WO2021214949A1 - 基板製造システムおよびその自律走行車 - Google Patents

基板製造システムおよびその自律走行車 Download PDF

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Publication number
WO2021214949A1
WO2021214949A1 PCT/JP2020/017543 JP2020017543W WO2021214949A1 WO 2021214949 A1 WO2021214949 A1 WO 2021214949A1 JP 2020017543 W JP2020017543 W JP 2020017543W WO 2021214949 A1 WO2021214949 A1 WO 2021214949A1
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WIPO (PCT)
Prior art keywords
battery
replacement
built
control unit
autonomous
Prior art date
Application number
PCT/JP2020/017543
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English (en)
French (fr)
Japanese (ja)
Inventor
国宗 駒池
Original Assignee
ヤマハ発動機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ヤマハ発動機株式会社 filed Critical ヤマハ発動機株式会社
Priority to DE112020006944.3T priority Critical patent/DE112020006944T5/de
Priority to JP2022516585A priority patent/JP7344373B2/ja
Priority to PCT/JP2020/017543 priority patent/WO2021214949A1/ja
Priority to CN202080100036.0A priority patent/CN115461691A/zh
Publication of WO2021214949A1 publication Critical patent/WO2021214949A1/ja

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
    • G05D1/0282—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal generated in a local control room
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • B60L58/14—Preventing excessive discharging
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/02—Feeding of components
    • H05K13/021—Loading or unloading of containers

Definitions

  • the present invention relates to a substrate manufacturing system and an autonomous driving vehicle thereof, and more particularly to a substrate manufacturing system provided with a control unit for controlling a driving unit and the autonomous driving vehicle thereof.
  • a substrate manufacturing system in which a control unit for controlling a drive unit is provided is known.
  • Such a substrate manufacturing system is disclosed in, for example, Japanese Patent Application Laid-Open No. 2017-117353.
  • the above-mentioned Japanese Patent Application Laid-Open No. 2017-117353 discloses a mobile platform system (board manufacturing system) provided with a control unit for controlling a motor (drive unit).
  • This mobile platform system includes a service device and a general-purpose mobile.
  • the service device of JP-A-2017-117353 is configured to detect the surrounding situation.
  • the service device is configured to notify a command to cause a general-purpose mobile body to perform a predetermined work based on the detected surrounding conditions.
  • the general-purpose mobile body includes a battery module and the control unit.
  • the control unit is configured to perform a predetermined work by controlling the movement of the general-purpose mobile body by the electric power supplied from the battery module based on the command notified from the service device.
  • the battery module is replaced at the charging station when the power of the battery module falls below the threshold value.
  • the control unit cannot acquire information on a predetermined work based on the surrounding conditions detected from the service device. Therefore, the general-purpose mobile body cannot move according to the surrounding conditions unless the information on the above-mentioned predetermined work is acquired from the service device after the battery is replaced, so that the general-purpose mobile body cannot promptly return to the predetermined work. it is conceivable that. Therefore, in the mobile platform system of Japanese Patent Application Laid-Open No. 2017-117353, it is considered that there is a problem that the work efficiency is poor because the control unit cannot perform the process when the battery is replaced.
  • the present invention has been made to solve the above-mentioned problems, and one object of the present invention is to improve work efficiency by continuously performing processing in the control unit at the time of battery replacement. It is to provide a substrate manufacturing system which can be improved and an autonomous vehicle thereof.
  • the board manufacturing system includes a mounting line including a component mounting device for mounting components on the board, and an autonomous driving vehicle that assists the mounting work of the mounting line.
  • the autonomous driving vehicle has a built-in battery built in the autonomous driving vehicle and supplies electric power to the drive unit, and the autonomous driving vehicle is separated from the built-in battery.
  • the control unit can acquire information on the work of the autonomous vehicle to assist the mounting work of the mounting line, so that the autonomous vehicle performs the work promptly after the battery is replaced. be able to.
  • the work efficiency can be improved by continuously performing the process in the control unit.
  • the built-in battery can supply power to the drive unit, so that the drive unit can move the autonomous vehicle. Can be continued.
  • control unit is configured to control the built-in battery while charging the built-in battery with the replacement battery and running the built-in battery.
  • the mileage of the autonomous vehicle can be increased by the battery capacity of the replacement battery as compared with the case where the autonomous vehicle is driven only by the built-in battery. It is possible to secure a sufficient duration of work by.
  • the control unit stops charging the built-in battery by the replacement battery and stops charging the built-in battery by the replacement battery based on the battery remaining amount of the replacement battery becoming equal to or less than a predetermined value. It is configured to control the operation for replacing the replacement battery while autonomously traveling by the built-in battery. With this configuration, the built-in battery controls the operation for autonomous driving and replacement of the replacement battery, so that even if the remaining battery level of the replacement battery falls below a predetermined value, the operator manually controls it. Since it is not necessary to replace the replacement battery in, it is possible to prevent the work of the operator from increasing.
