs are in a circuit board production facility at the same time, a warning device provided in the circuit board production facility will trigger a warning message to the operating personnel about the presence of an AGV. However, such warnings must be precise for operators approaching the AGV. The reason is that as a result of repeated experiences in which the approach of the AGV was not noticed despite the warning message, the operating personnel become insensitive to the warning messages and the effect of the warning message is lost.

This invention was made in view of the above-mentioned objects and has the aim of enabling, in circuit board manufacturing plants for the production of circuit boards to be loaded with components, the issuance of a clear warning message to operating personnel to whom an AGV is approaching.

Technical solution

The warning message control device according to the invention comprises, in the circuit board production system for the production of circuit boards equipped with components, a detection unit for recording driving operation information relating to the driving operation of AGVs when transporting components that are used for the production of component-equipped circuit boards, and a control unit that generates a warning message to a target warning device selected based on driving operation information from the plurality of warning devices used in the circuit board production system.

The warning message control method according to the invention includes the step of acquiring driving operation information of the AGV for transporting parts used for the production of component-equipped circuit boards in a circuit board production plant and the step of transmitting warning messages to a target warning device selected from among many warning devices based on the driving operation information.

The warning message control program according to the invention has the step of acquiring driving operation information about the driving operation of the AGV for the transport of the components used for production in a circuit board production system for the production of assembled circuit boards and the step of transmitting warning messages to one of several target warning devices selected based on the driving operation information carried out in the circuit board manufacturing plant by a computer.

The storage medium according to the invention stores the warning message control program in computer-readable form.

According to the invention thus conceived (alert control device, alert control method, alert control program and storage medium), a plurality of alert control devices are installed in the circuit board manufacturing plant and executes one of a plurality of alert devices based on driving operation information The target warning device selected for driving operation of the AGV will issue the warning. The target warning device corresponding to the driving operation of the AGV among the several warning devices executes the warning message selectively. This means that if operators are in the vicinity of the target warning device, a precise warning message can be sent to them. In this way, it is possible to transmit a precise warning message to operating personnel who are approaching an AGV in circuit board production systems for the production of assembled circuit boards.

The warning message control device can also be constructed in such a way that the driving operation information contains travel route information about the travel routes driven by the AGVs and the control unit selects a target warning device based on this travel route information. In this configuration, warning messages can be sent to target warning devices that have been selected appropriately according to the AGV's route. Consequently, it becomes possible to provide accurate warning messages to operators approaching an AGV.

The warning notification control device may also be constructed such that the driving operation information includes position information of the transport vehicles relating to the position of AGVs on the travel route, and the control unit selects a target warning device based on this position information. In this configuration, alerts can be executed to target alert devices that are appropriately selected according to the position of the AGVs. Consequently, it becomes possible to provide accurate warning messages to operators approaching an AGV.

Further, the warning control device may also be constructed such that the AGV has a motor and is driven by the motor, and the detection unit detects the output of the encoder of the AGV motor as position information of the transport vehicle. In this configuration, the AGV position can be precisely detected using the encoder output of the AGV motor.

The warning message control device can also be constructed in such a way that the detection unit detects an AGV position recognized by a position sensor as position information of the transport vehicle. In such a configuration, the position of the AGV can be precisely determined based on the detection results of the position sensor.

The warning message control device can also be constructed in such a way that the board manufacturing system includes a plurality of component assembly reference machines that share the work on the boards for the production of assembled boards and the detection unit acquires the component assembly reference machine information regarding the component assembly reference machines, and the control unit based on the component assembly reference machine information and driving information selects the target warning device. Consequently, it is possible to issue precise warning messages to operators located in the vicinity of component mounting reference machines by parallel use of component mounting reference machine information relating to the component mounting reference machines.

For example, the alert control device may also be constructed such that the component mounting reference machine information includes operator position information relating to the position of operators who can perform work on the component mounting reference machines, and the control unit sets a target based on operator position information and driving operation information -Select warning device. In this configuration, the operator position information about the position of the operator can be used to identify component assembly reference machines near which operators are located. Accordingly, using the operator position information and driving operation information, target warning devices can be selected based on the positional relationship between component mounting reference machines near which operators are located and the AGVs. Consequently, it becomes possible to issue precise alerts to operators located near component pick-and-place machines that AGVs are approaching.

The alert control device may also be constructed such that the component placement reference machines have a user interface that receives input from the operator and the operator position information shows the component placement reference machines whose user interface is operated by the operator. In this configuration, component assembly reference machines near which operators are present can be recognized based on the operator position information indicating the component assembly reference machines whose user interface is operated by operators. Accordingly, by using the operator position information and the driving operation information of the AGV, a target warning device can be selected based on the positional relationship of component mounting reference machines near which operators are located and the AGV. Consequently, it becomes possible to provide precise warning messages to operating personnel output that is located near component placement machines that AGVs approach.

The alert control device may also be configured such that the component placement reference machine has a first personnel sensor that detects the operator, and the operator position information displays the component placement reference machine on which the first personnel sensor has recognized operators. In this configuration, component placement reference machines near which operators are present can be recognized based on the operator position information indicating the component placement reference machines whose first personnel sensor has detected operators. Accordingly, by using the operator position information and the driving operation information of the AGV, a target warning device can be selected based on the positional relationship of component mounting reference machines near which operators are located and the AGV. Consequently, it becomes possible to issue precise alerts to operators located near component pick-and-place machines that AGVs are approaching.

The alert control device may also be constructed so that the operator position information displays the component placement reference machines communicating with a communication device carried by the operator. In this configuration, component placement reference machines near which operators are located can be recognized based on the operator position information on the component placement reference machine that communicates with the communication device carried by the operator. Accordingly, by using the operator position information and the driving operation information of the AGV, a target warning device can be selected based on the positional relationship of component mounting reference machines near which operators are located and the AGV. Consequently, it becomes possible to issue precise alerts to operators located near component pick-and-place machines that AGVs are approaching.

The warning message control device can also be constructed such that the AGVs have a second personnel sensor for detecting the position of operators and the detection unit records the detection results of the second personnel sensor as operator position information. In this configuration, component assembly reference machines near which operators are located can be recognized based on the operator position information on the position of operators detected by the second personnel sensor of the AGV. Accordingly, by using the operator position information and the driving operation information of the AGV, a target warning device can be selected based on the positional relationship of component mounting reference machines near which operators are located and the AGV. Consequently, it becomes possible to issue precise alerts to operators located near component pick-and-place machines that AGVs are approaching.

The warning message control device can also be constructed such that the component assembly reference machine information includes component assembly reference machine operating state information on the operating state of the component assembly reference machines, and the control unit selects a target warning device based on the component assembly reference machine operating state information and the driving operation information. Namely, the positional relationship between the operating personnel working on the component placement reference machines and the component placement reference machines can be derived from the component placement reference machine operating status information. Accordingly, by using the component mounting reference machine operating state information and the driving operation information of the AGV, a target warning device can be selected based on the positional relationship of component mounting reference machines near which operators are located and the AGV. Consequently, it becomes possible to issue precise alerts to operators located near component pick-and-place machines that AGVs are approaching.

The warning message control device may also be constructed so that the component assembly reference machines perform an emergency shutdown of the work on the boards for which they are responsible when an error occurs, and the component assembly reference machine operating status information identifies the component assembly reference machines that perform an emergency shutdown. There is a high probability that operating personnel will carry out work on component assembly machines in the event of an emergency shutdown. Accordingly, by using the component mounting reference machine operating state information that executes an emergency shutdown and driving operation information based on the positional relationship of component mounting reference machines near which operators are located and the AGV a target warning device can be selected. Consequently, it becomes possible to issue precise alerts to operators located near component pick-and-place machines that AGVs are approaching.

