Conveying system

Abstract

A transport system (1) is provided with a plurality of transport path units (11A, 11B, 11C, 11D, 11E, 11F, 11G, 11H) that constitute a transport path (10) in which a transport body moves, and that move the transport body by applying power to the transport body. Each of the plurality of conveyance path units (11A, 11B, 11C, 11D, 11E, 11F, 11G, 11H) has: a drive unit that generates power; and an inverter circuit that has a switching element, and that supplies power to the drive unit, said power having been converted by the on-off of the switching element. One or at least one of two or more conveyance path units in the portion of the conveyance path (10) where the conveyance body is not present is stopped from being turned on / off.

Description

Technical Field

[0001] The invention relates to a conveying system for conveying objects. Background Art

[0002] In production lines that introduce factory automation, such as production lines for assembling industrial products or production lines for packaging food, conveyor systems for conveying workpieces are generally used. In recent years, conveyor systems that divide the conveying path for conveying workpieces into multiple areas and drive a trolley carrying the workpiece through a control device arranged in each area are often used. This conveyor system is known to be one of the conveyor systems that excel in production efficiency.

[0003] Patent document 1 discloses a conveying system using a linear motor. The conveying system disclosed in Patent document 1 includes: a carriage having a magnet; and a plurality of coils arranged in a conveying path in the direction of travel of the carriage. The conveying system disclosed in Patent document 1 controls the current flowing through each coil by an inverter circuit such as a full-bridge inverter circuit or a half-bridge inverter circuit.

[0004] Patent Document 1: Japanese Patent Application Publication No. 2019-221131 Summary of the invention

[0005] In the transport system disclosed in Patent Document 1, when the transport system enters the operating time, all inverter circuits start to be turned on and off. In this case, there are problems such as the noise caused by the turning on and off of the inverter circuit increases in the entire transport system, and the energy loss caused by the turning on and off of the inverter circuit increases in the entire transport system.

[0006] The present invention has been made in view of the above circumstances, and an object of the present invention is to obtain a transportation system capable of achieving reduction in noise and reduction in energy loss.

[0007] In order to solve the above-mentioned problems and achieve the purpose, the conveying system involved in the present invention has a plurality of conveying path units, which constitute a conveying path for a conveying body to move, and the conveying body is moved by applying power to the conveying body. Each of the plurality of conveying path units has: a driving unit that generates power; and an inverter circuit that has a switching element that supplies power converted by switching the switching element to the driving unit. One of the parts of the conveying path where there is no conveying body or at least one of two or more conveying path units stops switching.

[0008] Effects of the Invention

[0009] The transportation system according to the present invention has the effect of being able to achieve reduction in noise and reduction in energy loss. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 This is a diagram showing a configuration example of a transport system according to the first embodiment.

[0011] Figure 2 This is a diagram showing a configuration example of a transport path unit included in the transport system according to the first embodiment.

[0012] Figure 3 This is a diagram showing a configuration example of an inverter circuit included in the transport path unit according to the first embodiment.

[0013] Figure 4 This is a diagram for explaining the operation of each transport path unit included in the transport system according to the first embodiment.

[0014] Figure 5 This is a diagram showing a configuration example of a transport system according to the second embodiment.

[0015] Figure 6 This is a diagram for explaining the operation of each transport path unit included in the transport system according to the second embodiment.

[0016] Figure 7 This is a diagram showing a configuration example of a controller included in the transportation system according to the third embodiment.

[0017] Figure 8 This is a diagram showing a configuration example of a learning device included in a controller according to a third embodiment.

[0018] Fig. 9 This is a flowchart showing the processing procedure of the learning device included in the controller according to the third embodiment.

[0019] Fig.10 This is a diagram showing a configuration example of a position command generating unit included in a controller according to a third embodiment.

[0020] Fig.11 This is a flowchart showing the processing procedure of the position command generating unit and the coil drive command generating unit included in the controller according to the third embodiment.

[0021] Fig.12 This is a diagram showing a configuration example of a control circuit according to the first to third embodiments.

[0022] Fig.13 This is a diagram showing a configuration example of a dedicated hardware circuit according to the first to third embodiments. DETAILED DESCRIPTION

[0023] Hereinafter, the transportation system according to the embodiment will be described in detail with reference to the drawings.

[0024] Implementation method 1.

[0025] Figure 1 1 is a diagram showing a configuration example of a conveyance system 1 according to Embodiment 1. The conveyance system 1 is a system used for conveying an object. In Embodiment 1, the conveyance system 1 conveys the object by moving a conveyance body on which the object is placed.