  • the substrate manufacturing system further includes a charging station for charging the replacement battery
  • the control unit controls the autonomous traveling toward the charging station by autonomous traveling by the built-in battery, and the charging station.
  • the operation is controlled for replacement of the replacement battery and the charged replacement battery charged at the charging station.
  • the autonomous vehicle further carries the replacement battery into the charging station and further an arm used to carry out the charged replacement battery charged at the charging station.
  • the autonomous vehicle further carries the replacement battery into the charging station and further an arm used to carry out the charged replacement battery charged at the charging station.
  • the autonomous vehicle by gripping the replacement battery or the charged replacement battery with the arm, the replacement battery can be carried in and out of the charging station, and the charged replacement battery can be carried out from the charging station. Since it can be performed more reliably, it is possible to improve the certainty of the battery replacement work by the autonomous vehicle.
  • the arm on the autonomous driving vehicle it is not necessary to provide the charging station side with a configuration in which the replacement battery of the autonomous driving vehicle is carried in and the charged replacement battery is carried out. As a result, the configuration of the charging station can be simplified by the amount that the above configuration is not provided.
  • the arm is preferably a replacement arm for replacing the replacement battery with a charged replacement battery charged at the charging station.
  • the dedicated replacement arm by using the dedicated replacement arm, the replacement battery can be smoothly replaced with the charged replacement battery, so that the work efficiency of the battery replacement work by the autonomous vehicle can be improved. Can be improved.
  • a storage unit for storing the work contents of the autonomous driving vehicle that assists the mounting work of the mounting line is included, and a server communicably connected to the autonomous traveling vehicle is further added.
  • the control unit is configured to control transmission of a work consignment signal for receiving the work content to the server when the work content transmitted from the server and acquired can be executed. ing.
  • the work consignment signal can be transmitted from the autonomous vehicle to the server even while the replacement battery is being replaced, so that the autonomous vehicle can immediately perform the next work after replacing the battery. It can be carried out. As a result, the work efficiency of the autonomous driving vehicle can be further improved.
  • the control unit controls the autonomous traveling vehicle to perform the first operation based on the remaining battery level of the replacement battery being equal to or higher than the predetermined remaining amount. Based on the fact that the remaining battery level of the replacement battery is less than the predetermined remaining amount, the control is configured to perform the second work, which consumes less power than the first work. There is.
  • the work of the autonomous vehicle can be switched according to the remaining battery level of the replacement battery, so that it is possible to prevent the autonomous vehicle from having to replace the battery during the work. .. As a result, it is possible to suppress a decrease in work efficiency caused by the autonomous traveling vehicle exchanging batteries during work.
  • the substrate manufacturing system preferably, it is provided separately from the replacement battery, and further includes a power supply unit that supplies power to the built-in battery.
  • the battery capacity of the replacement battery is larger than the battery capacity of the built-in battery.
  • the autonomous driving vehicle controls a drive unit that autonomously travels to assist the mounting work of a mounting line including a component mounting device that mounts components on a substrate, and a drive unit during autonomous driving. It includes a control unit, a built-in battery that is built in and supplies power to the drive unit and the control unit, and a replacement battery that is replaceably provided separately from the built-in battery.
  • a built-in battery that is built-in and supplies electric power to the drive unit and a replacement battery that is replaceably provided separately from the built-in battery are provided.
  • the power supply to the control unit can be continued by the built-in battery, so that the processing in the control unit can be continued. Therefore, even during battery replacement, the control unit can acquire information on the work of the autonomous vehicle to assist the mounting work of the mounting line, so that the autonomous vehicle performs the work promptly after the battery is replaced. be able to.
  • an autonomous traveling vehicle capable of improving work efficiency by continuously performing processing in the control unit when the battery is replaced.
  • control unit is preferably configured to perform control by the built-in battery while charging the built-in battery by the replacement battery.
  • the mileage of the autonomous vehicle can be increased by the battery capacity of the replacement battery as compared with the case where the autonomous vehicle is driven only by the built-in battery. It is possible to secure a sufficient duration of work by.
  • the control unit stops charging the built-in battery by the replacement battery and stops charging the built-in battery by the replacement battery based on the battery remaining amount of the replacement battery becoming equal to or less than a predetermined value. It is configured to control the operation for replacement of the replacement battery while autonomously traveling by the built-in battery. With this configuration, the built-in battery controls the operation for autonomous driving and replacement of the replacement battery, so that even if the remaining battery level of the replacement battery falls below a predetermined value, the operator manually controls it. Since it is not necessary to replace the replacement battery in, it is possible to prevent the work of the operator from increasing.