Further, the warning control device may also be constructed such that the component mounting reference machines have doors that can be opened and closed, and the component placement reference machine operating status information displays the component placement reference machines with the door opened. There is a high probability that operating personnel will carry out work on a component placement machine whose doors are open. Accordingly, by using the component mounting reference machine operating state information on mounting machines whose doors are opened and driving operation information based on the positional relationship of component mounting reference machines near which operators are located and the AGV, a target warning device can be selected. Consequently, it becomes possible to issue precise alerts to operators located near component pick-and-place machines that AGVs are approaching.

The alert control device may also be constructed such that the alert device initiates alerts by acting on the visual or tactile senses of the operator. Noises that affect the operator's sense of hearing are not always suitable for warning the affected personnel, as they spread in all directions. In contrast, alerts that act on the operator's visual or tactile senses can accurately convey alerts to the affected operator.

The warning message control device can also be constructed in such a way that the control part causes the target warning device to confirm the approval for the driving operation of the AGV by the operating personnel and the driving operation of the AGV is resumed when the operating personnel release it, or the Driving of the AGV stops if the operating staff does not release it. In this configuration, the driving operation of an AGV approaching the operator can be appropriately controlled according to the request of the operator.

Furthermore, the warning message control device can also be configured so that the control unit issues messages to operators in/above the position of the AGV to the target warning device. In this configuration, the operator can detect the position of the AGV approaching them and take appropriate action.

Advantageous effects of the invention

According to this invention, it becomes possible to transmit precise warning messages to operating personnel who are approaching an AGV in circuit board production systems for the production of populated circuit boards by equipping circuit boards with components.

Brief explanation of the characters

• 1 : Schematic top view of the structure of an exemplary assembly machine
• 2 : Block diagram of the electrical structure of the pick and place machine in 1
• 3 : Schematic top view of an exemplary circuit board production system with the assembly machine in 1 Is provided.
• 4 : Block diagram of the structure of an example AGV
• 5 : Block diagram of the structure of an exemplary control computer
• 6 : Flowchart of a first exemplary AGV driving operation control
• 7 : Schematic top view of a situation in which an AGV drives past the control panel of a pick and place machine.
• 8th Flowchart of a second exemplary AGV driving operation control
• 9 : Schematic top view of a variant of the structure for recording the AGV position information
• 10 : Flowchart of a third exemplary AGV driving operation control
• 11 : Block diagram of the structure of a pick-and-place machine that incorporates the AGV driving operation control 10 assumes
• 12 : Flowchart of a fourth exemplary AGV driving operation control
• 13 : Block diagram of the structure of a portable terminal carried by the operator
• 14 : Flowchart of a fifth exemplary AGV driving operation control
• 15 : Schematic view of a variant of a warning screen that is displayed to the operating personnel

Description of the embodiments

1 shows the schematic top view of the structure of an example of the assembly machine according to the invention. 2 is a block diagram showing the electrical configuration of the pick and place machine 1 shows. In 1 and the following figures, the X direction (ie, horizontal direction), the Y direction (ie, horizontal direction orthogonal to the X direction), and the Z direction (ie, vertical direction) are appropriately marked.

As in 2 shown, the assembly machine 1 includes a controller 100, which comprehensively controls the entire machine. The controller 100 includes a storage unit 120, consisting of an arithmetic processing unit 110, ie the processor consisting of CPU (Central Processing Unit) and RAM (Random Access Memory) as well as an HDD (Hard Disk Drive) or SSD (Solid State Drive) hard drive , and has a drive control 130 that controls the drive systems of the assembly machines 1. The arithmetic processing unit 110 controls the drive controller 130 according to a mounting program stored in the storage unit 120, thereby performing mounting according to the method specified by the mounting program. The controller 100 has a communication unit 140 for communicating with external devices. Communication via this communication unit 140 can be either wired or wireless.

As in 1 shown, the assembly machine 1 is equipped with a conveyor section 12 which transports a board B in the X direction (board transport direction). This conveyor section 12 has a pair of conveyors 121 arranged parallel on the base 11 in the X direction and transports the board B in the X direction along the conveyors 121. The distance between the conveyors 121 can be in the Y direction orthogonal to the X direction (Width direction) can be changed and the conveyor section 12 adjusts the distance between the conveyors 121 according to the width of the board B to be transported. The conveying section 12 conveys the board B from the upstream side in the out.

On each side of the Y axis of the conveying section 12, two component feed sections 21 are lined up in the X direction, and in each component feed section 21, a plurality of tape feeders 22 are lined up in the X direction. In each component feed section 21, a plurality of coils 23 are lined up in the X direction corresponding to the plurality of tape feeds 22. Each coil 23 is wound with a carrier tape on which several components E are arranged at a certain distance from one another. The components E are, for example, integrated circuits, transistors or capacitors. Each tape feeder 22 intermittently conveys a carrier tape drawn off from the corresponding spool 23 so as to feed the components E to the component feed point 24 at the end of the tape feed.

The pick-and-place machine 1 is further 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) which drives the Y Axis ball screw 32 rotates, equipped, with an On the X-axis rail 34, an X-axis ball screw 35 extending in the X direction and an X-axis motor (Mx), which rotates the , being carried movably in the X direction by the X axis rail 34. The drive controller 130 can therefore rotate the Y-axis ball screw 32 using the Y-axis motor (My) to move the head unit 40 in the Y direction, or the X-axis ball screw 35 using the X-axis motor (Mx) to move the head unit 40 in the X direction.

The head unit 40 has several (three) placement heads 4 aligned linearly in the More precisely, the assembly heads 4 use their nozzles to suck in the components E supplied from the tape feed 22 to the component feed point 24, transfer them to the circuit board B in the working position 123 and thus equip the circuit board B with the components E.

The assembly machine 1 also has a cover 13, which covers at least the range of movement of the head unit 40, and doors 14 which open and close the cover 13. 1 shows the internal structure of the assembly machine 1 as seen through the cover 13. The doors 14 are arranged on both sides of the cover 13 in the Y direction, and for each door 14 there is a door sensor 141 ( 2 ), which records the opening and closing of the door 14. These door sensors 141 output an opening signal to the arithmetic processor 110, when the relevant door 14 is opened, and on the other hand a closing signal to the arithmetic processor 110 when the relevant door 14 is closed. For example, the operator opens the door 14 when carrying out work on the pick and place machine 1 and closes the door 14 when this work is completed. Accordingly, depending on whether the output signal from the door sensor 141 is an open signal or a closed signal, it can be judged whether operating personnel are carrying out work on the pick-and-place machine 1.

On the top of the cover 13 there is a warning light 15 ( 2 ) arranged. Accordingly, the arithmetic processor 110 can warn operators working on the pick-and-place machine 1 by turning on the warning lamp 15.

The assembly machine 1 is also equipped with control panels 16, which serve as user interfaces. The control panels 16 are attached to the two front sides of the cover 13 in the Y direction and are located next to the doors 14. The control panels 16 consist, for example, of a touch panel display that shows the operating personnel an operating screen in front of the control panel 16 and from them accepts input on the screen. The control panels 16 have the function, described in more detail below, of transmitting warning messages to the operating personnel. The operation of these control panels 16 is controlled by the arithmetic processor 110.

3 shows a schematic top view of an exemplary circuit board production system, which includes the assembly machine 1 Is provided. In 3 Several operators OP1 to OP4 are shown schematically, who work on the assembly machines 1 in the circuit board production system S. The circuit board production system S comprises several assembly machines 1, which produce component-equipped circuit boards by equipping the circuit boards B with the components E. In the example 3 A single circuit board production line L consists of a predetermined number (three) of assembly machines 1 arranged in a row and there are a total of three circuit board production lines L. However, the number of board production lines L and the number of assembly machines 1 of a board production line L are not limited to those in this example.

