WO2024095443A1

WO2024095443A1 - Autonomous conveyance vehicle

Info

Publication number: WO2024095443A1
Application number: PCT/JP2022/041145
Authority: WO
Inventors: 佳宏藤田; 晋吾藤村
Original assignee: 株式会社Fuji
Priority date: 2022-11-04
Filing date: 2022-11-04
Publication date: 2024-05-10

Abstract

This autonomous conveyance vehicle is capable of conveying a conveyance object that includes: an article which is used in a substrate work machine; and a case in which the article is held in a removable manner. The autonomous conveyance vehicle comprises: a body; a support section that is provided to the body and supports the case; a detection unit that is provided to the body and detects whether the article is present in or absent from the case in conveying the object to be conveyed; and a determination unit that determines, on the basis of a detection results from the detection unit, whether the article has been placed in or removed from the case.

Description

Automated guided vehicles

This specification relates to an automated guided vehicle.

In recent years, as part of efforts to reduce manpower, it has become common to use automated guided vehicles to transport objects in item transport systems, as disclosed in Patent Document 1, for example. In this case, the objects are automatically transported by the automated guided vehicles according to a pre-set transport plan, and the objects can be automatically handed over at their destinations.

Also, for example, as disclosed in Patent Document 2, a part feeder, which is a transported item, may be transported using a cart that is detachably connected to an electronic component mounting device. Here, the part monitoring system disclosed in Patent Document 2 includes a monitoring device that determines whether the storage status of the part feeder has changed between the time the part feeder is loaded onto the cart and the time the cart is connected to the electronic component mounting device, and performs an alarm operation if the storage status of the part feeder has changed.

International Publication No. 2021/144866 JP 2015-220304 A

In order to enable more efficient operation, automated guided vehicles are being generalized rather than specialized, making it possible to transport a variety of transported objects. However, in production sites where various transported objects are transported by automated guided vehicles, as a rule, workers do not accompany the vehicles to monitor the transport process. For this reason, even if an item that forms an object is attached or detached during transport, whether intentionally or accidentally, it can only be determined whether the item has been attached or detached after the object has been handed over to the destination. In this case, there is a risk that a delay in the determination could affect production, for example, by causing a shortage of necessary parts. Therefore, when transporting objects by automated guided vehicles, it is desirable to be able to quickly determine whether an item has been attached or detached.

The purpose of this specification is to provide an automated guided vehicle that can detect and determine the attachment and detachment of an item when transporting an object.

This specification discloses an automated guided vehicle capable of transporting an object including an object used in a substrate-related operating machine and a case for detachably holding the object, the automated guided vehicle comprising a main body, a support section provided on the main body for supporting the case, a detection section provided on the main body for detecting the presence or absence of the object in the case during transport of the object, and a determination section for determining whether the object has been attached to or detached from the case based on the detection result by the detection section.

This specification also discloses the technical idea of changing "the unmanned guided vehicle according to claim 1" to "the unmanned guided vehicle according to any one of claims 1-8" in claim 9 as originally filed. This specification also discloses the technical idea of changing "the unmanned guided vehicle according to claim 1" to "the unmanned guided vehicle according to any one of claims 1-9" in claim 10 as originally filed. This specification also discloses the technical idea of changing "the unmanned guided vehicle according to claim 1 or 2" to "the unmanned guided vehicle according to any one of claims 1-13" in claim 14 as originally filed.

With an automated guided vehicle, the detection unit can quickly detect and determine whether an item is being attached or detached during the transport of the item.

FIG. 1 is a perspective view for explaining a production line equipped with an automated guided vehicle. FIG. 2 is a perspective view showing a schematic diagram of an automated guided vehicle with an object being carried thereon; FIG. 2 is a perspective view showing a model of a carriage which is the main body of the unmanned transport vehicle. 11 is a diagram for explaining detection by a detection unit and guidance to the outside. FIG. FIG. 11 is a perspective view illustrating an automatic guided vehicle according to a first modified example, with an article being loaded thereon. FIG. 11 is a perspective view showing a cart that is the main body of the unmanned guided vehicle according to a first modified example. FIG. 13 is an enlarged perspective view for explaining the configuration of a detection unit of a first modified example. FIG. 11 is a perspective view showing a schematic diagram of an automated guided vehicle with an object loaded thereon according to a second modified example. FIG. 11 is a perspective view showing a cart that is the main body of the unmanned transport vehicle according to a second modified example. 13A and 13B are diagrams illustrating detection by a detection unit and guidance to the outside according to a third modified example.

Below, an automated guided vehicle will be explained with reference to the drawings. In this embodiment, an automated guided vehicle will be explained by taking as an example a case where the automated guided vehicle transports items required for production in a production line equipped with substrate-related operating machines.

1. Overview of the production line PL As shown in FIG. 1, the production line PL includes a warehouse 1, an automatic tape processing device 3 installed in an external setup area 2, a reel loading device 4, a buffer station 5 as a substrate-related operating device, and a component mounting machine 6. The production line PL also includes a reel transport vehicle VR and a feeder transport vehicle VF as unmanned transport vehicles capable of transporting a transported object C including an article used in the component mounting machine 6 and a case for detachably holding the article. In the production line PL, for example, an article (e.g., a tape feeder, etc.) transported (moved) to the buffer station 5 by the feeder transport vehicle VF is supplied to each of the multiple component mounting machines 6 by a loader 7. In this embodiment, the case where the feeder transport vehicle VF transports the article to the buffer station 5 is illustrated, but the feeder transport vehicle VF can also transport the article to the component mounting machine 6.

Here, examples of items used in the component mounting machine 6 as a substrate-related operation machine include, for example, tape reels and tape feeders that supply electronic components and the like to the component mounting machine 6, and suction nozzles that pick up the supplied components. Other examples of items include, for example, a mask when the substrate-related operation machine is a printing machine, and also trays and substrates (workpieces). Examples of cases that form the transported goods C include tape reels, suction nozzles, racks on which masks, substrates, etc. are placed, magazines that house tape feeders, and pallets on which trays are placed.

The reel transport vehicle VR transports the transported goods C from the loading/unloading entrance 1a of the warehouse 1 to the automatic tape processing device 3 installed in the external setup area 2. The reel transport vehicle VR also transports the transported goods C from the automatic tape processing device 3 to the reel loading device 4. Here, an example of the transported goods C transported by the reel transport vehicle VR is a tape reel R (hereinafter simply referred to as "reel R"), which is an item placed on a rack T, which is a case.