  • the work efficiency can be improved by continuously performing the process in the control unit.
  • the board manufacturing system 100 is configured to mount components on a board and manufacture a product on which the components are mounted.
  • the board manufacturing system 100 includes a mounting line 1, a server 2, a charging station 3, and an autonomous vehicle 4.
  • the mounting line 1 includes a loader 11, a printing machine 12, a printing inspection machine 13, a dispenser device 14, a plurality of (three) component mounting devices 15, a visual inspection device 16, a reflow device 17, and a visual inspection.
  • the device 18 and the unloader 19 are included.
  • the mounting line 1 is configured so that the substrate is conveyed from the upstream side to the downstream side.
  • one or three or more mounting lines 1 may be provided.
  • the component mounting device 15 may be provided with one, two, or four or more.
  • the plurality of mounting lines 1 may have different configurations from each other.
  • the loader 11 has a role of holding the board before the components are mounted and carrying the board into the mounting line 1.
  • the components include small pieces of electronic components such as LSIs, ICs, transistors, capacitors and resistors.
  • the printing machine 12 is a screen printing machine and has a function of applying cream solder on the mounting surface of the substrate.
  • the printing inspection machine 13 has a function of inspecting the state of the cream solder printed by the printing machine 12.
  • the dispenser device 14 has a function of applying cream solder, an adhesive, or the like to the substrate.
  • the plurality of component mounting devices 15 have a function of mounting (mounting) components at predetermined mounting positions on a substrate on which cream solder is printed.
  • the visual inspection device 16 is provided downstream of the plurality of component mounting devices 15.
  • the visual inspection device 16 has a function of inspecting the appearance of a substrate on which components are mounted by a plurality of component mounting devices 15.
  • the reflow device 17 has a function of melting the solder by performing a heat treatment and joining the components to the electrode portion of the substrate.
  • the reflow device 17 is configured to perform heat treatment while transporting the substrate on the lane.
  • the visual inspection device 18 is provided downstream of the reflow device 17.
  • the appearance inspection device 18 has a function of inspecting the appearance of the substrate after the heat treatment is performed by the reflow device 17.
  • the unloader 19 has a role of discharging the board after the components are mounted from the mounting line 1.
  • the server 2 is a control device that manages information related to the mounting line 1.
  • the server 2 includes a control unit 21, a storage unit 22, and the like.
  • the control unit 21 is composed of a CPU (Central Processing Unit).
  • the storage unit 22 is a storage device having a memory such as a ROM (Read Only Memory) and a RAM (Random Access Memory).
  • the storage unit 22 stores a data management program that manages the type and number of boards of a product in which parts are mounted on the board by the mounting line 1, the type of parts to be mounted, the stock amount of parts, and data related to mounting. There is. Further, the storage unit 22 stores the work content 22a of the autonomous traveling vehicle 4 that assists the mounting work of the mounting line 1.
  • the server 2 includes each device of the mounting line 1 (loader 11, printing machine 12, printing inspection machine 13, dispenser device 14, component mounting device 15, visual inspection device 16, reflow device 17, visual inspection device 18, unloader 19). It is configured to be communicable. Further, the server 2 is connected to the autonomous driving vehicle 4 so as to be able to communicate with each other.
  • the server 2 uses the current position of the autonomous traveling vehicle 4, the position of the charging station 3, the position of the device of the mounting line 1, and the position of the parts warehouse. It has a function of acquiring information such as the position of the assembly parts warehouse and the position of another autonomous vehicle 4. Further, the server 2 has a function of acquiring information on a target position (working place) of the autonomous driving vehicle 4. The server 2 has a function of creating a traveling route from the current position of the autonomous traveling vehicle 4 to the target position (working place) of the autonomous traveling vehicle 4.
  • the charging station 3 has a function of charging the replacement battery 44, which will be described later. That is, the charging station 3 is configured to supply power supplied from the outside to the connected replacement battery 44. The charging station 3 converts the power supplied from the outside into the power suitable for the replacement battery 44. A plurality (four) of charging stations 3 are arranged around the mounting line 1. The charging stations 3 may be arranged around one or more, three or less, or five or more mounting lines 1.
  • the charging station 3 is configured so that a plurality (4) replacement batteries 44 can be connected. In FIG. 2, three replacement batteries 44 are connected to the charging station 3.
  • the charging station 3 is provided with one space to which the replacement battery 44 can be connected.
  • the replacement battery 44 mounted on the autonomous driving vehicle 4 is connected to the empty connection point 31.
  • the charging station 3 does not have a function of communicating with the server 2. Specifically, the charging station 3 does not have a control unit, a storage unit, and a communication unit.