As already mentioned, the boards B are assembled in the assembly machine 1 with the components E held in the coils 23. Therefore, a new spool 23 must be transported to the component supply section 21 at the time when the components E on the spool 23 are exhausted. If the type of tape feeder 22 is changed due to a change in the type of assembled board to be manufactured, the replaced tape feeder 22 must then be transported to the component feed section 21. The materials used for the production of assembled circuit boards (tape feeds 22, coils 23, etc.) are transported by an AGV (guided vehicle) 5. The AGV 5 transports the materials from the warehouse (not shown) to the assembly machines 1.

4 shows a block diagram of the structure of an exemplary AGV. The AGV 5 is equipped with a computing unit 51, which comprehensively controls the entire AGV 5, and a communication unit 52, which communicates with external devices. The arithmetic unit 51 consists of the processor with a CPU or the like, while the communication unit 52 communicates wirelessly. The AGV 5 includes a storage unit 53 with an HDD or SSD hard disk, and the route information (Idp) indicating the operation plan of AGV 5 is stored in memory 53. The route information (Idp) shows both the routes along which the AGV 5 moves in order to transport materials to the respective assembly machines 1, as well as the date and time at the start of the journey along the relevant routes. The AGV 5 also has an environmental sensor 54 for detecting the environment of the AGV 5. The environment is recognized by the environmental sensor 54, for example with the help of LIDAR laser measurement (Light Detection and Ranging, Laser Imaging Detection and Ranging). The AGV 5 is also equipped with a servo motor 55, whose driving force puts the AGV 5 into operation. The servo motor 55 has an encoder 551 that outputs the rotational position of the servo motor 55. That is, the rotational position of the servomotor 55 output by the servomotor 55 corresponds to the AGV position information (la) for the position of the AGV 5.

The computing unit 51 uses the route information (Idp) to control the servo motor 55 so that the AGV 5 travels along the route identified by the route information (Idp). If the environmental sensor 54 detects an obstacle, the computing unit 51 controls the servo motor 55 based on the detection result of the environmental sensor 54. This means that the AGV 5 can get to the respective assembly machines 1 bypassing obstacles.

The circuit board production system S is also equipped with a control computer 7, which controls the production of assembled circuit boards using the assembly machines 1 and the transport of materials through the AGV 5. 5 provides a block diagram of the structure of an example Control computer. The control computer 7 includes a computing unit 71 for carrying out calculations and a communication unit 72 for communicating with external devices. The arithmetic unit 71 is a processor consisting of a CPU, etc.; The communication unit 52 communicates with the communication unit 140 of the assembly machine 1 and with the communication unit 52 of the AGV 5. The communication with the former unit takes place via wire or wirelessly, while the communication with the latter unit takes place wirelessly. The control computer 7 has a storage unit 73 with an HDD or SDD hard drive and a user interface 74. The user interface 74 consists of the input devices keyboard and mouse as well as an output device such as a display. The input and output devices of the user interface 74 can also be configured integrally, for example via a touch panel display.

The aforementioned route information (Idp) is recorded by the control computer 7. Specifically, the computing unit 51 calculates the time at which the materials (tape feeders 22 or spools 23) should be transported to the individual assembly machines 1 based on the production plan of the boards to be assembled in the board production system S, and generates the route information (Idp) based on the results. In other words, the computing unit 51 (acquisition unit) obtains the relevant route information (Idp) by calculating it based on the production plan of the boards to be assembled. This route information (Idp) is stored in the storage unit 73 and sent to the AGV 5 via the communication unit 72; The AGV 5 stores the route information (Idp) received from the control computer 7 in the storage unit 53. However, the way in which the computing unit 51 obtains the route information (Idp) is not limited to the calculation based on the production plan of the boards to be assembled. The computing unit 71 can also obtain the route information (Idp), for example from an external device via communication unit 72, or it can be generated and thereby obtained based on input from the operating personnel in the user interface 74.

The storage unit 73 further stores a travel control program P for controlling the travel of the AGV 5 and the pick-and-place machine operation information (Im) referred to during travel control by the travel control program P. The control computer 7 reads out the travel control program P recorded on a storage medium M, for example a USB (Universal Serial Bus) memory or an optical storage disk, and stores it in the storage unit 73. However, the type of detection by the travel control program P is not limited to this example. For example, the control computer 7 can also download a trip control program P stored in the storage device of an external computer and store it in the storage unit 73.

In particular, the travel control program P causes the control computer 7 to control the warning messages to the operating personnel that the AGV 5 is approaching. In other words: The control computer 7 carries out the calculations specified in the travel control program P with the aid of the computing unit 71, on the one hand controlling the travel of the AGV 5 and, on the other hand, transmitting suitable warning messages to the operating personnel to whom the AGV 5 is approaching. The following section describes in detail the travel control of the AGV 5, which is carried out by the computing unit 71 of the control computer 7 on the basis of the travel control program P.

6 shows the flowchart of the first example of AGV driving control. This flowchart is executed based on the travel control program P by the control of the arithmetic unit 71. In step S101, the arithmetic unit 71 refers to the route information (Idp) stored in the storage unit 73. The route information (Idp) shows the route over which the AGV 5 transports the material from its ready point (eg next to the warehouse) to the target assembly machine 1 and then returns to its ready point. The arithmetic unit 71 confirms the time at which the AGV 5 transports the materials to the target pick-and-place machine 1 and the relevant travel route of the AGV 5 with reference to this route information (Idp). In step S102, the arithmetic unit 71 judges based on the route information (Idp ), whether the AGV 5 has reached its readiness point after passing the assembly machine 1 in question. If it judges that the AGV 5 has reached the ready point after passing the relevant assembly machine 1 (“YES” in step S 102), the flowchart ends in 6 .

On the other hand, if it judges that the AGV 5 has not reached the standby point (“NO” in step S102), the process continues to step S103. In step S 103, the computing unit 71 judges based on the route information (Idp) whether the assembly machine 1, which the AGV 5 passes, is located among the plurality of assembly machines 1 in the circuit board production plant. This assessment is made on the basis of the control panel 16, which is the object of the work of the operating personnel. The computing unit 71 judges whether there is an assembly machine 1 in front of whose control panels 16 the AGV 5 passes, and whether there is an assembly machine 1 in front of its operation fields 16 the AGV 5 in question should pass in the direction of movement while it covers a given distance in the direction of travel.

7 shows the schematic top view in a situation in which the AGV passes in front of the control panel of the assembly machine. In 7 the several assembly machines 1 are marked with the different reference numbers 1a to 1f for the purpose of differentiation. The area in 7 , in which the AGV 5 is located, and an area at a given distance from the AGV 5 in the direction of travel of the AGV 5 (white arrow in the figure) are marked as the passing area (PTa) of the AGV 5. The areas with a specified width on both sides of the passing area (PTa) in the direction orthogonal to the direction of travel of the AGV 5 are marked as intervention areas (PTb). If the AGV 5 passes one of the control panels 16, so that the control panel 16 crosses the passing area (PTa) or one of the intervention areas (PTb) of the AGV 5, this is recognized by the computing unit 71. In the example 7 the AGV 5 passes in front of the control panels 16 of the assembly machines 1b, 1c. Specifically, the assembly machine 1b has a control panel 16 attached to one side in the Y direction and a further control panel 16 arranged on the opposite side of this one side in the Y direction, while of the two control panels 16 of the assembly machine 1b only the control panel 16 on one side in the Y direction overlaps with the passing area (PTa) or the intervention area (PTb). It is therefore judged that the AGV 5 passes in front of one of the two control panels 16. The same applies to the assembly machine 1c. The control panel position information on the position of the individual control panels 16 of the various assembly machines 1 is stored in advance in the storage unit 73 and the computing unit 71 uses the control panel position information to assess the positional relationship between the passing area (PTa) or intervention area (PTb) and the control panels 16.

If in 6 If it is judged in step S 103 that there is no assembly machine 1 whose control panels 16 pass the AGV 5 (i.e. "NO"), the system jumps back to step S 101. In the example 7 However, it is judged that the AGV 5 drives past the control panels 16 of the assembly machines 1b and 1c (“YES” in step S 103).

