JP6780901B2 - Mobile - Google Patents

Description

The present invention relates to a moving body.

Conventionally, in an unmanned vehicle (moving body) that transports a wagon trolley, the surroundings of the wagon trolley are constantly monitored by a proximity detection device, and when the wagon trolley is transported by the unmanned vehicle, the proximity detection device detects the proximity of an obstacle. A device for stopping the running of an unmanned vehicle has been proposed (see, for example, Patent Document 1). In addition, this unmanned vehicle generates a plurality of visible light beams around the wagon trolley so that an unspecified number of people in the vicinity can recognize the detection range of obstacle detection.
Patent Document 1: Japanese Patent Application Laid-Open No. 09-185413

Problems to be solved by the invention

However, in the above-mentioned moving body, even when there is no person around, the beam continues to emit light, which wastes energy and adversely affects the life of the light emitting unit.

An object of the present invention is to save energy or extend the life of a light emitting unit in a device that emits visible light within the detection range of an obstacle.

The present invention has taken the following measures to achieve the above-mentioned main object.

The mobile body of the present invention
A detection means capable of detecting an obstacle in the first region based on the moving body and detecting an obstacle in the second region outside the first region.
Light emitting means that emits visible light and
When an obstacle is detected in the second region by the detection means, the light emitting means is controlled so that visible light is emitted to the first region, and the detection means controls the obstacle in the second region. A light emitting control means for controlling the light emitting means so that visible light is not emitted to the first region when is not detected.
The gist is to prepare.

In this moving body, a second region capable of detecting an obstacle is provided outside the first region with reference to the moving body, and a light emitting means capable of emitting light is provided in the first region so that the obstacle can be generated in the second region. The light emitting means is controlled so that visible light is emitted to the first region when it is detected, and when an obstacle is not detected in the second region, the light emitting means is not emitted to the first region. To control. As a result, the operator can be made aware of the existence of the first region. Further, since it is not necessary to constantly emit visible light to the first region, it is possible to save energy or extend the life of the light emitting means.

In such a moving body of the present invention, it is also possible to provide a movement stopping means for stopping the movement when an obstacle is detected in the first region by the detecting means.

Further, in the moving body of the present invention, the detecting means may be capable of changing at least the first region in accordance with the change in the traveling direction while the traveling direction of the moving body is changed. it can. In this way, the presence or absence of obstacles can be appropriately monitored even while the traveling direction of the moving body is changed. In the moving body of the present invention of this aspect, the moving body can move along a predetermined movement route, and the light emission control means is changed at least before the traveling direction of the moving body is changed. It is also possible to make it possible to emit light in the region to be the first region later. By doing so, the surrounding people can recognize in advance that the traveling direction of the moving body is changed. In this case, the light emitting control means shall be capable of emitting light into the changed first region and the unchanged first region before the traveling direction of the moving body is changed. You can also.

Further, in the moving body of the present invention, the moving body may be a transfer device that conveys the component supply device to the electronic component mounting machine that mounts the electronic components supplied from the component supply device on the substrate. it can.

It is a block diagram which shows the outline of the structure of the component mounting system 1. It is a block diagram which shows the outline of the structure of the component mounting machine 10. It is an external perspective view which shows the appearance of the component mounting machine 10 and the automatic guided vehicle 100. It is explanatory drawing which shows the monitoring area of the automatic guided vehicle 100. It is a block diagram which shows the outline of the structure of the control device 120 of the automatic guided vehicle 100. It is a flowchart which shows an example of the monitoring process executed by the CPU 121 of a control device 120. It is a flowchart which shows an example of the monitoring area switching process executed by the CPU 121 of a control device 120. It is explanatory drawing which shows the mode of switching the monitoring area at the time of changing the traveling direction of an automatic guided vehicle 100. It is a flowchart which shows an example of the light emission control processing executed by the CPU 121 of a control device 120. It is explanatory drawing which shows the state of light emission of the automatic guided vehicle 100 at the time of obstacle detection. It is a flowchart which shows an example of the light emission switching process executed by the CPU 121 of a control device 120. It is explanatory drawing which shows the mode that the automatic guided vehicle 100 switches a light emitting area before changing a traveling direction.

Next, a mode for carrying out the present invention will be described with reference to examples.