The feeder transport vehicle VF transports the transported item C from the loading/unloading entrance 1a of the warehouse 1 to the reel loading device 4. The feeder transport vehicle VF also transports the transported item C from the reel loading device 4 to the buffer station 5. Here, an example of the transported item C transported by the feeder transport vehicle VF is a tape feeder F (hereinafter simply referred to as "feeder F"), which is an item stored in a magazine M, which is a case.

The reel transport vehicle VR and feeder transport vehicle VF, which are unmanned transport vehicles, are capable of communicating with the management device 8. As a result, the reel transport vehicle VR follows instructions based on the transport plan from the management device 8, and transports the rack T on which the target reel R is placed, i.e., the transported object C, from the entrance 1a of the warehouse 1 and carries it into the automatic tape processing device 3. The reel transport vehicle VR also transports the rack T on which the reel R on which the carrier tape that has been subjected to the necessary processing in the automatic tape processing device 3 is placed, i.e., the transported object C, from the automatic tape processing device 3 to the reel loading device 4.

On the other hand, the feeder transport vehicle VF, in accordance with instructions based on the transport plan from the management device 8, transports the magazine M containing the target feeder F, i.e., the transported object C, from the entrance/exit 1a of the warehouse 1 and transports it to the reel loading device 4. The feeder transport vehicle VF also transports the magazine M containing multiple feeders F loaded with reels R, i.e., the transported object C, from the reel loading device 4 and transports it to the buffer station 5. Furthermore, the feeder transport vehicle VF transports the magazine M containing the feeder F after parts supply or an empty magazine M not containing a feeder F, from the buffer station 5 as the transported object C, and transports it, for example, to the entrance/exit 1a of the warehouse 1.

Here, the reel transport vehicle VR and the feeder transport vehicle VF differ in that the reel transport vehicle VR transports reels R placed on a rack T as the transported item C, whereas the feeder transport vehicle VF transports feeders F stored in a magazine M as the transported item C. However, the configurations of the reel transport vehicle VR and the feeder transport vehicle VF are similar. Therefore, in the following explanation, the feeder transport vehicle VF will be specifically illustrated.

In this embodiment, the automatic tape processing device 3 and the reel loading device 4 are arranged independently, but it is also possible to configure the automatic tape processing device 3 and the reel loading device 4 to be provided as an integrated unit. In this case, after processing by the automatic tape processing device 3, the loading process is performed directly by the reel loading device 4. For this reason, instead of providing the production line PL with both the reel transport vehicle VR that transports only the reels R placed on the rack T as the transported goods C and the feeder transport vehicle VF that transports only the feeders F contained in the magazine M as the transported goods C, it is also possible to configure the production line PL so that, for example, the feeder transport vehicle VF also transports the reels R placed on the rack T as the transported goods C.

2. Feeder vehicle VF (automated guided vehicle)
Next, the configuration of the feeder transport vehicle VF, which is exemplified as an unmanned transport vehicle, will be described. As described above, the feeder transport vehicle VF automatically transports the magazine M containing the feeder F or empty as the transported object C according to a preset transport plan. The transport plan is set for each transported object C (specific feeder F and magazine M) transported by the feeder transport vehicle VF based on a production plan set for the production line PL. The transport plan includes the type and number of feeders F contained in the magazine M, the position of the contained feeder F relative to the magazine M, i.e., the state of the magazine M to be transported, the transport route for transporting the transported object C, and the position (transport target) for loading and unloading the transported object C, i.e., the position for transferring the transported object C, etc. are set in advance.

When the feeder transport vehicle VF automatically (autonomously) transports the transported object C, there is a possibility that unintended attachment and detachment of an item during transport, i.e., an item that is not included in the transport plan, may occur, whether intentionally or accidentally. For example, a feeder F that should have been stored in the magazine M may be forgotten to be stored, or a feeder F that should not be stored in the magazine M may be stored in the magazine M. In this case, for example, a worker may store the correct feeder F in the magazine M or remove the incorrect feeder F from the magazine M during transport by the feeder transport vehicle VF. However, since the insertion and removal of such a feeder F into the magazine M is an act of returning the magazine M to the correct state based on the transport plan, the impact on production is minimal.

However, when a feeder F is inserted or removed during the transport of an item C by a feeder transport vehicle VF, even if the state of the magazine M is correct for the transport plan, it may happen that, for example, a feeder F that is not included in the production plan is mistakenly added to and stored in the magazine M, or the correct feeder F is removed from the magazine M. In other words, when such an item is inserted or removed, the state of the magazine M transported as the item C by the feeder transport vehicle VF differs from the state of the magazine M that was preset in the transport plan.

Here, if the incorrect feeder F or the shortage of the correct feeder F cannot be determined during the transportation of the transported item C, it is determined and discovered, for example, when the transported item C is transported (handed over) to the buffer station 5. In other words, the incorrect feeder F or the shortage of the correct feeder F can be found at the destination to which the transported item C is transported, and therefore it takes time to discover, and discovery is delayed. If the incorrect feeder F or the shortage of the correct feeder F is discovered late, the state of the magazine M differs from the transportation plan, and for example, the component mounting machine 6 runs out of parts, causing production to stop, or the whereabouts or source of the feeder F or parts cannot be traced, which can affect production.

Therefore, when an unmanned transport vehicle including the feeder transport vehicle VF transports the transported object C, it is necessary to detect, determine and monitor the attachment and detachment of an item even during transport. If the attachment and detachment of an item is detected and determined during monitoring, notification information is quickly output to the management device 8 to notify the operator or manager that the attachment and detachment has occurred, and the operator or manager must be informed, for example, via a display device or the like installed on the production line PL. Furthermore, when the feeder F is attached or detached from the magazine M during transport, for example, the feeder F is likely to be incompletely stored (set) in the magazine M, and as a result, there is a risk that the feeder F will fall from the magazine M during the transport operation by the feeder transport vehicle VF.

In this embodiment, the feeder transport vehicle VF, which is an unmanned transport vehicle, mainly comprises a cart 10 as the main body, a cart control unit 16, a traveling device 20, and a detection unit 30 that detects the attachment/detachment (insertion/removal) of a feeder F as an article to a magazine M as a case during the transport of transported goods C, as shown in FIG. 2. In the following explanation, the front/rear, left/right, and top/bottom of the feeder transport vehicle VF are defined for the sake of convenience, as shown in FIG. 2.

The bogie 10 and the running device 20 are configured to be generally symmetrical with respect to a center line extending in the front-to-rear direction. The bogie 10, which is the main body, is connected to the running device 20 by a connection mechanism (not shown). The running device 20 can, for example, enter the underside of the bogie 10 from the rear, pull and move the connected bogie 10, and exit behind the bogie 10. The detection unit 30 is provided on the bogie 10, which is the main body.