In the further step S 104, the computing unit 71 therefore judges based on the assembly machine operating information (Im) whether the relevant assembly machines 1b and 1c are in the predetermined operating state. Such a specified operating state is specifically given if, for example, □ - the assembly machine 1 comes to an emergency stop when an error occurs □ - the door 14 is open and the door sensor 141 outputs an “open” signal.
The control computer 7 collects from each pick-and-place machine 1 in advance pick-and-place machine operation information (Im) on the operation status of the pick-and-place machines 1 and stores it in the storage unit 73.

In the example 7 the operating personnel OP1 is working on the assembly machine 1b and the door 14 of the assembly machine 1b is open (ie the door sensor 141 for the door 14 outputs an “open” signal). The computing unit 71 judges that the assembly machine 1b is in the predetermined operating state (“YES” in step S 104) and causes a warning message for the assembly machine 1b (step S 105). Specifically, the computing unit 71 displays the warning screen on the control panel 16 of the assembly machine 1b, which warns of the approaching AGV 5. Accordingly, the operating personnel OP1 working on the assembly machine 1b can visually check the display on the control panel 16 and make sure that the AGV 5 is approaching them. After the warning message has been triggered in step S 105, the system jumps back to step S 101.

The assembly machine 1b has two control panels 16. The example shows 16 of the two control panels 7 the control panel 16, on the one hand, issues a warning message in the Y direction because the passing area (PTa) and the intervention areas (PTb) overlap at least on one side, while the control panel 16 on the other side in the Y direction neither overlaps with the passing area (PTa ) still overlaps with the intervention area (PTb) and therefore no warning message is issued. If one of the two control panels 16 overlaps with the passing area (PTa) or the intervention area (PTb), warning messages can also be issued on both control panels 16 without distinguishing between the two.

In the example 7 the assembly machine 1c is currently carrying out the assembly (ie there is no emergency stop of the assembly machine 1c) and the door 14 of the assembly machine 1c is closed (ie the door sensor 141 currently outputs a “closed” signal). Accordingly, the computing unit 71 judges that the assembly machine 1c is not in the predetermined operating state (“NO” in step S 104), whereupon the system returns to step S 101. The control panels 16 of the assembly machine 1c therefore do not send any warning messages to the operator training staff regarding an approach of the FTF 5.

According to the embodiment explained above, each of the several assembly machines 1 has two control panels 16 and several control panels 16 (2 × number of assembly machines 1) are attached to the circuit board production system S. Each of the control panels 16 (warning devices) can transmit warning messages about approaching AGV 5 to the operating personnel OP1 to OP4. In response to this, the computing unit 71 of the control computer 7 causes a control panel 16 (target warning device) selected from among several control panels 16 of the assembly machine 1b based on the route information (Idp) (driving operation information) for the driving operation of the AGV 5 to output the warning message. Of the several control panels 16, the control panel 16 corresponding to the movement of the AGV is therefore caused to selectively output a warning message. If the operating personnel OP1 is in the vicinity of the corresponding control panel 16, a warning message can be precisely transmitted to this operating personnel OP1. It is therefore possible in the circuit board production system S for the production of populated circuit boards by equipping the circuit boards B with components E to precisely warn the operating personnel OP1 to whom the AGV 5 is approaching.

The computing unit 71 selects the control panel 16 that issues the warning message (target warning device) based on the route information (Idp) (driving operation information) on the routes traveled by the AGV 5. In this configuration, the appropriate control panel 16 selected according to the route of the AGV 5 can be caused to issue a warning message. Consequently, it becomes possible to provide accurate warning messages to operators approaching an AGV.

The circuit board production system S is equipped with several assembly machines 1, all of which equip the circuit boards B with components E. The computing unit 71 records the assembly machine operating information (Im) (assembly machine information) on the operating status of the assembly machines and, based on the assembly machine operating information (Im) and the route information (Idp), selects the control panel 16 on which the warning message is to be executed. In this way, it becomes possible to precisely warn the operating personnel that the AGV is approaching through the additional use of the pick-and-place machine operating information (Im).

In addition, the positional relationship of operators working on the pick-and-place machine 1 and the pick-and-place machine concerned can be derived from the pick-and-place machine operating information (Im). Because if the door 14 of the assembly machine 1 is open or the assembly machine 1 is in emergency stop, there is a high probability that the operating personnel are currently working on this assembly machine 1. Thus, by using pick-and-place machine operation information (Im) and travel route information (IdP), based on the positional relationship of pick-and-place machine 1, near which operators are located, and AGV 5, a control panel 16 on which the warning message is executed can be selected. Consequently, it becomes possible to issue precise warning messages to operators located near the pick-and-place machine 1 to which the AGV is approaching.

If an error occurs, the assembly machine 1 executes an emergency stop, which stops the assembly of the components E on the boards B. The assembly machine operating information (Im) identifies the assembly machine 1 that carries out the emergency stop. There is a high probability that operating personnel will carry out work on assembly machines in the event of an emergency shutdown. Accordingly, by using the pick-and-place machine operation information (Im) for the pick-and-place machine 1 that executes the emergency stop and the travel route information (IdP) based on the positional relationship between the pick-and-place machine 1, near which operators are located, and the AGV 5, the control panel 16 can be selected that issues the warning message. Consequently, it becomes possible to issue precise warning messages to operators located near the pick-and-place machine 1 that the AGV is approaching.

The assembly machine 1 has a door 14 that can be opened and closed. The pick-and-place machine operating information (Im) identifies the pick-and-place machines 1 with the door 14 open. This means that there is a high probability that operating personnel will carry out work on a pick-and-place machine whose doors are open. Accordingly, by using the pick-and-place machine operation information (Im) for the pick-and-place machine 1 whose door is open and the travel route information (IdP), the control panel 16 can be selected based on the positional relationship between the pick-and-place machine 1 near which operators are located and the AGV 5, that issues the warning message. Consequently, it becomes possible to issue precise warning messages to operators located near the pick-and-place machine 1 that the AGV is approaching.

The control panels 16 issue warning messages that affect the visual sense of the operating personnel (display of the warning screen). Noises that affect the operator's sense of hearing are not always suitable for warning the affected operator because they spread in all directions. In contrast, the use of control panels 16 makes it possible to precisely transmit warning messages that affect the visual senses of the operating personnel to the operating personnel concerned.

8th shows the flowchart of the second example of AGV driving control. This flowchart is executed based on the travel control program P by the control of the arithmetic unit 71. In this second example, the arithmetic unit 71 refers to the route information (Idp) stored in the storage unit 73 (step S201) and acquires the AGV position information (la) on the position of the AGV 5 (step S202). As already mentioned, the computing unit 71 records the output of the encoder 551 of the AGV 5 as AGV position information (la). The computing unit 71 can thus determine the current position of the AGV 5 from the route marked by the route information (Idp).

In step S 203, the computing unit 71 judges based on the route information (Idp) and the AGV position information (la) whether the AGV 5 has reached its standby point after passing the target assembly machine 1. If it judges that the AGV 5 has reached the standby point after passing the relevant assembly machine 1 (“YES” in step S 203), the flowchart ends in 8th . On the other hand, if it judges that the AGV 5 has not reached the standby point (“NO” in step S203), the process continues to step S204.

In step S 204, the computing unit 71 judges whether the assembly machine 1, in front of which the AGV 5 passes, is among the large number of assembly machines 1 in the circuit board production system. Specifically, the computing unit 71 determines the current position of the AGV 5 based on the AGV position information (la) from the route information (Idp) for the route. Based on the current position of the AGV 5 and the position of the individual assembly machines 1, the computing unit 71 then judges whether there are assembly machines 1 that the AGV 5 is driving past. This assessment is made, as in the example 7 based on the positional relationship between the passing area (PTa), the intervention area (PTb) and the control panels 16. Steps S205 and S206 are then executed in the same manner as steps S104 and S105 in the first example, according to the judgment result in step S204.