FIG. 1 is a configuration diagram showing an outline of the configuration of the component mounting system 1, FIG. 2 is a configuration diagram showing an outline of the configuration of the component mounting machine 10, and FIG. 3 is an external appearance of the component mounting machine 10 and the automatic guided vehicle 100. It is an external perspective view which shows.

As shown in FIG. 1, the component mounting system 1 includes substrate transport devices 4A and 4B for transporting a circuit board (hereinafter referred to as a substrate) S, and a wiring pattern on the substrate S by printing solder on the transferred substrate S. A board-to-board work machine such as a component mounting machine 10 for mounting an electronic component (hereinafter referred to as a component) P on a wiring pattern formed on a substrate S by a printing machine 6 or a printing machine 6 and a board-to-board work machine. An unmanned transport vehicle 100 as a replenishment device that automatically replenishes the members and collects the used members between the board-to-board work machine and the storage 2 and the storage 2 for storing the parts necessary for the work. To be equipped.

The printing machine 6 and the component mounting machine 10 as the board working machine are arranged along the board transport direction (X-axis direction) to form one component mounting line. As shown in FIG. 1, the component mounting system 1 of this embodiment is composed of two rows of component mounting lines separated by a predetermined distance in a direction orthogonal to the substrate transport direction (Y-axis direction). Further, in the component mounting system 1, a U-shaped traveling line L having two straight sections along the two rows of component mounting lines 1 and an arc section connecting the two straight sections is set. The automatic guided vehicle 100 can travel along the traveling line L. In this embodiment, a U-shaped line is set as the traveling line L of the automatic guided vehicle 100, but it goes without saying that any traveling line may be set.

As shown in FIG. 3, the component mounting machine 10 includes a base 11 and a main body frame 12 supported by the base 11. Further, as shown in FIGS. 2 and 3, the component mounting machine 10 has a component supply device 20 for supplying the component P and a substrate S transferred from the substrate transfer devices 4A and 4B on the back surface of the main body frame 12. The backup devices 22A and 22B that back up from the side, the head 30 for picking up (sucking) the parts P supplied from the parts supply device 20 with a suction nozzle and mounting them on the substrate S, and the head 30 are moved in the XY directions. It is equipped with an XY robot 40 or the like. In addition to this, the component mounting machine 10 also includes a component P installed on a mark camera 26 or a support base 14 which is provided on the head 30 and can image a reference mark attached to the substrate S from above and is attracted to the suction nozzle. A parts camera 28 capable of taking an image from below is also provided, and by processing the captured image and recognizing the position of the object to be imaged, the mounting position when the part P is mounted on the substrate S is corrected.

The component supply device 20 can supply components to a suction position by intermittently sending out a tape in which cavities containing components P are formed at predetermined intervals by a sprocket that is rotationally driven by a motor. A feeder 21 is provided. The tape feeder 21 is detachably provided with respect to the feeder holding base 16 formed on the front surface of the main body frame 12.

As shown in FIG. 2 or 3, the XY robot 40 includes a Y-axis guide rail 43 provided along the Y-axis direction on the upper stage of the support frame 12 supported on the base 11, and a Y-axis guide rail 43. A Y-axis slider 44 that can move along the X-axis slider 44, an X-axis guide rail 41 provided on the lower surface of the Y-axis slider 44 along the X-axis direction, and an X-axis that can move along the X-axis guide rail 41. It includes a slider 42. A head 30 is provided on the X-axis slider 42. By driving the XY robot 40, the component mounting machine 10 can move the head 30 (suction nozzle) to an arbitrary position on the XY plane.

Although not shown, the head 30 includes a Z-axis actuator capable of moving the suction nozzle in the Z-axis direction, a θ-axis actuator capable of rotating the suction nozzle, and the like. The suction nozzle sucks the component P by a negative pressure from a vacuum pump (not shown).

