JP7378062B2 - Transport method, program, transport system, and component mounting system - Google Patents

Description

The present disclosure relates to a transport method, a program, a transport system, and a component mounting system. More specifically, the present disclosure relates to a transport method, a program, a transport system, and a component mounting system for a transport device that transports objects.

Patent Document 1 discloses an autonomous mobile device (transport device). This autonomous mobile device includes a distance sensor, an infrared sensor, and a determining means. The distance sensor detects obstacles ahead in the traveling direction. The infrared sensor can detect infrared rays emitted from a person. When the distance sensor detects an obstacle within a predetermined distance (occupied area), the determining means determines whether or not the obstacle is a person using the infrared sensor.

If the obstacle is a person, the autonomous mobile device stops and waits for a certain period of time. If the obstacle still exists after waiting for a certain period of time, the autonomous mobile device moves to an avoidance operation, and resumes traveling if the obstacle no longer exists.

Japanese Patent Application Publication No. 9-185412

An object of the present disclosure is to provide a transport method, a program, a transport system, and a component mounting system that can set an occupied area according to the state of a transport device.

A transport method according to one aspect of the present disclosure includes an acquisition process and a setting process. In the acquisition process, state information representing the state of a conveyance device for conveying an object is acquired. In the setting process, based on the state information, a range including the location of the transport device in a map of a predetermined area to which the transport device moves is set as an occupied area used by the transport device. The state includes a first state in which the transport device is transporting the object. The conveyance device has a connecting part that connects the conveyed objects. In the setting process, in the first state, an area into which at least the transport device and the transported object connected to the transport device enter is set as the occupied region.
A transport method according to one aspect of the present disclosure includes an acquisition process, a setting process, a search process, and a control process. In the acquisition process, state information representing the state of a conveyance device for conveying an object is acquired. In the setting process, based on the state information, a range including the location of the transport device in a map of a predetermined area to which the transport device moves is set as an occupied area used by the transport device. In the search process, a route along which the transport device moves is searched based on map information representing the map and the occupied area. The map information includes information on a route along which the transport device moves. In the control process, the direction of the conveying device is adjusted based on the width of the traffic path and the size of the occupied area before the conveyance device enters the traffic path. Change the direction so that it can pass.
A transport method according to one aspect of the present disclosure includes an acquisition process, a setting process, and a search process. In the acquisition process, state information representing the state of a conveyance device for conveying an object is acquired. In the setting process, based on the state information, a range including the location of the transport device in a map of a predetermined area to which the transport device moves is set as an occupied area used by the transport device. In the search process, a route along which the transport device moves is searched based on map information representing the map and the occupied area. The map information includes information on alternate routes through which the conveying device alternately passes. In the predetermined area before entering the alternate traffic path, a standby area where the transport device waits is set for each occupied area.

A program according to one aspect of the present disclosure is a program that causes one or more computer systems to execute the transport method.

A conveyance system according to one aspect of the present disclosure includes an acquisition unit and a setting unit. The acquisition unit acquires state information representing a state of a conveyance device for conveying an object. The setting process sets, based on the state information, a range including the location of the transport device in a map of a predetermined area in which the transport device moves, as an occupied area used by the transport device. The state includes a first state in which the transport device is transporting the object. The conveyance device has a connecting part that connects the conveyed objects. The setting unit sets, in the first state, an area into which at least the transport device and the transported object connected to the transport device enter as the occupied region.
A transport system according to one aspect of the present disclosure includes an acquisition section, a setting section, a search processing section, and a control processing section. The acquisition unit acquires state information representing a state of a conveyance device for conveying an object. The setting process sets, based on the state information, a range including the location of the transport device in a map of a predetermined area in which the transport device moves, as an occupied area used by the transport device. The search processing unit searches for a route along which the transport device moves based on map information representing the map and the occupied area. The map information includes information on a route along which the transport device moves. The control processing unit controls the direction of the conveyance device so that the conveyance device faces the traffic path before the conveyance device enters the traffic path, based on the width of the traffic path and the size of the occupied area. Change the direction of the road so that it can be passed through.
A transport system according to one aspect of the present disclosure includes an acquisition section, a setting section, and a search processing section. The acquisition unit acquires state information representing a state of a conveyance device for conveying an object. The setting process sets, based on the state information, a range including the location of the transport device in a map of a predetermined area in which the transport device moves, as an occupied area used by the transport device. The search processing unit searches for a route along which the transport device moves based on map information representing the map and the occupied area. The map information includes information on alternate routes through which the conveying device alternately passes. In the predetermined area before entering the alternate traffic path, a standby area where the transport device waits is set for each occupied area.

A component mounting system according to one aspect of the present disclosure includes at least one component mounting machine that mounts a component on a board. The component mounting machine includes a component supply device that supplies the component, and a mounting main body that includes a mounting head that mounts the component on the board. The component supply device is transported to the mounting body by the transport device in which the occupied area is set by the transport method described above.

According to the present disclosure, it is an object of the present disclosure to provide a transportation method, a program, a transportation system, and a component mounting system that can set an occupied area according to the state of a transportation device.

FIG. 1A is an explanatory diagram of an occupied area in a first state set by a transport system according to an embodiment of the present disclosure. FIG. 1B is an explanatory diagram of the occupied area in the second state set by the transport system same as above. FIG. 2 is a schematic block diagram of the same conveyance system. FIG. 3 is a flowchart illustrating the operation of the above conveyance system. FIG. 4 is a plan view illustrating the operation of changing the posture of the conveying device controlled by the same conveying system. FIG. 5 is a plan view of a predetermined area in which the transport device same as above moves. FIG. 6 is a plan view illustrating the operation of the conveyance devices controlled by the same conveyance system when they pass each other. FIG. 7 is a plan view illustrating the operation of the conveyance devices controlled by the same conveyance system when they pass each other. FIG. 8 is a plan view illustrating the operation of the conveyance devices controlled by the same conveyance system when they pass each other. FIG. 9 is an explanatory diagram of an outline of a component mounting system constructed by using the above-mentioned transport system.

(Embodiment)
(1) Overview As shown in FIGS. 1A and 1B, the transport method according to the present embodiment is a transport method for causing a transport device 1 for transporting an object 50 to perform a transport operation. This transport method is realized by a transport system 100 (see FIG. 2) that includes a transport device 1 and a host system 2. In this embodiment, the transported object 50 has wheels 51 and is configured to be movable together with the transport device 1 .

The transport system 100 of this embodiment includes an acquisition section 22 and a setting section 23. The acquisition unit 22 acquires state information representing the state of the transport device 1 for transporting the object 50. Based on the status information, the setting unit 23 sets a range including the location of the transport device 1 in the map MP1 of the predetermined area R1 to which the transport device 1 moves, as an occupied area A1 used by the transport device 1.

Here, the transport device 1 is introduced into facilities such as, for example, distribution centers (including distribution centers), factories, offices, stores, schools, and hospitals. The predetermined area R1 is an area within the facility where the transport device 1 is used. Below, a case will be described in which the transport device 1 is introduced into a factory. Note that in drawings other than FIG. 1, illustration of the predetermined area R1 is omitted.

The state information representing the state of the transport device 1 includes first information related to the state of the transport device 1 itself and second information related to the transport work performed by the transport device 1. The first information includes information related to the size, shape, etc. of the transfer device 1, information related to the moving speed of the transfer device 1, the moving direction, the moving posture (orientation) of the transfer device 1, and the current position of the transfer device 1. Contains at least If the transport device 1 can be transformed into a plurality of forms, the first information further includes information regarding the current form of the transport device 1. In addition, the second information is information indicating whether or not a conveyance operation for conveying the conveyed object 50 is being performed, and when the conveyed object 50 is being conveyed, the entire state including the conveying device 1 and the conveyed object 50 ( (size, shape, etc.).