According to the embodiment explained above, the computing unit 71 selects the control panel 16 that outputs the warning message based on the AGV position information (la) (position information of the transport vehicle). In this configuration, the control panel 16, which is suitably selected according to the position of the AGV 5, can issue a warning message. Consequently, it becomes possible to provide precise warning messages to operators approaching an AGV.

The AGV 5 is also equipped with a servo motor 55, whose driving force puts the AGV 5 into operation. The computing unit 71 records the output of the encoder 551 of the servo motor 55 of the AGV 5 as AGV position information (la). In this configuration, the position of the AGV 5 can be precisely determined based on the output of the encoder 551 of the servo motor 55 of the AGV 5.

9 is a schematic top view of a variant of the structure for recording the AGV position information. In the example above, the output of the encoder 551 of the servo motor 55 was captured as AGV position information (la). In the example of 9 a position indicator 18 is placed on the footprint of the assembly machine 1 in the circuit board production system S. This position indicator 18 is, for example, a copper strip and has a pattern that corresponds to the position coordinates in the circuit board production system S. The environmental sensor 54 of the AGV 5, on the other hand, includes a pattern sensor (position sensor) that reads the pattern of the position indicator 18. A sensor that detects copper in the immediate vicinity can be used as such a pattern sensor. The computing unit 71 records the read results of the pattern sensor as AGV position information (la). In this configuration, the position of the AGV 5 can be precisely determined based on the detection results of the pattern sensor in the environmental sensor 54.

The AGV position information (la) regarding the position of the AGV 5 can also be determined by a suitable method other than that described above. For example, the output of a GPS receiver (position sensor) attached to the AGV 5 can be determined as AGV position information (la).

10 shows the flowchart of the third example of AGV driving control. 11 is a block diagram showing the configuration of a pick and place machine, the prerequisite for the driving operation control of the in 10 shown AGV. The difference between the in 11 and the in 2 The configuration of the assembly machine 1 shown is the presence of an imaging system in the example 11 , which allows images to be taken by the operating personnel. So the two doors 14 in the assembly machine 1 are off 11 an image recording camera (Co) is provided for recording images of operating personnel. The cameras (Co) capture the recording area in front of the corresponding door 14 and take pictures of this area. Accordingly, the respective cameras (Co) can take pictures of the operating personnel who are working with the corresponding door 14 open. The images captured by these image capture cameras (Co) can be still or moving images. The images of the operating personnel recorded by the image recording cameras (Co) correspond to the operator position information (Io), which indicates that there are operating personnel in front of the door 14 of the corresponding image recording camera (Co). For example, by generating operator position information (Io) with information about the image capture camera (Co) that captured the relevant images, the computing unit 71 of the control computer 7 can check the position of operators based on the operator position information (Io). The controller 100 of the pick-and-place machine 1 has an imaging controller 150 that controls the image capture camera (Co) and transmits the operator position information (Io) (ie, operator images captured by the image capture camera (Co)) to the arithmetic processing unit 110. The assembly machine 1 configured in this way is used for the explanation of the flowchart in 10 provided.

The flowchart in 10 The third example for the AGV travel control is carried out by the control of the computing unit 71 based on the travel control program P. In this third example, steps S301 to S303 are carried out in the same manner as steps S101 to S103 of the first example in FIG 6 . It is therefore done according to the example in 7 judged that the AGV 5 passes in front of the two assembly machines 1b and 1c (step S 303).

On the other hand, in step S304 following step S303, the computing unit 71 judges whether the image capture cameras (Co) of the corresponding assembly machines 1b and 1c capture images of the operating personnel carrying out work on the assembly machines 1b, 1c. Specifically, the computing unit 71 judges that operating personnel working on the assembly machine 1 are in the recording area of the relevant image recording camera (Co) if the images recorded by the image recording camera (Co) have been subjected to image processing and operating personnel are recognized from the relevant images could be. This assessment can be made by identifying the operator and does not necessarily require confirmation that the operator is actually carrying out work.

In the example of 7 the operating personnel OP1 carries out work on the assembly machine 1b. In detail, it appears that the operating personnel OP1 opens the door 14 next to the control panel of the assembly machine 1 and carries out the work, while the images of the operating personnel OP1 recorded by the image recording camera (Co) corresponding to the door 14 are sent to the computing unit 71 in the control computer 7 be transmitted. The computing unit 71 then recognizes the operating personnel in the recordings received from the image recording camera (Co). The recordings containing the operating personnel therefore correspond, as already mentioned, to the operator position information (Io) on the position of the operating personnel.

Accordingly, the computing unit 71 judges based on the operator position information (Io) that an operator is working on the pick-and-place machine 1b (“YES” in step S304), and executes a warning message for this pick-and-place machine 1b (step S305). Specifically, the computing unit 71 indicates on the control panel 16 of the assembly machine 1b that an AGV is approaching. Accordingly, the operating personnel OP1 working on the assembly machine 1b can visually check the display on the control panel 16 and make sure that the AGV 5 is approaching them. After the warning message has been triggered in step S 305, the system jumps back to step S 301.

The assembly machine 1b has two control panels 16. In the example of 7 One of the two control panels 16 now overlaps on one side of the Y direction with the passing area (PTa) and/or the intervention area (PTb) and therefore issues a warning, while the control panel 16 on the other side in the Y direction neither controls the passing area (PTa ) still exceeds the intervention area (PTb) and therefore does not issue a warning message. However, if, as stated above, one of the two control panels 16 overlaps with the passing area (PTa) or the intervention area (PTb), warning messages can also be issued on both control panels 16 without distinguishing between the two.

In the example of 7 no operator is working on the assembly machine 1c, and no operator is visible in the image captured by the image capture camera (Co) of the assembly machine 1c. Therefore, the Computing unit 71 determines that no operating personnel are working on the assembly machine 1c (“NO” in step S 304), and it is reset to step S 301.

In the embodiment explained above, the arithmetic unit 71 selects the control panel 16 that outputs the warning message based on the operator position information (Io) (images captured by the image pickup camera (Co)) on the operator's position and the travel route information (Idp). The assembly machines 1, near which operating personnel are located, can be identified based on the operator position information (Io). Accordingly, the control panel 16 that outputs the warning message can be selected based on the positional relationship between the pick-and-place machine 1 near which operators are located and the AGV 5 by using the operator position information (Io) and the travel route information (Idp) of the AGV 5 . Consequently, it becomes possible to issue precise warning messages to operators located near the pick-and-place machine 1 to which the AGV is approaching.

The assembly machines 1 have image recording cameras (Co) (first personnel sensor) for recording (capturing) operating personnel. The operator position information (Io) shows the assembly machines 1 on which images of the operating personnel are taken by image recording cameras (Co). In this configuration, the assembly machines 1, near which operating personnel are located, can be determined based on the operator position information (Io) on the assembly machines 1 on which images are taken by the operating personnel using the image recording cameras (Co). Accordingly, the control panel 16 that issues the warning message can be selected based on the positional relationship between the pick-and-place machine 1 near which operators are located and the AGV 5 by using the operator position information (Io) and the travel route information (Idp) of the AGV 5 . Consequently, it becomes possible to issue precise warning messages to operators located near the pick-and-place machine 1 that the AGV is approaching.

12 shows the flowchart of the fourth example of AGV driving control. This flowchart is executed based on the travel control program P by the control of the arithmetic unit 71. In this fourth example, the arithmetic unit 71 performs steps S 401 to 404 in the same way as in the second example 8th carry out steps S 201 to S 204. The computing unit 71 judges from the travel routes indicated by the route information (IdP) based on the current position of AGV 5 determined by means of the AGV position information (la) and the position of the control panels 16 of the individual assembly machines 1, whether there are assembly machines 1 in front of their control panels 16 FTF 5 pass (step S 404).