When the substrate S is transported by the board transport devices 4A and 4B, the component mounting machine 10 configured in this way backs up the transported board S by the backup devices 22A and 22B, and the component supply device 20 (tape feeder 21). Is supplied with the component P. Subsequently, the component mounting machine 10 moves the X-axis slider 42 and the Y-axis slider 44 so that the suction nozzle is directly above the supplied component P, lowers the suction nozzle, and makes the suction nozzle into the suction port of the suction nozzle. By applying negative pressure, the parts are attracted to the suction nozzle. When the component P is attracted to the suction nozzle in this way, the component mounting machine 10 raises the suction nozzle and moves the sliders 42 and 44 so that the sucked component P is directly above the mounting position of the substrate S. Then, the component mounting machine 10 lowers the suction nozzle until the component P is pressed against the mounting position of the substrate S, and applies a positive pressure to the suction port of the suction nozzle to release the suction of the component by the suction nozzle. .. By repeating such an operation, the component mounting machine 10 mounts each component on the substrate S.

Next, the automatic guided vehicle 100 will be described. FIG. 4 is an explanatory diagram showing a monitoring area of the automatic guided vehicle 100, and FIG. 5 is a block diagram showing an outline of the configuration of the control device 120 of the automatic guided vehicle 100.

In this embodiment, the automatic guided vehicle 100 is configured as a tape feeder replenishing device that replenishes the component mounting machine 10 with the tape feeder 21 and collects the used tape feeder 21. The automatic guided vehicle 100 includes a traveling table 102 (see FIG. 3) in which a traveling motor 104 (see FIG. 5) is connected to wheels 101, and a replenishment unit 106 (see FIG. 3) mounted on the traveling table 102. , A control device 120 (see FIG. 5) that controls the entire vehicle. Further, as shown in FIG. 3, the automatic guided vehicle 100 has a monitoring unit 110 for monitoring whether or not an obstacle exists in front of the vehicle in the traveling direction and a switching unit for switching the monitoring area of the monitoring unit 110. A 112 and a light emitting unit 114 for illuminating the front in the vehicle traveling direction are provided.

The automatic guided vehicle 100 automatically travels by storing the traveling line L in advance, measuring the traveling distance and the traveling posture on the traveling line L, estimating the self-position, and driving and controlling the traveling motor 104. The automatic guided vehicle 100 may be guided by a well-known guidance system such as an electromagnetic induction system, an optical guidance system, or a laser guidance system.

A plurality of supply units 106 can be accommodated in a state where the tape feeders 21 are arranged in the X-axis direction. The supply unit 106 can mount the tape feeder 21 in an empty slot of the feeder support base 16 of the component mounting machine 10 by grasping the tape feeder 21 housed in the unit and sending it out in the Y-axis direction, and supports the feeder. A feeder feeding mechanism (not shown) is provided for pulling out the used tape feeder 21 mounted on the base 16 in the Y-axis direction and collecting the used tape feeder 21 in the unit.

The monitoring unit 110 is, for example, as a laser scanner that detects an obstacle (operator or the like) and measures the distance to the obstacle by irradiating the monitoring area with the laser and measuring the time until the laser returns. It is configured. As shown in FIG. 4, the monitoring unit 110 has a first monitoring area for monitoring an obstacle whose distance from the monitoring unit 110 is up to the first distance, and a distance from the monitoring unit 110 from the first distance to the second distance. It has a second monitoring area for monitoring obstacles in the area. The first monitoring area is a stop area for stopping the running of the automatic guided vehicle 100 when an obstacle is detected, and the second monitoring area is a warning area for issuing a predetermined warning when an obstacle is detected. is there.

The switching unit 112 is configured as a moving mechanism that can move the monitoring unit 110 left and right. By moving the monitoring unit 110 to the right, the switching unit 112 can switch the monitoring area (first monitoring area, second monitoring area) to the right in the vehicle traveling direction, and by moving the monitoring unit 110 to the left. , The monitoring area (first monitoring area, second monitoring area) can be switched to the left side in the vehicle traveling direction.

The light emitting unit 114 is configured as, for example, a semiconductor laser device that amplifies and emits light in the visible light region, and as shown in FIG. 3, has a right light emitting unit 114R that illuminates the right part in the vehicle traveling direction and a vehicle traveling direction. A central light emitting unit 114M that illuminates the central portion and a left light emitting unit 114L that illuminates the left portion in the vehicle traveling direction are provided.