[0026] The conveying system 1 includes a plurality of conveying path units 11A, 11B, 11C, 11D, 11E, 11F, 11G, 11H, a controller 12, a direct current (DC) power supply 13, and carriages 16A, 16B, 16C. In the following description, the conveying path units 11A, 11B, 11C, 11D, 11E, 11F, 11G, 11H are referred to as conveying path units 11 without distinguishing each other.

[0027] The plurality of conveying path units 11 are connected to each other to form a conveying path 10 for the conveying body to move. The plurality of conveying path units 11 move the conveying body by applying power to the conveying body. The trolleys 16A, 16B, and 16C are each a conveying body. In the following description, the trolleys 16A, 16B, and 16C are referred to as trolleys 16 without distinguishing each other.

[0028] Figure 1 The conveying path 10 shown is annular. Figure 1 The transport path 10 shown is a closed path. The transport path 10 of the transport system 1 can also be an open path, ie a path having a starting point and an end point.

[0029] The conveying path units 11A, 11B, 11E, and 11F are straight-line conveying path units 11 constituting a straight path. The conveying path units 11C, 11D, 11G, and 11H are curved-line conveying path units 11 constituting a curved path, and change the traveling direction of the conveyor. The conveying path 10 may not have the conveying path units 11 constituting a straight path, but may be constituted only by the conveying path units 11 constituting a curved path. The overall shape of the conveying path 10 is arbitrary.

[0030] The trolley 16 is installed on the side of the conveying path 10. The trolley 16 moves along the guide rail provided on the side of the conveying path 10. The trolley 16 moves on the side of the conveying path 10 and stops on the side of the conveying path 10. The conveying system 1 involved in Embodiment 1 is a moving magnet type linear motor. The trolley 16 can move along the guide rail provided on the upper surface of the conveying path 10. The trolley 16 has a permanent magnet as a movable part, a permanent magnet for a linear scale, and a guide roller that moves on the guide rail by rotating. Figure 1In the figure, the guide rail, the guide roller, the permanent magnet as the movable part, and the permanent magnet for the linear scale are omitted.

[0031] exist Figure 1 In the example shown, the conveying system 1 has 8 conveying path units 11 and 3 carriages 16. The number of conveying path units 11 that the conveying system 1 has is arbitrary. That is, the number of conveying path units 11 that constitute the conveying path 10 is arbitrary. The conveying system 1 only needs to have a plurality of conveying path units 11. The number of carriages 16 that move in the conveying path 10 is arbitrary. The conveying system 1 only needs to have one or more carriages 16.

[0032] The conveying system 1 is not limited to a system having a linear motor, and may be a system having a rotary motor. The conveying system 1 may be a belt conveyor having a rotary motor and a conveyor belt rotated by the rotary motor. The belt conveyor moves the workpiece placed on the conveyor belt. The conveying system 1 may be a roller conveyor having a plurality of rollers and a rotary motor that rotates the rollers. The roller conveyor moves the workpiece placed on the rollers.

[0033] The DC power supply 13 is connected to each transport path unit 11 via a DC power supply bus 15. The DC power supply 13 is a power supply device or a power supply circuit that outputs a DC voltage. The DC power supply 13 supplies power to each transport path unit 11. Each transport path unit 11 shares the DC power supply 13. The transport system 1 has a structure in which each transport path unit 11 is connected to the DC power supply 13 through a multi-point connection. The connection method between each transport path unit 11 and the DC power supply 13 is not limited to a multi-point connection, and a daisy chain connection may also be used. Figure 1 In the example shown, the transport system 1 includes one DC power supply 13 , but the transport system 1 may include a plurality of DC power supplies 13 . That is, a plurality of power supply domains may be configured in the transport system 1 .

[0034] The controller 12 is connected to each conveying path unit 11 via a data communication line 14. The controller 12 controls each of the plurality of conveying path units 11. The data communication line 14 is composed of a line connecting the controller 12 and one of the plurality of conveying path units 11, namely, the conveying path unit 11A, and a line connecting adjacent conveying path units 11. The conveying system 1 has a structure in which each conveying path unit 11 is connected to the controller 12 via a daisy chain connection. The connection method of each conveying path unit 11 and the controller 12 is not limited to a daisy chain connection. The connection method of each conveying path unit 11 and the controller 12 may also be a star connection in which each conveying path unit 11 is connected to the controller 12 via a communication hub. Alternatively, the conveying system 1 may also have a plurality of data communication lines 14, and each conveying path unit 11 and the controller 12 are directly connected via the data communication lines 14.

[0035] The controller 12 generates a position command indicating the position to which the carriage 16 is to be moved, and generates a coil drive command based on the position command. The controller 12 outputs the coil drive command to each conveying path unit 11. Each conveying path unit 11 drives the coil according to the coil drive command. The controller 12 outputs the coil drive command to each conveying path unit 11, thereby controlling the movement of each carriage 16.