The computing unit 71 then performs steps S 405 and 406 in the same way as in 10 follow steps S 304 and S 305. If the computing unit 71 judges based on the operator position information (Io) recorded by image recording cameras (Co) that there are assembly machines 1 on which operating personnel are currently carrying out work (“YES” in step S 405), it triggers the control panel 16 of the relevant assembly machine 1 to issue a warning message (step S 406).

According to the embodiment explained above, the computing unit 71 selects the control panel 16 that outputs the warning message based on the AGV position information (la) (position information of the transport vehicle). In this configuration, the control panel 16, which is appropriately selected according to the position of the AGV 5, can issue a warning message. Consequently, it becomes possible to provide accurate warning messages to operators approaching an AGV.

The computing unit 71 selects the control panel 16 on which the warning message is to be executed based on the operator position information (Io) on the position of the operator and the travel route information (Idp). Thus, the control panel 16 that issues the warning message can be selected based on the positional relationship between the pick-and-place machine 1 near which operators are located and the AGV 5 by using the operator position information (Io) and the route information (Idp) of the AGV 5 . Consequently, it becomes possible to issue precise warning messages to operators located near the pick-and-place machine 1 to which the AGV is approaching.

However, the method with which the operator position information (Io) is recorded is not limited to the method described above with image recording cameras (Co). The assembly machine 1 has control panels 16 that accept input from the operating personnel (user interface). The operator position information (Io) can thus display assembly machines 1 whose control panels 16 are operated by operating personnel. In this configuration, the assembly machines 1 in the vicinity of which operating personnel are located can be determined based on operator position information (Io), which displays the assembly machines 1 on whose control panels 16 inputs are made by the operating personnel. Dementia Speaking of this, the control panel 16 that issues the warning message can use the positional relationship between the pick-and-place machine 1, near which operating personnel are located, and the AGV 5 by using the operator position information (Io) and the driving operation information (route information (IdP) / AGV). Position information (la)) can be selected. Consequently, it becomes possible to issue precise warning messages to operators located near the pick-and-place machine 1 that the AGV is approaching.

The operating personnel can also turn off the portable device 13 carry with them. 13 shows a block diagram for the construction of a portable terminal device carried by the operating personnel. The portable terminal 8 includes a computing unit 81 consisting of a processor with CPU or the like, a communication unit 82 for communication with external devices and a user interface 83. The communication unit 82 communicates wirelessly with the communication unit 140 of the assembly machines 1. The user interface 83 includes, for example, a touch panel Display on which an operating screen is displayed to the operating personnel who carry the portable terminal 8 with them, and receives input on the operating screen from the operating personnel. In particular, the user interface 83 can display the information that the communication unit 82 has received from the pick and place machine 1 on the operation screen, and the communication unit 82 can transmit to the pick and place machine 1 the information that the operator has entered into the operation screen of the user interface 83. The portable terminal 8 is also equipped with a vibration exciter 84, which vibrates to notify operating personnel who are carrying the portable terminal 8.

When the operators carry such portable terminals 8, the operator position information (Io) can also display the pick-and-place machines 1 communicating with the portable terminal 8 (communication device). In this configuration, pick-and-place machines near which operators are located can be recognized based on the operator position information on the pick-and-place machine that communicates with the portable terminal 8 carried by the operator. Accordingly, the control panel 16 that outputs the warning message can determine the positional relationship between the pick-and-place machine 1 near which operators are located and the AGV 5 by using the operator position information (Io) and the driving operation information (route information (IdP)/AGV). Position information (la)) can be selected. Consequently, it becomes possible to issue precise warning messages to operators located near the pick-and-place machine 1 that the AGV is approaching.

Alternatively, the environmental sensor 54 of the AGV 5 can also be used to obtain the operator position information (Io). In this example, the environmental sensor 54 of the AGV 5 detects the position of the operating personnel on the assembly machine 1. Specifically, the environmental sensor 54 carries out a LIDAR laser measurement of the environment. If the environmental sensor 54 detects operating personnel as a result of the measurement, it generates the operator position information (Io) based on the calculation of the operating personnel's position. The computing unit 71 in the control computer 7 then receives the operator position information (Io) from the environmental sensor 54 of the AGV 5.

In this example, the assembly machine 1, near which operating personnel are located, can be determined based on the operator position information (Io) on the position of the operating personnel, which was detected by the environmental sensor 54 (second personnel sensor) of the AGV 5. Accordingly, the control panel 16 that outputs the warning message can determine the positional relationship between the pick-and-place machine 1 near which operators are located and the AGV 5 by using the operator position information (Io) and the driving information (route information (IdP)/AGV). Position information (la)) can be selected. Consequently, it becomes possible to issue precise warning messages to operators located near the pick-and-place machine 1 to which the AGV is approaching.

14 shows the flowchart of the fifth example of AGV driving control. This flowchart is executed based on the travel control program P by the control of the arithmetic unit 71. In this fifth example, the arithmetic unit 71 performs steps S 501 to 503 in the same way as in the second example 8th carry out steps S 201 to S 203. Thus, the computing unit 71 refers to the route information (Idp) (step S 501), acquires the AGV position information (la) (step S 502), and ultimately judges whether the AGV 5 has reached its standby point after passing the target assembly machine 1 (Step S503).

If the AGV 5 has not reached the standby point (“NO” in step S 503), the computing unit 71 judges whether the environmental sensor 54 has recognized operators within a predetermined area of the AGV 5 (step S 504). This predetermined area can, for example, be reduced to one Area that includes the passing area (PTa) and the intervention area (PTb). 7 includes, defines. If the environmental sensor 54 does not detect any operating personnel within this predetermined area around the AGV 5 (“NO” in step S 504), the system returns to step S 502.

On the other hand, if the environmental sensor 54 of the AGV 5 detects operating personnel (if “YES” in step S 504), the environmental sensor 54 transmits the operator position information (Io) about the position of the relevant operating personnel to the communication unit 72 of the control computer 7 and the computing unit 71 confirms based on this operator position information (Io) received from the communication unit 72 indicates the position of the operating personnel.

In step S505, the computing unit 71 determines whether operators are on the travel routes based on the position of the operators and the routes indicated by the route information (Idp). If there are no operating personnel on the work route (“NO” in step S 505), the system jumps back to step S 502. On the other hand, if operating personnel are within the route (if “YES” in step S 505), the computing unit 71 judges whether operating personnel are in front of the assembly machines 1 (step S 506). Specifically, it is checked whether operating personnel are in front of one of the several assembly machines 1 (nearby assembly machine 1) that is within the specified distance range from the operating personnel.

Detecting the presence or absence of operating personnel can be done in various ways. For example, as in step S 104 of the first example 6 , it can be assessed whether there are operating personnel in front of the nearby assembly machine 1, which is in a predetermined operating state, in order to carry out work on it. Alternatively, as in step S 304 of the third example 10 , based on the images recorded by the image recording camera (Co) of the nearby assembly machine 1, recognize that operating personnel are in front of the nearby assembly machine 1 who are carrying out work on it.

If it is judged that operating personnel are in front of the nearby assembly machine 1 (if “YES” in step S 506), the computing unit 71 causes the relevant control panel 16 of the nearby assembly machine 1 to issue a warning message (step S 506). The computing unit 71 causes the control panel 16 under the two control panels 16 of the assembly machine 1, which is positioned where the operating personnel are located, to issue the warning message.

In this embodiment too, several control panels 16 are mounted in the circuit board production system S. Of the plurality of control panels 16, the control panel 16 selected based on the travel route information (Idp) for the travel route of the AGV 5 outputs the warning message. Of the several control panels 16, the control panel 16 corresponding to the movement of the AGV 5 therefore selectively outputs the warning message. If the operating personnel is in the vicinity of the control panel 16, a warning message can be sent precisely to these operating personnel. It is therefore possible in the circuit board production system S for the production of populated circuit boards by equipping the circuit boards B with components E to precisely warn the operating personnel to whom the AGV 5 is approaching.