The control device 120 is configured as a microprocessor centered on a CPU 121, and includes a ROM 122, a RAM 123, an input / output interface 124, and the like in addition to the CPU 121. They are electrically connected to each other via a bus 125. A detection signal or the like from the monitoring unit 110 is input to the control device 120 via the input / output interface 124. Further, from the control device 120, each drive signal to the central light emitting unit 114M, the right light emitting unit 114R, the left light emitting unit 114L, the drive signal to the replenishment unit 106, the drive signal to the traveling motor 104, and the like transmit the input / output interface 124. It is output via.

The operation of the automatic guided vehicle 100 configured in this way, particularly the monitoring process, the monitoring area switching process, the light emission control process, and the light emission switching process will be described. FIG. 6 is a flowchart showing an example of the monitoring process executed by the CPU 121 of the control device 120. This process is repeatedly executed at predetermined time intervals.

When the monitoring process of FIG. 6 is executed, the CPU 121 of the control device 120 first determines whether or not an obstacle has been detected by the monitoring unit 110 (S100). When the CPU 121 determines that an obstacle has been detected, it determines whether or not the obstacle is in the first monitoring area (S102). When the CPU 121 determines that the obstacle is in the first monitoring area, it determines whether or not the vehicle is traveling (S104), and if it is traveling, it makes an emergency stop (S106) and ends the monitoring process. If it is not running (if it is stopped), the monitoring process is terminated while maintaining the emergency stop state. On the other hand, when the CPU 121 determines in S100 that no obstacle is detected, or in S102 that the obstacle is in the second monitoring area instead of the first monitoring area, it determines whether or not the vehicle is in an emergency stop. Then (S108), if it is determined that the emergency stop is in progress, it is determined whether or not a predetermined time (for example, 2 seconds) has elapsed (S110). That is, after detecting an obstacle in the first monitoring area and performing an emergency stop, the CPU 121 determines whether or not a predetermined time has elapsed since the obstacle is no longer detected in the first monitoring area. When the CPU 121 determines that the predetermined time has elapsed, the CPU 121 resumes running (S112) and ends the monitoring process. If it is determined in S108 that the emergency stop is not in progress, or if it is determined in S110 that the predetermined time has not elapsed even during the emergency stop, the CPU 121 ends the monitoring process as it is.

Next, the monitoring area switching process will be described. FIG. 7 is a flowchart showing an example of the monitoring area switching process executed by the CPU 121 of the control device 120. When the monitoring area switching process of FIG. 7 is executed, the CPU 121 determines whether or not the automatic guided vehicle 100 is turning right (S120) and whether or not it is turning left (S122), respectively. The processing of S120 and S122 can be performed, for example, by determining whether or not the current position on the traveling line L is within the arc section. When the CPU 121 determines that it is turning right, it moves the monitoring unit 110 to the right (S124), and if it determines that it is turning left, it moves the monitoring unit 110 to the left (S126), and it is neither right-turning nor left-turning. If it is determined that the vehicle is going straight, the monitoring unit 110 is moved to the center (S128), and the monitoring area switching process is completed.

FIG. 8 is an explanatory diagram showing how the monitoring area is switched when the traveling direction of the automatic guided vehicle 100 is changed. As shown in the figure, the automatic guided vehicle 100 switches the first monitoring area and the second monitoring area to the right part in the traveling direction by moving the monitoring unit 110 to the right part by the switching unit 112 when turning right, and when turning left. By moving the monitoring unit 110 to the left part by the switching unit 112, the first monitoring area and the second monitoring area are switched to the left part in the traveling direction.