[0036] The traveling direction of each vehicle 16 is Figure 1 In the clockwise direction, or Figure 1 The counterclockwise direction in the direction of travel. Figure 1 Set the clockwise direction in the moving direction as the positive direction. Figure 1 The counterclockwise direction in is set as the reverse direction. Arrow 17A indicates the positive direction. Arrow 17B indicates the reverse direction.

[0037] A control device higher than the controller 12, such as a programmable logic controller, may be connected to the controller 12. The control device outputs instructions for sequence control to the controller 12. A human-machine interface may be connected to the controller 12. The human-machine interface receives input from an operator. In addition, the human-machine interface outputs information indicating the status of the conveying system 1 through a display or the like. The controller 12 may obtain operation information of the trolley 16 from a higher-level control device or human-machine interface, and generate a position instruction based on the operation information. The operation information is information indicating the scheduling related to the movement of each of the plurality of trolleys 16 in the conveying path 10.

[0038] Next, the structure of the transport path unit 11 will be described. Here, the structure of the transport path unit 11 will be described by taking the linear transport path unit 11 as an example. In the curved transport path unit 11, the arrangement of the coils is different from that of the linear transport path unit 11. The structure of the curved transport path unit 11 is the same as that of the linear transport path unit 11 except that the arrangement of the coils is different.

[0039] Figure 2 FIG. 1 is a diagram showing a configuration example of a transport path unit 11 included in the transport system 1 according to the first embodiment. Figure 2 2 shows permanent magnets 30 and 31 included in the transport path unit 11 and the carriage 16. The permanent magnet 30 is a permanent magnet serving as a movable element, and the permanent magnet 31 is a permanent magnet for a linear scale.

[0040] The conveying path unit 11 has a plurality of coils 20. Each coil 20 functions as a driving unit that generates power. Figure 2In the example shown, the conveying path unit 11 has nine coils 20. The number of coils 20 provided in the conveying path unit 11 is arbitrary. In a linear conveying path unit 11, a plurality of coils 20 are arranged in a linear direction. In addition, in a curved conveying path unit 11, a plurality of coils 20 are arranged in a curved direction.

[0041] An inverter circuit 21 is connected to each coil 20 of the conveying path unit 11. The inverter circuit 21 controls the current flowing through the coil 20. The inverter circuit 21 is a single-phase full-bridge inverter circuit or a single-phase half-bridge inverter circuit. The inverter circuit 21 can be a three-phase inverter circuit connected to three coils 20. The coil 20 generates an electromagnetic force as a power to move the trolley 16 through the power supply from the inverter circuit 21. A current sensor 22 is connected to each coil 20 of the conveying path unit 11. The current sensor 22 detects the current value of the current flowing in the coil 20, that is, the actual current value of the coil.

[0042] The inverter circuit 21 is connected to a current controller 24 for controlling the inverter circuit 21. The current controller 24 calculates the voltage value of the voltage applied to the coil 20 based on the current command value of the current flowing through the coil 20 and the actual current value of the coil detected by the current sensor 22. The current controller 24 sends a pulse width modulation (PWM) signal obtained by comparing the calculated voltage value with the triangular wave to the inverter circuit 21. The current controller 24 sends the PWM signal to the inverter circuit 21, thereby turning the inverter circuit 21 on and off. As a result, the current controller 24 applies a voltage to the coil 20 for causing a current of a desired current value to flow through the coil 20. The current controller 24 can perform PID (Proportional Integral Differential) control of the voltage applied to the coil 20 based on the deviation between the current command value and the actual current value of the coil, thereby calculating the voltage value of the voltage applied to the coil 20.

[0043] The inverter circuit 21 is connected to the positive wiring of the DC power bus 15 and the negative wiring of the DC power bus 15. The positive wiring is a wiring connected to the positive electrode of the DC power supply 13. The negative wiring is a wiring connected to the negative electrode of the DC power supply 13. A capacitor 23 is connected between the line on the positive side of the DC power supply 13 and the line on the negative side of the DC power supply 13.

[0044] The linear scale 25 is a detection unit that detects the position of the carriage 16 on the conveying path unit 11. A plurality of conveying path units 11 are connected to each other to form the conveying path 10, and thus the linear scale 25 is provided on the conveying path 10. The processor 27 is a CPU (also called a Central Processing Unit, a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, a processor, or a DSP (Digital Signal Processor)).