2-1. Cart 10
As shown in Figures 2 and 3, the dolly 10 mainly comprises a loading platform 11, left and right side portions 12, left and right legs 13, two front wheels 14 (only the left side is shown in Figure 2 etc.), two rear wheels 15, and a dolly control unit 16. As shown in Figure 3, the loading platform 11 is formed in a roughly rectangular shape in a plan view and is disposed horizontally and spaced apart from the floor surface. The dolly 10, which is the main body, is provided with a loading/unloading unit 17 as a support unit on the upper surface of the loading platform 11, and a detection unit 30 is installed on the upper surface at the rear in the fore-and-aft direction of the loading platform 11.

The left and right side portions 12 are provided so as to extend downward from the left and right edges of the loading platform 11. A space for the running device 20 to enter is defined between the left and right side portions 12 on the underside of the loading platform 11. Left and right legs 13 extending in the front-to-rear direction are provided on the underside of each side portion 12. Front wheels 14 for running are provided on the front lower portion of the legs 13, and rear wheels 15 for running are provided on the rear lower portion of the legs 13. The total of four front wheels 14 and rear wheels 15 are free-wheeling wheels whose running direction can be changed. In addition, the two rear wheels 15 are provided with stoppers.

2-2. Carriage control unit 16 (determination unit 161)
The trolley control unit 16 is a microcomputer whose main components are a CPU, a ROM, a RAM, and various interfaces. The trolley control unit 16 executes various programs (not shown) to comprehensively control the operation of the trolley 10 (specifically, the operation of the loading/unloading unit 17, etc.).

The trolley control unit 16 can also communicate with the management device 8, as shown in Figs. 1 and 4. The trolley control unit 16 of this embodiment further includes a determination unit 161, which acquires the detection result S output from the connected detection unit 30. The determination unit 161 determines whether or not the feeder F, which is an article, has been attached to or detached from the magazine M, which is a case, based on the detection result S by the detection unit 30. The trolley control unit 16 communicates with the management device 8, and when the determination unit 161 determines that the feeder F has been inserted or removed, it outputs notification information J regarding the insertion or removal of the feeder F to the management device 8. As a result, in this embodiment, the management device 8 can quickly inform, for example, a worker or a manager of the insertion or removal of the feeder F.

In this embodiment, the judgment unit 161 is provided in the bogie control unit 16. However, the judgment unit 161 can also be provided in a control device other than the bogie control unit 16 (for example, the travel control unit 25 described below) or in various calculation devices. The judgment unit 161 can also be provided in a management device 8 that can communicate with the bogie control unit 16. Furthermore, the judgment unit 161 can be formed on the cloud.

2-3. Loading/unloading section 17 (support section)
The unloading unit 17 unloads the magazine M containing the feeder F or empty from the front of the front side of the dolly 10 in the front-rear direction. As shown in Fig. 3, the unloading unit 17 is composed of a main roller 171, six drive rollers 172, a guide roller 173, a locking mechanism 174, a locking hook 175, an operation panel 176, and a drive motor (not shown). The three types of rollers are columnar or cylindrical members extending in the left-right direction and supported rotatably around a central axis. The guide roller 173, the three drive rollers 172, the main roller 171, and the three drive rollers 172 are arranged in this order from the front to the rear of the dolly 10.

The main roller 171 is driven by forward and reverse rotation of the drive motor, and rotates in the forward and reverse directions. The six drive rollers 172 are connected to the main roller 171 by a transmission belt (not shown), and rotate synchronously at the same rotational direction and speed as the main roller 171. The guide roller 173 is not given a driving force and can rotate freely. Magazine M (transported object C including rack T, etc.) is loaded by the forward rotation of the main roller 171 and drive roller 172, and magazine M (transported object C including rack T, etc.) is unloaded by the reverse rotation. The drive and stop of the drive motor and the rotation direction are controlled by the cart control unit 16.

The locking mechanism 174 is disposed behind the rearmost drive roller 172. The locking mechanism 174 locks the loaded magazine M (carried object C including racks T, etc.) using a locking hook 175. As shown in FIG. 3, the front side of the locking hook 175 is bent upward, and is supported by an elastic member so that it can swing up and down.

As a result, when the magazine M (transported object C including racks T, etc.) is loaded, the locking hook 175 lowers once and then rises, automatically locking a locking portion (not shown) provided at the rear end of the magazine M (transported object C including racks T, etc.). Alternatively, the locking hook 175 lowers once and then rises, automatically fitting into a locking hole provided at the rear end of the magazine M (transported object C including racks T, etc.). On the other hand, just before the magazine M (transported object C including racks T, etc.) is lowered, the locking hook 175 is driven downward by, for example, an electromagnetic solenoid (not shown), to release the lock on the magazine M (transported object C including racks T, etc.). In this case, the operation of the electromagnetic solenoid is controlled by the trolley control unit 16.

As described above, the unloading operation of the unloading unit 17 is mainly performed automatically under the control of the cart control unit 16. In addition, some operations of the unloading unit 17 can be performed manually by operating the operation panel 176 arranged at the rear of the platform 11. Specifically, by operating the operation panel 176, for example, when the unloading unit 17 stops due to an abnormality (error) in the unloading operation, it is possible to cancel the error in the case of a so-called error stop or to perform an emergency stop of the unloading unit 17. Here, in order for the unloading unit 17 to perform stable unloading operations, it is important that the feeder transport vehicle VF, more specifically the cart 10, transports (moves) along a transport route set by a preset transport plan, stops accurately at a stop position, and faces the transport destination, which is the transport target, at the stop position.

Here, the dolly 10 is provided with a power receiving connector (not shown) on the loading platform 11. The power receiving connector is arranged, for example, so as to face the traveling device 20 that has entered the space formed between the bottom plate of the loading platform 11, i.e., the left and right side portions 12. As a result, when the dolly 10 and the traveling device 20 are connected, the power receiving connector is fitted into a power supply connector (not shown) provided on the traveling device 20 side. The power supply connector is connected to a battery (not shown) built into the traveling device 20. Therefore, by fitting the power receiving connector on the dolly 10 side with the power supply connector on the traveling device 20 side, power for driving the dolly control unit 16 and the loading/unloading unit 17 is supplied from the battery on the traveling device 20 side. In other words, the dolly 10 does not need to be provided with a battery that supplies power for driving the dolly control unit 16 and the loading/unloading unit 17.