Next, the light emission control process will be described. FIG. 9 is a flowchart showing an example of light emission control processing executed by the CPU 121 of the control device 120. When the light emission control process of FIG. 9 is executed, the CPU 121 first determines whether or not an obstacle has been detected by the monitoring unit 110 (S200). When the CPU 121 determines that an obstacle has been detected, it determines whether or not the obstacle is in the second monitoring area (S202). When the CPU 121 determines that the obstacle is in the second monitoring region, it determines whether or not the light emitting unit 114 is emitting light (S204), and if it is not emitting light, starts emitting light (S206). The light emission control process is ended, and if light is being emitted, the light emission control process is ended while maintaining the light emitting state. Here, the light emitting unit 114 includes a left light emitting unit 114L, a central light emitting unit 114M, and a right light emitting unit 114R in this embodiment, and the light emission is switched by a light emitting switching process described later. On the other hand, when the CPU 121 determines in S200 that no obstacle is detected, or in S202 that the obstacle is in the first monitoring area instead of the second monitoring area, it determines whether or not the light is being emitted. (S208) If it is determined that the light is being emitted, it is determined whether or not a predetermined time (for example, 5 seconds) has elapsed (S210). That is, after the CPU 121 detects an obstacle in the second monitoring area and starts emitting light from the light emitting unit 114, it is determined whether or not a predetermined time has elapsed since the obstacle is no longer detected in the second monitoring area. judge. When the CPU 121 determines that the predetermined time has elapsed, it stops the light emission (S212) and ends the light emission control process. In this embodiment, even if an obstacle is detected in the second monitoring area and the light emitting unit 114 starts emitting light, even if the obstacle invades the first monitoring area, the obstacle is in the second monitoring area. It was assumed that the light emission would be stopped after a predetermined time had passed since the obstacles were no longer detected (running stopped), but no obstacles were detected in either the first monitoring area or the second monitoring area. The light emission may be stopped when a predetermined time has elapsed. If the CPU 121 determines in S208 that light is not being emitted, or if it is determined in S210 that the predetermined time has not elapsed even during light emission, the CPU 121 ends the light emission control process as it is.

FIG. 10 is an explanatory diagram showing a state of light emission of the automatic guided vehicle 100 when an obstacle is detected. The automatic guided vehicle 100 normally travels with the light emitting unit 114 stopped emitting light (see FIG. 10A), and when the monitoring unit 110 detects an obstacle in the second monitoring area during traveling, it emits light. The light emission of the unit 114 is started to illuminate the first monitoring area (see FIG. 10B). As described above, since the first monitoring area is defined as a stop area in which the automatic guided vehicle 100 makes an emergency stop when an obstacle is detected, the operator can see how far after entering the second monitoring area of the automatic guided vehicle 100. When the automatic guided vehicle 100 approaches, it is possible to recognize whether the automatic guided vehicle 100 will make an emergency stop. As described above, the automatic guided vehicle 100 aims at energy saving and long life by emitting light from the light emitting unit 114 only when necessary.

Next, the light emission switching process will be described. FIG. 11 is a flowchart showing an example of the light emission switching process executed by the CPU 121 of the control device 120. When the light emission switching process of FIG. 11 is executed, the CPU 121 first determines whether or not any of the left light emitting unit 114L, the central light emitting unit 114M, and the right light emitting unit 114R as the light emitting unit 114 is emitting light. (S220). When the CPU 121 determines that none of the left light emitting unit 114L, the central light emitting unit 114M, and the right light emitting unit 114R is emitting light, the CPU 121 ends the light emitting switching process as it is. On the other hand, when the CPU 121 determines that any of the left light emitting unit 114L, the central light emitting unit 114M, and the right light emitting unit 114R is emitting light, the CPU 121 determines the current traveling state of the automatic guided vehicle 100 (S222), and the result of the determination is , Whether or not it is 0 to T seconds (for example, 3 seconds) before the right turn (S224), whether or not it is turning right (S226), whether or not it is 0 to T seconds before the left turn (S228), It is determined whether or not the vehicle is turning left (S230). Here, the processing of S222 can be performed, for example, by determining whether or not the current position on the traveling line L is within the arc section and whether or not it is within a predetermined distance before the arc section. When the CPU 121 determines that it is 0 to T seconds before the right turn, it emits light from the central light emitting unit 114M and the right light emitting unit 114R (S232), and when it determines that the right turn is in progress, it emits only the right light emitting unit 114R (S). S234), if it is determined that it is 0 seconds to T seconds before the left turn, the central light emitting unit 114M and the left light emitting unit 114L emit light (S236), and if it is determined that the left turn is in progress, only the left light emitting unit 114L emits light (S234). S238), if it is determined that the right turn is 0 to T seconds before, the right turn is being made, the left turn is 0 to T seconds before, or the left turn is being made, only the central light emitting unit 114M is emitted (S240), and the light emission switching process is completed. To do.