The computing unit 71 further selects the control panel 16, which outputs the warning message, based on the route information (Idp) on the routes traveled by the AGV 5. In this configuration, the appropriate control panel 16 selected according to the route of the AGV 5 can be caused to issue a warning message. Consequently, it becomes possible to provide accurate warning messages to operators approaching an AGV.

The computing unit 71 also selects the control panel 16 on which the warning message is to be executed based on the operator position information (Io) on the position of the operator and the route information (Idp). In this configuration, the operator position information (Io) on the position of the operating personnel can be used to identify assembly machines 1 in the vicinity of which operating personnel are located. Accordingly, the control panel 16 that outputs the warning message can be selected based on the positional relationship between the pick-and-place machine 1 near which operators are located and the AGV 5 by using the operator position information (Io) and the travel route information (Idp) of the AGV 5 . Consequently, it becomes possible to issue precise warning messages to operators located near the pick-and-place machine 1 to which the AGV is approaching.

Specifically, the AGV 5 has an environmental sensor 54 that detects the position of operators, and the computing unit 71 obtains the detection results of the environmental sensor 54 as operator position information (Io). In this configuration, an assembly machine 1, near which operating personnel are located, can can be determined based on the operator position information (Io) about the position of the operating personnel, which was detected by the environmental sensor 54 of the AGV 5. Accordingly, the control panel 16 that outputs the warning message can be selected based on the positional relationship between the pick-and-place machine 1 near which operators are located and the AGV 5 by using the operator position information (Io) and the travel route information (Idp) of the AGV 5 . Consequently, it becomes possible to issue precise warning messages to operators located near the pick-and-place machine 1 to which the AGV is approaching.

The control panels 16 issue warning messages that affect the visual sense of the operating personnel (display of the warning screen). Noises that affect the operator's sense of hearing are not always suitable for warning the affected worker, as they spread in all directions. In contrast, the use of control panels 16 makes it possible to precisely transmit warning messages that affect the visual senses of the operating personnel to the operating personnel concerned.

Thus, in the above embodiments, “board B” corresponds to an example of a “board manufacturing system” according to the invention, “component E” corresponds to an example of a “component” according to the invention, “board production system S” corresponds to an example of a “board production system” according to the invention, “FTF 5” corresponds to one Example of an “FTF” according to the invention, “route information (Idp)” and “FTF position information (la)” an example of “driving operation information” according to the invention, “computing unit 71” an example of a “detection unit” according to the invention, “control panel 16” an example for a “warning device” according to the invention, “control panel 16, which outputs the warning message”, an example of a “target warning device” according to the invention, “computing unit 71” an example of a “control unit” according to the invention, “control computer 7” an example of a “control unit” according to the invention Warning message control device", "route information (Idp)" an example of "route information" according to the invention", "FTF position information (la)" an example of "FTF position information" according to the invention", "servo motor 55" an example of a "motor" according to the invention, “Encoder 551” is an example of an “encoder” according to the invention, “environmental sensor 54” is an example of a “location sensor” according to the invention, “assembly machine 1” is an example of a “component assembly reference machine” according to the invention, “assembly machine operating information (Im)” and “operator position -Information (Io)” an example of “component assembly reference machine information” according to the invention, “operator position information (Io)” an example of “operating personnel position information” according to the invention, “control panel 16” an example of a “user interface” according to the invention, “image recording camera ( Co)" an example of a "first personal sensor according to the invention", "portable terminal 8" an example of a "communication device according to the invention", "environmental sensor 54" an example of a "second personal sensor according to the invention", "placement machine operating information (Im)" one Example of “component assembly reference machine operating status information” according to the invention, “door 14” an example of a “door” according to the invention, “travel control program P” an example of a warning message control program according to the invention, “control computer 7” an example of a “computer” according to the invention, “travel control program P” is an example of a “trip control program” according to the invention, and “storage medium M” is an example of a “storage medium” according to the invention.

The present invention is not limited to the above-mentioned embodiments, and various changes can be made to the above-described embodiments as long as the purpose of the invention is not deviated from. For example, the warning screen displayed to operators can be changed accordingly. 15 shows a schematic view of a variant of a warning screen that is displayed to the operating personnel. In this example of variation, the control panel 16 which issues the warning message is controlled by the control computer 7 to display the screen thereon 15 is shown.

Specifically, the control panel 16, which issues the warning message, displays the screen with the text “FTF is approaching from the right”. The position of the AGV 5 in relation to the operator (ie to the right of the operator) is thereby displayed on the warning screen. The control panel 16, which executes the warning message, also displays a button (“YES” button) through which the operating personnel can indicate whether the approaching AGV 5 is allowed to pass or not. If the operating personnel allow the AGV 5 to pass by pressing the “YES” button, a command to enable travel is transmitted by the assembly machine 1 to the control computer 7. As soon as the computing unit 71 in the control computer 7 confirms the command to enable travel, the AGV 5 continues to travel. If, on the other hand, the operating personnel do not press the “YES” button within a certain time, the command to block passage is transmitted by the assembly machine 1 to the control computer 7. As soon as the Computing unit 71 of the control computer 7 confirms the command to block the passage, the movement of the AGV 5 is stopped.

In this way, the computing unit 71 causes the control panel 16 (target warning device) to confirm the operating personnel's release for driving operation: if the operating personnel allow driving operation, the AGV 5 continues to travel. If the operating staff does not allow driving, the AGV stops. In this configuration, the movement of an AGV 5 approaching operators can be controlled according to the operator's wishes.

The computing unit 71 also causes the control panel 16 (target warning device) to transmit messages about the position of the AGV 5 to the operating personnel. In this configuration, the operator can detect the position of the AGV approaching them and take appropriate action.

However, the procedure for assessing whether an AGV 5 passes in front of assembly machine 1 or not is not limited to the in 7 example shown. For example, an assessment can also be made according to the following variant. In this variant, when assessing that an AGV 5 is driving past the assembly machine 1, the positional relationship between the AGV 5 and the assembly machine 1 is entered in advance by the operating personnel into the user interface 74 of the control computer 7 and stored in the storage unit 73. If the AGV 5 and the assembly machine 1 satisfy the above-mentioned positional relationship while the AGV 5 is traveling, the computing unit 71 judges that the AGV 5 is passing in front of this assembly machine 1.

However, the medium via which warning messages about an approaching AGV 5 are issued is not limited to the control panel 16. Warning messages can also be issued via the warning light 15 on the assembly machine 1 or via the portable terminal 8. If warning messages are issued via the warning light 15, the warning light 15 of the assembly machine 1 lights up, for which it was judged in steps S103, S204, S303 and S404 that an AGV 5 is passing in front of its control panel 16. Alternatively, the warning light 15 of the assembly machine 1 lights up, to which it was judged in step 506 that there are operating personnel in front of it.

When warning messages are issued from the portable terminal 8, the portable terminal 8 of the operator who is positioned on the side passing through the AGV 5 with respect to the two sides in the Y direction of the pick-and-place machine 1 is caused to issue the warning message the assembly machine 1, for which it was judged in steps S103, S204, S303 and S404 that an AGV 5 drives past the control panel 16. Alternatively, in step 506, the operator's portable terminal 8, which is positioned on the side passing through the AGV 5 with respect to the two sides in the Y direction of the pick-and-place machine 1 judged to have operators in front of it, is positioned, caused the warning message to be issued. The control computer 7 can also recognize the position of the operating personnel, for example, based on the output values of the GPS receiver with which the portable terminals 8 carried by the operating personnel are equipped. The portable terminals 8 of the operating personnel, which are positioned where AGVs 5 pass, correspond to the portable terminals 8 7 , which are positioned in the passing area (PTa) and/or in the intervention area (PTb).

