CN120019005A - Unmanned guided vehicle - Google Patents

Abstract

The unmanned guided vehicle is capable of transporting objects, and the above-mentioned objects include items used in a substrate operation machine and a box for holding the items in a detachable manner. The unmanned guided vehicle comprises: a main body; a support part, which is provided on the main body and supports the box; a detection part, which is provided on the main body and detects the presence or absence of the items in the box during the transportation of the objects; and a judgment part, which judges whether the items have been disassembled or assembled relative to the box based on the detection result obtained by the detection part.

Description

Unmanned carrier

Technical Field

The present description relates to an unmanned carrier.

Background

In recent years, as a part of the labor saving, for example, as disclosed in patent document 1, a case of conveying a conveyed object by an automated guided vehicle in an article conveying system has been prevailing. In this case, the automated transfer of the transported object can be performed by the automated guided vehicle according to a predetermined transport plan, and the transported object at the transported destination can be automatically transferred.

Further, for example, as disclosed in patent document 2, a part feeder as a conveyance object may be conveyed by using a carriage detachably connected to an electronic component mounting apparatus. The component monitoring system disclosed in patent document 2 includes a monitoring device that determines whether or not the storage state of the component feeder has changed from the time when the component feeder is loaded on the carriage until the carriage is connected to the electronic component mounting device, and performs a warning operation when the storage state of the component feeder has changed.

Prior art literature

Patent document 1 International publication No. 2021/144866

Patent document 2 Japanese patent application laid-open No. 2015-220304

Disclosure of Invention

Problems to be solved by the invention

In order to enable more efficient use, unmanned vehicles are used in general without being dedicated, and can be used for conveying various objects. However, in a production site where various kinds of objects are transported by an unmanned transport vehicle, in principle, a worker does not monitor the middle of the transport along with the objects. Therefore, for example, even if the article forming the transport object is attached or detached during transport, it is only possible to determine whether or not the article is attached or detached after the transport object is delivered to the transport destination. In this case, since the judgment is delayed, for example, there is a possibility that the necessary element is insufficient or the like to affect the production. Therefore, in the conveyance of a conveyance object by an unmanned conveyance vehicle, it is desirable to be able to quickly determine the attachment/detachment of the object.

The purpose of the present specification is to provide an unmanned carrier that can detect and determine the attachment/detachment of an article during the conveyance of a conveyance object.

Means for solving the problems

The present specification discloses an automated guided vehicle capable of carrying a carried object including an object used in a substrate working machine and a case for holding the object so as to be detachable, the automated guided vehicle including a main body, a support unit provided in the main body for supporting the case, a detection unit provided in the main body for detecting whether or not the object is in a state of being in the case during carrying of the carried object, and a determination unit for determining whether or not the object is detached from the case based on a detection result of the detection unit.

In the present specification, a technical idea of changing the "automated guided vehicle according to claim 1" to the "automated guided vehicle according to any one of claims 1 to 8" in claim 9 where the first claim is applied is also disclosed. In addition, in the present specification, a technical idea of changing the "automated guided vehicle according to claim 1" to the "automated guided vehicle according to any one of claims 1 to 9" in claim 10 applied initially is disclosed. In addition, in the present specification, a technical idea of changing the "automated guided vehicle according to claim 1 or 2" to the "automated guided vehicle according to any one of claims 1 to 13" in claim 14 to which the first claim is applied is disclosed.

Effects of the invention

According to the automated guided vehicle, the detection unit can quickly detect and determine attachment and detachment of the article during the conveyance of the conveyed article.

Drawings

Fig. 1 is a perspective view for explaining a production line including an automated guided vehicle.

Fig. 2 is a perspective view schematically showing the automated guided vehicle in a state where the object to be guided is placed.

Fig. 3 is a perspective view schematically showing a dolly that is a main body of the automated guided vehicle.

Fig. 4 is a diagram for explaining detection by the detection unit and notification to the outside.

Fig. 5 is a perspective view schematically showing the automated guided vehicle in a state where the object to be conveyed is placed thereon, according to a first modification.

Fig. 6 is a perspective view schematically showing a bogie as a main body of the automated guided vehicle, according to a first modification.

Fig. 7 is an enlarged perspective view for explaining the structure of the detection unit according to the first modification.

Fig. 8 is a perspective view schematically showing the automated guided vehicle in a state where the object to be conveyed is placed thereon, according to a second modification.

Fig. 9 is a perspective view schematically showing a bogie as a main body of the automated guided vehicle according to a second modification.

Fig. 10 is a diagram for explaining detection by the detection unit and notification to the outside, according to a third modification.

Detailed Description

Hereinafter, the automated guided vehicle will be described with reference to the drawings. The present embodiment will be described with reference to a case where the automated guided vehicle is provided in a production line of a substrate working machine to convey a conveyance object required for production.

1. Outline of production line PL

As shown in FIG. 1, the production line PL includes a warehouse 1, an automatic tape handling device 3 provided in an external production exchange adjustment area 2, a reel loading device 4, a buffer station 5 serving as a work machine for substrates, and a component mounter 6. The production line PL includes a reel carrier VR and a feeder carrier VF as automated guided vehicles capable of carrying a transport object C including articles used in the component mounter 6 and a case for holding the articles so as to be detachable. In the production line PL, for example, articles (for example, tape feeders, etc.) transported (moved) to the buffer 5 by the feeder wagon VF are supplied to each of the component mounters 6 by the loader 7. In the present embodiment, the case where the feeder wagon VF conveys the article to the buffer station 5 is illustrated, but the feeder wagon VF may convey the article to the component mounter 6.

Here, examples of the articles used in the component mounting machine 6 as the substrate working machine include a tape reel or a tape feeder for supplying electronic components and the like to the component mounting machine 6, a suction nozzle for sucking the supplied components, and the like. In addition, as another article, for example, when a printer is used as the substrate working machine, a mask may be exemplified, and a tray, a substrate (workpiece), or the like may be exemplified. Examples of the case for forming the transport object C include a shelf for placing reels, suction nozzles, masks, substrates, a magazine for housing a tape feeder, and a tray for placing trays.

The reel carrier VR carries the transported object C from the entrance/exit port 1a of the warehouse 1 to the tape automatic processing device 3 provided in the external production exchange adjustment area 2. The reel carrier VR carries the transport object C from the tape automatic processing device 3 to the reel loading device 4. Here, the transport object C transported by the reel transport vehicle VR may be exemplified by a reel R (hereinafter, simply referred to as "reel R") as an article placed on the shelf T as a box.