FIG. 12 is an explanatory view showing how the automatic guided vehicle 100 switches the light emitting region before changing the traveling direction. While the automatic guided vehicle 100 is illuminating the current first monitoring area by the light emission of the central light emitting unit 114M, when the right turn T seconds (3 seconds) before, the right light emitting unit 114R is also generated in addition to the central light emitting unit 114M. The light is emitted to illuminate both the current (straight ahead) first monitoring area and the changed (right turn) first monitoring area (see FIG. 12A). Further, while the automatic guided vehicle 100 is illuminating the current first monitoring area by the light emission of the central light emitting unit 114M, when it is T seconds (3 seconds) before the left turn, the left light emitting unit is added to the central light emitting unit 114M. The 114L is also emitted to illuminate both the current (straight ahead) first monitoring area and the changed (left turn) first monitoring area (see FIG. 12B). As a result, the operator can know in advance a right turn or a left turn of the automatic guided vehicle 100, and thus prevents the automatic guided vehicle 100 from invading the first monitoring area of the automatic guided vehicle 100 and stopping in an emergency. be able to.

According to the automatic guided vehicle 100 of the above-described embodiment, the automatic guided vehicle 100 has a first monitoring area and a second monitoring area capable of detecting an obstacle farther from the first monitoring area as a monitoring area for detecting an obstacle. The monitoring unit 110 and the light emitting unit 114 that emits light in the first monitoring area are provided, and when an obstacle is detected in the first monitoring area, the vehicle is stopped in an emergency. Further, the automatic guided vehicle 100 normally stops the light emitting unit 114, and when an obstacle is detected in the second monitoring region, the light emitting unit 114 is made to emit light. As a result, the operator can recognize how close the automatic guided vehicle 100 is to the emergency stop when the operator enters the second monitoring area. Further, since the light emitting unit 114 emits light only when necessary, energy saving and long life can be achieved. Further, the automatic guided vehicle 100 switches the monitoring area (first monitoring area, second monitoring area) and the light emission of the light emitting unit 114 to the right part in the traveling direction during a right turn, and the monitoring area (first monitoring) during a left turn. Since the area (region, the second monitoring area) and the light emission of the light emitting unit 114 are switched to the left part in the traveling direction, obstacles can be appropriately detected and the first monitoring area can be illuminated even while the traveling direction is changed. Further, the automatic guided vehicle 100 makes a left turn 0 in light of both the current (straight ahead) first monitoring area and the changed (right turn) first monitoring area 0 to T seconds before the right turn. From seconds to T seconds before, it illuminates both the current (straight ahead) first monitoring area and the changed (left turn) first monitoring area. As a result, the operator can know in advance a right turn or a left turn of the automatic guided vehicle 100, so that it is effective to invade the first monitoring area of the automatic guided vehicle 100 and make an emergency stop of the automatic guided vehicle 100. Can be suppressed.

In the automatic guided vehicle 100 of the embodiment, the detection of obstacles in the first monitoring area and the detection of obstacles in the second monitoring area are performed by using one monitoring unit 110 (sensor). It may be performed by using separate monitoring units (sensors).

In the automatic guided vehicle 100 of the embodiment, the monitoring area (first monitoring area, second monitoring area) is switched according to the change of the traveling direction, but the monitoring area may not be switched. Further, it may be applied to an automatic guided vehicle that does not change the traveling direction.

The automatic guided vehicle 100 of the embodiment is configured to enable the switching unit 112 to switch the monitoring area left and right and the light emitting unit 114 (left light emitting unit 114L, right light emitting unit 114R) to switch the light emitting area left and right. , The automatic guided vehicle that only makes a right turn may be configured so that it cannot be switched to the left part of the monitoring area or the light emitting area to the left part, and the automatic guided vehicle that only makes a left turn may be configured to the right of the monitoring area. It may be configured so that switching to the unit or switching to the right portion of the light emitting region is impossible.

In the automatic guided vehicle 100 of the embodiment, both the current (straight ahead) first monitoring area and the changed (right turn) first monitoring area are illuminated before 0 to T seconds of the right turn. , 0 seconds to T seconds before the left turn, both the current (straight ahead) first monitoring area and the changed (left turn) first monitoring area are illuminated, but this is limited. It may illuminate only one of the areas, for example, only the area to be the first monitoring area after the change.