[0045] The linear scale 25 has a plurality of position sensors 26. Each position sensor 26 is a sensor that detects a magnetic field, such as a Hall sensor or a magnetoresistive sensor. Each position sensor 26 detects the magnetic field of the permanent magnet 30 or the magnetic field of the permanent magnet 31. Here, the position sensor 26 is a Hall sensor equipped with two Hall elements. The interval between the two Hall elements is an interval equivalent to half the magnetic pole spacing of the permanent magnet 31. Each Hall element converts the magnetic field into an electrical signal and outputs the electrical signal. The electrical signal output by each Hall element changes with the movement of the trolley 16. The waveform of the electrical signal output by one Hall element becomes a sin wave. The waveform of the electrical signal output by another Hall element becomes a cos wave.

[0046] The AD (Analog to Digital) converter of the processor 27 detects the sin wave and the cos wave. The processor 27 calculates arctan based on the information of the sin wave and the cos wave, thereby detecting the position of the carriage 16 relative to the position sensor 26. Thus, the processor 27 obtains position information indicating the position of the carriage 16.

[0047] The conveying path unit 11 has a communication slave station 28. The communication slave station 28 is a communication slave station on the conveying path unit 11 side. The data communication line 14 is connected to the communication slave station 28. When each conveying path unit 11 and the controller 12 are connected by a daisy chain connection, the communication slave station 28 is configured to be able to connect two data communication lines 14. The communication slave station 28 receives current instructions representing current instruction values ​​of currents flowing through the coils 20 from the controller 12 for each of the plurality of coils 20 provided in the conveying path unit 11. The communication slave station 28 obtains position information obtained by the position sensors 26 from each of the plurality of position sensors 26 provided in the linear scale 25. The communication slave station 28 sends the obtained position information to the controller 12.

[0048] The communication slave station 28 performs, for example, periodic communication to receive a current command and transmit position information in a constant cycle. The communication slave station 28 may receive a current command and transmit position information aperiodically instead of the periodic communication.

[0049] As described above, the transport path unit 11 mainly has the function of controlling the energization of the coil 20 and the function of acquiring position information. All of the plurality of transport path units 11 constituting the transport path 10 similarly control the energization of the coil 20 and similarly acquire position information.

[0050] Next, the configuration of the inverter circuit 21 will be described. Figure 3 1 is a diagram showing a configuration example of the inverter circuit 21 included in the transport path unit 11 according to Embodiment 1. Here, a case where the inverter circuit 21 is a single-phase full-bridge inverter circuit is taken as an example.

[0051] The inverter circuit 21 includes four switching elements 40A, 40B, 40C, and 40D, four insulated gate drivers 41A, 41B, 41C, and 41D, two bootstrap circuits 42A and 42B, and a secondary power supply 44. In addition, the inverter circuit 21 includes a positive wiring 45, a negative wiring 46, and a signal line 47. The positive wiring 45 is a wiring connected to the positive wiring of the DC power supply bus 15. The negative wiring 46 is a wiring connected to the negative wiring of the DC power supply bus 15. The signal line 47 is a signal line to which the PWM signal from the current controller 24 is input.

[0052] The switch elements 40A and 40B are connected to the positive wiring 45. The switch elements 40A and 40B are switch elements connected between the positive pole of the DC power supply 13 and the coil 20. The switch elements 40A and 40B are power switch elements for the upper bridge arm. The switch elements 40C and 40D are connected to the negative wiring 46. The switch elements 40C and 40D are switch elements connected between the negative pole of the DC power supply 13 and the coil 20. The switch elements 40C and 40D are power switch elements for the lower bridge arm. The switch elements 40A, 40B, 40C, and 40D constitute a full-bridge circuit. Each of the switch elements 40A, 40B, 40C, and 40D is, for example, a FET (Field Effect Transistor). Each of the switch elements 40A, 40B, 40C, and 40D may also be an IGBT (Insulated Gate Bipolar Transistor) or the like.

[0053] The insulating gate drivers 41A and 41B are insulating gate drivers for the upper bridge arm. The insulating gate drivers 41A and 41B are switch driver circuits that drive the upper bridge arm. The gate signal line of the insulating gate driver 41A is connected to the switch element 40A. The gate signal line of the insulating gate driver 41B is connected to the switch element 40B. The insulating gate drivers 41C and 41D are insulating gate drivers for the lower bridge arm. The insulating gate drivers 41C and 41D are switch driver circuits that drive the lower bridge arm. The gate signal line of the insulating gate driver 41C is connected to the switch element 40C. The gate signal line of the insulating gate driver 41D is connected to the switch element 40D.