The occupied area A1 is an area used by the transport device 1. In the electronic map MP1 of the predetermined area R1 to which the transport device 1 moves, a range including the location of the transport device 1 in the predetermined area R1 is set as an occupied area A1. Once the occupied area A1 of the conveying apparatus 1 is set, the conveying apparatus 1 autonomously travels within the predetermined area R1 while avoiding obstacles, for example, so that no obstacles enter the occupied area A1. The "obstacles" mentioned here include walls of buildings and shelves existing within the predetermined area R1, stationary objects such as the conveyance object 50 placed within the predetermined area R1, and other conveyance objects existing within the predetermined area R1. There is a device 1 (including the conveyed object 50 being conveyed if this conveying device 1 is conveying), and the like.

In the transport system 100 of the present embodiment, the range including the location of the transport device 1 is set as the occupied area A1 on the map MP1 based on the state information, so the occupied area A1 according to the state of the transport device 1 can be set. Therefore, it is possible to provide the transport system 100 in which the occupied area A1 can be set according to the state of the transport device 1.

(2) Details (2.1) Overall configuration The transport system 100 according to the present embodiment will be described below with reference to FIGS. 1A, 1B, and 2. In this embodiment, the transport system 100 includes a transport device 1 and a host system 2, and the transport device 1 and the host system 2 are configured to be able to communicate with each other. "Communicable" in the present disclosure means that information can be exchanged directly or indirectly via the network NT1, the repeater 3, etc., using an appropriate communication method such as wired communication or wireless communication. In this embodiment, the host system 2 and each of the plurality of transport devices 1 are capable of bidirectional communication, and information can be transmitted from the host system 2 to the transport device 1 and from the transport device 1 to the host system 2. Both transmission of information to is possible.

(2.2) Conveyance device The configuration of the conveyance device 1 of this embodiment will be explained in more detail. As shown in FIG. 1A, the transport device 1 is an automatic guided vehicle for transporting objects 50, and autonomously travels to a destination by connecting objects 50 together. In this embodiment, the host system 2 communicates with the transport device 1 via the network NT1 and the repeater 3, and indirectly controls the movement of the transport device 1.

The transport device 1 autonomously travels on a flat moving surface such as the floor of a predetermined area R1, for example. Here, as an example, it is assumed that the transport device 1 includes a storage battery and operates using electrical energy stored in the storage battery. In this embodiment, the transport device 1 travels on the moving surface with the transported object 50 connected thereto. Thereby, the transport device 1 can transport the object 50 placed at a certain location to another location by towing or pushing the object 50, for example.

The transport device 1 includes a main body portion 10 . The main body portion 10 is formed into a rectangular parallelepiped shape. The conveying device 1 has a plurality of (six in this case) wheels at the bottom of the main body 10 . Among the six wheels, two wheels located at both ends of the main body 10 in the longitudinal direction are steering wheels 151. The steering wheels 151 also serve as driving wheels, and are omnidirectional wheels such as omni wheels, for example. Furthermore, among the six wheels, the four wheels located at both ends in the width direction in the central portion of the main body portion 10 are all auxiliary wheels (driven wheels) 152 . The conveying device 1 moves the conveying device 1 in a desired direction on a moving surface by driving two steering wheels 151 individually. In FIGS. 1A and 1B, wheels such as the plurality of steering wheels 151 and auxiliary wheels 152 of the transport device 1 are drawn with solid lines, but in reality, they are hidden in the main body 10 of the transport device 1. There is. Note that the same applies to drawings other than FIGS. 1A and 1B.

In the conveying device 1, the longitudinal direction is the lateral direction (left-right direction in FIGS. 1A and 1B) that is perpendicular to the longitudinal direction in which the two steering wheels 151 are lined up. The reference posture of the conveyance device 1 during movement is a movement posture in which the front-rear direction (lateral direction) of the conveyance device 1 is parallel to the movement direction, and the conveyance device 1 in the reference posture moves forward or forward in the front-rear direction. Go backwards. Note that the transport device 1 is movable in any direction, and may be moved in a movement posture such that the longitudinal direction of the transport device 1 is parallel to the direction of movement. Here, "parallel" is a concept that includes not only complete parallelism but also almost parallelism. Similarly, "orthogonality" may be a concept that includes not only complete orthogonality but also almost orthogonality.

In the conveying device 1, a connecting portion 16, such as a hook, on which a part of the conveyed object 50 can be hooked is provided on the side surface of the main body portion 10. The "side surface of the main body" herein refers to a surface that is the front side or the rear side in the moving direction when the conveyance device 1 is in the reference posture. Therefore, in this embodiment, by hooking a part of the transported object 50 on the connecting portion 16, it is possible to connect the transported object 50 with the transport device 1. That is, the conveying device 1 has a connecting portion 16 for connecting the conveyed object 50 on a side surface (front side or rear side side in the moving direction) of the main body 10 of the conveying device 1.

Further, as shown in FIG. 2, the conveyance device 1 includes a control section 11, a detection section 12, a communication section 13, a storage section 14, and a traveling device 15. The control section 11 , the detection section 12 , the communication section 13 , the storage section 14 , and the traveling device 15 are mounted on the main body section 10 .

The detection unit 12 detects the behavior of the main body 10, the surrounding situation of the main body 10, and the like. "Behavior" as used in the present disclosure means an action, a state, and the like. In other words, the behavior of the main body 10 is determined by the operating state of the main body 10 indicating whether or not the main body 10 is transporting the object 50, the speed of the main body 10, the acceleration acting on the main body 10, and the behavior of the main body 10. Including moving posture, etc. Specifically, the detection unit 12 includes sensors such as a speed sensor, an acceleration sensor, and a gyro sensor, and detects the behavior of the main body 10 using these sensors. Furthermore, the detection unit 12 includes sensors such as an image sensor (camera), a sonar sensor, a radar, and LiDAR (Light Detection and Ranging), and detects the surrounding situation of the main body 10 using these sensors.

Furthermore, the detection unit 12 includes a position specifying unit that specifies the position of the main body 10, that is, the current position of the transport device 1. For example, the position specifying unit estimates the current position based on detection information of surrounding objects by LiDAR and electronic map information of the predetermined area R1. Note that the sensor unit may estimate the current position using LPS (Local Positioning System) using a radio beacon. Further, the position specifying unit may be realized using a satellite positioning system such as GPS (Global Positioning System).

The communication unit 13 is configured to be able to communicate with the host system 2. In this embodiment, the communication unit 13 communicates with any one of the plurality of repeaters 3 installed in the area where the transport device 1 is operated by wireless communication using radio waves as a medium. Therefore, the communication unit 13 and the host system 2 communicate indirectly through at least the network NT1 and the repeater 3.

That is, each repeater 3 is a device (access point) that relays communication between the communication unit 13 and the host system 2. The repeater 3 communicates with the host system 2 via the network NT1. In this embodiment, as an example, communication between the repeater 3 and the communication unit 13 may be performed using Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or low-power wireless communication that does not require a license. Adopt wireless communication that complies with standards such as (Specified Low Power Radio). Further, the network NT1 is not limited to the Internet, but may be, for example, a local communication network within the area where the transport device 1 is operated or within the operating company of this area.