The feeder wagon VF transfers the transport object C from the entrance/exit port 1a of the warehouse 1 to the reel loading device 4. The feeder carrier VF carries the transport object C from the reel loading device 4 to the buffer station 5. Here, as the conveyance object C conveyed by the feeder wagon VF, a belt feeder F (hereinafter, simply referred to as "feeder F") as an article stored in a bin M as a box can be exemplified.

The reel carrier VR and the feeder carrier VF, which are unmanned carriers, can communicate with the management device 8. Accordingly, the reel carrier VR moves the carrier C, which is the rack T on which the reels R to be carried are carried out from the entrance 1a of the warehouse 1, in accordance with the instruction based on the conveyance plan from the management device 8, and carries the carrier C into the tape automatic processing device 3. The reel carrier VR carries the carrier C, which is a rack T on which the reels R on which the carrier tape subjected to the necessary processing by the tape automatic processing device 3 is mounted, out of the tape automatic processing device 3 and into the reel loading device 4.

Meanwhile, the feeder wagon VF carries out the conveyance object C, which is the bin M storing the feeder F to be subjected, from the in-out port 1a of the warehouse 1 in accordance with the instruction based on the conveyance plan from the management device 8, and carries in the conveyance object C to the reel loading device 4. The feeder carrier VF carries the carrier C, which is a bin M storing a plurality of feeders F loaded with reels R, out of the reel loading device 4 and into the buffer station 5. The feeder wagon VF takes out, as a conveyance object C, the bin M in which the feeder F to which the components are supplied or the empty bin M in which the feeder F is not supplied, from the buffer station 5, for example, into the entrance/exit port 1a of the warehouse 1.

Here, the reel carrier VR and the feeder carrier VF are different from each other in that the reel carrier VR carries the reel R placed on the pallet T as the carrier C, and the feeder carrier VF carries the feeder F stored in the magazine M as the carrier C. However, the reel carrier VR and the feeder carrier VF are configured in the same manner. Therefore, in the following description, the feeder wagon VF is specifically exemplified for explanation.

In the present embodiment, the case where the tape automatic processing device 3 and the reel loading device 4 are separately arranged has been described, but the tape automatic processing device 3 and the reel loading device 4 may be integrally provided. In this case, the loading process by the reel loading device 4 is directly performed after the process by the tape automatic processing device 3. Therefore, in the production line PL, instead of having both the reel carrier VR for carrying only the reels R placed on the racks T as the carrying objects C and the feeder carrier VF for carrying only the feeders F stored in the bins M as the carrying objects C, the feeder carrier VF may be configured to carry the reels R placed on the racks T as the carrying objects C.

2. Feeder truck VF (unmanned truck)

Next, a configuration of the feeder wagon VF, which is an example of the automated guided vehicle, will be described. As described above, the feeder wagon VF automatically conveys the empty bin M storing the feeder F as the conveyance object C according to the preset conveyance plan. In addition, a conveyance plan is set for each of the conveyed objects C (the specific feeders F and bins M) conveyed by the feeder wagon VF based on the production plan set for the production line PL. The conveyance plan sets in advance the type and number of the feeders F accommodated in the magazine M, the state of the magazine M to be conveyed, such as the position of the accommodated feeder F relative to the magazine M, the conveyance path for conveying the conveyance object C, the position (conveyance target) for loading and unloading the conveyance object C, that is, the transfer conveyance object C, and the like.

However, when the feeder wagon VF automatically (autonomously) conveys the conveyance object C, there is a possibility that the conveyance object C is not intended or lost, that is, the articles not in the conveyance plan are attached or detached during the conveyance. For example, there is a case where the feeder F to be stored in the magazine M is forgotten to be stored, or the feeder F not to be stored in the magazine M is stored. In this case, for example, the operator may store a correct feeder F in the magazine M or take out an incorrect feeder F from the magazine M during conveyance by the feeder wagon VF. However, since the insertion and removal of the feeder F into and from the bin M is performed by restoring the feeder F to the correct bin M state based on the transfer plan, the influence in production is minimized.

However, when the feeder F is inserted and removed during the conveyance of the conveyance object C by the feeder wagon VF, the state of the bin M is correct with respect to the conveyance plan, but for example, the feeder F that is not in the production plan may be erroneously additionally stored in the bin M or the correct feeder F may be taken out from the bin M. That is, when such articles are attached and detached, the state of the bin M conveyed by the feeder wagon VF as the conveyed article C is different from the state of the bin M set in advance in the conveyance plan.

Here, if the failure of the wrong feeder F or the correct feeder F is not determined during the conveyance of the conveyance object C, for example, the failure is determined and found when the conveyance object C is conveyed to (delivered to) the buffer station 5. That is, since the wrong feeder F or the shortage of the correct feeder F can be found at the destination of the conveyed object C, it takes time until the finding and a delay is found. If the incorrect feeder F or the correct feeder F is found to be insufficient, the magazine M is in a state different from the conveyance plan, and therefore, for example, the component mounting machine 6 runs out of components and stops production, or the feeder F or the component can not be traced to the destination or the source, which may affect production.

Therefore, when the unmanned carrier including the feeder carrier VF carries the object C, it is necessary to detect and judge the attachment/detachment of the article even during the carrying. When the article is detected and judged to be attached or detached during the monitoring, it is necessary to output report information for reporting the attachment or detachment to the management device 8 promptly, and to notify the operator or manager via, for example, a display device provided in the production line PL. In addition, when the feeder F is attached to or detached from the bin M during conveyance, for example, the storage (installation) of the feeder F in the bin M is likely to be incomplete, and as a result, there is a risk that the feeder F falls from the bin M during the conveyance operation of the feeder wagon VF.

In view of this, in the present embodiment, as shown in fig. 2, the feeder wagon VF, which is an automated guided vehicle, mainly includes a main body pallet 10, a pallet control unit 16, a traveling device 20, and a detection unit 30 that detects attachment/detachment (insertion/removal) of the feeder F, which is an article, to/from a bin M, which is a box, during conveyance of the conveyance object C. In the following description, the front and rear, left and right, and up and down of the feeder wagon VF are conveniently specified as shown in fig. 2.

The carriage 10 and the traveling device 20 are configured to be substantially bilaterally symmetrical with respect to a center line extending in the front-rear direction. The main body of the carriage 10 is coupled to the traveling device 20 by a coupling mechanism, not shown. The traveling device 20 can enter the lower side of the carriage 10 from the rear, for example, and pull the coupled carriage 10 to move and withdraw the carriage 10 to the rear. The detection unit 30 is provided in the main body of the carriage 10.

