JP7289037B2 - remote control system - Google Patents

Description

TECHNICAL FIELD The present invention relates to a remote operation system capable of resolving an error occurring in a work device constituting a work line by remote operation from a remote monitoring unit.

Conventionally, in a work line in which work objects are handed over among a plurality of work devices and work is sequentially performed on the work objects, errors occurring in the work devices can be resolved by remote operation from the remote monitoring unit. There is known a remote operation system that uses a remote control system (see, for example, Patent Literature 1 below). In such a remote operation system, when an error occurs in a work device, the location of the error is captured by a camera, and the resulting image is automatically displayed as error information on the display of the remote monitoring unit. There is something like

In such a remote operation system, when an error occurs in a plurality of work devices forming a work line, information on the plurality of errors that have occurred is displayed on the display section of the remote monitoring section in order of occurrence. For this reason, the operator of the remote monitoring unit can eliminate all the errors that have occurred by sequentially performing error elimination operations for the errors displayed on the display unit.

JP 2018-200654 A

However, we believe that it is not necessarily appropriate to process multiple errors that have occurred in the work line in the order in which they occurred, from the viewpoint of suppressing the reduction in the overall takt time of the work line caused by the occurrence of errors. be done.

SUMMARY OF THE INVENTION Accordingly, the present invention provides a remote operation system that, when an error occurs in a work device that constitutes a work line, can perform an error elimination operation in an order that suppresses a decrease in the takt time of the entire work line. intended to

The remote operation system of the present invention includes a work line in which work objects are transferred between a plurality of work devices and work is sequentially performed on the work objects, and a remote control system capable of resolving errors occurring in the work devices by remote operation. and a monitoring unit, wherein each of the plurality of work devices includes an information transmitting unit configured to transmit information on an error that has occurred to the remote monitoring unit, and the remote monitoring unit includes a display an information receiving unit that receives error information transmitted from the information transmitting unit of each of the plurality of work devices; A priority order setting unit for setting a priority order when performing a resolution operation, and an embodiment in which the priority order set by the priority order setting unit is known for information on one or more errors received by the information receiving unit. and a display control unit for displaying on the display unit, the priority order setting unit determines the margin of the individual takt time for each work device from the reference takt time, and the next work target after sending the work target to the downstream side. The leeway time is calculated by summing up the waiting time from the upstream side to the work device, and the error information transmitted from the work device with the shorter leeway time has a higher priority. Set priorities .

According to the present invention, when an error occurs in a work device that constitutes a work line, it is possible to perform error elimination operations in such an order as to suppress a decrease in the takt time of the entire work line.

Schematic configuration diagram of a remote operation system according to an embodiment of the present invention 1 is a side view of a main part of a work device that constitutes a remote operation system according to an embodiment of the present invention; FIG. 1 is a perspective view showing a state in which a mounting head provided in a working device picks up a component supplied to a component supply position by a parts feeder of a working device that constitutes a remote operation system according to an embodiment of the present invention; FIG. 1 is a block diagram showing a control system of a remote operation system according to one embodiment of the present invention; FIG. (a) and (b) are diagrams showing an example of an image obtained by imaging a component supply position of a parts feeder that constitutes a working device of a remote operation system according to an embodiment of the present invention, using a substrate camera. FIG. 4 is a diagram showing an example of a screen displayed on a display unit of a remote monitoring unit included in the remote operation system according to the embodiment of the present invention; FIG. 2 is a flow chart showing the processing flow of the working device when an error occurs in the working device of the remote operation system according to one embodiment of the present invention; FIG. FIG. 2 is a flow chart showing the processing flow of the remote monitoring unit when an error occurs in the work device of the remote operation system according to one embodiment of the present invention; FIG.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows a remote control system 1 according to one embodiment of the invention. A remote operation system 1 includes a work line 2L formed by arranging a plurality of work devices 2 in series, and a remote monitoring unit 3 capable of resolving an error occurring in the work devices 2 constituting the work line 2L by remote operation. there is In this embodiment, the work device 2 is a component mounting device that mounts the component BH on the board KB to be worked. On the other hand, it is a component mounting line in which work (component mounting work) is performed sequentially.