  • the charging station 3 includes a light emitting unit 32 for causing the autonomous driving vehicle 4 to recognize whether or not the connected replacement battery 44 has been charged.
  • the light emitting unit 32 is arranged at each of the connection points of the plurality of replacement batteries 44.
  • the light emitting unit 32 corresponding to the charged replacement battery 44 emits light, for example, green (described in dark hatching in FIG. 2).
  • the light emitting unit 32 corresponding to the replacement battery 44 being charged emits light, for example, red (described by light hatching in FIG. 2).
  • the light emitting unit 32 corresponding to the vacant connection point 31 does not light up.
  • the charging station 3 may cause the autonomous driving vehicle 4 to recognize whether or not the connected replacement battery 44 has been charged by another configuration instead of the light emitting unit 32.
  • the autonomous traveling vehicle 4 is configured to assist the mounting work of the mounting line 1.
  • the autonomous traveling vehicle 4 may be configured to transport and replenish the parts mounted by the component mounting device 15 (autonomous traveling vehicle 4f for transportation (see FIG. 9)).
  • the autonomous driving vehicle 4 may be configured to take out parts from the parts warehouse (see FIG. 9) and transfer the parts to the autonomous traveling vehicle 4f for transporting the parts (for transfer). Autonomous vehicle 4a and autonomous vehicle 4b for transfer (see FIG. 9).
  • the autonomous traveling vehicle 4 may be configured to take out parts from the autonomous traveling vehicle 4f for transportation and transfer them to the component mounting device 15 (autonomous traveling vehicle 4c for transfer and transfer). Autonomous driving vehicle 4d for mounting (see FIG. 9)).
  • the autonomous driving vehicle 4 is configured to take out the parts from the assembly parts warehouse (see FIG. 9) accommodating the assembled assembled parts and transfer the parts to the autonomous traveling vehicle 4 that conveys the parts. It may be good (autonomous traveling vehicle 4e for relocation (see FIG. 9)).
  • the autonomous traveling vehicle 4 may be configured to deliver the replacement battery 44 to another autonomous traveling vehicle 4 (autonomous traveling vehicle 4g for supply (see FIG. 9)).
  • the autonomous driving vehicle 4 is configured to memorize the given role (for example, transporting parts, taking out parts, etc.) as described above.
  • the autonomous driving vehicle 4 has a function of acquiring a traveling route from the current position to the target position (working place) from the server 2.
  • the autonomous driving vehicle 4 may be configured to create a traveling route by itself without acquiring the traveling route from the server 2.
  • the autonomous driving vehicle 4 of the present embodiment is configured to assist the mounting work by using two batteries having different capacities.
  • the basic configuration of the autonomous driving vehicle 4 will be described.
  • the autonomous traveling vehicle 4 can be attached with an external device in addition to the basic configuration.
  • the autonomous traveling vehicle 4 becomes an autonomous traveling vehicle 4f for transportation by adding a towing arm and a trolley as external devices.
  • the autonomous traveling vehicle 4 becomes autonomous traveling vehicles 4a to 4e for transfer by adding a mobile robot provided with a robot arm as an external device.
  • the autonomous driving vehicle 4 includes a drive unit 41, an image pickup unit 42, a built-in battery 43, a replacement battery 44, an arm 45, and a control unit 46.
  • the drive unit 41 is a motor.
  • the drive unit 41 is provided for autonomous driving.
  • the drive unit 41 drives a plurality of wheels in order to autonomously drive the autonomous traveling vehicle 4.
  • the imaging unit 42 is a camera.
  • the imaging unit 42 is configured to photograph the surrounding state of the autonomous driving vehicle 4.
  • the imaging unit 42 is configured to take a picture in order to record a working state.
  • the imaging unit 42 takes a picture in order to obtain information necessary for autonomous driving and work of the autonomous driving vehicle 4.
  • the built-in battery 43 is a battery having a smaller capacity than the replacement battery 44.
  • the built-in battery 43 is a secondary battery capable of repeatedly charging and discharging.
  • the built-in battery 43 is a lead storage battery.
  • the built-in battery 43 is built into the autonomous driving vehicle 4 so as not to be replaced.
  • the built-in battery 43 supplies electric power to the drive unit 41.
  • the built-in battery 43 supplies electric power to the control unit 46.
  • the replacement battery 44 is a battery having a larger capacity than the built-in battery 43. That is, the battery capacity of the replacement battery 44 is larger than the battery capacity of the built-in battery 43.
  • the replacement battery 44 preferably has a battery capacity of about 1.5 times or more and about 3 times or less that of the built-in battery 43. In particular, the replacement battery 44 preferably has about twice the battery capacity of the built-in battery 43.
  • the replacement battery 44 is a secondary battery that can be repeatedly charged and discharged.