In the automatic guided vehicle 100 of the embodiment, three light emitting units 114L, 114M, and 114R are provided as the light emitting unit 114, but the present invention is not limited to this, and one light emitting unit is used and the monitoring area. The light emitting direction may be changed according to the switching of. Further, in the embodiment, a semiconductor laser is used as the light emitting unit 114, but the present invention is not limited to this, and for example, it is possible to illuminate the first monitoring area such as an LED and switch between lighting and extinguishing. Any light source may be used as long as it can be used.

In the automatic guided vehicle 100 of the embodiment, the light emitting unit 114 is not emitted when an obstacle is not detected in the second monitoring area, and the light emitting unit 114 is emitted when an obstacle is detected in the second monitoring area. Although it was supposed to emit light, the light emitting unit 114 is made to emit light regardless of whether or not an obstacle is detected in the second monitoring area while the traveling direction is being changed or within a predetermined time before the traveling direction is changed. It may be a thing. In this case, the obstacle may not be detected in the second monitoring area while the traveling direction is being changed or within a predetermined time before the traveling direction is changed.

In the embodiment, the automatic guided vehicle 100 is configured as a tape feeder replenishing device, but the present invention is not limited to this, and the tray feeder is provided for a component mounting machine capable of mounting a tray feeder that supplies parts by a tray. It is abolished for the parts mounting machine 10 which is configured as a tray feeder replenishing device capable of replenishing and collecting the waste tape, or which has a waste tape box in the base 11 for storing the waste tape after removing the parts from the tape. It may be used for replenishment or collection of any member of the substrate working machine, such as being configured as a waste tape collection device for collecting tape. It can also be applied to applications other than replenishment and recovery of members of anti-board working machines.

Here, the correspondence between the main elements of the present embodiment and the main elements of the invention described in the disclosure column of the invention will be described. That is, the automatic guided vehicle 100 corresponds to the "moving body", the monitoring unit 110 (laser scanner) and the switching unit 112 correspond to the "detection means", and the light emitting unit 114 (left light emitting unit 114L, central light emitting unit 114M, right). The light emitting unit 114R) corresponds to the "light emitting means", and the CPU 121 of the control device 120 that executes the light emitting control process of FIG. 9 and the light emitting switching process of FIG. 11 corresponds to the "light emitting control means". Further, the CPU 121 of the control device 120 that executes the monitoring process of FIG. 6 corresponds to the "movement stop means".

It goes without saying that the present invention is not limited to the above-described examples, and can be carried out in various embodiments as long as it belongs to the technical scope of the present invention.

The present invention can be used in the mobile manufacturing industry and the like.

1 component mounting system, 2 storage, 4A, 4B board transfer device, 6 printing machine, 10 component mounting machine, 11 base, 12 body frame, 14 support, 16 feeder support, 20 parts supply device, 21 tape feeder , 22A, 22B backup device, 26 mark camera, 28 parts camera, 30 head, 40 XY robot, 41 X-axis guide rail, 42 X-axis slider, 43 Y-axis guide rail, 44 Y-axis slider, 100 unmanned carrier, 101 Wheels, 102 pedestal, 104 mileage motor, 106 replenishment unit, 110 monitoring unit, 112 switching unit, 114 light emitting unit, 114L left light emitting unit, 114M central light emitting unit, 114R right light emitting unit, 120 control device, 121 CPU, 122 ROM , 123 RAM, 124 input / output interface, 125 bus, S board, L running line.

Claims (1)

It ’s a mobile body,
A detection means capable of detecting an obstacle in the first region based on the moving body and detecting an obstacle in the second region outside the first region.
A light emitting means consisting of a left light emitting part, a central light emitting part, and a right light emitting part that emits visible light,
When an obstacle is detected in the second region by the detection means, the light emitting means is controlled so that visible light is emitted to the first region, and the detection means controls the obstacle in the second region. A light emitting control means for controlling the light emitting means so that visible light is not emitted to the first region when is not detected.
With
The light emitting control means causes the right light emitting portion and the central light emitting portion to emit light before a predetermined time when the moving body makes a right turn, and while the moving body makes a right turn, only the right light emitting portion emits light, and the moving body makes a left turn. The left light emitting portion and the central light emitting portion are made to emit light before a predetermined time, and only the left light emitting portion is made to emit light while the moving body is turning left, and before the predetermined time when the moving body is turning right, during the right turn, the said A moving body characterized in that only the central light emitting portion emits light when it is not during the left turn before a predetermined time for turning left .

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