In FIG. 2, each work device 2 that constitutes the work line 2L includes a base 11, a conveyor 12, a parts feeder 13, a head moving mechanism 14, a mounting head 15, a substrate camera 16 and a parts camera 17. As shown in FIG. The transport conveyor 12 is provided on the base 11 to extend in the lateral direction (X-axis direction) of the base 11, receives the board KB sent from the upstream side, and positions it at a predetermined working position. Then, after the board KB is subjected to a component mounting operation, which will be described later, the board KB is transported downstream and discharged.

In FIG. 2, the parts feeder 13 is a tape feeder here, and pulls out the carrier tape CT wound around the reel RL by means of a built-in sprocket 13S (see also FIG. 3) to ), and supplies the component BH to the component supply position 13K provided at the end on the transport conveyor 12 side. The head moving mechanism 14 is composed of, for example, an XY gantry mechanism, and moves the mounting head 15 within a horizontal plane. The mounting head 15 includes a plurality of nozzles 15N extending downward in the vertical direction (Z-axis direction).

The mounting head 15 can raise and lower each nozzle 15N in the Z-axis direction. Also, the mounting head 15 can generate a vacuum suction force at the lower end of each nozzle 15N. After positioning the nozzle 15N above the component supply position 13K of the parts feeder 13, the mounting head 15 lowers the nozzle 15N to generate a vacuum adsorption force at the lower end of the nozzle 15N to adsorb the component BH. is picked up (Fig. 3).

2 and 3, the substrate camera 16 is attached to the mounting head 15 with the imaging optical axis directed downward. The substrate camera 16 moves in the horizontal direction integrally with the mounting head 15 and picks up an image of the substrate KB positioned at the working position by the transport conveyor 12 from above. When an error occurs in the work device 2, the board camera 16 captures an image of the location where the error occurred (error occurrence location) from above.

In FIG. 2, the component camera 17 is attached to the base 11 with the imaging optical axis directed upward. The component camera 17 images the component BH from below while the mounting head 15 that has picked up the component BH is positioned above.

A control device 18 (FIG. 2) provided in each working device 2 controls the operation of each part of the working device 2 (FIG. 4). Specifically, the control device 18 controls the transport of the board KB by the transport conveyor 12 and the positioning operation to the work position, and controls the component supply operation to the component supply position 13K by each parts feeder 13 . Further, the control device 18 controls movement of the mounting head 15 by the head moving mechanism 14 and controls pickup of the component BH by the mounting head 15 .

The control device 18 also controls imaging operations of the board camera 16 and the component camera 17 . Image data obtained by imaging by the board camera 16 and image data obtained by imaging by the component camera 17 are respectively input to the control device 18, and the control device 18 performs image recognition on those image data.

In FIG. 1, the remote monitoring unit 3 functions as a so-called remote terminal and is composed of, for example, a personal computer. Although the remote monitoring unit 3 is connected to the work device 2 by wire here, it may be connected wirelessly. As also shown in FIG. 4 , the remote monitoring unit 3 includes at least a control unit 21 , a display unit (display) 22 and an input unit 23 . The control unit 21 of the remote monitoring unit 3 receives error information (images of error occurrence locations) transmitted from each of the plurality of work devices 2 and causes the display unit 22 to display the received error information. One operator is permanently stationed in the remote monitoring unit 3, and the operator monitors the occurrence of an error through the display unit 22 and performs an operation (error elimination operation) necessary to eliminate the error from the input unit 23.

In FIG. 4, the control device 18 of the work device 2 includes a camera control section 18a and an information transmission section 18b. When an error occurs in the work device 2, the camera control unit 18a moves the board camera 16 above the error occurrence location to capture an image of the error occurrence location. As a result, error information (error information) at the error occurrence location is acquired. The information transmission unit 18 b transmits the image of the error occurrence location as the error information acquired by the substrate camera 16 to the remote monitoring unit 3 .

4, the control unit 21 of the remote monitoring unit 3 includes an information receiving unit 21a, a storage unit 21b, an arrival waiting time calculation unit 21c, a priority order setting unit 21d, and a display control unit 21e. The information receiving unit 21 a receives error information (images of error occurrence locations) transmitted from the information transmitting unit 18 b of each of the plurality of work devices 2 .