  • the replacement battery 44 is a lithium ion battery.
  • the replacement battery 44 is provided so as to be replaceable with the autonomous traveling vehicle 4 separately from the built-in battery 43.
  • the replacement battery 44 supplies power to the built-in battery 43 and an external device.
  • the arm 45 is a robot arm.
  • the arm 45 is controlled by the control unit 46.
  • the arm 45 is used when the replacement battery 44 is carried into the charging station 3 and the charged replacement battery 44 charged at the charging station 3 is carried out.
  • the arm 45 is a replacement arm for replacing the replacement battery 44 with a charged replacement battery 44 charged at the charging station 3.
  • control unit 46 is configured to control each unit of the autonomous driving vehicle 4.
  • the control unit 46 includes a CPU and a storage unit 46a having a memory.
  • the control unit 46 is configured to control the drive unit 41 to control the autonomous driving of the autonomous driving vehicle 4.
  • the control unit 46 is configured to control the arm 45 to control the replacement of the replacement battery 44.
  • the control unit 46 is configured to control the built-in battery 43 to be driven by the built-in battery 43 while being charged by the replacement battery 44. That is, in the autonomous driving vehicle 4, a large-capacity replacement battery 44 is attached in order to increase the mileage of the drive unit 41 by the small-capacity built-in battery 43. As described above, the control unit 46 is configured to use the replacement battery 44 to control the built-in battery 43 to perform normal traveling.
  • the control unit 46 stops charging the built-in battery 43 by the replacement battery 44, and autonomously travels by the built-in battery 43. , It is configured to perform operation control for replacement of the replacement battery 44. That is, the control unit 46 controls autonomous driving toward the charging station 3 by autonomous driving by the built-in battery 43, and at the charging station 3, the replacement battery 44 and the charged replacement battery charged at the charging station 3 are used. It is configured to perform operation control for replacement with the battery 44.
  • control unit 46 sets the travel route to the charging station 3 closest to the autonomous driving vehicle 4 based on the remaining battery level of the replacement battery 44 becoming the predetermined value D1 or less. It is configured to control acquisition from.
  • the control unit 46 is configured to control the drive unit 41 to be driven by the built-in battery 43 to move to the nearest charging station 3 based on the travel path acquired from the server 2.
  • control unit 46 controls the imaging unit 42 to recognize the vacant connection point 31 based on the movement to the charging station 3 at the nearest position. It is configured.
  • the control unit 46 is configured to control the replacement battery 44 to be carried into the vacant connection portion 31 by the arm 45 based on the recognition of the vacant connection portion 31.
  • the control unit 46 is configured to control the movement of the arm 45 until the replacement battery 44 is connected to the empty connection point 31.
  • control unit 46 is configured to control the image pickup unit 42 to recognize the charged replacement battery 44 based on the connection of the replacement battery 44. Has been done. That is, the control unit 46 is configured to control the image pickup unit 42 to search for the light emitting unit 32 that emits green light. The control unit 46 is configured to control the charging station 3 to carry out the charged replacement battery 44 from the charging station 3 based on the recognition of the charged replacement battery 44.
  • the control unit 46 is configured to control to load the charged replacement battery 44 into the autonomous driving vehicle 4 after carrying out the charged replacement battery 44.
  • the control unit 46 is configured to perform a self-diagnosis for confirming whether or not the loaded replacement battery 44 is charged based on the loaded replacement battery 44. Based on the confirmation that the replacement battery 44 has been charged, the control unit 46 is configured to re-control the built-in battery 43 to run while being charged by the replacement battery 44. There is.
  • control unit 46 controls to transmit the work consignment signal for receiving the work content 22a to the server 2. It is configured to do.
  • the server 2 is configured to control transmission of the work content 22a to all of the plurality of autonomous traveling vehicles 4 corresponding to the mounting line 1 when the plurality of autonomous traveling vehicles 4 perform the work. ..
  • Each of the control units 46 of the plurality of autonomous vehicles 4 is configured to perform control to acquire information related to the work content 22a from the server 2 based on the acquisition of the work content 22a transmitted from the server 2.
  • the information related to the work content 22a indicates the current position of the autonomous driving vehicle 4, the position of the device of the mounting line 1 related to the work content 22a, the position of the parts warehouse related to the work content 22a, and the like.
  • Each of the control units 46 of the plurality of autonomous traveling vehicles 4 is configured to perform control for determining whether or not to receive the work content 22a based on the information related to the given role and the work content 22a. .. That is, as an example, among the plurality of autonomous vehicles 4, the autonomous vehicle 4 that is close to the position of the device of the mounting line 1 related to the work content 22a or the position of the parts warehouse related to the work content 22a is It is configured to control the transmission of the work consignment signal to the server 2.