The storage unit 14 is realized, for example, by a non-temporary recording medium such as a rewritable nonvolatile semiconductor memory. The storage unit 14 stores, for example, identification information of the transport device 1, occupied area information about the occupied area A1 set in the transport device 1, map information about the map MP1 of the predetermined area R1 where the transport device 1 is used, etc. Remember. The map information includes, for example, information on the route along which the transport device 1 moves in the map MP1 corresponding to the predetermined area R1. Note that the storage unit 14 may store command information and the like given from the host system 2.

The traveling device 15 receives a control command from the control unit 11 and individually drives a plurality of drive wheels (in this embodiment, two steering wheels 151) provided in the main body 10, thereby controlling the transport device. 1 in the desired direction.

The control unit 11 mainly includes a computer system having one or more processors and memory. Therefore, the functions of the control unit 11 are realized by one or more processors executing a program recorded in a memory. The program may be pre-recorded in a memory, provided through a telecommunications line such as the Internet, or provided recorded on a non-temporary recording medium such as a memory card.

The control unit 11 controls the traveling device 15 to move the transport device 1 to a desired location within the predetermined area R1 based on the command information given from the host system 2 and the detection result of the detection unit 12, and carries out the transport. A conveying operation for conveying the object 50 can be performed. Further, the control unit 11 causes the communication unit 13 to periodically transmit status information representing the status of the transport device 1 based on the detection result of the detection unit 12 to the host system 2. Note that the control unit 11 may receive a transmission request from the host system 2 and cause the communication unit 13 to transmit state information representing the state of the transport device 1 to the host system 2.

By the way, the conveyance object 50 conveyed by the conveyance apparatus 1 of this embodiment is, as an example, a parts supply apparatus that supplies parts to manufacturing equipment installed in a factory. The parts supply device has one or more feeders for supplying parts. The manufacturing equipment is, for example, a mounting device for mounting components supplied from a component supply device onto a target object such as a board. That is, in this embodiment, the transport device 1 receives command information from the host system 2 and transports the component supply device as the transport object 50 to the installation location of the mounting device. Thereby, it is possible to construct a component supply system that supplies components from the component supply device to the mounting device. Note that the conveyance object 50 conveyed by the conveyance device 1 is not limited to a parts supply device, but may be a component itself, and can be changed as appropriate depending on the place or purpose of use of the conveyance device 1. In addition, in FIG. 1A, although the plurality of wheels 51 of the conveyed object 50 are drawn with solid lines, they are actually hidden in the main body of the conveyed object 50. The same applies to drawings other than FIG. 1A.

(2.3) Upper System The upper system 2 is a system for controlling a plurality of transport devices 1 in an integrated manner, and is realized by, for example, a server device. The host system 2 indirectly controls the plurality of transport devices 1 by issuing instructions to each of the plurality of transport devices 1.

The host system 2 includes a processing section 21, a communication section 24, and a storage section 25.

The communication unit 24 communicates with each of the plurality of transport devices 1 via the network NT1 and the repeater 3. As a communication method between the communication unit 24 and the repeater 3, an appropriate communication method such as wireless communication or wired communication is adopted.

The storage unit 25 is realized, for example, by a non-temporary recording medium such as a rewritable non-volatile semiconductor memory. The storage unit 25 includes, for example, a definition information database 251, an occupied area information database 252, a map information database 253, a signal information database 254, and the like. In FIG. 2, the definition information database is abbreviated as "definition information," the occupied area information database as "occupied area information," the map information database as "map information," and the signal information database as "signal information." The definition information database 251 stores definition information (for example, identification information assigned to the transport device 1, etc.) for defining each of the plurality of transport devices 1 used within the predetermined area R1. The occupied area information database 252 stores occupied area information representing the occupied area A1 that is set according to the state of the transport device 1. The map information database 253 stores map information of an electronic map representing the predetermined area R1. The signal information database 254 stores signal information regarding the installation positions of signal elements set on the map MP1 for switching whether to permit or disallow passage of the transport device 1. Furthermore, the storage unit 25 may further store information regarding the shape and size of the conveyance object 50 conveyed by the conveyance device 1.

The processing unit 21 has, for example, a main configuration of a computer system including a memory and a processor. That is, the functions of the processing section 21 (for example, the functions of the acquisition section 22, the setting section 23, etc.) are realized by the processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in a memory, provided through a telecommunications line such as the Internet, or provided recorded on a non-temporary recording medium such as a memory card.

The acquisition unit 22 acquires status information from each of the plurality of transport devices 1 used within the predetermined area R1 via the communication unit 24.

The setting unit 23 refers to the occupied area information database 252 based on the status information acquired by the acquiring unit 22, and sets the range including the location of the conveying device 1 on the map MP1 as the occupied area A1 for each conveying device 1. Set. The setting unit 23 associates the definition information (identification information) of the transport device 1 with the occupied area A1 set with the occupied area information of the occupied area A1 set in this transport device 1, and stores them in the storage unit 25. Further, the setting unit 23 transmits occupied area information representing the set occupied area A1 from the communication unit 24 to the conveyance device 1 to be set. In the conveying device 1 to be set, when the communication unit 13 receives the occupied area information transmitted from the host system 2, the control unit 11 sets the occupied area A1 of the conveying device 1 based on this occupied area information.

(2.4) Component Mounting System In this embodiment, as shown in FIG. 9, the conveyed object 50 is, for example, a component supply device 8 having one or more feeders. The component supply device 8 is used to supply components to a mounting body 90 of a component mounting machine 9 installed in a factory. The "component mounting machine" referred to here is a machine that mounts components on an object such as a board, for example. The mounting body 90 includes a mounting head for mounting components on a board. That is, in the present embodiment, the transport device 1 is controlled by the transport system 100 to transport the component supply device 8 as the object 50 to the installation location of the mounting main body 90 of the component mounter 9. Thereby, it is possible to construct the component mounting system 200. In other words, the component mounting system 200 is a system that includes at least one component mounter 9 that mounts components on a board. The component supply device 8 is then transported to the mounting main body 90 by the transport device 1 controlled by the transport system 100.

Here, it is preferable that the transport device 1 can be connected to a portion of the component supply device 8 on the opposite side to the portion that discharges the components to the mounting body 90. In this case, when the component supply device 8 is transported to the installation location of the mounting body 90 of the component mounting machine 9, the part of the component supply device 8 that discharges the components faces toward the mounting body 90. Therefore, when the component supply device 8 is transported to the installation location of the mounting body 90 of the component mounter 9, there is no need to change the direction of the component supply device 8 so that the above-mentioned discharge portion faces the mounting body 90. It's over.

(2.5) Operation Hereinafter, an example of the operation of the transport system 100 of this embodiment will be described based on FIG. 3. It is assumed that when the transport system 100 starts operating, the upper system 2 has set the occupied area A1 according to the state of the transport device 1.

The acquisition unit 22 of the host system 2 transmits a request signal requesting transmission of status information from the communication unit 24 to each of the plurality of transport devices 1 at predetermined reception intervals, for example. When the control unit 11 of the transport device 1 acquires a request signal from the host system 2 via the communication unit 13, the control unit 11 causes the detection unit 12 to detect the state of the transport device 1, and transmits state information representing the state of the transport device 1 to the communication unit. 13 to the upper system 2.

When acquiring the state information transmitted from the transport device 1 via the communication unit 24 (ST1), the acquisition unit 22 of the host system 2 determines whether the state of the transport device 1 has changed (ST2).

If there is no change in the state of the transport device 1 in step ST2, the setting unit 23 does not perform the setting process (changing process) for the occupied area A1, returns to step ST1, and acquires the state information when a predetermined reception interval has elapsed. Execute the process again.