[0054] If the switch elements 40A and 40D are turned on and the switch elements 40B and 40C are turned off, a current of the actual current value of the coil flows in the direction indicated by the arrow 48 in the coil 20. On the other hand, if the switch elements 40A and 40D are turned off and the switch elements 40B and 40C are turned on, a current of the actual current value of the coil flows in the direction opposite to the arrow 48 in the coil 20. As described above, the inverter circuit 21 switches the positive and negative of the current flowing in the coil 20. In addition, the inverter circuit 21 turns on and off the gate signals of the insulated gate drivers 41A, 41B, 41C, and 41D at a high frequency according to the PWM signal. The inverter circuit 21 adjusts the actual current value of the coil by turning on and off the gate signal.

[0055] When all the switching elements 40A, 40B, 40C, and 40D of the inverter circuit 21 are turned off, the coil 20 is in an open state. That is, the energization of the coil 20 is cut off. When the switching elements 40A and 40D are turned on and the switching elements 40B and 40C are turned off, the coil 20 forms a closed circuit. When the switching elements 40A and 40D are turned off and the switching elements 40B and 40C are turned on, the coil 20 forms a closed circuit.

[0056] The switching elements 40A, 40B, 40C, and 40D each generate noise when switching from off to on or from on to off. The switching elements 40A, 40B, 40C, and 40D each generate energy loss when switching from off to on or from on to off.

[0057] A secondary power supply 44 is connected to the secondary side of the insulating gate drivers 41C and 41D. A bootstrap circuit 42A is connected to the secondary side of the insulating gate driver 41A. A bootstrap circuit 42B is connected to the secondary side of the insulating gate driver 41B. The bootstrap circuit 42A is a bootstrap power supply circuit that drives the insulating gate driver 41A. The bootstrap circuit 42B is a bootstrap power supply circuit that drives the insulating gate driver 41B. The inverter circuit 21 has the bootstrap circuits 42A and 42B that drive the insulating gate drivers 41A and 41B, thereby enabling the secondary power supply 44 to be set to one. Compared with the case where the inverter circuit 21 has two secondary power supplies 44, it is possible to reduce the manufacturing cost.

[0058] In the first embodiment, each of the plurality of conveying path units 11 of the conveying system 1 determines whether or not the carriage 16 is present in the conveying path unit 11 based on the detection result obtained by the linear scale 25. The conveying path unit 11 determined as not having the carriage 16 in the conveying path unit 11 among the plurality of conveying path units 11 of the conveying system 1 stops switching in the inverter circuit 21. Thus, one or more than two conveying path units 11 in the portion of the conveying path 10 where the carriage 16 is not present stop switching in the inverter circuit 21.

[0059] Next, the operation of the conveying path unit 11 when the switching of the inverter circuit 21 is stopped will be described. Figure 1 The operation of each transport path unit 11 will be described by taking the state shown in FIG. Figure 1 In the state shown, the dolly 16A exists in the conveyance path unit 11A. In addition, the dolly 16B exists across the conveyance path unit 11C and the conveyance path unit 11D. The dolly 16C exists across the conveyance path unit 11E and the conveyance path unit 11F.

[0060] Figure 4 This is a diagram for explaining the operation of each transport path unit 11 included in the transport system 1 according to the first embodiment. Figure 4 The table shown shows the presence or absence of the carriage 16 and the execution or stop of the switching on and off, respectively, with respect to a plurality of conveying path units 11. Figure 4 In FIG. 1 , “A”, “B”, ..., and “H” shown in the column of “conveying path unit” represent the conveying path unit 11A, the conveying path unit 11B, ..., and the conveying path unit 11H, respectively.

[0061] When the carriage 16 is not detected by the linear scale 25, the processor 27 of the conveying path unit 11B determines that there is no carriage 16 in the conveying path unit 11B. The conveying path unit 11B is the conveying path unit 11 that determines that there is no carriage 16 based on the detection result obtained by the linear scale 25. The processor 27 of the conveying path unit 11B stops the switching in the inverter circuit 21 of the conveying path unit 11B.

[0062] When the carriage 16 is not present in the conveyance path unit 11B, there is nothing to be driven by the conveyance path unit 11B. In this case, since there is nothing to be driven by the conveyance path unit 11B, the conveyance path unit 11B stops switching, thereby stopping the current to the coil 20.

[0063] The conveying path units 11G and 11H are conveying path units 11 that recognize the absence of the carriage 16 based on the detection result obtained by the linear scale 25, similarly to the conveying path unit 11B. The conveying path units 11G and 11H stop switching in the inverter circuit 21. The conveying path units 11G and 11H stop switching, thereby stopping the current to the coil 20.

[0064] Furthermore, the processor 27 may generate a switching stop instruction when determining that the carriage 16 is not present in the transport path unit 11. In this case, the transport path unit 11 stops switching in the inverter circuit 21 according to the switching stop instruction.