  • FIG. 9 shows, as an example, the first component mounting device 15a, the second component mounting device 15b, and the third component mounting device 15c in the mounting line 1.
  • the first parts warehouse 5 and the second parts warehouse 6 are shown.
  • the first assembly parts warehouse 7 and the second assembly parts warehouse 8 are shown.
  • An autonomous vehicle 4e for relocation is shown.
  • an autonomous traveling vehicle 4f for transportation is shown.
  • an autonomous traveling vehicle 4g for the first supply and an autonomous traveling vehicle 4h for the second supply are shown.
  • the first charging station 3a, the second charging station 3b, the third charging station 3c, and the fourth charging station 3d are shown.
  • FIGS. 9 to 11 an example of control of the autonomous driving vehicle 4 based on the information of the work content 22a transmitted from the server 2 is shown.
  • the server 2 transmits the work content 22a of supplying the parts of the first parts warehouse 5 to the third parts mounting device 15c
  • the first transfer close to the first parts warehouse 5
  • the on-board autonomous vehicle 4a transmits a work consignment signal to the server 2.
  • the autonomous traveling vehicle 4d for the fourth transfer which is close to the third component mounting device 15c, transmits the work consignment signal to the server 2.
  • the autonomous traveling vehicle 4f for transportation transmits a work consignment signal to the server 2.
  • the server 2 transmits a permission signal to the first transfer autonomous vehicle 4a, the second transfer autonomous vehicle 4b, and the transport autonomous vehicle 4f.
  • the parts are transferred from the first transfer autonomous vehicle 4a to the transport autonomous vehicle 4f.
  • the autonomous traveling vehicle 4f for transportation transports parts to the third component mounting device 15c.
  • the autonomous traveling vehicle 4d for the fourth transfer transfers parts from the autonomous traveling vehicle 4f for transportation to the third component mounting device 15c.
  • the control unit 46 can receive the work content 22a because the power is supplied from the built-in battery 43. be. That is, when the replacement battery 44 is replaced, the control unit 46 transmits a work consignment signal for receiving the work content 22a to the server 2 when the work content 22a transmitted and acquired from the server 2 can be executed. Is configured to do. Even in this case, the server 2 transmits the permission signal to the autonomous vehicle 4. Based on the acquisition of the permission signal, the autonomous driving vehicle 4 promptly executes the work content 22a after loading the charged replacement battery 44.
  • the control unit 46 performs the first work W1 having a large power consumption or the first work W1 having a small power consumption based on the remaining battery level of the replacement battery 44. It is configured to control the selection of whether to perform the two work W2. Specifically, the control unit 46 is configured to control the autonomous traveling vehicle 4 to perform the first work W1 based on the remaining battery level of the replacement battery 44 being a predetermined remaining amount D2 or more. There is. The control unit 46 is configured to control the second work W2, which consumes less power than the first work W1, based on the remaining battery level of the replacement battery 44 being less than the predetermined remaining amount D2. ing.
  • the first work W1 includes work such as long-distance traveling by the autonomous traveling vehicle 4f for transportation and traveling when heavy parts are loaded by the autonomous traveling vehicle 4f for transportation.
  • the second work W2 as shown in FIG. 13, the transfer work of the aligned parts using the robot arm of the autonomous traveling vehicle 4 for transfer based on the edge processing is an example.
  • the processing load applied to the control unit 46 by the edge processing is smaller than the processing load applied to the control unit 46 by the learning control.
  • the second work W2 includes work such as short-distance traveling by the autonomous traveling vehicle 4f for transportation and traveling with light parts mounted by the autonomous traveling vehicle 4f for transportation.
  • the autonomous operation process is a process related to the operation of the autonomous traveling vehicle 4 based on the work content 22a transmitted from the server 2.
  • step S1 the control unit 46 determines whether or not the work content 22a has been acquired. If the work content 22a is acquired, the process proceeds to step S2. If the work content 22a is not acquired, the process proceeds to step S9 to continue the current work, and then proceeds to step S5. In step S2, the control unit 46 determines whether or not to receive the work content 22a. That is, the control unit 46 determines whether or not to receive the work content 22a based on the role of the autonomous driving vehicle 4, the current position, and the like. If the work content 22a is received, the process proceeds to step S3. If the work content 22a is not received, the process proceeds to step S9 to continue the current work, and then proceeds to step S5.
  • step S3 the control unit 46 transmits a work consignment signal to the server 2.
  • step S4 the control unit 46 starts work by the autonomous traveling vehicle 4.
  • step S5 the control unit 46 determines whether or not the remaining battery level of the replacement battery 44 is equal to or less than the predetermined value D1. If the remaining battery level of the replacement battery 44 is equal to or less than the predetermined value D1, the process proceeds to step S6. If the remaining battery level of the replacement battery 44 exceeds the predetermined value D1, the process proceeds to step S10 to continue the current work. , Return to step S1.