If there is a change in the state of the transport device 1 in step ST2, the setting unit 23 sets the transport device 1 based on the state information acquired in step ST1 and the definition information and occupied area information stored in the storage unit 25. The occupied area A1 is set according to the state of (ST3). Here, the "state" of the transport device 1 includes a first state in which the transport device 1 is transporting the object 50 and a second state in which the transport device 1 is not transporting the object 50. Therefore, the setting unit 23 sets the occupied area A1 in each of the first state and the second state. Note that when distinguishing between the occupied area A1 in the first state and the occupied area A1 in the second state, the occupied area A1 in the first state is written as occupied area A11, and the occupied area A1 in the second state is written as occupied area A11. It is written as occupied area A12.

FIG. 1A shows an example of the occupied area A11 when the transport device 1 is in the first state. The occupied area A11 is set according to the conveyed object 50. Thereby, the setting unit 23 can set the occupied area A11 in consideration of the conveyed object 50 being conveyed by the conveying device 1, and change the occupied area A11 according to the shape and size of the conveyed object 50. can do. In addition, in this embodiment, the conveying device 1 has a connecting part 16 that connects the conveyed objects 50, and the setting section 23 is configured to connect the conveying device 1 and the conveying objects connected to the conveying device 1 in the first state. The area into which at least the object 50 can enter is set as the occupied area A11. The setting unit 23 sets an area into which at least the transport device 1 and the transported object 50 connected to the transport device 1 enter as the occupied region A11. Therefore, the transport device 1 moves so that no obstacles enter the range (occupied area A11) in which the transport device 1 and the transported object 50 are present, thereby making it possible for the transported object 50 to come into contact with the obstacle. It is possible to reduce the

FIG. 1B shows an example of the occupied area A12 when the conveying device 1 is in the second state, and the setting unit 23 sets the occupied area A12 to an area large enough to accommodate the conveying device 1 in the second state. Set as .

In this embodiment, the occupied areas A11 and A12 are set as rectangular areas, and the conveyed object 50 is connected to the front or rear side of the conveying device 1. Therefore, in the longitudinal direction of the transport device 1, the length X1 of the occupied area A11 and the length X2 of the occupied area A12 are set to be approximately the same. On the other hand, in the front-back direction perpendicular to the longitudinal direction of the transport device 1, the width Y1 of the occupied area A11 is set to be larger than the width Y2 of the occupied area A12.

After setting the occupied area A1 according to the state of the transport device 1, the setting unit 23 causes the communication unit 24 to transmit the occupied area information representing the occupied area A1 to the transport device 1 to be set (ST4). Upon acquiring the occupied area information transmitted from the host system 2 via the communication unit 13, the control unit 11 of the conveyance device 1 to be set stores the occupied area information in the storage unit 14 and performs the occupation based on the occupied area information. Set area A1. At this time, the control unit 11 determines whether the surrounding objects (obstacles) detected by the detection unit 12 are within the occupied area A1 based on the detection result of the detection unit 12, the occupied area A1, and the map information corresponding to the map MP1. The conveyance device 1 is run so as not to enter the vehicle. That is, the control unit 11 of the transport device 1 performs a search process to search for a route along which the transport device 1 moves based on the map information representing the map MP1 and the occupied area A1. As a result, the control unit 11 can search for a moving route for the transport device 1 in consideration of the occupied area A1, and can avoid obstacles (such as walls of buildings or other transport devices 1) entering the occupied area A1. You can search for routes that may not come before you. For example, the control unit 11 searches for a route based on the width of the occupied area A1 in the direction intersecting the moving direction of the transport device 1 and the width of the passage P1 (see FIG. 4). In the following, a case where the direction intersecting the movement direction is perpendicular to the movement direction will be explained, but the direction intersecting the movement direction is not limited to the direction perpendicular to the movement direction, and is 90 degrees to the movement direction. Directions that intersect at a predetermined angle other than the above may also be used. When searching for a route to the target value, the control unit 11 selects the passage P1 that is wider than the width of the occupied area A1 in the direction orthogonal to the movement direction, so that the route to the target value is located at the end of the passage P1. It is possible to select a route that prevents the transport device 1 and the object 50 being transported from coming into contact with a wall or the like. Therefore, in the transport system 100 of the present embodiment, it is possible to carry out the transport work of transporting the object 50 while avoiding obstacles so that the transport device 1 and the object 50 being transported do not come into contact with each other. In this embodiment, the transport device 1 performs the route search process, but the host system 2 performs the search process and transmits the determined route to the transport device 1, and the transport device 1 performs the route search process. You may move along the designated route.

Below, in the transport system 100 of this embodiment, the operation when the transport device 1 moves within the predetermined area R1 according to the route searched by the search process will be explained based on FIGS. 4 to 8.

FIG. 4 shows an example of a passage P1 along which the conveying device 1 moves, and in the passage P1 shown in FIG. 4, the conveying device 1 moves along the left-right direction in FIG. The passage P1 shown in FIG. 4 has a width (hereinafter referred to as passage width) in a direction perpendicular to the moving direction of the conveying device 1 that is narrower in the center portion in the left-right direction than in both side portions in the left-right direction. In other words, the passage P1 shown in FIG. 4 is divided into a first passage P11 whose passage width is W1, a second passage P12 whose passage width is W2, and a third passage P13 whose passage width is W3. They are separated (W2<W1, W2<W3). When the transport device 1 in the second state moves along the passage P1, the passage widths W1 and W3 of the first passage P11 and the third passage P13 are larger than the length X2 of the occupied area A12, so the second passage The conveying device 1 in this state can move along the first passage P11 and the third passage P13 in the standard posture. On the other hand, the passage width W2 of the second passage P12 is larger than the width dimension Y2 of the occupied area A12, but shorter than the length dimension X2 of the occupied area A12. Therefore, the conveyance device 1 cannot pass through the second traffic path P12 in the standard posture, and before entering the second traffic path P12, the conveyance device 1 changes direction so that the longitudinal direction of the conveyance device 1 is parallel to the moving direction. After that, it is necessary to enter the second traffic road P12.

As shown in FIG. 4, the control unit 11 of the conveyance device 1 moving in the direction of the arrow M1 within the first traffic path P11 selects the When it is determined that the transport device 1 has reached the position before the second traffic path P12, the transport device 1 is temporarily stopped before the second traffic path P12. The control unit 11 controls the traveling device 15 to rotate the conveying device 1 at this position. Here, the control unit 11 moves the transport device 1 in a direction (longitudinal direction) perpendicular to the front-rear direction by rotating the transport device 1 at a position where no obstacle exists within a circle C1 around which the transport device 1 rotates. The orientation of the conveying device 1 can be changed to be parallel to the direction.

After changing the direction of the conveyance device 1, the control unit 11 causes the conveyance device 1 to enter the second traffic path P12 along the arrow M2, and further move the conveyance device 1 within the third traffic path P13 along the arrow M3. This allows the vehicle to smoothly pass through the narrower second passageway P12. Note that, when the conveyance device 1 passes through the second traffic path P12 and enters the third traffic path P13, the control unit 11 controls the orientation of the conveyance device 1 so that the front-rear direction of the conveyance device 1 is parallel to the moving direction. , and move it in the standard posture.

In this way, the control unit 11 controls the conveyance before the conveyance device 1 enters the traffic route P1 (second traffic route P12) based on the width of the traffic route P1 (passage width) and the size of the occupied area A1. The orientation of the device 1 is changed to a direction that allows the conveyance device 1 to pass through the traffic path P1 (second traffic path P12). For example, if a second traffic path P12 with a narrow passageway exists in the middle of the traffic path P1, the direction of the conveyance device 1 may be changed to change the direction of the conveyance device 1 so that the second traffic path P12 is narrow. By changing the direction so that the vehicle can pass, it is possible to smoothly pass through the second traffic route P12.