2-1 Trolley 10

As shown in fig. 2 and 3, the carriage 10 mainly includes a carriage 11, left and right side surfaces 12, left and right leg portions 13, two front wheels 14 (only left side is shown in fig. 2 and the like), two rear wheels 15, and a carriage control unit 16. As shown in fig. 3, the stage 11 is formed in a substantially rectangular shape in a plan view, and is disposed horizontally apart from the ground. The main body of the carriage 10 is provided with a loading/unloading unit 17 as a supporting unit on the upper surface of the stage 11, and a detecting unit 30 is provided on the upper surface of the stage 11 at the rear in the front-rear direction.

The left and right side surfaces 12 are provided so as to extend downward from the left and right edges of the stage 11. A space into which the traveling device 20 enters is partitioned between the left and right side surfaces 12 of the lower side of the stage 11. Left and right leg portions 13 extending in the front-rear direction are provided below the side surface portions 12. A front wheel 14 for running is provided at a front lower portion of the leg portion 13, and a rear wheel 15 for running is provided at a rear lower portion of the leg portion 13. The total of four front wheels 14 and rear wheels 15 are universal wheels with variable traveling directions. In addition, stoppers are provided on the two rear wheels 15.

2-2, Carriage control unit 16 (judgment unit 161)

The carriage control unit 16 is a microcomputer having CPU, ROM, RAM and various interfaces as main components. The carriage control unit 16 controls the operation of the carriage 10 (specifically, the operation of the loading/unloading unit 17, etc.) in a lump by executing various programs (not shown).

As shown in fig. 1 and 4, the carriage control unit 16 can communicate with the management device 8. The carriage control unit 16 of the present embodiment further includes a determination unit 161 that obtains the detection result S output from the connected detection unit 30. The determination unit 161 determines whether or not the feeder F as an article is attached to (detached from) the bin M as a box based on the detection result S of the detection unit 30. The carriage control unit 16 communicates with the management device 8, and when the determination unit 161 determines that the feeder F is inserted or removed, it outputs report information J relating to the insertion or removal of the feeder F to the management device 8. In this way, in the present embodiment, the management device 8 can promptly notify the operator, the manager, or the like of the insertion/removal (attachment/detachment) of the feeder F, for example.

In the present embodiment, the determination unit 161 is provided in the carriage control unit 16. However, the determination unit 161 may be provided in a control device (for example, a travel control unit 25 described later) other than the carriage control unit 16, various arithmetic devices, or the like. The determination unit 161 may be provided in the management device 8 that can communicate with the carriage control unit 16. The determination unit 161 may be formed on the cloud.

2-3 Loading and unloading section 17 (supporting section)

The loading/unloading unit 17 loads/unloads the empty bin M containing the feeder F in the front-rear direction from the front surface of the front side of the carriage 10. As shown in fig. 3, the loading/unloading section 17 is configured by a main roller 171, six driving rollers 172, a guide roller 173, a locking mechanism 174, a locking hook 175, an operation panel 176, a driving motor, and the like, which are not shown. The three rollers are cylindrical or cylindrical members extending in the left-right direction, and are supported so as to be rotatable about a central axis. A guide roller 173, three drive rollers 172, a main roller 171, and three drive rollers 172 are arranged in this order from the front side toward the rear side of the carriage 10.

The main roller 171 is driven by forward and reverse rotations of a driving motor, and rotates in the forward and reverse directions. The six driving rollers 172 are coupled to the main roller 171 by a belt, not shown, and rotate synchronously with the same rotation speed in the same rotation direction as the main roller 171. The guide roller 173 can freely rotate without being driven. The bin M (the transported object C including the rack T and the like) is loaded by the forward rotation of the main roller 171 and the driving roller 172, and the bin M (the transported object C including the rack T and the like) is unloaded by the reverse rotation. Control of driving and stopping of the driving motor and control of the rotation direction are performed by the dolly control section 16.

The locking mechanism 174 is disposed behind the rearmost drive roller 172. The locking mechanism 174 locks the loaded bin M (the transported object C including the rack T) by using the locking hook 175. As shown in fig. 3, the front side of the locking hook 175 is bent upward and supported swingably in the up-down direction using an elastic member.

Thus, when the storage bin M (the transported object C including the rack T or the like) is loaded, the locking hook 175 is temporarily lowered and then raised, and is automatically locked with a locked portion (not shown) provided at the rear end of the storage bin M (the transported object C including the rack T or the like). Or the locking hook 175 is temporarily lowered and then raised, and thereby automatically fitted into a locked hole provided at the rear end of the bin M (containing the transported object C such as the rack T). On the other hand, immediately before the bin M (the transported object C including the rack T and the like) is unloaded, the locking hook 175 is driven by, for example, an electromagnetic solenoid (not shown) to descend, and the locking of the bin M (the transported object C including the rack T and the like) is released. In this case, the operation of the electromagnetic solenoid is controlled by the carriage control unit 16.

As described above, the loading/unloading operation of the loading/unloading unit 17 is automatically performed mainly under the control of the carriage control unit 16. In addition, the operation panel 176 disposed at the rear of the loading/unloading unit 17 is manually operated to perform a part of the loading/unloading operation. Specifically, by operating the operation panel 176, for example, when the loading/unloading unit 17 is stopped due to an abnormality (error) in the loading/unloading operation, it is possible to perform an error release in the case of a so-called error stop or to perform an emergency stop of the loading/unloading unit 17. Here, in order to stably load and unload the load and unload unit 17, it is important that the feeder carriage VF, more specifically, the carriage 10, is transported (moved) along a transport path set by a predetermined transport plan, and accurately stopped at a stop position, and is facing a transport destination as a transport target at the stop position.

Here, the carriage 10 includes a power receiving connector, not shown, on the stage 11. The power receiving connector is disposed, for example, so as to face the traveling device 20 that enters a space formed between the left and right side surfaces 12 that are the bottom plate of the stage 11. Thus, when the carriage 10 is coupled to the traveling device 20, the power receiving connector is fitted to a power feeding connector (not shown) provided on the traveling device 20 side. The power supply connector is connected to a battery (not shown) incorporated in the traveling device 20. Therefore, the power receiving connector on the carriage 10 side is fitted to the power feeding connector on the traveling device 20 side, and the electric power for driving the carriage control unit 16 and the loading/unloading unit 17 is supplied from the battery on the traveling device 20 side. That is, it is not necessary to provide the carriage 10 with a battery for supplying electric power for driving the carriage control unit 16 and the loading/unloading unit 17.