  • step S6 in the control unit 46, the power supply to the control unit 46 and the drive unit 41 is switched to the power supply by only the built-in battery 43. Further, the control unit 46 acquires a traveling route from the server 2 to the charging station 3 located closest to the server 2. In step S7, the control unit 46 determines whether or not the user has arrived at the nearest charging station 3. When arriving at the charging station 3, the process proceeds to step S8, the replacement battery 44 is replaced with the charged replacement battery 44, and then the process returns to step S1. If the charging station 3 has not arrived, step S7 is repeated.
  • the built-in battery 43 which is built in the autonomous driving vehicle 4 and supplies electric power to the drive unit 41, is replaced with the autonomous driving vehicle 4 separately from the built-in battery 43.
  • a possible replacement battery 44 is provided.
  • the control unit 46 can acquire the work information of the autonomous traveling vehicle 4 for assisting the mounting work of the mounting line 1, so that the autonomous traveling vehicle 4 can promptly acquire the work information after the battery replacement. Can work on.
  • the control unit 46 can continuously perform the process, so that the work efficiency can be improved.
  • the built-in battery 43 can supply the power to the drive unit 41, so that the drive unit 41 can be used.
  • the movement of the autonomous traveling vehicle 4 can be continued.
  • control unit 46 is configured to control the built-in battery 43 to be driven by the built-in battery 43 while being charged by the replacement battery 44.
  • the mileage of the autonomous driving vehicle 4 can be increased by the battery capacity of the replacement battery 44 as compared with the case where the autonomous traveling vehicle 4 is driven only by the built-in battery 43. It is possible to secure a sufficient duration of the work according to 4.
  • the control unit 46 stops charging the built-in battery 43 by the replacement battery 44 based on the fact that the remaining battery level of the replacement battery 44 becomes a predetermined value D1 or less.
  • the operation control for replacement of the replacement battery 44 is performed while autonomously traveling by the built-in battery 43.
  • the built-in battery 43 controls the operation for autonomous driving and replacement of the replacement battery 44, so that even if the remaining battery level of the replacement battery 44 becomes a predetermined value D1 or less, the operator manually controls the operation. Since it is not necessary to replace the replacement battery 44 in the above, it is possible to prevent the work of the operator from being increased.
  • the substrate manufacturing system 100 is provided with a charging station 3 for charging the replacement battery 44.
  • the control unit 46 is controlled to autonomously travel toward the charging station 3 by autonomous driving by the built-in battery 43, and at the charging station 3, the replacement battery 44 and the charged replacement battery 44 charged at the charging station 3 It is configured to perform operation control for exchange with.
  • the built-in battery 43 autonomously travels to the charging station 3 and replaces the replacement battery 44, so that the autonomous traveling vehicle 4 independently replaces the replacement battery 44 whose remaining battery level is D1 or less. Therefore, the autonomous operation of the autonomous traveling vehicle 4 can be continued for a long period of time.
  • the replacement battery 44 when the replacement battery 44 is carried into the charging station 3 and the charged replacement battery 44 charged at the charging station 3 is carried out to the autonomous driving vehicle 4.
  • An arm 45 to be used is provided.
  • the replacement battery 44 is carried into the charging station 3 and the charged replacement battery 44 is carried from the charging station 3. Since it is possible to carry out the battery more reliably, it is possible to improve the certainty of the battery replacement work by the autonomous traveling vehicle 4.
  • the arm 45 on the autonomous traveling vehicle 4 a configuration is provided in which the replacement battery 44 of the autonomous traveling vehicle 4 is carried in to the charging station 3 side and the charged replacement battery 44 is carried out. No need.
  • the configuration of the charging station 3 can be simplified by the amount that the above configuration is not provided.
  • the arm 45 is provided as a replacement arm for replacing the replacement battery 44 with the charged replacement battery 44 charged at the charging station 3.
  • the dedicated replacement arm the replacement battery 44 and the charged replacement battery 44 can be smoothly replaced, so that the work efficiency of the battery replacement work by the autonomous vehicle 4 can be improved. Can be improved.
  • the board manufacturing system 100 includes the storage unit 22 that stores the work content 22a of the autonomous traveling vehicle 4 that assists the mounting work of the mounting line 1, and the autonomous traveling vehicle 4 includes the storage unit 22.
  • a server 2 connected so as to be able to communicate is provided.
  • the control unit 46 controls to transmit the work consignment signal for receiving the work content 22a to the server 2 when the work content 22a transmitted and acquired from the server 2 can be executed. It is configured as follows. As a result, the work consignment signal can be transmitted from the autonomous vehicle 4 to the server 2 even while the replacement battery 44 is being replaced, so that the autonomous vehicle 4 can immediately perform the next work after the battery is replaced. It can be carried out. As a result, the work efficiency of the autonomous traveling vehicle 4 can be further improved.