Note that, as shown in FIG. 5, posture change areas RZ1 and RZ2 for changing the direction of the conveyance device 1 are set on the map MP1 before and after the second passage P12 where the passage width is narrow. It is preferable to be there. When the control unit 11 determines that the transport device 1 has entered the attitude change area RZ1 or RZ2 based on the current position detected by the detection unit 12, the control unit 11 changes the orientation of the transport device 1 to pass through the second passage P12. Decide whether it is necessary to do so. When the control unit 11 determines that it is necessary to change the orientation of the transport device 1, it changes the orientation of the transport device 1 in the attitude change area RZ1 or RZ2, and then moves the transport device 1 to the second passage P12. The transport device 1 can be moved smoothly. In the example of FIG. 5, attitude change areas RZ1 and RZ2 corresponding to the occupied area A12 set for the transport device 1 in the second state are set before and after the second traffic path P12, but multiple types An attitude change area may be set for each occupied area A1. That is, for each occupied area A1, the attitude change area for changing the direction of the transport device 1 may be set in the area before entering the passage P1 (for example, the second passage P12). Since the shape and size of the area (posture change area) necessary for the conveyance device 1 to change direction differs depending on the shape and size of the occupied area A1, it is not necessary to set an attitude change area for each occupied area A1. is preferred. Since the transport device 1 can change its direction in the attitude change area set corresponding to the current occupied area A1, when the transport device 1 changes its direction, the transport device 1 can change its direction if there are obstacles around it. The possibility of coming into contact with other objects can be reduced.

Furthermore, as shown in FIG. 4, in the passage P1 where the passage width becomes narrow in the middle, when the conveyance device 1 is passed alternately in the second passage P12 where the passage width is narrow, as shown in FIG. It is preferable to set waiting areas WZ1 and WZ2 before and after the second traffic route P12, which is the traffic route. That is, the map information of the map MP1 corresponding to the predetermined area includes information on the alternate traffic route (second traffic route P12) through which the conveyance device 1 is alternately routed. In the predetermined area R1 before entering the alternate traffic path (second traffic path P12), standby areas WZ1 and WZ2 where the transport device 1 waits are set for each occupied area A1. Here, the alternate passage path means, for example, that two conveyance devices 1 moving in opposite directions cannot pass each other because the passage width is narrower than the occupied area A1 set in the range including the conveyance device 1. Refers to a road that is used alternately. Note that the alternate traffic path is not limited to one in which the same number of conveyance devices moving in opposite directions alternately move.

As shown in FIG. 6, when the two transport devices 1A and 1B are about to enter the second passage P12 from both sides of the second passage P12, the host system 2 Command information is given to each of them, and the transport devices 1A and 1B are made to proceed to the second passage P12 in order. For example, the host system 2 gives command information to the transport device 1B moving within the third traffic path P13 to wait within the standby area WZ2, and causes the transport device 1B to wait within the standby area WZ2. On the other hand, the host system 2 gives command information to the conveyance device 1A moving within the first traffic path P11 to move it through the second traffic path P12 to the third traffic path P13, and as shown by arrow M4, The transport device 1A is moved from the second passage P12 to the third passage P13. When the transport device 1A enters the third traffic path P13 and passes the standby area WZ2, the host system 2 gives command information to the transport device 1B to move the transport device 1B through the second traffic path P12 to the first traffic path P11, The transport device 1B is moved from the second passage P12 to the first passage P11.

In this way, when the transport device 1 enters the second traffic path P12, which is an alternate traffic path, from one direction, the host system 2 causes the transport device 1 coming from the opposite direction to wait in the waiting area WZ1 or WZ2. , it is possible to reduce the possibility that the waiting conveyance device 1 becomes an obstruction to traffic. By making the transport device 1 stand by in the standby area WZ1 or WZ2, the host system 2 can smoothly allow the transport device 1 coming from the opposite side of the alternate traffic path to pass through.

Here, the waiting areas WZ1 and WZ2 shown in FIG. 6 are areas with a size and shape corresponding to the conveying device 1 that is not conveying the conveyed object 50, so that the conveying device 1 that is conveying the conveyed object 50 is on standby. It is not possible to enter areas WZ1 and WZ2. Therefore, as shown in FIG. 7, standby areas WZ21 and WZ24 corresponding to the occupied area A11 of the transport device 1 in the first state, and standby area WZ22 corresponding to the occupied area A12 of the transport device 1 in the second state, They may be set on both sides of the second traffic route P12, which is an alternate traffic route. In the example of FIG. 7, the passage P1 includes a first passage P21 whose passage width is W11, a second passage P22 whose passage width is W12, and a third passage P23 whose passage width is W13. It includes a fourth passage P24 whose passage width is W14 (W13<W12<W11, W14). Here, the third passageway P23, which has the narrowest passageway width, is an alternate passageway in which two conveyance devices 1 moving in opposite directions cannot pass each other. Note that the width of the third passageway P23 is set to a width that allows passage of one transporting device 1 in the first state and the second state.

A waiting area WZ21 is set in the first traffic route P21 where the conveyance devices 1 in the first state and the second state can wait, and a waiting area WZ21 is set in the first traffic route P21 and the second traffic route P22 between the first traffic route P21 and the third traffic route P23. A standby area WZ22 is set in which only the transport device 1 in the second state can stand by. Further, a waiting area WZ24 is set in the fourth passage P24 on the right side of the third passage P23, where the conveying apparatus 1 in the first state and the second state can wait.

In this way, in the example of FIG. 7, in the map MP1 corresponding to the predetermined area R1, there are standby areas WZ21 and WZ24 corresponding to the occupied area A11 in the first state, and standby area WZ22 corresponding to the occupied area A12 in the second state. are set respectively. Therefore, the conveyance device 1 can wait in the standby areas WZ21 and WZ24 in the first state where the conveyance object 50 is being conveyed, and can wait in the standby areas WZ21 and WZ24 in the second state where the conveyance object 50 is not conveyed. You can wait at WZ22 and WZ24. Therefore, by having the conveying device 1 wait in the waiting areas WZ21, WZ22, and WZ24, it is possible to reduce the possibility that it will interfere with the passage of other conveying devices 1 coming from the opposite side of the alternate traffic path, and It is possible to smoothly pass other conveying devices 1 coming from.

By the way, in the traffic route shown in FIG. 6, signal elements SG1 and SG2 (see FIG. 8) are set on the map MP1 in the area before entering the alternate traffic route (second traffic route P12) in the predetermined area R1. You can leave it there. The signal elements SG1 and SG2 are set on the map MP1 in order to switch whether to permit or disallow entry of the transport device 1 into the alternate traffic route (second traffic route P12). When the transport device 1 is not allowed to enter the alternate traffic route (second traffic route P12) by the signal elements SG1 and SG2, the transport device 1 waits in the waiting areas WZ1 and WZ2 using the signal set on the map MP1. Signal information regarding the elements SG1 and SG2 (for example, information on the installation positions of the signal elements SG1 and SG2) is registered in the storage unit 25 of the host system 2 and the storage unit 14 of the transport device 1. Furthermore, whether the signal elements SG1 and SG2 are in a state of permitting or not permitting entry into the alternate traffic route is set by the host system 2, and this information is stored in the storage unit 25 of the host system 2. . In the example of FIG. 8, the signal element SG1 is in a state of permitting entry into the alternate traffic route, and is illustrated by a dotted line. Further, the signal element SG2 is in a state in which entry into the alternate traffic route is not permitted, and is illustrated by a solid line.