The trolley 10 is provided with a coupling mechanism for coupling with the traveling device 20 that has entered the space formed between the left and right side portions 12 and the bottom plate of the loading platform 11. The trolley 10 is also provided with a positioning mechanism (bumper) in front of the loading platform 11 that enables positioning of the trolley 10, i.e., the feeder transport vehicle VF, when loading and unloading the transported goods C. The configurations and operations of the coupling mechanism and positioning mechanism are not directly related to this embodiment, so a description thereof will be omitted.

2-4. Traveling device 20
As shown in Fig. 2, the traveling device 20 is composed of a device body 21, a pair of left and right drive wheels 22 (only the left side is shown in Fig. 2), a pair of left and right front wheels 23 (only the left side is shown in Fig. 2), a pair of left and right rear wheels 24 (only the left side is shown in Fig. 2), a traveling control unit 25, an operation panel 26, a traveling motor (not shown), etc. The device body 21 is formed in a shape of a rectangular parallelepiped that is generally long in the front-rear direction and has rounded corners in a plan view. The device body 21 is placed horizontally and slightly spaced from the floor surface.

The drive wheels 22 are positioned at a central position in the front-to-rear direction below the device body 21. Each drive wheel 22 is driven by forward and reverse rotation of a travel motor controlled by a travel control unit 25. Each drive wheel 22 is capable of rotating at different rotation speeds and in different rotation directions. This allows the travel device 20 to move forward, backward, and change direction freely.

The front wheels 23 are positioned in front of the drive wheels 22 in the front-rear direction on the underside of the device body 21. The rear wheels 24 are positioned in front of the drive wheels 22 in the front-rear direction on the underside of the device body 21. The total of four front wheels 23 and rear wheels 24 are free-wheeling wheels whose running direction is variable. The front wheels 23 and rear wheels 24 rotate following the rotational state of each of the drive wheels 22. The distance between the left and right wheels, i.e., the tread width, is, for example, maximum for the drive wheels 22, minimum for the front wheels 23, and intermediate for the rear wheels 24. In this way, good steering performance of the traveling device 20 is ensured by the drive wheels 22 having the maximum tread width.

The driving control unit 25 is a microcomputer whose main components are a CPU, ROM, RAM, and various interfaces. The driving control unit 25 executes various programs (not shown) to comprehensively control the operation of the driving device 20 (specifically, the operation of the driving motor, such as driving, stopping, and the direction of rotation).

Furthermore, as shown in FIG. 1, the travel control unit 25 can communicate with the management device 8. As a result, the travel control unit 25 can control the travel of the traveling device 20 according to the transport route and transport target set by the transport plan by communicating with the management device 8. Furthermore, the travel control unit 25 can communicate with the cart control unit 16 when the cart 10 and the traveling device 20 are connected. As a result, the cart control unit 16 can obtain various information related to the travel (movement) including the positions of the feeder transport vehicle VF and the reel transport vehicle VR from the travel control unit 25.

Here, for example, an AGV (Automatic Guided Vehicle) can be used as the traveling device 20. In this case, the traveling device 20 is provided with a tape detection unit that detects a route display tape (see FIG. 1) provided on the floor surface of the production line PL corresponding to the transport route and the transport target, and outputs the detection result to the traveling control unit 25. As a result, the traveling control unit 25 controls the control amount of the drive wheels 22 (travel motor) according to the detection result output from the tape detection unit, and causes the traveling device 20 to travel along the transport route and to stop at the transport target. The tape detection unit is disposed on the center line on the lower side of the device main body 21 at a front position and a rear position in the front-rear direction. Furthermore, the route display tape can be a magnetic display type or an optical display type tape.

As described above, the traveling device 20 travels autonomously under the control of the traveling control unit 25. In addition, some operations of the traveling device 20 can be manually performed by operating the operation panel 26 located at the rear of the top surface of the device main body 21. Specifically, by operating the operation panel 26, it is possible to, for example, stop the traveling device 20 due to an error related to its travel (for example, an abnormality such as going off the route or shifting from the stopping position), cancel an error in the case of a so-called error stop, or perform an emergency stop of the traveling device 20.

2-5. Detection unit 30
The detection unit 30 detects that a feeder F (reel R, etc.) which is an article is attached to or detached from a magazine M (rack T, etc.) which is a case placed on a support portion, i.e., the loading/unloading portion 17, of the cart 10 during the transportation of the transported object C. Specifically, the detection unit 30 of this embodiment is disposed on the upper surface behind the loading platform 11 in the front-rear direction of the cart 10, as shown in Figs.

More specifically, as shown in FIG. 2, the detection unit 30 of this embodiment is disposed on the upper surface of the platform 11 so as to be in the vicinity of the opening M1 of the magazine M supported by the loading/unloading unit 17. As a result, the detection unit 30 of this embodiment detects the presence or absence of a feeder F, which is an article, at the opening M1 of the magazine M, i.e., whether the feeder F has been inserted or removed (an article has been attached or removed) through the opening M1.

Then, as shown in FIG. 4, when the detection unit 30 detects that a feeder F has been inserted or removed from the magazine M, it outputs a detection result S to the determination unit 161 of the trolley control unit 16. As a result, when the detection unit 30 detects the presence of a feeder F in the opening M1, the determination unit 161 determines that the feeder F has been inserted or removed (attached or detached).

The detection unit 30 detects the insertion and removal of the feeder F, which is an item, based on a physical quantity that can be measured electromagnetically. For this reason, in this embodiment, for example, the detection unit 30 is provided with a photoelectric sensor that uses light, which is an electromagnetic wave, as an example.

As shown in Figures 2 and 3, the detection unit 30 of this embodiment includes a light-emitting unit 31 and a light-receiving unit 32. As a result, when light emitted from the light-emitting unit 31 toward the light-receiving unit 32 is received by the light-receiving unit 32, the emitted light is not blocked, i.e., there is no feeder F in the opening M1 and no insertion or removal of the feeder F is being performed, so the detection unit 30 does not output the detection result S.

On the other hand, if the light emitted from the light-emitting unit 31 toward the light-receiving unit 32 is not received by the light-receiving unit 32, or if the light is not received by the light-receiving unit 32 for a light-blocking time that can be set in advance based on the time required to insert or remove the feeder F, the emitted light is blocked, that is, the feeder F is present in the opening M1 and is being inserted or removed, and the detection unit 30 outputs the detection result S. Note that a situation in which the light-receiving unit 32 is unable to receive light beyond the light-blocking time is assumed to be, for example, a case in which the feeder F is not properly accommodated in the magazine M (feeder F is dislodged, etc.) caused by vibrations or the like while the feeder transport vehicle VF is traveling (moving). Even in this case, the detection unit 30 outputs the detection result S to the cart control unit 16.