The storage unit 21b stores the individual takt time of each of the plurality of work devices 2 forming the work line 2L. Here, the “individual takt time” is the takt time required for each work device 2 to work on one substrate KB. This individual takt time can take different values for each working device 2 .

The storage unit 21b also stores a reference takt time. This reference tact can be set arbitrarily, and is set to the average tact of the work line 2L here. “Average takt time” is the average value of the individual takt times of each of the plurality of work devices 2 that constitute the work line 2L. Further, the storage unit 21b stores the takt margin for each work device 2. FIG. The "takt margin" is the time obtained by subtracting the individual takt of the work device 2 from the reference tact of the work line 2L, and corresponds to the margin of the individual tact from the reference tact (= reference tact - individual tact). is. Whether the "takt margin" is positive or negative is determined by the magnitude relation between the reference takt and the individual takt. When the average tact is used as the reference takt, the takt margin of the working device 2 having the maximum individual takt is a negative value.

The tact margin corresponds to a reference time indicating how much the individual tact of each working device 2 has from the reference tact, and the shorter the individual takt of the working device 2, the larger the value. The reference takt can be arbitrarily set as described above, and can also be set to a value different from the average takt, for example, the maximum value of the individual takts in the work line 2L.

The arrival waiting time calculation unit 21c calculates the arrival waiting time for the work device 2 that has transmitted the error information. The "arrival waiting time" is the waiting time from when the work device 2 that sent the error information sends out the board KB to the downstream side until the next board KB arrives at the work device 2 from the upstream side. be.

The priority order setting unit 21d sets the order of priority for error resolution operation for one or a plurality of pieces of error information received by the information receiving unit 21a. Each time the information receiving unit 21a receives new error information, the priority order setting unit 21d stores the takt time margin stored in the storage unit 21b for the work device 2 that is the transmission source of the newly received error information. The arrival wait time calculated by the arrival wait time calculator 21c is obtained while reading from the unit 21b. Then, the obtained tact margin and arrival waiting time are summed up to calculate the "margin time" of the work device 2 that is the transmission source of the error information (margin time=takt margin+arrival waiting time). The "margin time" calculated here can be a negative value for the work device 2 with a negative takt margin and no or very short waiting time for arrival.

After calculating the spare time for the work device 2 that is the transmission source of the received error information, the priority order setting unit 21d compares the spare time calculated this time with the spare time for other error information that has already been calculated. , The error information is arranged (rearranged) so that the shorter the time to spare, the higher the priority. At this time, if the compared leeway times are of the same length, the error transmitted from the work device 2 located downstream of the work line 2L has a higher priority. Also, if there is no other error information that has already been calculated, the error information received this time is set to have the highest priority. As a result, priority is set for one or a plurality of pieces of error information received by the information receiving section 21a when the error elimination operation is performed.

Here, the reason why the order of priority is set in order of short slack time is that the work device 2 with short slack time is more likely to become a bottleneck. is preferentially eliminated, it is possible to suppress the decrease in the overall takt time of the work line 2L.

As described above, in the present embodiment, the priority order setting unit 21d sets the margin (takt margin) of the individual takt for each work device 2 from the reference takt, and The waiting time (arrival waiting time) until the error arrives from the upstream side is calculated as the spare time, and the error information transmitted from the work device 2 with the shorter spare time has a higher priority. to set priority.

The display control unit 21e causes the display unit 22 to display one or a plurality of pieces of error information received by the information receiving unit 21a in a manner in which the priority set by the priority setting unit 21d can be understood. As a result, the operator can process a plurality of errors that have occurred in a plurality of work devices 2 in descending order of priority (in ascending order of spare time).

Here, an error that occurs in the work device 2 includes, for example, a pickup error in which the nozzle 15N fails to pick up the component BH at the component supply position 13K of a certain parts feeder 13 . FIG. 5(a) shows an image GZ displayed on the display unit 22 of the remote monitoring unit 3, captured by the substrate camera 16 as the error occurrence location, at the component supply position 13K of the parts feeder 13 where such a pick-up error has occurred. An example. In this example, the center position KC of the image GZ coincides with a predetermined position (referred to as "component pickup position") where the lower end of the nozzle 15N is positioned when sucking the component BH positioned at the component supply position 13K. .