When the transport device 1A passing through the first traffic path P11 detects that it has approached the signal element SG1 based on the information on the current position and the information on the installation position of the signal element SG1, the host system 2 Inquire about the state of signal element SG1. Similarly, when the transport device 1B passing through the third traffic path P13 detects that it approaches the signal element SG2 based on the information on the current position and the information on the installation position of the signal element SG2, the host system 2 The state of the signal element SG2 is inquired about.

Here, if the state of the signal element SG2 does not permit entry into the alternate traffic path, the transport device 1B moves to the standby area WZ2 along the route shown by the arrow M7 and waits in the standby area WZ2.

On the other hand, since the state of the signal element SG1 is such that entry into the alternate traffic path is permitted, the transport device 1A moves to the third traffic path P13 through the second traffic path P12.

When the host system 2 detects that the transport device 1A enters the third traffic route P13 and passes the waiting area WZ3, it sets the state of the signal element SG1 to a state that does not permit entry into the alternate traffic route, The state of SG2 is set to allow entry into the alternate traffic route. Furthermore, after switching the states of the signal elements SG1 and SG2, the host system 2 outputs command information to permit the transport device 1B waiting in the standby area WZ2 to enter the second traffic path P12. When the transport device 1B receives command information from the host system 2, it moves to the first traffic path P11 through the second traffic path P12 in accordance with this command information.

In this way, when the signal elements SG1 and SG2 disallow entry into the alternate traffic route (second traffic route P12), the conveyance device 1 waits in the waiting areas WZ1 and WZ2, so that it is not allowed to enter the alternate traffic route (second traffic route P12). The conveying device 1 coming from the opposite side can be passed smoothly.

Note that the signal elements SG1 and SG2 are not limited to a virtual configuration set on the map MP1 (that is, a configuration without an entity), but may also be a configuration with an entity such as a traffic light provided in a predetermined area R1 in real space. But that's fine. If the signal elements SG1 and SG2 have a physical configuration, the signal elements SG1 and SG2 directly output information indicating permission/disapproval of entry to the transport device 1 approaching the signal elements SG1 and SG2. Alternatively, the transport device 1 directly acquires information indicating whether entry is permitted or not permitted from the signal elements SG1 and SG2.

(3) Modifications The above embodiment is just one of various embodiments of the present disclosure. The embodiments described above can be modified in various ways depending on the design, etc., as long as the objective of the present disclosure can be achieved. Further, the same functions as the transport system 100 may be realized by a transport method, a computer program, a non-temporary recording medium on which the program is recorded, or the like. A transport method according to one embodiment includes an acquisition process and a setting process. In the acquisition process, state information representing the state of the transport device 1 for transporting the object 50 is acquired. In the setting process, based on the state information, a range including the location of the transport device 1 in the map MP1 of the predetermined area R1 to which the transport device 1 moves is set as an occupied area A1 used by the transport device 1. A (computer) program according to one embodiment is a program for causing a computer system to execute an acquisition process and a setting process.

Modifications of the above embodiment will be listed below. The modified examples described below can be applied in combination as appropriate.

The transport system 100 in the present disclosure includes a computer system. A computer system mainly consists of a processor and a memory as hardware. The function of the transport system 100 in the present disclosure is realized by a processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory of the computer system, may be provided through a telecommunications line, or may be recorded on a non-transitory storage medium readable by the computer system, such as a memory card, optical disc, hard disk drive, etc. may be provided. A processor in a computer system is comprised of one or more electronic circuits including semiconductor integrated circuits (ICs) or large scale integrated circuits (LSIs). The integrated circuits such as IC or LSI referred to herein have different names depending on the degree of integration, and include integrated circuits called system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). Furthermore, an FPGA (Field-Programmable Gate Array), which is programmed after the LSI is manufactured, or a logic device that can reconfigure the connections inside the LSI or reconfigure the circuit sections inside the LSI, may also be used as a processor. I can do it. The plurality of electronic circuits may be integrated into one chip, or may be provided in a distributed manner over a plurality of chips. A plurality of chips may be integrated into one device, or may be distributed and provided in a plurality of devices. The computer system herein includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits including semiconductor integrated circuits or large-scale integrated circuits.

Furthermore, it is not an essential configuration for the transport system 100 that a plurality of functions in the transport system 100 are integrated into one housing, and the components of the transport system 100 are provided dispersedly in a plurality of housings. You can leave it there. Furthermore, at least some functions of the transport system 100, for example, some functions of the transport system 100 (for example, the functions of the setting unit 23) may be realized by a cloud (cloud computing) or the like.

Furthermore, in the embodiments described above, at least some of the functions of the transport system 100 that are distributed among a plurality of devices may be integrated into one housing. For example, some functions of the transport system 100 that are distributed between the transport device 1 and the host system 2 may be integrated into one housing, and the transport device 1 functions as the acquisition unit 22 and the setting unit 23. may be provided.

In the above embodiment, as shown in FIGS. 1A and 1B, when the transport device 1 is viewed from above (when the transport device 1 is viewed from above), the shapes of the occupied areas A11 and A12 are rectangular regions. However, the shape of the occupied areas A11 and A12 is not limited to a rectangular shape. When the conveying device 1 is viewed in plan, if the external shape of the conveying device 1 or the external shape of the conveying device 1 and the conveyed object 50 connected to the conveying device 1 is a shape other than a rectangle, the external shape The shapes of the occupied areas A11 and A12 may be set to follow the shape. That is, in the first state, the shape of the occupied area A11 may be set to a shape that follows the external shapes of the transport device 1 and the transported object 50 when the transport device 1 is viewed from above. Further, in the second state, the shape of the occupied area A12 may be set to a shape that follows the outer shape of the transport device 1 when the transport device 1 is viewed from above. For example, in the example of FIG. 1A, the setting unit 23 may set a T-shaped area along the external shapes of the transport device 1 and the transported object 50 as the occupied area A11. In this way, by making the shape of the occupied area A11 when the conveying device 1 is viewed from above into a shape that follows the external shapes of the conveying device 1 and the conveyed object 50, the occupied area A11 in the first state is 1 and the transported object 50 exist. Furthermore, by making the shape of the occupied area A12 in a plan view of the conveying apparatus 1 into a shape that follows the external shape of the conveying apparatus 1, the occupied area A12 in the second state is in the area where the conveying apparatus 1 exists. Can be set. Therefore, the occupied areas A11 and A12 can be set to the minimum range, and when the transport device 1 moves within the predetermined area R1, the number of obstacles that the transport device 1 needs to avoid can be reduced. It becomes easier to set the route that the person will travel.

In the above embodiment, when the transport device 1 is configured to be able to transform into a plurality of forms, the setting unit 23 may set the occupied area A1 according to the form of the transport device 1. For example, when the conveying device 1 conveys the conveyed object 50 and a part of the main body 10 is connected to the conveyed object 50 by deforming (for example, expanding and contracting), the setting section 23 includes the configuration of the conveying device 1. The occupied area A1 may be set based on the state of the transport device 1. In other words, the setting unit 23 may set at least the range into which the transport device 1 can enter as the occupied area A1 based on the current configuration of the transport device 1.