Here, after determining that the feeder F has been inserted and removed (attached and detached), if the detection unit 30 does not detect the presence of the feeder F for a predetermined time (such as a light blocking time that can be set appropriately as described above) or more, the determination unit 161 determines that the attachment and detachment of the feeder F has been completed. Then, the trolley control unit 16 and the travel control unit 25 cooperate to continue the transport of the transported item C when the determination unit 161 determines that the feeder F has been inserted and removed (attached and detached) and is complete.

On the other hand, if the detection unit 30 continues to detect the presence of the feeder F for more than a predetermined time due to, for example, the above-mentioned removal of the feeder F, the judgment unit 161 judges that the attachment/detachment of the feeder F is incomplete. Then, the trolley control unit 16 and the travel control unit 25 cooperate to stop the transport of the transported object C when the judgment unit 161 judges that the insertion/removal (attachment/detachment) of the feeder F is incomplete. This makes it possible to prevent the feeder F from falling out of the magazine M while being transported by the feeder transport vehicle VF.

In addition, when the determination unit 161 of the trolley control unit 16 determines that the feeder F has been inserted or removed, as shown in FIG. 4, the trolley control unit 16 outputs notification information J indicating that the feeder F has been inserted or removed during transport to the externally installed management device 8 via communication. In other words, when the determination unit 161 determines that the feeder F, which is an item, has been attached or detached during the transport of the transported object C, the trolley control unit 16 can output notification information J regarding the insertion or removal (attachment or detachment) of the feeder F to the management device 8.

Here, when the management device 8 acquires the notification information J from the carriage control unit 16 of the feeder transport vehicle VF, it uses a guidance device to provide guidance (or an alarm) to the worker, manager, etc. That is, the guidance device provides guidance that the feeder F has been inserted or removed from the magazine M during transport to the buffer station 5 by the feeder transport vehicle VF. Examples of the guidance device include a display device provided in the management device 8, a display device provided in the production line PL, or a mobile terminal or audio speaker carried by the worker.

As can be understood from the above explanation, the feeder transport vehicle VF (reel transport vehicle VR) as an automated transport vehicle of this embodiment is an automated transport vehicle capable of transporting transported goods C including feeders F (reels R) as items used in the buffer station 5 and component mounting machine 6, which are substrate-related work machines, and magazines M (racks T) as cases that detachably hold the feeders F (reels R), and is equipped with a cart 10 as a main body, a loading/unloading section 17 provided on the cart 10 as a support section that supports the magazines M (racks T), a detection section 30 provided on the cart 10 that detects the presence or absence of the feeder F (reels R) relative to the magazine M (racks T) during the transport of the transported goods C, and a judgment section 161 that judges whether the feeder F (reels R) has been attached to or detached from the magazine M (racks T) based on the detection result S by the detection section 30.

The feeder transport vehicle VF and the reel transport vehicle VR allow the detection unit 30 to quickly detect the insertion and removal of the feeder F from the magazine M and the attachment and removal of the reel R from the rack T during the transport of the transported item C. And, with the feeder transport vehicle VF and the reel transport vehicle VR, when the judgment unit 161 judges based on the detection result S by the detection unit 30 that the feeder F has been inserted and removed from the magazine M and the reel R has been attached and removed from the rack T, it can output notification information J to the management device 8, etc., and can promptly inform the worker, manager, etc. As a result, for example, even if the feeder F has been inserted and removed from the magazine M and the reel R has been attached and removed from the rack T during the transport of the transported item C, it is possible to prevent the occurrence of a shortage of parts necessary for production, and as a result, it is possible to minimize the impact on production.

3. First Modification In the above-described embodiment, the detection unit 30 detects the presence or absence of a feeder F, which is an article, at the opening M1 of the magazine M, which is a case supported on the loading platform 11 of the cart 10. In this case, the determination unit 161 determines that the feeder F has been inserted or removed through the opening M1 of the magazine M during the transport of the transported object C by the feeder transport vehicle VF, which is an unmanned transport vehicle. This enables the cart control unit 16 to output notification information J to the management device 8.

Incidentally, when a feeder F that is not included in a transport plan, including the attachment and detachment of a feeder F (reel R) to a preset magazine M (rack T) and the attachment and detachment of a magazine M (rack T) to the unloading section 17, is inserted or removed, it is preferable to be able to identify the inserted or removed feeder F. In other words, when a feeder F that is not included in the transport plan, i.e., an unintended insertion or removal is performed, it is preferable to be able to identify the inserted or removed feeder F, i.e., the part that is predicted to be in short supply, from the viewpoint of minimizing the impact on production due to a shortage of parts, for example. Specifically, since the position of the feeder F to be accommodated in the magazine M is preset by the transport plan, it is preferable to be able to detect the position of the inserted or removed feeder F in relation to the magazine M.

Therefore, in the first modified example, the detection unit 30 is arranged on the platform 11 of the cart 10 so as to be below the feeder F, which is an article, through the slit M3, which is a gap provided in the bottom surface M2 of the magazine M, which is a case supported by the unloading unit 17, which is a support unit, as shown in Fig. 5 (see also Fig. 7). More specifically, the detection unit 30 of the first modified example is arranged below the drive roller 172 rearward of the main roller 171 of the unloading unit 17, as shown in Fig. 6, and is arranged so as to match the formation position of the slit M3 when the magazine M is supported, for example, to match the gap between the drive rollers 172 formed in the front-to-rear direction.

The detection units 30 of the first modified example are arranged in multiple units according to the width (pitch) of the feeders F contained in the magazine M in order to detect the presence or absence of the feeders F in the magazine M. In other words, the detection units 30 of the first modified example are arranged in a one-to-one relationship with the feeders F contained in the magazine M.

The detection unit 30 of the first modification also includes a photoelectric sensor that uses light, which is an electromagnetic wave, like the detection unit 30 of the embodiment described above. However, the detection units 30 of the first modification each have a light-emitting unit 33 and a light-receiving unit 34, as shown enlarged in FIG. 7. As a result, when the light-emitting unit 33 of the detection unit 30 arranged at a position where the feeder F is housed in the magazine M emits light upward, the light is reflected by the underside of the housed feeder F (i.e., present inside the magazine M), and the reflected light is received by the light-receiving unit 34. On the other hand, when the detection unit 30 arranged at a position where the feeder F is not housed in the magazine M (i.e., there is no feeder F inside the magazine M), no reflected light is generated even if the light-emitting unit 33 emits light upward, and as a result, the light-receiving unit 34 does not receive the reflected light.