[0065] The processor 27 of the conveying path unit 11A recognizes the presence of the carriage 16 based on the position information. The conveying path unit 11A is the conveying path unit 11 that recognizes the presence of the carriage 16 based on the detection result obtained by the linear scale 25. Each of the conveying path units 11C, 11D, 11E, and 11F is a conveying path unit 11 that recognizes the presence of the carriage 16 based on the detection result obtained by the linear scale 25, similarly to the conveying path unit 11A. Each of the conveying path units 11A, 11C, 11D, 11E, and 11F performs switching in the inverter circuit 21. In each of the conveying path units 11A, 11C, 11D, 11E, and 11F, current flows to the coil 20 by performing switching.

[0066] As described above, in the first embodiment, among the plurality of conveying path units 11 of the conveying system 1, the conveying path unit 11 that is determined to be absent of the carriage 16 based on the detection result obtained by the linear scale 25 stops the switching of the inverter circuit 21. In addition, among the plurality of conveying path units 11 of the conveying system 1, the conveying path unit 11 that is determined to be present of the carriage 16 based on the detection result obtained by the linear scale 25 performs switching of the inverter circuit 21. Each conveying path unit 11 switches between the execution of switching and the stop of switching according to whether the carriage 16 is present.

[0067] When the transport path unit 11 stops switching, the switch elements 40A, 40B, 40C, and 40D are fixed in the OFF state, and the coil 20 is set to the open state. Alternatively, when the transport path unit 11 stops switching, the switch elements 40A, 40B, 40C, and 40D are fixed in the ON state to form a closed circuit including the coil 20.

[0068] Generally speaking, the time during which the carriage 16 is absent from the conveying path unit 11 is sufficiently long for the on-off cycle generated by the PWM signal. Therefore, the conveying system 1 stops the on-off of the conveying path unit 11 where the carriage 16 is absent, thereby significantly reducing the number of on-offs in the entire conveying system 1. The conveying system 1 reduces the number of on-offs, thereby reducing noise caused by on-offs in the entire conveying system 1. In addition, the conveying system 1 reduces the number of on-offs, thereby reducing energy loss caused by on-offs in the entire conveying system 1.

[0069] When the inverter circuit 21 stops switching, the switch elements 40A and 40B may be fixed to the off state, and the switch elements 40C and 40D may be fixed to the on state. That is, the upper bridge arm, i.e., the switch elements 40A and 40B, are set to the open state during the period of stopping switching, and the lower bridge arm, i.e., the switch elements 40C and 40D, are set to the energized state during the period of stopping switching.

[0070] In the configuration of the bootstrap circuits 42A and 42B, the switching elements 40C and 40D are fixed in the on state, so that the charging of the capacitors of the bootstrap circuits 42A and 42B continues. Therefore, the inverter circuit 21 can charge the bootstrap circuits 42A and 42B during the period of stopping the switching.

[0071] The inverter circuit 21 is charged during the period of stopping the switching, so that the insulating gate drivers 41A and 41B can be immediately started at the timing when the trolley 16 enters the conveying path unit 11 where the trolley 16 does not exist. The inverter circuit 21 immediately starts the insulating gate drivers 41A and 41B, thereby immediately starting to control the current flowing to the coil 20. As a result, the conveying system 1 can smoothly move the trolley 16 between the conveying path units 11.

[0072] When the carriage 16 straddles adjacent conveyance path units 11 , the conveyance system 1 performs switching in each conveyance path unit 11 . Thus, when the carriage 16 straddles adjacent conveyance path units 11 , the conveyance system 1 can prevent the thrust of the carriage 16 from being reduced.

[0073] According to Embodiment 1, in the conveying system 1, one or more conveying path units 11 in the portion of the conveying path 10 where no conveyor is present stop opening and closing. This can reduce noise and energy loss in the conveying system 1.

[0074] Implementation method 2.

[0075] In the second embodiment, an example of performing on-off in a conveying path unit 11 adjacent to a conveying path unit 11 in which a trolley 16 is present among conveying path units 11 in which a trolley 16 is not present is described. In the second embodiment, during the communication cycle, when a trolley 16 moving in a certain conveying path unit 11 enters its adjacent conveying path unit 11, the trolley 16 can be smoothly moved. The communication cycle is assumed to be a cycle of communication between the controller 12 and the conveying path unit 11. In the second embodiment, the same reference numerals are given to the same structural elements as those in the first embodiment, and the structure different from the first embodiment is mainly described.

[0076] Figure 5 1 is a diagram showing a configuration example of a conveying system 2 according to Embodiment 2. In the conveying system 2, the processing performed by the controller 12 is different from that in Embodiment 1. Figure 1 The structure of the conveying system 1 shown is the same as that of the conveying system 1. Figure 2 or Figure 3 The structure is the same as the structure shown.