Further, in the above embodiment, the occupied area A1 is a two-dimensional area, but the occupied area A1 may be set as a three-dimensional area. When the map information of MP1 corresponding to the three-dimensional predetermined area R1 is stored in the host system 2 and the transport device 1, the setting unit 23 sets the three-dimensional area set on the map MP1 as the occupied area A1. You may. By setting the occupied area A1 as a three-dimensional area, it is possible to set the occupied area A1 in consideration of the height of the conveying device 1 and the conveyed object 50 conveyed by the conveying device 1. 50 can reduce the possibility that it will come into contact with an obstacle above.

In the above-described embodiment, the connecting portion 16 is not limited to a hook that hooks a part of the conveyed object 50, but may also be a mode that attracts the conveyed object 50 using an electromagnet.

In the embodiment described above, the conveying device 1 does not need to have the connecting portion 16. For example, the transport device 1 may have a structure in which the objects 50 are loaded on the transport device 1 . In other words, the transport device 1 may be configured in any manner as long as it can transport the object 50.

(summary)
As explained above, the transport method of the first aspect includes an acquisition process and a setting process. In the acquisition process, state information representing the state of the transport device (1) for transporting the object (50) is acquired. In the setting process, based on the status information, the transport device (1) uses a range that includes the location of the transport device (1) in the map (MP1) of the predetermined area (R1) to which the transport device (1) moves. Set as the occupied area (A1).

According to this aspect, since the range including the location of the transport device (1) is set as the occupied area (A1) on the map (MP1) based on the state information, the state of the transport device (1) is The occupied area (A1) can be set accordingly. Therefore, it is possible to provide a transport method in which the occupied area (A1) can be set according to the state of the transport device (1).

In the conveying method of the second aspect, in the first aspect, the state is the first state in which the conveying device (1) is conveying the conveyed object (50), and the first condition in which the conveying device (1) is conveying the conveyed object (50). a second state in which the state is not being transported.

According to this aspect, the occupied areas (A11, A12) can be set in each of the first state and the second state.

In the third aspect of the conveyance method, in the second aspect, in the setting process, the occupied area (A11) is set in the first state according to the conveyance device (1) and the conveyed object (50).

According to this aspect, in the first state when the conveyance object (50) is being conveyed, the occupied area (A11) can be set according to the conveyance device (1) and the conveyance object (50).

In the conveying method of the fourth aspect, in the second or third aspect, the conveying device (1) has a connecting part (16) that connects the conveyed objects (50). In the setting process, in the first state, an area into which at least the transport device (1) and the transported object (50) connected to the transport device (1) enter is set as the occupied region (A11).

According to this aspect, in the first state, the area into which at least the transport device (1) and the transported object (50) connected to the transport device (1) enter can be set as the occupied region (A11). .

In the conveying method of the fifth aspect, in any one of the second to fourth aspects, in the first state, when the conveying device (1) is viewed from above, the shape of the occupied area (A11) is the same as that of the conveying device (1). and a shape that follows the external shape of the conveyed object (50). In the second state, when the transport device (1) is viewed from above, the shape of the occupied area (A12) is a shape that follows the external shape of the transport device (1).

According to this aspect, the occupied area (A12) in the first state can be set to the area where the transport device (1) and the transported object (50) exist, and the occupied region (A12) in the second state can be set to the region where the transport device (1) and the transported object (50) exist. 1) can be set in the area where it exists.

In the conveying method of the sixth aspect, the conveying device (1) can be transformed into a plurality of forms in any one of the first to fifth aspects. In the setting process, an occupied area (A1) is set according to the form of the transport device (1).

According to this aspect, the occupied area (A1) can be set in accordance with the form of the transport device (1).

In the transport method of the seventh aspect, in any one of the first to sixth aspects, the map (MP1) represents a three-dimensional predetermined area (R1), and the occupied area (A1) is located on the map (MP1). This is a three-dimensional area to be set.

According to this aspect, the occupied area (A1) can be set also in the height direction.

The transport method of the eighth aspect further includes a search process in any one of the first to seventh aspects. In the search process, a route along which the transport device (1) moves is searched based on map information representing the map (MP1) and the occupied area (A1).

According to this aspect, it is possible to search for a route for the transport device (1) to move in consideration of the occupied area (A1), for example, to search for a route that does not allow obstacles to enter the occupied area (A1). can do.

In the conveyance method of the ninth aspect, in the eighth aspect, the map information includes information on the passage route for the conveyance device (1) to move. In the search process, a route is searched based on the width of the occupied area (A1) in the direction intersecting the moving direction of the transport device (1) and the width of the passageway (P1).

According to this aspect, the route along which the transport device (1) moves can be searched based on the width of the occupied area (A1) and the width of the passageway (P1).

In the conveyance method of the tenth aspect, in the eighth or ninth aspect, the map information includes information on the passageway (P1) along which the conveyance device (1) moves. The transport method further includes control processing. In the control process, the direction of the conveyance device (1) is determined before the conveyance device (1) enters the traffic path (P1) based on the width of the traffic path (P1) and the size of the occupied area (A1). , the conveyance device (1) changes the traffic path (P1) to a direction in which it can be passed.

According to this aspect, before the conveyance device (1) enters the traffic route (P1), the orientation of the conveyance device (1) is changed to a direction that allows the conveyance device (1) to pass through the traffic route (P1). By doing so, the transport device (1) can be caused to pass through this passageway (P1).

In the conveyance method of the eleventh aspect, in the tenth aspect, for each occupied area (A1), the attitude change area (RZ1, RZ2) for changing the direction of the conveyance device (1) is located along the passageway (P1). It is set in the area before entering.

According to this aspect, after changing the orientation of the transport device (1) in the posture change area (RZ1, RZ2), the transport device (1) can enter the passageway (P1).

In the conveying method of the twelfth aspect, in any of the eighth to eleventh aspects, the map information includes information on alternate paths through which the conveying device (1) alternately travels. In the predetermined area (R1) before entering the alternate traffic path, standby areas (WZ1, WZ2) where the transport device (1) waits are set for each occupied area (A1).

According to this aspect, by making the transport device (1) wait in the standby area (WZ1, WZ2), it is possible to allow the transport device (1) coming from the opposite side of the alternate traffic path to pass.

In the transport method of the thirteenth aspect, in the twelfth aspect, signal elements (SG1, SG2) are set on the map (MP1) in the predetermined area (R1) before entering the alternate traffic route. There is. The signal elements (SG1, SG2) switch whether to permit or disallow entry of the transport device (1) into the alternate traffic route. The transport device (1) waits in the standby area (WZ1, WZ2) when the signal element (SG1, SG2) prohibits entry into the alternate traffic route.

According to this aspect, when the signal element (SG1, SG2) disallows entry into the alternate traffic route, the transport device (1) waits in the waiting area (WZ1, WZ2), can be passed by a conveying device (1) coming from the opposite side.

The program of the fourteenth aspect is a program that causes one or more computer systems to execute the transport method of any one of the first to thirteenth aspects.

According to this aspect, it is possible to provide a program that can set the occupied area (A1) according to the state of the transport device (1).

The conveyance system (100) of the fifteenth aspect includes an acquisition section (22) and a setting section (23). The acquisition unit (22) acquires state information representing the state of the transport device (1) for transporting the object (50). The setting unit (23) defines, based on the status information, a range including the location of the transport device (1) in a map (MP1) of a predetermined area (R1) to which the transport device (1) moves. Set as the occupied area (A1) used by.

According to this aspect, since the range including the location of the transport device (1) is set as the occupied area (A1) on the map (MP1) based on the state information, the state of the transport device (1) is The occupied area (A1) can be set accordingly. Therefore, it is possible to provide a transport system (100) in which the occupied area (A1) can be set according to the state of the transport device (1).