The carriage 10 is provided with a coupling mechanism for coupling with a traveling device 20 that enters a space formed between the left and right side surfaces 12 with respect to the bottom plate of the carriage 11. The carriage 10 is provided with a positioning mechanism (buffer) capable of positioning the feeder carriage VF, which is the carriage 10, when the transported object C is loaded and unloaded in front of the carriage 11. The structure and operation of the coupling mechanism and the positioning mechanism are not directly related to the present embodiment, and therefore, the description thereof will be omitted.

2-4 Running gear 20

As shown in fig. 2, the traveling device 20 includes a device body 21, a pair of left and right drive wheels 22 (only left side is shown in fig. 2), a pair of left and right front wheels 23 (only left side is shown in fig. 2), a pair of left and right rear wheels 24 (only left side is shown in fig. 2), a traveling control unit 25, an operation panel 26, a traveling motor (not shown), and the like. The device main body 21 is formed in a rectangular parallelepiped shape that is long in the substantially front-rear direction, and has rounded corners in plan view. The apparatus main body 21 is horizontally disposed slightly apart from the ground.

The drive wheel 22 is disposed at an intermediate position in the front-rear direction of the lower side of the apparatus main body 21. Each driving wheel 22 is driven by the forward rotation and the reverse rotation of the travel motor controlled by the travel control unit 25. The drive wheels 22 are rotatable at different rotational speeds and in different rotational directions. Thus, traveling device 20 can freely move forward and backward and change direction.

The front wheel 23 is disposed at a position forward of the drive wheel 22 in the front-rear direction of the lower side of the apparatus main body 21. The rear wheel 24 is disposed at a position rearward of the drive wheel 22 in the front-rear direction of the lower side of the apparatus main body 21. The total four front wheels 23 and the rear wheels 24 are universal wheels with variable traveling directions. The front wheel 23 and the rear wheel 24 follow the rotation state of the drive wheel 22, and thereby rotate. The distance between the left and right wheels, that is, the tread width, is, for example, maximum at the driving wheel 22, minimum at the front wheel 23, and intermediate at the rear wheel 24. In this way, by maximizing the tread width of the driving wheel 22, good steering performance of the running device 20 can be ensured.

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

As shown in fig. 1, the travel control unit 25 can communicate with the management device 8. Thus, the travel control unit 25 can control the travel of the travel device 20 in accordance with the conveyance path and conveyance destination set by the conveyance plan by communication with the management device 8. The travel control unit 25 can communicate with the carriage control unit 16 in a state where the carriage 10 is coupled to the travel device 20. As a result, the carriage control unit 16 can acquire various pieces of information related to traveling (movement) including the positions of the feeder carriage VF and the reel carriage VR from the travel control unit 25.

Here, as the traveling device 20, for example, an AGV (Automatic Guided Vehicle: automated guided vehicle) can be used. In this case, the traveling device 20 is provided with a belt detection unit that detects a path display belt (see fig. 1) provided on the floor of the line PL in correspondence with the conveyance path and the conveyance target, and outputs the detection result to the traveling control unit 25. Thus, the travel control unit 25 controls the control amount of the drive wheel 22 (travel motor) in accordance with the detection result output from the belt detection unit, and causes the travel device 20 to travel along the conveyance path and to stop at the conveyance destination. The belt detection unit is disposed at a front position and a rear position in the front-rear direction on the center line of the lower side of the apparatus main body 21. The path display tape may be a tape of a magnetic display type or an optical display type.

As described above, the traveling of the traveling device 20 is autonomously performed by the control of the traveling control unit 25. In addition, by operating the operation panel 26 disposed at the rear of the upper surface of the device main body 21, the operation of a part of the traveling device 20 can be manually operated. Specifically, by operating the operation panel 26, for example, stopping due to an error (for example, an abnormality such as a deviation of a route or a deviation of a stop position) associated with the running of the running device 20, error cancellation in the case of a so-called erroneous stop, or emergency stop of the running device 20 can be performed.

2-5. Detection portion 30

The detection unit 30 detects the attachment and detachment of the feeder F (such as the reel R) as an article to and from the bin M (such as the rack T) as a box body mounted on the loading/unloading unit 17, which is a support unit of the carriage 10, during the conveyance of the conveyance object C. Specifically, as shown in fig. 2 and 3, the detection unit 30 of the present embodiment is disposed on the upper surface behind the stage 11 in the front-rear direction of the carriage 10.

More specifically, as shown in fig. 2, the detection unit 30 of the present embodiment is disposed on the upper surface of the loading table 11 so as to be positioned in the vicinity of the opening M1 of the bin M supported by the loading/unloading unit 17. Thus, the detection unit 30 of the present embodiment detects whether or not the feeder F is in a state of being an article in the opening M1 of the bin M, that is, when the feeder F (article attached or detached) is inserted or removed through the opening M1.

As shown in fig. 4, when detecting that the feeder F is inserted into or removed from the magazine M, the detecting unit 30 outputs the detection result S to the judging unit 161 of the carriage control unit 16. Thus, when the detecting unit 30 detects the presence of the feeder F in the opening M1, the determining unit 161 determines that the insertion/removal (attachment/detachment) of the feeder F is performed.

The detection unit 30 detects insertion and removal of the feeder F as an article based on the electromagnetic measurable physical quantity. Therefore, in the present embodiment, for example, the detection unit 30 including a photosensor using light as electromagnetic waves is exemplified.

As shown in fig. 2 and 3, the detection unit 30 of the present embodiment includes a light emitting unit 31 and a light receiving unit 32. Thus, when the light emitted from the light emitting unit 31 to the light receiving unit 32 is received by the light receiving unit 32, the emitted light is not blocked, that is, the feeder F is not present in the opening M1 and the insertion and removal of the feeder F is not performed, and therefore the detection unit 30 does not output the detection result S.

On the other hand, when the light emitted from the light emitting unit 31 to the light receiving unit 32 is not received by the light receiving unit 32 or when the light receiving unit 32 is not received for a light shielding time that can be set in advance based on the time required for inserting and extracting the feeder F, that is, when the feeder F is inserted and extracted in the opening M1, the detection unit 30 outputs the detection result S. The condition in which the light receiving unit 32 cannot receive light beyond the light blocking time is assumed to be, for example, a defective storage of the feeder F relative to the magazine M (e.g., a drop-off of the feeder F) due to vibration or the like during traveling (movement) of the feeder wagon VF. In this case, the detection unit 30 outputs the detection result S to the carriage control unit 16.