In the image GZ of FIG. 5A, the component pick-up position (the center position KC of the image GZ) is displaced from the component supply position 13K, and it is assumed that the component BH has been picked up incorrectly for this reason. In this case, the operator uses the input unit 23 to perform an operation (error elimination operation) necessary to match the component pickup position with the component supply position 13K.

In the above case, the input section 23 performs an error elimination operation to match the position of the lower end of the nozzle 15N with the component supply position 13K. As a result, an operation signal for changing the data stored in the control device 18 of the work device 2 is transmitted from the remote monitoring unit 3 to the control device 18 of the work device 2 . This operation signal is a signal corresponding to an error elimination operation input by the operator through the input unit 23 .

When an operation signal is transmitted from the remote monitoring unit 3, the control device 18 receives the operation signal and performs a required action according to the received operation signal. As a result, the error occurring in the work device 2 is eliminated. In FIG. 5B, when the operator performs an error elimination operation from the input unit 23, the component pickup position (the center position KC of the image GZ) matches the component supply position 13K of the parts feeder 13 specified as the error occurrence location. , and the image GZ is shown in a state in which the error that has occurred has been eliminated.

FIG. 6 shows an example of the screen GM displayed on the display unit 22 by the display control unit 21e of the remote monitoring unit 3. As shown in FIG. This is an example in which error information is displayed on the display unit 22 according to a rule that associates the priority of the error information with the position in the screen GM of the display unit 22 . Here, the six images GZ displayed in the screen GM are displayed according to the rule that the upper side has a higher priority to be processed than the lower side, and the left side has a higher priority. The operator can view the six error information while being aware of the priority. As a result, the operator can preferentially perform the error elimination operation displayed at the position determined as the position with the highest priority (here, the leftmost position in the upper row), and the entire work line 2L can be operated. It is possible to extremely easily carry out the work of performing the error elimination operations in such an order as to suppress the deterioration of the takt time.

In the example shown in FIG. 6, when the operator performs an operation to resolve a certain error, the image GZ of the error for which the operation to resolve the error has been completed disappears from the screen GM, and at the position where the erased image GZ was, It is preferable that the remaining images GZ are displayed with their priorities raised (moved) one by one in a sliding manner so that the error information image GZ with the next highest priority is displayed. . Although an example in which six pieces of error information can be displayed simultaneously is shown here, this is just an example, and the number of pieces of error information that can be displayed simultaneously (the number of images GZ displayed on the screen GM) is limited to six. No, it's optional.

As in the above example, if multiple pieces of error information are displayed on one screen GM, the operator should list not only the error information with the highest priority, but also other error information with subsequent priority. However, if there is no need to list error information other than the error information with the highest priority, only one image GZ of the error information with the highest priority for the resolution operation is displayed on one screen GM. There may be. At this time, when the operation to eliminate the error displayed on the screen GM is completed, the screen GM disappears, and the next highest priority error information (image GZ of the error occurrence location) is displayed on the screen GM. be done.

Moreover, it is preferable that the display control section 21e causes the display section 22 to display the margin time calculated by the priority order setting section 21d together with the error information. In this case, the displayed slack time may be shown as it is with positive and negative signs. As a result, if the displayed slack time is a positive value, the operator will know that there is time to spare for the error resolution operation, and if the displayed slack time is a negative value, the error resolution operation will be performed. I know I need to hurry.

Next, the overall operation of the remote control system 1 will be described. When the work line 2L constituting the remote control system 1 performs component mounting work on the board KB, each work device 2 first operates the transfer conveyor 12 to position the board KB at a predetermined work position. After the board KB is positioned at the work position by the transport conveyor 12, the head moving mechanism 14 is operated to move the mounting head 15 above the board KB, and the board camera 16 is caused to image the board KB to recognize the board KB.

When the work device 2 recognizes the board KB, it operates the parts feeder 13 to supply the parts BH to the parts feeder 13, and causes the mounting head 15 to repeatedly perform mounting turns. In one mounting turn, the mounting head 15 moves above the component supply position 13K of the parts feeder 13 to cause the nozzle 15N to suck (pick up) the component BH, and moves the component camera 17 from above the parts feeder 13. An operation of moving above the board KB and an operation of lowering the nozzle above the board KB to mount the component BH at a predetermined component mounting position on the board KB are performed.