Therefore, in the first modified example, when the light receiving unit 34 of the detection unit 30 changes from a state in which it receives reflected light to a state in which it cannot receive reflected light during the transport of the transported object C by the feeder transport vehicle VF, the determination unit 161 outputs the detection result S because the feeder F has been removed (pulled out) from the magazine M. Also, in the first modified example, when the light receiving unit 34 changes from a state in which it does not receive reflected light to a state in which it receives reflected light, the determination unit 161 outputs the detection result S because the feeder F has been stored (inserted) in the magazine M. Here, in the first modified example, the detection unit 30 outputs the detection result S by linking it to identification information (such as an identification number) that identifies itself.

In addition, in the transport of the transported object C by the feeder transport vehicle VF, for example, if the state in which the light receiving unit 34 receives reflected light does not change until unloading is performed at the transfer position (transport target) in the transport plan, the judgment unit 161 does not output the detection result S because the feeder F has not been removed (pulled out) from the magazine M.In addition, in the transport of the transported object C by the feeder transport vehicle VF, for example, if the state in which the light receiving unit 34 does not receive reflected light does not change until unloading is performed at the transfer position (transport target), the judgment unit 161 does not output the detection result S because the feeder F has not been stored (inserted) in the magazine M.

In other words, the judgment unit 161 of the first modified example judges that a feeder F has been inserted or removed (attached or detached) based on a change in the detection result S that occurs when the feeder F is switched between the presence or absence state of the feeder F detected by the detection unit 30, specifically, when the light receiving unit 34 receives reflected light or when the light receiving unit 34 does not receive reflected light. Then, in the first modified example, when the judgment unit 161 judges that a feeder F has been inserted or removed (attached or detached) based on the detection result S by the detection unit 30, the trolley control unit 16 outputs, via communication, to the management device 8 notification information J that indicates that a feeder F has been inserted or removed during the transport of the transported item C, and that indicates the identification information (identification number) of the detection unit 30 for identifying the inserted or removed feeder F. That is, when the detection unit 30 of the first modified example detects the attachment or detachment of an item, a feeder F, during the transport of a transported item C, it can output to the management device 8 notification information J regarding the detected insertion or detachment (attachment or detachment) of the feeder F, including the fact that the insertion or detachment (attachment or detachment) has been performed and the position of the inserted or detached item, the feeder F, relative to the magazine M.

Here, even in the first modified example, when the management device 8 acquires the notification information J from the carriage control unit 16 of the feeder transport vehicle VF, it uses the guidance device to provide guidance (or an alarm) to the worker, manager, etc. However, in the first modified example, for example, during the transport to the buffer station 5 by the feeder transport vehicle VF, in addition to providing guidance that the feeder F has been inserted or removed from the magazine M, the position of the feeder F that has been stored (inserted) or removed (removed) from the magazine M is also provided. Therefore, in the first modified example, in addition to obtaining the same effect as the above-mentioned embodiment, the position of the inserted or removed feeder F (the position of the attached or removed item) can be detected. This allows, for example, the worker, manager, etc. to quickly identify parts that are predicted to be in short supply, and as a result, it becomes possible to take measures such as replenishment more quickly and reduce the impact on production.

4. Second Modification In the above-described embodiment and the above-described first modification, the detection unit 30 detects the insertion/removal (attachment/detachment) of the feeder F, which is an article, based on an electromagnetically measurable physical quantity. However, when the feeder F housed in the magazine M, which is a case, or the reel R placed on the rack T is inserted or removed (attached or detached), the state of the magazine M or the rack T changes.

For example, the feeder F and reel R have a certain amount of weight. Therefore, when the feeder F is inserted or removed from the magazine M, the weight of the magazine M supported by the unloading unit 17, which is a support unit, and the feeder F contained in the magazine M, i.e., the transported object C, changes. Similarly, when the reel R is attached or detached from the rack T, the weight of the rack T supported by the unloading unit 17 and the reel R placed on the rack T, i.e., the transported object C, changes.

In the second modified example, the detection unit 30 detects measurable physical quantities related to changes in the state of the magazine M or rack T, which are cases. The judgment unit 161 then judges the attachment/detachment (insertion/removal) of the feeder F or reel R, which are items, based on the changes in the physical quantities detected by the detection unit 30. Specifically, the detection unit 30 of the second modified example measures the weight of the magazine M or rack T, which are cases, which changes when the feeder F or reel R is attached or detached (inserted or removed), i.e., the transported item C, as a physical quantity.

In the second modified example, the detection unit 30 is provided on the platform 11 of the cart 10 so as to be below the magazine M or rack T, which is a case supported by the loading/unloading unit 17, which is a support, as shown in FIG. 8. More specifically, the detection unit 30 of the second modified example is disposed at the rear of the platform 11 in the front-to-rear direction as shown in FIG. 9, and is disposed between the bottom surface of the magazine M or rack T in a supported state and the top surface of the platform 11, i.e., so as to be sandwiched between the bottom surface of the magazine M or rack T and the top surface of the platform 11.

As described above, the detection unit 30 of the second modified example measures the measurable weight in relation to changes in the state of the magazine M or rack T. Here, the detection unit 30 of the second modified example is equipped with a piezoelectric element that converts the pressure generated when the magazine M or rack T is clamped between the loading platform 11 and the magazine M or rack T into an electrical signal. The pressure converted into an electrical signal and output can be easily converted into weight by multiplying it by the area of the bottom surface of the magazine M or rack T.

When the detection unit 30 uses a piezoelectric element to measure the weight, there is no vertical displacement of the magazine M or rack T supported by the unloading unit 17. As a result, even in the second modified example in which the detection unit 30 measures the weight of the transported item C, there is no hindrance to the unloading operation of the magazine M or rack T by the unloading unit 17. Note that when measuring the weight of the transported item C, for example, if a normal weighing scale is used, the transported item C supported by the unloading unit 17 needs to be vertically displaced when measuring the weight. For this reason, when the unloading unit 17 unloads the magazine M or rack T at, for example, the buffer station 5, a difference occurs between the height of the unloading unit 17 and the height of the buffer station 5, which may result in an error stop due to an inability to unload.

The judgment unit 161 of the second modified example judges that the feeder F or reel R has been attached or detached (inserted or removed) when the measured weight increases or decreases by more than a reference weight determined based on the weight of one feeder F or reel R during the transport of the transported item C by the feeder transport vehicle VF. The judgment unit 161 of the second modified example judges that the feeder F or reel R has not been attached or detached (inserted or removed) when the measured weight does not change until the item C is unloaded at the transfer position (transport target) during the transport of the transported item C by the feeder transport vehicle VF. Note that, when the detection units 30 are arranged on the left and right as shown in FIG. 9, even if it is not possible to specify the exact position, it is possible to assume that the feeder F has been inserted or removed on the right or left side, especially for the magazine M.