However, the warning mode is not limited to influencing the visual perception of the operating personnel. When issuing warning messages via the portable terminal 8, this can also be done, for example, in such a way that vibrations from the vibration exciter 84 act on the operating personnel, i.e. on their sense of touch. Alternatively, 8 loudspeakers can be attached to the control panels 16 or portable terminals, via which the operating personnel are acoustically warned of the approach of the AGV 5. The name of an operator can also be called out.

However, the technology used by the environmental sensor 54 to detect the environment is not limited to LIDAR laser measurement. For example, cameras, stereo cameras, ToF sensors (time of flight) or ultrasonic sensors can be used to detect the surroundings of the environmental sensor 54.

The specific configuration of the pick and place machine 1 can be further changed as needed. For example, the number of control panels 16 on a placement machine 1 is not limited to two, but can also be one, three or more.

The assessment of the positional relationship between the assembly machines 1 and the AGV 5 does not necessarily have to be done via the control panels 16, but can also be done, for example, via the doors 14.

In the example above, the assembly machine 1 corresponds to the assembly of the Plati B is responsible for parts, an example of a “component assembly reference machine” according to the invention. However, concrete examples of component placement machines are not limited to the placement machine 1, but can also be, for example, solder paste printers, as shown in WO 2019/234819 ( US 2021/0122152 ) who are responsible for soldering the boards B were described. On this solder paste printer, as in the example of the assembly machine 1, a control panel 16 can also be provided, which functions as a “warning device” or “user interface”. Furthermore, as in the example of the assembly machine 1, a door sensor 141, a warning light 15, a communication unit 140 or an image recording camera (Co) can also be provided on the solder paste printer as desired. In addition, in a circuit board production system S with circuit board production lines L, in which solder paste printers and assembly machines 1 are arranged one behind the other, the AGV travel control can of course be carried out in the same way as described above. The component assembly reference machines also include the soldering inspection machines for inspecting the solder-printed boards B, the assembly inspection machines for inspecting the boards B equipped with the components or the reflow ovens for melting the solder printed on the boards B, to which the above embodiments are applied in a similar manner can.

List of reference symbols

1

assembly machine

14

door

16

Control panel

5

FTF

54

Ambient sensor

55

servo motor

551

Encoder

7

Control computer

71

Calculation part

8th

portable device

b

circuit board

Co

Image capture camera

E

Part/component

la

AGV position information

Idp

Route information

In the

Pick and place machine operating information

Io

Operator position information

S

Circuit board manufacturing plant

M

storage medium

P

Trip tax program

QUOTES INCLUDED IN THE DESCRIPTION

This list of documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• WO 2019/234819 [0107]
• US 2021/0122152 [0107]

Claims (20)

Warning message control device, which is used in a circuit board manufacturing plant for the production of component-equipped circuit boards by equipping the circuit boards with components a recording unit for recording driving operation information relating to the driving operation of a driverless transport vehicle (AGV) when transporting components that are used for the production of the aforementioned component-equipped circuit boards, and a control unit that causes warning messages to be issued to a target warning device selected from the plurality of warning devices used in the aforementioned circuit board manufacturing system based on the aforementioned driving operation information. Warning message control device according to Claim 1 , wherein the aforementioned driving operation information contains route information about the route of the AGV and the aforementioned control unit selects the aforementioned destination warning device based on the aforementioned route information. Warning message control device according to Claim 2 , wherein the aforementioned driving operation information contains position information of the transport vehicle regarding the position of the AGV in the aforementioned route and the aforementioned control unit selects the aforementioned target warning device based on the aforementioned position information of the transport vehicle. Warning message control device according to Claim 3 , wherein the aforementioned AGV has a motor and performs driving operation with the driving force of the aforementioned motor, and the aforementioned detection unit detects the output of the encoder of the aforementioned motor of the aforementioned AGV as the aforementioned position information of the transport vehicle. Warning message control device according to Claim 3 , wherein the aforementioned detection unit detects the detection result of the position sensor for detecting the position of the aforementioned AGV as the aforementioned position information of the transport vehicle. Warning message control device according to one of Claims 1 until 5 , wherein the aforementioned circuit board production system comprises a plurality of component assembly reference machines which share the work on the aforementioned circuit boards for the production of assembled circuit boards, the aforementioned detection unit records component assembly reference machine information on the aforementioned component assembly reference machines and the aforementioned control unit on the basis of the aforementioned component assembly reference machine information and the aforementioned driving operation information selects the aforementioned target warning device. Warning message control device according to Claim 6 , wherein the aforementioned component assembly reference machine information contains operator position information on the position of operating personnel who can carry out work on the aforementioned component assembly reference machines, and the aforementioned control unit selects the aforementioned target warning device based on the aforementioned operator position information and the aforementioned driving operation information. Warning message control device according to Claim 7 , wherein the aforesaid component placement reference machine has a user interface that receives inputs from the operating personnel, and the aforesaid operator position information identifies the aforesaid component placement reference machine whose user interface is operated by operators. Warning message control device according to Claim 7 or 8th , wherein the aforementioned component assembly reference machines have a first personnel sensor for recognizing operating personnel and the aforementioned operator position information identifies the aforementioned component assembly reference machines whose first personnel sensor recognizes operating personnel. Warning message control device according to one of Claims 7 until 9 , wherein the aforementioned operator position information identifies the aforementioned component placement reference machines that communicate with the communication devices carried by the operating personnel. Warning message control device according to one of Claims 7 until 10 , wherein the aforementioned AGV has a second personnel sensor that detects the position of the operator, and the aforementioned detection unit acquires the detection results of the aforementioned second personnel sensor as the aforementioned operator position information. Warning message control device according to one of Claims 6 until 11 , wherein the aforementioned component assembly reference machine information contains component assembly reference machine operating status information, which relate to the operating state of the aforementioned component assembly reference machines, and the aforementioned control unit selects the aforementioned target warning device based on the aforementioned component assembly reference machine operating state information and the aforementioned driving operation information. Warning message control device according to Claim 12 , wherein the aforementioned component assembly reference machine carries out an emergency stop for work on the board in its area of responsibility when errors occur and the aforementioned component assembly reference machine operating status information identifies the component assembly reference machine that has carried out the aforementioned emergency stop. Warning message control device according to Claim 12 or 13 , wherein the aforesaid component assembly reference machines have doors that can be opened and closed, and the aforesaid component assembly reference machine operating status information identifies the component assembly reference machine whose aforesaid doors are open. Warning message control device according to one of Claims 1 until 14 , wherein the aforementioned warning device exerts the warning by acting on the visual perception or the tactile feeling. Warning message control device according to one of Claims 1 until 15 , wherein the aforementioned control unit causes the aforementioned target warning device to obtain confirmation of the approval to drive the AGV from the operating personnel, and if the operating personnel approve the operation of the AGV, it continues the driving operation of the aforementioned AGV, but on the other hand if the driving operation is not approved of the AGV is brought to a stop by the operating personnel of the aforementioned AGV. Warning message control device according to one of Claims 1 until 16 , wherein the aforementioned control unit causes the aforementioned target warning device to issue messages to the operating personnel in the position of the AGV. Alert message control method, which includes the step of acquiring driving operation information about the driving operation of an automated guided vehicle (AGV) for the transport of the components used for production in a circuit board manufacturing plant for producing populated circuit boards by populating circuit boards with components and the step of causing warning messages to be issued to a target warning device selected from the plurality of warning devices used in the above-mentioned circuit board manufacturing system based on the aforementioned driving operation information. Alert control program that includes the step of acquiring driving operation information about the driving operation of an automated guided vehicle (AGV) for transporting the components used for production in a circuit board manufacturing plant for producing populated circuit boards by populating circuit boards with components and having the computer execute the step of causing warning messages to be issued to a target warning device selected from the plurality of warning devices used in the above-mentioned circuit board manufacturing system based on the above-mentioned driving operation information. Storage medium that is in Claim 19 The warning message control program described is recorded so that it can be read out by a computer.

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