Here, the determination unit 161 determines that the attachment/detachment of the feeder F is completed when the presence of the feeder F is not continuously detected by the detection unit 30 for a predetermined time (for example, a light shielding time which can be appropriately set as described above) or more after the attachment/detachment of the feeder F is determined. The carriage control unit 16 and the travel control unit 25 cooperate with each other to continue the conveyance of the conveyance object C when the determination unit 161 determines that the insertion/removal (attachment/detachment) of the feeder F is completed.

On the other hand, the determination unit 161 determines that the attachment/detachment of the feeder F is not completed when the presence of the feeder F is continuously detected by the detection unit 30 for a predetermined time or longer, for example, due to the detachment of the feeder F described above. The carriage control unit 16 and the travel control unit 25 cooperate to stop the conveyance of the conveyance object C when the determination unit 161 determines that the insertion/removal (attachment/detachment) of the feeder F is not completed. This can prevent the feeder F from falling from the bin M during the conveyance by the feeder wagon VF.

When the determination unit 161 determines that the feeder F is inserted and removed, the carriage control unit 16 outputs report information J indicating that the feeder F is inserted and removed during conveyance to the external management device 8 by communication, as shown in fig. 4. That is, the carriage control unit 16 can output the report information J concerning the insertion/removal (attachment/detachment) of the feeder F to the management device 8 when the determination unit 161 determines that the feeder F is attached/detached as an article during the conveyance of the conveyance object C.

Here, when the report information J is acquired from the carriage control unit 16 of the feeder wagon VF, the management device 8 notifies (or alerts) the operator, the manager, or the like that the notification device is used. That is, the notifying device notifies that the feeder F is inserted into and removed from the magazine M, for example, during conveyance to the buffer station 5 by the feeder wagon VF. Examples of the notification device include a display device provided in the management device 8, a display device provided in the production line PL, a portable terminal held by an operator, and a voice speaker.

As can be understood from the above description, the feeder carrier VF (reel carrier VR) as the automated guided vehicle according to the present embodiment is an automated guided vehicle capable of carrying a carrier C including a feeder F (reel R) as an article used in the buffer station 5 and the component mounter 6 as a substrate working machine and a bin M (pallet T) as a case for holding the feeder F (reel R) in a detachable manner, and includes a main body of the trolley 10, a loading/unloading unit 17 provided in the trolley 10 and serving as a support unit for supporting the bin M (pallet T), a detection unit 30 provided in the trolley 10 and detecting the presence or absence of the feeder F (reel R) with respect to the bin M (pallet T) during the conveyance of the carrier C, and a determination unit 161 for determining whether or not the feeder F (reel R) is detached from (inserted into or removed from) the bin M (pallet T) based on a detection result S of the detection unit 30.

According to the feeder carrier VF and the reel carrier VR, the detection unit 30 can quickly detect the insertion and removal of the feeder F from the magazine M and the attachment and detachment of the reel R from the rack T during the conveyance of the conveyance object C. Further, according to the feeder wagon VF and the reel wagon VR, when the determination unit 161 determines that the insertion and removal of the feeder F to and from the bin M and the attachment and detachment of the reel R to and from the rack T are performed based on the detection result S of the detection unit 30, the notification information J can be output from the management device 8 or the like, and the notification can be promptly notified to an operator, a manager, or the like. Thus, for example, even when the feeder F is inserted into or removed from the magazine M and the reel R is attached to or detached from the pallet T during the conveyance of the conveyance object C, the occurrence of defects in components required for production can be suppressed, and as a result, the influence on production can be suppressed to a minimum.

3. First modification example

In the above-described embodiment, the case where the detecting unit 30 detects the presence or absence of the feeder F as an article in the opening M1 of the bin M as the case of the stage 11 supported by the carriage 10 is exemplified. In this case, the determination unit 161 determines that the insertion and removal of the feeder F through the opening M1 of the bin M is performed during the conveyance of the conveyance object C by the feeder wagon VF, which is an automated guided vehicle. Thus, the carriage control unit 16 can output the report information J to the management device 8.

However, it is preferable that the inserted feeder F can be specified when the insertion and removal of the feeder F not included in the transport plan including the attachment and removal of the feeder F (reel R) to and from the stock bin M (rack T) and the attachment and removal of the stock bin M (rack T) to and from the loading/unloading unit 17 are performed. That is, when the unnecessary insertion and removal of the feeder F, which is not included in the transfer plan, is performed, for example, it is preferable to be able to identify the feeder F that is inserted and removed, that is, the element that is predicted to be insufficient, from the viewpoint of reducing the influence of the shortage of the element on the production. Specifically, since the position of the feeder F stored in the magazine M is set in advance by the conveyance plan, it is preferable that the position of the inserted feeder F with respect to the magazine M can be detected.

Therefore, in the first modification, as shown in fig. 5, the detection unit 30 is disposed on the stage 11 (see also fig. 7) of the carriage 10 so as to be located below the feeder F as the article through the slit M3, and the slit M3 is a gap provided in the bottom surface M2 of the bin M, which is a case supported by the loading/unloading unit 17 as the support unit. More specifically, as shown in fig. 6, the detection unit 30 of the first modification is disposed at a position below the driving roller 172 on the rear side of the main roller 171 of the loading/unloading unit 17, and is disposed so as to coincide with the formation position of the slit M3 in a state where the casing M is supported, for example, with the gap between the driving rollers 172 formed in the front-rear direction.

The detection unit 30 according to the first modification is arranged in plural numbers in correspondence with the width (pitch) of the feeder F stored in the bin M in order to detect the presence or absence of the feeder F with respect to the bin M. That is, the detection unit 30 of the first modification is provided in a one-to-one relationship with the feeder F accommodated in the magazine M.

The detection unit 30 of the first modification also includes a photoelectric sensor that uses light as electromagnetic waves, similar to the detection unit 30 of the above-described embodiment. However, as shown in fig. 7 in an enlarged manner, the detection unit 30 of the first modification includes a light emitting unit 33 and a light receiving unit 34, respectively. Thus, when the light emitting portion 33 of the detecting portion 30 disposed at the position where the feeder F is accommodated in the magazine M emits light upward, the light is reflected at the lower surface of the accommodated (i.e., existing inside the magazine M) feeder F, and the reflected light is received by the light receiving portion 34. On the other hand, the detection unit 30 disposed at a position where the feeder F is not accommodated in the bin M (that is, the feeder F is not present in the bin M) does not generate reflected light even when 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 modification example, when the light receiving unit 34 of the detection unit 30 changes from a state of receiving reflected light to a state of not receiving reflected light during conveyance of the conveyance object C by the feeder wagon VF, for example, the judgment unit 161 removes (pulls out) the feeder F from the magazine M, and thus outputs the detection result S. In addition, for example, when the state of receiving reflected light from the light receiving unit 34 is changed to the state of receiving reflected light, the determination unit 161 outputs the detection result S because the feeder F is stored (inserted) in the magazine M. Here, in the first modification, the detection unit 30 outputs identification information (identification number or the like) identifying itself in association with the detection result S.