Therefore, also in the second modified example, when the judgment unit 161 judges that the feeder F (reel R) has been attached/detached (inserted/removed) based on the detection result S by the detection unit 30, the carriage control unit 16 outputs, via communication, to the management device 8, notification information J indicating that the feeder F or the reel R has been attached/detached (inserted/removed) during the transport of the transported object C. Here, also in the second modified example, when the management device 8 acquires notification information J from the carriage control unit 16 of the feeder transport vehicle VF, it provides guidance (or an alarm) to the worker, manager, etc. using the guidance device. In other words, also in the second modified example, for example, a notification is given that the feeder F has been inserted/removed from the magazine M during transport to the buffer station 5 by the feeder transport vehicle VF. Therefore, also in the second modified example, the same effect as in the above-mentioned embodiment can be obtained.

In the second modified example described above, two detection units 30 are provided, so that, for example, weight changes on the left and right sides of the magazine M can be detected, or the detected weight can be averaged. However, the number of detection units 30 in the second modified example is not limited, and there may be one, or three or more. In the second modified example described above, the detection unit 30 is arranged at the rear of the loading platform 11 in the front-rear direction, as shown in FIG. 9. However, the arrangement of the detection unit 30 in the second modified example is not limited to the rear of the loading platform 11 in the front-rear direction, and it is also possible to arrange it in the center of the loading platform 11 in the front-rear direction, as shown by the dashed lines in FIG. 8 and FIG. 9. In other words, the arrangement of the detection unit 30 can be changed as appropriate depending on the shape of the magazine M and the rack T.

5. Third Modification In the above-mentioned embodiment, the above-mentioned first modification, and the above-mentioned second modification, the detection unit 30 always detects the presence/absence state of the feeder F and the reel R, which are the articles, while transporting the magazine M or the rack T, which are the transported goods C, and the determination unit 161 always determines whether the feeder F or the reel R has been attached or detached (inserted or removed). However, the detection unit 30 and the determination unit 161 are not limited to always detecting the presence/absence state of the feeder F or the reel R, which are the articles, and determining whether the attachment/detachment (insertion/removal) has been performed as described above. In other words, the detection unit 30 and the determination unit 161 can also detect the presence/absence state of the feeder F or the reel R and determine whether the attachment/detachment (insertion/removal) has been performed when a predetermined state occurs, for example. Hereinafter, the third modification will be described.

The detection unit 30 of the third modified example detects the presence or absence of a feeder F or a reel R when a predetermined state occurs during the transport of the transported item C. The judgment unit 161 of the third modified example judges whether the feeder F or the reel R has been attached or detached (inserted or removed) when a predetermined state occurs during the transport of the transported item C. Here, in the third modified example, as shown in FIG. 10, when a predetermined state occurs, the judgment unit 161 outputs a detection command D to the detection unit 30 to detect the presence or absence of an item, specifically, the presence or absence of a feeder F (reel R) relative to the magazine M (rack T).

Here, examples of the predetermined state include a state that is not included in the above-mentioned transport plan, that is, a state in which unintended attachment and detachment (insertion and removal) of the feeder F or reel R is possible. Specifically, for example, when the feeder transport vehicle VF or the reel transport vehicle VR unintentionally stops at a location on the transport path other than the transport target, it becomes easier to attach and detach (insert and remove) the feeder F or the reel R to the magazine M or the rack T than when the feeder transport vehicle VF or the reel transport vehicle VR is running (moving).

Therefore, for example, the judgment unit 161 outputs a detection command D to the detection unit 30 at a predetermined position on the transport path during the transport of the transported object C or at regular timing during the transport of the transported object C. As a result, the detection unit 30 detects the presence or absence of the feeder F or the reel R at a predetermined position on the transport path or at regular timing, and outputs the detection result S to the judgment unit 161 (cart control unit 16). Then, the judgment unit 161 judges the attachment/detachment (insertion/removal) of the feeder F or the reel R based on the detection result S obtained at a predetermined position on the transport path or at regular timing. The cart control unit 16 equipped with the judgment unit 161 is aware of the transport plan that has been set in advance, and is aware of the status of the feeder transport vehicle VF and the reel transport vehicle VR based on various information obtained from the travel control unit 25.

Here, in the third variant, the detection unit 30 detects the presence or absence of the feeder F or reel R at a predetermined position on the transport path or at regular intervals, and the judgment unit 161 judges the attachment or detachment (insertion or removal) of the feeder F or reel R. However, for example, the detection unit 30 may always detect the presence or absence of the feeder F or reel R during the transport of the transported object C, and only the judgment unit 161 may judge the attachment or detachment (insertion or removal) of the feeder F or reel R at a predetermined position on the transport path or at regular intervals. That is, in this case, the judgment unit 161 does not output a detection command D to the detection unit 30.

Alternatively, the judgment unit 161 may constantly judge the attachment/detachment (insertion/removal) of the feeder F or reel R during the transport of the transported object C based on the detection result S that does not change for a certain period of time, and only the detection unit 30 may detect the presence/absence state of the feeder F or reel R at a predetermined position on the transport path or at regular timing. That is, in this case, when the judgment unit 161 outputs a detection command D to the detection unit 30 at a predetermined position or at regular timing, it judges the attachment/detachment (insertion/removal) of the feeder F or reel R based on the updated detection result S.

Another example of a predetermined state is a state in which an abnormality (error) as described above occurs during the transport of the transported object C and then the transport returns to normal. In this case, the determination unit 161 determines in more detail as the predetermined state the attachment/detachment (insertion/removal) of the feeder F or reel R, which are the items, in a first state in which an abnormality (error) occurs and a second state in which the transport returns to normal. Signals such as an error stop are collected in the trolley control unit 16.

Then, for example, when the trolley control unit 16 determines that the first state has occurred, the judgment unit 161 outputs a detection command D to the detection unit 30. As a result, the judgment unit 161 determines the attachment/detachment (insertion/removal) of articles such as the feeder F and the reel R based on the state in which an abnormality (error) has occurred, in other words, the detection result S before recovery from the abnormality (error). Also, for example, when the trolley control unit 16 determines that the second state has occurred, the judgment unit 161 outputs a detection command D to the detection unit 30. As a result, the judgment unit 161 determines the attachment/detachment (insertion/removal) of articles such as the feeder F and the reel R based on the detection result S after recovery from the abnormality (error).

In other words, when a first state in which an abnormality (error) occurs and a second state in which the abnormality (error) has been recovered from occur, that is, before and after recovery from the abnormality (error) as a predetermined state, the judgment unit 161 outputs a detection command D to the detection unit 30. As a result, the judgment unit 161 judges the attachment/detachment (insertion/removal) of articles such as the feeder F and reel R based on the change in the detection result S of the detection unit 30 before and after recovery from the abnormality (error).