In the mounting turn, when the mounting head 15 passes above the component camera 17, the component camera 17 images the component BH from below, whereby the component BH is recognized. The result of recognizing the component BH and the result of recognizing the aforementioned board KB are used for alignment when mounting the component BH on the component mounting position. In this way, the mounting turn of the mounting head 15 is repeatedly executed, and when all the necessary parts BH are mounted on the board KB, the control device 18 operates the transport conveyor 12 to discharge the board KB to the downstream side of the working device 2. do.

Next, the flow of processing on the side of the working device 2 and the flow of processing on the side of the remote monitoring unit 3 when some kind of error occurs in one of the plurality of working devices 2 forming the work line 2L will be described. FIG. 7 is a flow chart showing the processing flow of the work device when an error occurs in the work device 2, and FIG. 8 is a flow chart showing the processing flow of the remote monitoring unit 3.

The control device 18 of the working device 2 is always in a state of waiting for detection in case an error occurs in itself (step ST1 in the flow chart shown in FIG. 7). Then, when it detects that some error has occurred in itself, it specifies the location of the error (step ST2) and enters the remote operation mode (step ST3). For example, if an error occurs such that the mounting head 15 continuously fails to pick up the parts BH from a certain parts feeder 13, the control device 18 changes the parts supply position 13K of the parts feeder 13 to an error. After identifying the location of the occurrence and interrupting the component mounting work, the remote operation mode is entered.

After entering the remote operation mode, the control device 18 moves the board camera 16 above the error occurrence location through the camera control section 18a. Then, error information is acquired by imaging the error occurrence location with the substrate camera 16 (step ST4). Then, the acquired error information (image of the error occurrence location) is transmitted from the information transmitting section 18b to the remote monitoring section 3 (step ST5).

The control unit 21 of the remote monitoring unit 3 is always in a state of waiting for reception of error information when it is transmitted from any of the work devices 2 (step ST11 in the flow chart shown in FIG. 8). When the control unit 21 receives error information transmitted from one of the plurality of work devices 2, the control unit 21 reads the takt margin of the work device 2 from which the received error information is transmitted from the storage unit 21b. At the same time (step ST12), the arrival wait time calculation unit 21c is made to calculate the arrival wait time of the work device 2 that is the transmission source of the error information (step ST13). Then, the obtained takt margin and arrival waiting time are added up to calculate the margin of time of the work device 2 which is the transmission source of the error information (step ST14).

After calculating the margin time of the transmission source of the received error information, the control device 18 prioritizes one or more pieces of error information received by the information receiving section 21a based on the calculated margin time. Set (step ST15). In step ST15, if there is other error information whose error has not yet been resolved, the order of priority is set for all of the error information whose error has not yet been resolved and the error information newly received this time. .

After setting the priority of the error information, the control unit 21 causes the display control unit 21e to display one or a plurality of pieces of error information received by the information receiving unit 21a on the display unit 22 according to the set priority ( step ST16). As a result, the operator can preferentially perform the operation to eliminate the error having the higher priority while viewing the error information displayed on the display unit 22 .

After displaying the error information on the display unit 22 in step ST16, the control unit 21 of the remote monitoring unit 3 enters a state of waiting for remote operation input by the operator (step ST17). Then, when it is detected that the operator has input an error elimination operation from the input unit 23, the control unit 21 of the remote monitoring unit 3 transmits an operation signal to the control device 18 of the work device 2 (step ST18).

After transmitting the error information to the remote monitoring section 3 in step ST5, the control device 18 of the work device 2 waits for an operation signal transmitted from the remote monitoring section 3 (step ST6 in the flowchart of FIG. 7). . Then, when the operation signal transmitted from the remote monitoring unit 3 is received, necessary measures are executed to eliminate the error that has occurred in the working device 2 according to the received operation signal (step ST7).

The control device 18 exits the remote operation mode after executing the measures to eliminate the error that has occurred in the work device 2 (step ST8). Then, the process returns to step ST1, and returns to the error detection waiting state of step ST1.