  • the control unit 46 causes the autonomous traveling vehicle 4 to perform the first work W1 based on the remaining battery level of the replacement battery 44 being the predetermined remaining amount D2 or more. Configure to control. Further, the control unit 46 is controlled to perform the second work W2, which consumes less power than the first work W1, based on the remaining battery level of the replacement battery 44 being less than the predetermined remaining amount D2. Constitute. As a result, the work of the autonomous traveling vehicle 4 can be switched according to the remaining battery level of the replacement battery 44, so that it is possible to prevent the autonomous traveling vehicle 4 from having to replace the battery during the work. As a result, it is possible to suppress a decrease in work efficiency due to the autonomous traveling vehicle 4 replacing the battery during the work.
  • the battery capacity of the replacement battery 44 is larger than the battery capacity of the built-in battery 43.
  • the frequency of replacement of the replacement battery 44 can be suppressed, so that a decrease in work efficiency of the autonomous traveling vehicle 4 can be suppressed.
  • the autonomous driving vehicle 4 shows an example in which the built-in battery 43 is charged by the replacement battery 44, but the present invention is not limited to this.
  • the built-in battery 43 of the autonomous vehicle 4 is provided separately from the replacement battery 44, and may be charged by a power supply unit that supplies power to the built-in battery 43. That is, as in the first modification shown in FIG. 15, the built-in battery 43 of the autonomous driving vehicle 4 may be charged by the robot arm battery 210 of the robot arm as the power supply unit. Further, as in the second modification shown in FIG. 16, the built-in battery 43 of the autonomous driving vehicle 4 may be charged by the non-contact power feeding unit 310 as the power supply unit. As a result, the frequency of charging the built-in battery 43 by the replacement battery 44 can be suppressed, so that the replacement battery 44 can be used for a longer period of time. As a result, the frequency of replacement of the replacement battery 44 can be reduced.
  • the autonomous driving vehicle 4 carries the replacement battery 44 into the charging station 3, and the arm 45 used when carrying out the charged replacement battery 44 charged at the charging station 3.
  • the present invention is not limited to this.
  • the autonomous traveling vehicle 4 may replace the replacement battery 44 by the arm 445 that grips the carriage.
  • the autonomous driving vehicle 4 may be configured so that the types of parts mounted on the carriage can be identified and the speed can be changed according to the types of parts.
  • the replacement battery 44 may be provided on the trolley instead of the autonomous traveling vehicle 4. Further, in the autonomous traveling vehicle 4, the trolley provided with the replacement battery 44 may be replaced together.
  • control unit 46 is configured to control to select the first work W1 having a large power consumption and the second work W2 having a small power consumption based on the remaining battery level.
  • control unit may be configured to perform control to normally perform the second work W2 and to perform the first work W1 only when necessary, regardless of the remaining battery level.
  • control unit 46 controls to stop charging from the replacement battery 44 to the built-in battery 43 based on the remaining battery level of the replacement battery 44 becoming equal to or less than a predetermined value.
  • control unit may perform operation control for replacement of the replacement battery while continuing to charge the built-in battery even after the remaining battery level of the replacement battery becomes a predetermined value or less.
  • the built-in battery 43 is an example of a lead storage battery, but the present invention is not limited to this.
  • the built-in battery may be a secondary battery such as a lithium battery other than the lead storage battery.
  • the replacement battery 44 is an example of a lithium ion battery, but the present invention is not limited to this.
  • the internal battery may be a secondary battery such as a lead storage battery other than the lithium ion battery.
  • the autonomous traveling vehicle 4 has an example in which the arm 45 is provided, but the present invention is not limited to this.
  • the charging station may have an arm.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Power Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Remote Sensing (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
PCT/JP2020/017543 2020-04-23 2020-04-23 基板製造システムおよびその自律走行車 WO2021214949A1 (ja)

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DE112020006944.3T DE112020006944T5 (de) 2020-04-23 2020-04-23 Leiterplattenfertigungssystem und autonomer Wagen desselben
JP2022516585A JP7344373B2 (ja) 2020-04-23 2020-04-23 基板製造システムおよびその自律走行車
PCT/JP2020/017543 WO2021214949A1 (ja) 2020-04-23 2020-04-23 基板製造システムおよびその自律走行車
CN202080100036.0A CN115461691A (zh) 2020-04-23 2020-04-23 基板制造系统及其自主行驶车

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EP4369880A1 (de) * 2022-11-10 2024-05-15 ASMPT GmbH & Co. KG Batteriezuführvorrichtung

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