Furthermore, an example of the predetermined state is a state in which the transported object C is handed over. In this case, the judgment unit 161 judges the attachment/detachment (insertion/removal) of the feeder F or reel R, which are the articles, in a more detailed predetermined state, a third state before the transported object C is handed over from the feeder transport vehicle VF or the reel transport vehicle VR to the buffer station 5, and a fourth state after the transported object C is handed over from the buffer station 5 to the feeder transport vehicle VF or the reel transport vehicle VR. As described above, the trolley control unit 16 controls the loading and unloading of the transported object C by the unloading unit 17, i.e., the handover of the transported object C to and from the substrate-related operating machine.

Then, for example, when the trolley control unit 16 determines that the third state has occurred, the judgment unit 161 outputs a detection command D to the detection unit 30. As a result, the judgment unit 161 determines the attachment/detachment (insertion/removal) of items such as feeders F and reels R based on the detection result S before the transfer of the transported item C. Also, for example, when the trolley control unit 16 determines that the fourth state has occurred, the judgment unit 161 outputs a detection command D to the detection unit 30. As a result, the judgment unit 161 detects the attachment/detachment (insertion/removal) of items such as feeders F and reels R based on the detection result S after the transfer of the transported item C.

In other words, when the third state before the transfer of the transported item C and the fourth state after the transfer of the transported item C occur, that is, before and after the transfer of the transported item C as a predetermined state, the judgment unit 161 outputs a detection command D to the detection unit 30. As a result, the detection unit 30 detects the presence or absence of a feeder F relative to the magazine M and the presence or absence of a reel R relative to the rack T before and after the transfer of the transported item C, and the judgment unit 161 judges the attachment/detachment (insertion/removal) of items such as the feeder F and the reel R based on the change in the detection result S of the detection unit 30 before and after the transfer of the transported item C.

Therefore, in the third modified example, it is possible to judge, in other words monitor, the attachment/detachment (insertion/removal) of the feeder F and the reel R, particularly in a specific state in which attachment/detachment (insertion/removal) of the feeder F and the reel R is likely to occur. As for other effects, the same effects as those of the above-mentioned embodiment, the first modified example, and the second modified example can be obtained.

1...warehouse, 1a...entry/retraction gate, 2...external setup area, 3...automatic tape processing device, 4...reel loading device, 5...buffer station (machine for working on substrates), 6...component mounting machine (machine for working on substrates), 7...loader, 8...management device, 10...cart (main body), 11...loading platform, 12...side portion, 13...leg portion, 14...front wheels, 15...rear wheels, 16...cart control unit, 161...judgment unit, 17...loading/unloading unit (support unit), 171...main roller, 172...drive roller, 173...guide roller, 174...locking mechanism, 175...locking hook, 176...operation panel, 20...travel device, 21...device main body, 22...driving wheel, 23...front wheel, 24...rear wheel, 25...travel control unit, 26...operation panel, 30...detection unit, 31...light emitting unit, 32...light receiving unit, 33...light emitting unit, 34...light receiving unit, S...production line, VR...reel transport vehicle (automated transport vehicle), VF...feeder transport vehicle (automated transport vehicle) C...transported object, T...rack (case), R...tape reel (item), M...magazine (case), F...tape feeder (item), S...detection result, J...alert information, D...detection command

Claims

An automated guided vehicle capable of transporting an article including an article used in a substrate-related operating machine and a case for detachably holding the article,
The main body,
a support portion provided on the main body and supporting the case;
a detection unit provided in the main body and configured to detect the presence or absence of the object relative to the case during transport of the transported object;
a determination unit that determines whether the article has been attached to or detached from the case based on a detection result by the detection unit;
An unmanned guided vehicle equipped with
The detection unit detects the presence or absence of the article at an opening for attaching and detaching the article in the case supported by the support unit,
The automated guided vehicle according to claim 1 , wherein the determination unit determines that the article has been attached or detached when the detection unit detects the presence of the article.
The automated guided vehicle according to claim 2, wherein the determination unit determines that the attachment/detachment of the item is complete if the detection unit does not continue to detect the presence of the item for a predetermined time or longer after determining that the item has been attached or detached, and determines that the attachment/detachment of the item is incomplete if the detection unit continues to detect the presence of the item for the predetermined time or longer.
The automated guided vehicle according to claim 2, which continues transporting the transported object when the determination unit determines that the attachment/detachment of the object is complete, and stops transporting the transported object when the determination unit determines that the attachment/detachment of the object is not complete.
The detection unit is disposed below the object through a slit provided in a bottom surface of the case supported by the support unit, and detects the presence or absence of the object;
The automated guided vehicle according to claim 1 , wherein the determination unit determines that the article has been attached or detached based on a change in a state of the presence or absence of the article detected by the detection unit.
The automated guided vehicle according to claim 5, wherein the detection unit detects the position where the item is attached to or detached from the case.
The detection unit detects a measurable physical quantity related to a change in state of the case,
The automated guided vehicle according to claim 1 , wherein the determination unit determines whether the article has been attached or detached based on a change in the physical quantity detected by the detection unit.
The automated guided vehicle according to claim 7, wherein the physical quantity is the weight of the transported object.
The automated guided vehicle according to claim 1, wherein when the determination unit determines that the item has been attached or detached, it outputs notification information regarding the attachment or detachment of the item to a management device that manages the transportation of the transported item.
The automated guided vehicle according to claim 1, wherein the determination unit determines whether to attach or detach the item to or from the case that is not included in a transportation plan that includes a preset attachment/detachment of the item to or from the case and attachment/detachment of the case to or from the support unit.
The automated guided vehicle according to claim 10, wherein at least one of the detection of the presence or absence of the item by the detection unit and the determination of the attachment or detachment of the item is performed at a predetermined position during the transport of the transported item or at regular timing during the transport of the transported item by the determination unit.
The automated guided vehicle according to claim 10, wherein, when an abnormality occurs in the transport of the transported object, the determination unit determines whether the item is attached or detached based on a change in the detection result of the detection unit before and after recovery from the abnormality.
The automated guided vehicle according to claim 1, wherein the detection unit detects the presence or absence of the item in the case before and after the transfer of the transported item.
the article is a feeder that supplies components to the substrate-related operation machine,
the case is a magazine into which a plurality of the feeders can be inserted and removed,
The automated guided vehicle according to claim 1 , wherein the detection unit detects insertion and removal of the feeder into and from the magazine during transport of the transported object.