As described above, in the remote operation system 1 according to the present embodiment, the remote monitoring unit 3 responds to one or more pieces of error information received from the work devices 2 that make up the work line 2L. , and the error information is displayed on the display unit 22 according to the set priority. For the error information displayed on the display unit 22, the operator can perform the error elimination operation in the order according to the priority, thereby suppressing the loss of takt time of the entire work line 2L. As described above, according to the remote operation system 1 of the present embodiment, when an error occurs in the work device 2 that configures the work line 2L, the operator can control the reduction in the takt time of the work line 2L as a whole. Error resolution operations can be performed in the correct order.

Although the embodiments of the present invention have been described so far, the present invention is not limited to those described above, and various modifications and the like are possible. For example, in the above-described embodiment, the priority order is set when new error information is sent from the work device 2, but the situation of the work line 2L changes moment by moment. You may make it set a priority every several seconds. Also, the priority order setting procedure shown in the above embodiment is merely an example, and other procedures may be used.

Moreover, the method by which the display control unit 21e causes the display unit 22 to display a plurality of pieces of error information in such a manner that the priority set by the priority setting unit 21d can be understood is not limited to the above-described method. That is, in the above-described embodiment, the error information is displayed on the display unit 22 according to the rule that associates the priority of the error information with the position in the screen GM of the display unit 22. Alternatively, the error information may be displayed on the display unit 22 according to a rule that associates the priority of the error information with the colors in the screen GM of the display unit 22 . In this case, for example, the background colors of a plurality of pieces of error information (images GZ where errors have occurred) displayed on a single screen GM can be separated by color, and then the error information can be displayed according to the relationship between color and priority. are displayed on the display section 22 in accordance with the rule of . As a result, the operator can preferentially perform operations to eliminate the errors displayed in the color (background color) determined as the color with the highest priority, thereby suppressing a decrease in the overall takt time of the work line. It is very easy to carry out the work of performing error elimination operations in such an order.

In the above-described embodiment, the work device 2 of the work line 2L constituting the remote operation system 1 picks up the component BH supplied by the parts feeder 13 by the movable mounting head 15 and mounts it on the board KB. Although the working device 2 is used, the working device 2 to which the present invention is applied is not limited to a component mounting device.

To provide a remote operation system capable of performing an error elimination operation in such an order as to suppress a decrease in takt time of an entire work line when an error occurs in a work device constituting a work line.

1 remote operation system 2 work device 2L work line 3 remote monitoring unit 18b information transmission unit 21a information reception unit 21d priority order setting unit 21e display control unit 22 display unit GM screen KB board (work target)

Claims (6)

It comprises a work line in which work objects are transferred between a plurality of work devices and work is sequentially carried out on the work objects, and a remote monitoring unit capable of resolving errors occurring in the work devices by remote operation. A remote operating system comprising:
each of the plurality of work devices includes an information transmission unit that transmits information on the error that has occurred to the remote monitoring unit;
The remote monitoring unit
a display unit;
an information receiving unit that receives error information transmitted from the information transmitting unit of each of the plurality of work devices;
a priority order setting unit for setting a priority order when performing an error elimination operation for one or more pieces of error information received by the information receiving unit;
a display control unit that causes the display unit to display one or more pieces of error information received by the information receiving unit in a manner in which the priority set by the priority setting unit can be understood ;
The priority order setting unit includes a margin of an individual takt for each work device from a reference takt and a waiting time from when the work target is sent to the downstream side until the next work target arrives at the work device from the upstream side. A remote operation system that calculates a time obtained by summing up time and time as a surplus time, and sets the priority so that error information transmitted from a work device with a shorter surplus time has a higher priority. 2. The remote operation system according to claim 1 , wherein the reference takt is an average value of individual takts of each of a plurality of work devices constituting the work line. 3. The remote operation system according to claim 1 , wherein the display control unit causes the display unit to display the leeway time together with error information. 4. The display control unit according to any one of claims 1 to 3 , wherein the display control unit causes the display unit to display the error information according to a rule that associates the priority of the error information with the position in the screen of the display unit. Remote operating system. 4. The display control unit according to any one of claims 1 to 3 , wherein the display control unit causes the display unit to display the error information according to a rule that associates the priority of the error information with colors in the screen of the display unit. Remote operating system. 6. The remote operation system according to claim 1 , wherein the working device is a component mounting device that mounts components on a substrate to be worked.

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