In addition, in the case where the state in which the light receiving unit 34 receives the reflected light is not changed before loading and unloading at the delivery position (the conveyance target) in the conveyance plan during conveyance of the conveyance object C by the feeder wagon VF, for example, the judgment unit 161 of the first modification does not detach (not pull out) the feeder F from the bin M, and therefore does not output the detection result S. In addition, for example, when the state in which the light receiving unit 34 does not receive the reflected light has not changed before loading and unloading is performed at the delivery position (conveyance target), the determination unit 161 does not store (not insert) the feeder F in the magazine M, and therefore does not output the detection result S.

That is, the determination unit 161 of the first modification determines that the insertion/removal (attachment/detachment) of the feeder F is performed based on the switching of the presence/absence state of the feeder F detected by the detection unit 30, specifically, based on a change in the detection result S caused by the state in which the light receiving unit 34 receives the reflected light or the state in which the light receiving unit 34 does not receive the reflected light. In the first modification, when the determination unit 161 determines that the feeder F is inserted or removed based on the detection result S of the detection unit 30, the carriage control unit 16 outputs, by communication, report information J indicating that the feeder F is inserted or removed during the conveyance of the conveyance object C and identification information (identification number) of the detection unit 30 for identifying the feeder F after insertion or removal to the management device 8. That is, when the detection unit 30 of the first modification detects the attachment/detachment of the feeder F as an article during the conveyance of the conveyance object C, the detection unit can output the attachment/detachment of the article to/from the management device 8 and the position of the article to/from the stock bin M as the report information J related to the insertion/detachment of the detected feeder F.

Here, in the first modification, the management device 8 also notifies (or alerts) the operator, the manager, or the like that the notification device is used when the report information J is acquired from the carriage control unit 16 of the feeder wagon VF. However, in the first modification, for example, during conveyance to the buffer station 5 by the feeder wagon VF, the position of the feeder F accommodated (inserted) in the bin M or removed (pulled out) is notified in addition to the insertion/removal of the feeder F into/from the bin M. Therefore, in the first modification, in addition to the same effects as those of the above-described embodiment, the position of the feeder F after insertion and removal (the position of the article after attachment and detachment) can be detected. Thus, for example, an operator, manager, or the like can quickly identify an original predicted to be insufficient, and as a result, countermeasures such as replenishment can be performed more quickly, and the influence on production can be further reduced.

4. Second modification example

In the above-described embodiment and the above-described first modification, the case where the detection unit 30 detects the insertion/removal (attachment/detachment) of the feeder F as an article based on the physical quantity that can be electromagnetically measured is exemplified. However, when the feeder F accommodated in the bin M as a box or the reel R mounted on the rack T is inserted (removed), the state of the bin M or the rack T changes.

For example, the feeder F and the reel R have a weight to some extent. Therefore, when the feeder F is inserted into and removed from the bin M, the weight of the bin M supported by the loading/unloading unit 17 as a supporting unit and the weight of the transported object C, which is the feeder F stored in the bin M, change. Similarly, when the reels R are attached to or detached from the pallet T, the weight of the pallet T supported by the loading/unloading unit 17 and the weight of the transported object C, which is the reels R placed on the pallet T, changes.

Therefore, in the second modification, the detection unit 30 detects a physical quantity that can be measured in association with a change in the state of the bin M or the rack T as the box. The determination unit 161 determines attachment/detachment (insertion/removal) of the feeder F or the reel R as the article based on the change in the physical quantity detected by the detection unit 30. Specifically, the detection unit 30 of the second modification measures the weight of the bin M or the rack T, i.e., the conveyance object C, as a physical quantity, which is a case that changes when the feeder F or the reel R is attached (attached/detached).

In the second modification, as shown in fig. 8, the detection unit 30 is provided on the stage 11 of the carriage 10 so as to be positioned below the bin M or the rack T, which is a box body supported by the loading/unloading unit 17 serving as a support unit. More specifically, as shown in fig. 9, the detection unit 30 of the second modification is disposed at the rear in the front-rear direction of the stage 11, and is disposed between the lower surface of the bin M or the rack T in a supported state and the upper surface of the stage 11, that is, is disposed so as to be sandwiched between the lower surface of the bin M or the rack T and the upper surface of the stage 11.

As described above, the detection unit 30 of the second modification measures the weight that can be measured in association with the change in the state of the bin M or the rack T. Here, the detection unit 30 of the second modification includes a piezoelectric element that converts pressure generated when the bin M or the rack T is clamped to the stage 11 into an electrical signal. The pressure converted into an electric signal and output can be easily converted into a weight by multiplying the area of the lower surface of the bin M or the rack T.

When the weight is measured by the detection unit 30 using the piezoelectric element, the vertical displacement of the bin M or the rack T supported by the loading/unloading unit 17 is not accompanied. Thus, in the second modification in which the detection unit 30 measures the weight of the transported object C, the loading and unloading operation of the bin M or the rack T by the loading and unloading unit 17 is not hindered. In addition, in the case of measuring the weight of the transported object C, for example, in the case of using a normal weight or the like, it is necessary to displace the transported object C supported by the loading/unloading unit 17 in the up-down direction at the time of measuring the weight. Therefore, when the loading/unloading unit 17 loads/unloads the bins M or the racks T at the buffer station 5, for example, the height of the loading/unloading unit 17 is different from the height of the buffer station 5, and as a result, the loading/unloading may not be performed and may be stopped erroneously.

The determination unit 161 according to the second modification determines that the feeder F or the reel R is attached/detached (inserted) when the weight measured by the feeder carrier VF is increased or decreased by the reference weight or more with respect to the reference weight determined based on the weight of one feeder F or the reel R during the conveyance of the conveyed object C. In addition, the determination unit 161 according to the second modification determines that the feeder F or the reel R is not attached/detached (inserted/removed) when the measured weight does not change before loading/unloading at the delivery position (the conveyance destination) during conveyance of the conveyance object C by the feeder wagon VF. In addition, as shown in fig. 9, when the detection unit 30 is disposed in the left and right, it is conceivable that the feeder F is inserted and removed to the right or left side even if the strict position cannot be specified, particularly in the magazine M.