[0077] exist Figure 5In the example shown, the conveying system 2 has eight conveying path units 11 and two carts 16. The number of conveying path units 11 that the conveying system 2 has is arbitrary. That is, the number of conveying path units 11 that constitute the conveying path 10 is arbitrary. The conveying system 2 only needs to have a plurality of conveying path units 11. The number of carts 16 that move in the conveying path 10 is arbitrary. The conveying system 2 only needs to have one or more carts 16.

[0078] The communication slave station 28 of the transport path unit 11 acquires position information acquired by the position sensors 26 from each of the plurality of position sensors 26 included in the linear scale 25 . The communication slave station 28 transmits the acquired position information to the controller 12 via the data communication line 14 .

[0079] The controller 12 receives the position information transmitted from the communication slave station 28 of each conveying path unit 11. The controller 12 synthesizes the position information from the communication slave station 28 of each conveying path unit 11, thereby obtaining the position information indicating the position of the carriage 16 in the conveying path 10. Based on the position information indicating the position of the carriage 16 in the conveying path 10, the controller 12 determines the conveying path unit 11 to be switched on and off and the conveying path unit 11 to be stopped on and off.

[0080] The controller 12 determines the first conveying path unit and the second conveying path unit among the plurality of conveying path units 11 as the conveying path units 11 that are to be turned on and off. The controller 12 determines the conveying path units 11 other than the first conveying path unit and the second conveying path unit among the plurality of conveying path units 11 as the conveying path units 11 that are to be stopped from being turned on and off. The first conveying path unit is a conveying path unit 11 in which a trolley 16 as a conveying body exists. The second conveying path unit is M conveying path units 11 located adjacent to the first conveying path unit in front of the traveling direction of the trolley 16 in the conveying path 10, and N conveying path units 11 located adjacent to the first conveying path unit in the rear of the traveling direction. M and N are each set to an arbitrary integer greater than or equal to 1. In the second embodiment, one of the portions in the conveying path 10 where the trolley 16 does not exist or at least one of two or more conveying path units 11 stops being turned on and off.

[0081] Next, the operation of the transport path unit 11 when the switching of the inverter circuit 21 is stopped will be described. Figure 5 The operation of each transport path unit 11 will be described by taking the state shown in FIG. Figure 5 In the state shown, the dolly 16A exists in the conveyance path unit 11A. In addition, the dolly 16B exists astride the conveyance path unit 11C and the conveyance path unit 11D.

[0082] Figure 6 1 is a diagram for explaining the operation of each transport path unit 11 included in the transport system 2 according to Embodiment 2. The controller 12 identifies the first transport path unit based on the acquired position information. Figure 5 In the illustrated example, the transport path unit 11A including the carriage 16A and the transport path units 11C and 11D including the carriage 16B are first transport path units.

[0083] Next, the controller 12 identifies the second transport path unit based on the identified first transport path unit. Here, it is assumed that M=1 and N=1. Figure 5 In the example shown, each of the transport path units 11B, 11E, and 11H is a second transport path unit. The controller 12 determines each of the transport path units 11A, 11C, and 11D as the first transport path unit and each of the transport path units 11B, 11E, and 11H as the second transport path unit as the transport path unit 11 that performs switching. The controller 12 sends a switching execution instruction to each of the transport path units 11A, 11B, 11C, 11D, 11E, and 11H. The switching execution instruction is, for example, a signal that a flag indicating the execution of switching is set to on.

[0084] Next, the controller 12 identifies the transport path units 11 other than the first transport path unit and the second transport path unit among the plurality of transport path units 11 included in the transport system 1. Figure 5 In the example shown, each of the transport path units 11F and 11G is a transport path unit 11 other than the first transport path unit and the second transport path unit. The controller 12 determines each of the transport path units 11F and 11G as a transport path unit 11 to stop switching. The controller 12 sends a switching stop instruction to each of the transport path units 11F and 11G. The switching stop instruction is, for example, a signal that a flag indicating the execution of switching is set to off.

[0085] The communication slave station 28 of each conveying path unit 11A, 11B, 11C, 11D, 11E, 11H receives the switching execution instruction from the controller 12. Each conveying path unit 11A, 11B, 11C, 11D, 11E, 11H switches the inverter circuit 21 on and off according to the switching execution instruction.

[0086] The communication slave station 28 of each conveyance path unit 11F, 11G receives the switching stop instruction from the controller 12. Each conveyance path unit 11F, 11G stops switching in the inverter circuit 21 according to the switching stop instruction.