The component mounting system (200) of the sixteenth aspect is a system that includes at least one component mounting machine (9) that mounts components on a board. The component mounting machine (9) includes a component supply device (8) that supplies components, and a mounting body (90) that includes a mounting head that mounts components on a board. The component supply device (8) is transported to the mounting body (90) by the transport device (1) in which the occupied area (A1) is set by the transport method of any one of the first to thirteenth aspects.

According to this aspect, the component supply device (8) can be stably transported to the installation location of the mounting body (90) of the component mounting machine (9) by the transportation device (1), so that the mounting body (90) This has the advantage of making it easier to stabilize the supply of parts.

In the component mounting system (200) of the seventeenth aspect, in the sixteenth aspect, the transfer device (1) is located at a portion of the component supply device (8) opposite to the portion that discharges the component to the mounting body (90). It is possible to connect with

According to this aspect, when the component supply device (8) is transported to the installation location of the mounting body (90) of the component mounting machine (9), the parts are arranged so that the above-mentioned discharge portion faces the mounting body (90). There is an advantage that there is no need to change the direction of the supply device (8).

Not limited to the above aspects, various configurations (including modified examples) of the conveyance system (100) according to the above embodiment can be realized by a conveyance method, a (computer) program, a non-temporary recording medium on which the program is recorded, etc. It is possible.

The configurations according to the second to thirteenth aspects are not essential to the transport method and can be omitted as appropriate.

1 Transport device 8 Component supply device 9 Component mounter 16 Connecting unit 22 Acquisition unit 23 Setting unit 50 Object to be transported 90 Mounting body 100 Transport system 200 Component mounting system A1, A11, A12 Occupied area MP1 Map P1 Passage route R1 Predetermined area RZ1, RZ2 Attitude change area SG1, SG2 Signal element WZ1, WZ2 Standby area

Claims (19)

an acquisition process for acquiring status information representing the status of a conveyance device for conveying the conveyed object;
a setting process of setting a range including the location of the transport device in a map of a predetermined area to which the transport device moves, as an occupied area used by the transport device, based on the state information ;
The state includes a first state in which the transport device is transporting the object,
The conveyance device has a connecting part that connects the conveyed objects,
In the setting process, in the first state, an area in which at least the transport device and the transported object connected to the transport device enter is set as the occupied region;
Transportation method. In the setting process, in the first state, the occupied area is set according to the transport device and the object to be transported.
The conveying method according to claim 1. The state further includes a second state in which the transport device is not transporting the object,
In the first state, the shape of the occupied area is a shape that follows the outer shape of the transport device and the transported object when the transport device is viewed from above;
In the second state, when the transport device is viewed in plan, the occupied area has a shape that follows the outer shape of the transport device;
The conveying method according to claim 1 or 2. The conveyance device can be transformed into a plurality of forms,
In the setting process, the occupied area is set according to the form of the transport device,
The conveying method according to any one of claims 1 to 3. the map represents the predetermined area in three dimensions;
The occupied area is a three-dimensional area set on the map,
The conveying method according to any one of claims 1 to 4. further comprising a search process of searching for a route along which the transport device moves based on map information representing the map and the occupied area;
The conveying method according to any one of claims 1 to 5. The map information includes information on a passage route for the transport device to move,
In the search process, the route is searched based on the width of the occupied area in a direction intersecting the moving direction of the transport device and the width of the passageway.
The conveying method according to claim 6. The map information includes information on a passage route for the transport device to move,
Based on the width of the traffic path and the size of the occupied area, before the conveyance device enters the traffic path, the conveyance device is oriented in a direction that allows the conveyance device to pass through the traffic path. further comprising a control process for changing the
The conveying method according to claim 6 or 7. For each occupied area, an attitude change area for changing the direction of the transport device is set in an area before entering the passageway.
The conveying method according to claim 8. The map information includes information on alternate traffic routes through which the conveyance device alternately passes,
In the predetermined area, a standby area where the transport device waits is set for each occupied area in an area before entering the alternate traffic path.
The transportation method according to any one of claims 6 to 9. A signal element is set on the map in an area before entering the alternate traffic route in the predetermined area, for switching whether to permit or disallow entry of the conveyance device to the alternate traffic route. and
The transport device waits in the waiting area when entry into the alternate traffic path is not permitted by the signal element.
The conveying method according to claim 10. an acquisition process for acquiring status information representing the status of a conveyance device for conveying the conveyed object;
a setting process of setting a range including the location of the transport device in a map of a predetermined area to which the transport device moves, as an occupied area to be used by the transport device, based on the state information;
Search processing and
control processing;
In the search process, a route along which the transport device moves is searched based on map information representing the map and the occupied area;
The map information includes information on a passage route for the transport device to move,
In the control process, the direction of the conveyance device is adjusted based on the width of the traffic path and the size of the occupied area before the conveyance device enters the traffic path. change the direction so that it can pass,
Transportation method. an acquisition process for acquiring status information representing the status of a conveyance device for conveying the conveyed object;
a setting process of setting, based on the state information, a range including the location of the transport device in a map of a predetermined area in which the transport device moves, as an occupied area to be used by the transport device;
including a search process;
In the search process, a route along which the transport device moves is searched based on map information representing the map and the occupied area;
The map information includes information on alternate traffic routes through which the conveyance device alternately passes,
In the predetermined area, a standby area where the transport device waits is set for each occupied area in an area before entering the alternate traffic path.
Transportation method. on one or more computer systems;
Carrying out the transport method according to any one of claims 1 to 13,
program. an acquisition unit that acquires status information representing the status of a conveyance device for conveying the conveyed object;
a setting unit that sets, based on the state information, a range including the location of the transport device in a map of a predetermined area in which the transport device moves, as an occupied area used by the transport device ;
The state includes a first state in which the transport device is transporting the object,
The conveyance device has a connecting part that connects the conveyed objects,
The setting unit sets, in the first state, an area into which at least the transport device and the transported object connected to the transport device enter as the occupied region.
Conveyance system. an acquisition unit that acquires status information representing the status of a conveyance device for conveying the conveyed object;
a setting unit that sets, based on the state information, a range including the location of the transport device in a map of a predetermined area in which the transport device moves, as an occupied area used by the transport device;
a search processing unit;
a control processing unit;
The search processing unit searches for a route along which the transport device moves based on map information representing the map and the occupied area;
The map information includes information on a passage route for the transport device to move,
The control processing unit controls the direction of the conveyance device so that the conveyance device faces the traffic path before the conveyance device enters the traffic path, based on the width of the traffic path and the size of the occupied area. change the direction of the road so that it can be passed through,
Conveyance system. an acquisition unit that acquires status information representing the status of a conveyance device for conveying the conveyed object;
a setting unit that sets, based on the state information, a range including the location of the transport device in a map of a predetermined area in which the transport device moves, as an occupied area used by the transport device;
a search processing unit;
The search processing unit searches for a route along which the transport device moves based on map information representing the map and the occupied area;
The map information includes information on alternate traffic routes through which the conveyance device alternately passes,
In the predetermined area, a standby area where the transport device waits is set for each occupied area in an area before entering the alternate traffic path.
Conveyance system. A component mounting system including at least one component mounting machine for mounting components on a board,
The component mounting machine is
a parts supply device that supplies the parts;
a mounting body including a mounting head for mounting the component on the board;
The parts supply device includes:
transported to the mounting main body by the transport device in which the occupied area is set by the transport method according to any one of claims 1 to 13;
Parts mounting system. The transport device is
connectable to a portion of the component supply device opposite to a portion that discharges the component to the mounting body;
The component mounting system according to claim 18.

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