In this way, in the second modification, when the determination unit 161 determines that the feeder F (reel R) is attached/detached (inserted/removed) based on the detection result S of the detection unit 30, the carriage control unit 16 outputs the report information J indicating that the feeder F or the reel R is attached/detached (inserted/removed) during the conveyance of the conveyance object C to/from the management device 8 by communication. Here, in the second modification, the management device 8 also notifies (or alerts) the operator, the manager, or the like that the notification device is used when the report information J is acquired from the carriage control unit 16 of the feeder wagon VF. That is, in the second modification, for example, the insertion/removal of the feeder F into/from the magazine M is also notified during the conveyance to the buffer station 5 by the feeder wagon VF. Therefore, in the second modification, the same effects as those of the above-described embodiment can be obtained.

In the second modification described above, two detection units are provided, and for example, the weight change of the bin M can be detected, or the detected weight can be averaged. However, the number of the detection units 30 in the second modification is not limited, and may be one or three or more. In the second modification described above, the detection unit 30 is disposed at the rear of the stage 11 in the front-rear direction, as shown in fig. 9. However, the arrangement of the detection unit 30 according to the second modification is not limited to the rear side in the front-rear direction of the stage 11, and may be arranged at the center in the front-rear direction of the stage 11 as shown by the one-dot chain line in fig. 8 and 9. That is, the arrangement of the detection unit 30 can be changed appropriately according to the shape of the bin M or the rack T.

5. Third modification example

In the above-described embodiment, the first modification, and the second modification, the case where the detecting unit 30 always detects the presence or absence of the feeder F or the reel R as the article when the storage bin M or the rack T as the conveyance object C is conveyed, and the judging unit 161 always judges whether or not the attachment/detachment (attachment/detachment) of the feeder F or the reel R is performed has been exemplified. However, the detecting unit 30 and the judging unit 161 are not limited to the above-described configuration for always detecting the presence or absence of the feeder F or the reel R as the article and judging whether or not the attachment/detachment (insertion/removal) is performed. That is, for example, when a predetermined state is generated, the detecting unit 30 and the judging unit 161 may detect the presence or absence of the feeder F or the reel R and judge whether or not the attachment/detachment (insertion/removal) is performed. A third modification will be described below.

The detection unit 30 according to the third modification detects the presence or absence of the feeder F or the reel R when a predetermined state is generated during the conveyance of the conveyance object C. In addition, the determination unit 161 according to the third modification determines whether or not the feeder F or the reel R is attached/detached (i.e., inserted/removed) when a predetermined state is generated during the conveyance of the conveyance object C. In the third modification, as shown in fig. 10, when a predetermined state is generated, the determination unit 161 outputs a detection command D for detecting whether or not an article is present, specifically, whether or not the feeder F (reel R) is present in the bin M (rack T), to the detection unit 30.

Here, examples of the predetermined state include a state in which the above-described conveyance plan, that is, the undesired attachment/detachment (insertion/removal) of the feeder F or the reel R, is not included. Specifically, for example, in a state where the feeder truck VF or the reel truck VR is stopped unexpectedly on the transport path at a location other than the transport target, the feeder F or the reel R is easily attached to (detached from) the bin M or the rack T, compared to a state where the feeder truck VF or the reel truck VR is traveling (moving).

Therefore, for example, the determination unit 161 outputs the detection command D to the detection unit 30 based on a predetermined position on the conveyance path during conveyance of the conveyance object C or a regular timing during conveyance of the conveyance object C. Thus, the detecting 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 judging unit 161 (the carriage control unit 16). The determination unit 161 determines 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 conveyance path or at regular timing. The carriage control unit 16 including the determination unit 161 grasps a preset conveyance plan, and grasps the state of the feeder carriage VF or the reel carriage VR based on various information obtained from the travel control unit 25.

In the third modification, the case where the detecting 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 the judging unit 161 judges the attachment/detachment (attachment/detachment) of the feeder F or the reel R is exemplified. However, for example, the detecting unit 30 may always detect the presence or absence of the feeder F or the reel R during the conveyance of the conveyance object C, and the judging unit 161 may judge the attachment/detachment (attachment/detachment) of the feeder F or the reel R only at a predetermined position on the conveyance path or at regular timing. That is, in this case, the determination unit 161 does not output the detection command D to the detection unit 30.

Alternatively, the determination unit 161 may determine whether or not the feeder F or the reel R is attached or detached (inserted) at all times during the conveyance of the conveyance object C based on the detection result S that does not change for a certain period of time, for example, and only the detection unit 30 may detect whether or not the feeder F or the reel R is present at a predetermined position on the conveyance path or at regular timing. That is, in this case, when the detection command D is output to the detection unit 30 according to the predetermined position or the regular timing, the determination unit 161 determines the attachment/detachment (insertion/removal) of the feeder F or the reel R based on the updated detection result S.

As the predetermined state, for example, a state in which the above-described abnormality (error) occurs during the conveyance of the conveyance object C and then the conveyance object is restored is illustrated. In this case, the judgment unit 161 judges, in more detail, that the feeder F or the reel R is attached (attached/detached) as an article in a first state in which an abnormality (error) has occurred and in a second state in which the abnormality (error) has recovered from the first state as a predetermined state. In addition, signals such as erroneous stop are collected in the carriage control unit 16.

When the carriage control unit 16 determines that the first state is generated, the determination unit 161 outputs the detection command D to the detection unit 30. Thus, the determination unit 161 determines attachment/detachment (insertion/removal) of the articles such as the feeder F and the reel R based on the state in which the abnormality (error) has occurred, in other words, the detection result S before recovery from the abnormality (error). When the carriage control unit 16 determines that the second state is generated, the determination unit 161 outputs the detection command D to the detection unit 30. Thus, the determination unit 161 determines attachment/detachment (insertion/removal) of the articles such as the feeder F and the reel R based on the detection result S after recovery from the abnormality (error).

That is, the determination unit 161 outputs the detection command D to the detection unit 30 when the first state in which the abnormality (error) has occurred and the second state in which the abnormality (error) has recovered, that is, before and after recovering from the abnormality (error) as the predetermined state, have occurred. Thus, the determination unit 161 determines attachment/detachment (insertion/removal) of the articles 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 recovery from the abnormality (error).

As the predetermined state, for example, a state in which the transported object C is delivered can be exemplified. In this case, the determination unit 161 determines, as the predetermined state, the attachment/detachment (insertion/removal) of the feeder F or the reel R as the article in a third state before the transfer of the transport object C from the feeder carrier VF or the reel carrier VR to the buffer station 5 and in a fourth state after the transfer of the transport object C from the buffer station 5 to the feeder carrier VF and the reel carrier VR. As described above, the carriage control unit 16 controls loading and unloading of the transport object C by the loading and unloading unit 17, that is, transfer of the transport object C to and from the substrate work machine.

When the carriage control unit 16 determines that the third state is generated, the determination unit 161 outputs the detection command D to the detection unit 30. In this way, the determination unit 161 determines attachment/detachment (insertion/removal) of the articles such as the feeder F and the reel R based on the detection result S before the transfer of the conveyance object C. When the fourth state is determined to be generated by the carriage control unit 16, the determination unit 161 outputs the detection command D to the detection unit 30. Thus, the determination unit 161 detects attachment/detachment (insertion/removal) of the articles such as the feeder F and the reel R based on the detection result S after the transfer of the conveyance object C.

That is, when the third state before the transfer of the transported object C and the fourth state after the transfer of the transported object C are generated, that is, before and after the transfer of the transported object C, which is the predetermined state, the determination unit 161 outputs the detection command D to the detection unit 30. In this way, the detecting unit 30 detects the presence or absence of the feeder F with respect to the magazine M or the presence or absence of the reel R with respect to the rack T before and after the transfer of the transported object C, and the judging unit 161 judges the attachment/detachment (insertion/removal) of the articles such as the feeder F or the reel R based on the change in the detection result S of the detecting unit 30 before and after the transfer of the transported object C.

Therefore, in the third modification, in particular, in a predetermined state where the attachment/detachment (insertion/removal) of the feeder F or the reel R is easily generated, the attachment/detachment (insertion/removal) of the feeder F or the reel R can be determined with emphasis, in other words, can be monitored. Other effects can be obtained as well as the effects of the above-described embodiment, first modification, and second modification.

Description of the reference numerals

Warehouse, 1a, warehouse entry, 2, outside exchange adjustment area, 3, tape automatic handling device, 4, tape loading device, 5, buffer station (for substrate work machine), 6, component mounter (for substrate work machine), 7, loader, 8, management device, 10, dolly (main body), 11, stage, 12, side face, 13, leg, 14, front wheel, 15, rear wheel, 16, dolly control part, 161, judgment part, 17, loading/unloading part (support part), 171, main roller, 172, drive roller, 173, guide roller, 174, 175, locking hook, and tape guide roller the present invention relates to a vehicle control apparatus including an operation panel, 20..running device, 21..apparatus main body, 22..driving wheel, 23..front wheel, 24..rear wheel, 25..running control portion, 26..operation panel, 30..detection portion, 31..light emitting portion, 32..light receiving portion, 33..light emitting portion, 34..light receiving portion, s..production line, VR...tape reel carrier (automated guided vehicle), VF...feeder carrier (automated guided vehicle), c..carrier, t..shelf (box), r..tape reel (article), m..bin (box), f..tape feeder (article), s..detection result, j..report information, d..detection instruction).

Claims (14)

1. An automated guided vehicle capable of carrying a carried object including an article used in a substrate working machine and a case for holding the article so as to be detachable, the automated guided vehicle comprising:

A main body;

a support part provided on the main body for supporting the case;

a detection part provided on the main body for detecting whether the article is present in the case during the conveyance of the conveyance object, and

And a judging unit configured to judge whether or not the article is attached to or detached from the casing based on the detection result obtained by the detecting unit.

2. The automated guided vehicle of claim 1, wherein,

The detecting part detects whether the article exists or not at the opening part of the box body supported by the supporting part and used for disassembling and assembling the article,

The judging unit judges that the article is attached or detached when the detecting unit detects the presence of the article.

3. The automated guided vehicle of claim 2, wherein,

The judging unit judges that the attachment/detachment of the article is completed when the detecting unit does not detect the presence of the article for a predetermined time or longer after judging that the attachment/detachment of the article is performed, and judges that the attachment/detachment of the article is not completed when the detecting unit detects the presence of the article for the predetermined time or longer.

4. The automated guided vehicle of claim 2, wherein,

And continuing the conveyance of the conveyance object when the judging unit judges that the attachment and detachment of the article is completed, and stopping the conveyance of the conveyance object when the judging unit judges that the attachment and detachment of the article is not completed.

5. The automated guided vehicle of claim 1, wherein,

The detection part is arranged below the article through a slit arranged on the bottom surface of the box body supported by the support part and used for detecting whether the article exists or not,

The determination unit determines that the article is attached or detached based on the switching of the presence or absence of the article obtained by the detection unit.

6. The automated guided vehicle of claim 5, wherein,

The detection unit detects a position of the article with respect to the case to be attached and detached.

7. The automated guided vehicle of claim 1, wherein,

The detection section detects a physical quantity that can be measured in association with a change in state of the casing,

The judging unit judges attachment/detachment of the article based on the change in the physical quantity detected by the detecting unit.

8. The automated guided vehicle of claim 7, wherein,

The physical quantity is the weight of the conveyance object.

9. The automated guided vehicle of claim 1, wherein,

When the judging unit judges that the article is attached or detached, the judging unit outputs report information on the attachment or detachment of the article to a management device that manages the conveyance of the conveyance object.

10. The automated guided vehicle of claim 1, wherein,

The determination unit determines that the article is not included in a conveyance plan including the attachment/detachment of the article to/from the casing and the attachment/detachment of the casing to/from the support unit, which are set in advance.

11. The automated guided vehicle of claim 10, wherein,

At least one of detection of the presence or absence of the article by the detection unit and judgment of attachment/detachment of the article by the judgment unit is performed at a predetermined position during conveyance of the conveyance object or at a regular timing during conveyance of the conveyance object.

12. The automated guided vehicle of claim 10, wherein,

The determination unit determines, when an abnormality occurs in the conveyance of the conveyance object, attachment/detachment of the article based on a change in the detection result of the detection unit before and after the recovery from the abnormality.

13. The automated guided vehicle of claim 1, wherein,

The detection unit detects the presence or absence of the article in the case before and after the transfer of the transported article.

14. The automated guided vehicle according to claim 1 or 2, wherein,

The article is a feeder for feeding components to the pair of substrate work machines,

The box body is a bin capable of plugging a plurality of feeders,

The detection unit detects insertion and removal of the feeder with respect to the magazine during conveyance of the conveyance object.