[0087] The number of second conveying path units located adjacent to the first conveying path unit in front of the traveling direction, M, and the number of second conveying path units located adjacent to the first conveying path unit in the rear of the traveling direction, N, are preset. At least one of M and N can be calculated based on the speed of the carriage 16 in the conveying path 10.

[0088] Here, an example of a method of calculating M and N based on the speed of the carriage 16 in the conveying path 10 is described. Here, the path length of the conveying path unit 11 is set to L, the maximum speed of the carriage 16 is set to Vmax, and the communication cycle of the communication between the controller 12 and the conveying path unit 11 is set to Tcyc. M and N are each obtained by rounding down the decimal point of L / (Vmax×Tcyc).

[0089] As described above, in the second embodiment, the conveying system 2 performs switching not only in the first conveying path unit where the trolley 16 exists, but also in the second conveying path unit adjacent to the first conveying path unit. When the trolley 16 moving in the first conveying path unit enters the second conveying path unit adjacent thereto, the trolley 16 enters the second conveying path unit that is performing switching. Thus, the conveying system 2 eliminates the situation where the trolley 16 enters the conveying path unit 11 that stops switching during the communication cycle, and thus the trolley 16 can be moved smoothly in the portion where the conveying path units 11 are adjacent to each other.

[0090] In the above description, M and N are set to arbitrary integers greater than or equal to 1, but at least one of M and N may be zero. That is, the second conveying path unit may be at least one of one or more than two conveying path units 11 located adjacent to the first conveying path unit in front of the traveling direction, and one or more than two conveying path units 11 located adjacent to the first conveying path unit in the rear of the traveling direction. The conveying system 2 may switch one of M and N to zero and an integer greater than or equal to 1 for each communication cycle based on the traveling direction of the carriage 16 for each communication cycle.

[0091] According to the second embodiment, the conveying system 2 performs switching on and off in the first conveying path unit and the second conveying path unit, thereby enabling the carriage 16 to move smoothly. In addition, the conveying system 2 stops switching on and off in the conveying path unit 11 other than the first conveying path unit and the second conveying path unit among the plurality of conveying path units 11, thereby stopping switching on and off in one of the portions of the conveying path 10 where the carriage 16 does not exist or in at least one of two or more conveying path units 11. Thus, the conveying system 2 can achieve a reduction in noise and a reduction in energy loss.

[0092] Implementation method 3.

[0093] In Embodiment 3, an example is described in which learning is applied when generating position instructions output by the controller 12 to each transport path unit 11. The controller 12 generates position instructions such that the number of transport path units 11 that perform switching is reduced based on the trained model according to the operation information of each vehicle 16.

[0094] For example, assume that operation information indicating that the trolley 16 reaches the target position 3 meters ahead from the current position 2 seconds after a certain moment is obtained. In this case, all modes can be obtained as the mode of the position instruction to move the trolley 16. One of the modes that can be obtained is a mode in which the trolley 16 is moved by trapezoidal acceleration and deceleration from the starting point to the end point in the 2 seconds. As other modes, there is a mode in which the trolley 16 is moved by trapezoidal acceleration and deceleration for 1 second from the starting point and the trolley 16 is stopped in the remaining 1 second, or a mode in which the trolley 16 is stopped in 1 second from the starting point and the trolley 16 is moved by trapezoidal acceleration and deceleration for the remaining 1 second, etc. There are countless modes that can be obtained as the mode of the position instruction.

[0095] The pattern of the position command for each vehicle 16 is appropriately set, thereby reducing the number of conveying path units 11 that are turned on and off for each control cycle. In the third embodiment, the position command that reduces the number of conveying path units 11 that are turned on and off is derived by machine learning.

[0096] The structure of the conveying system 2 according to the third embodiment is as follows: Figure 5 The structure of the conveying system 2 shown is the same. The controller 12 of the conveying system 2 involved in the third embodiment obtains the position information indicating the position of the carriage 16 in the conveying path 10 in the same manner as in the second embodiment. The third embodiment is different from the second embodiment in that a structural element for learning is added to the controller 12.

[0097] Figure 7 1 is a diagram showing a configuration example of the controller 12 included in the transport system 2 according to Embodiment 3. The controller 12 includes a learning device 51 , a trained model storage unit 52 , a position command generation unit 53 , and a coil drive command generation unit 54 .

[0098] The learning device 51 learns the relationship between the operation information of each of the plurality of trolleys 16 of the conveying system 2 and the position command such that the number of the conveying path units 11 that perform switching is reduced. The operation information is information indicating the schedule related to the movement of each of the plurality of trolleys 16 in the conveying path 10. The position command indicates the position to which the trolley 16 is to be moved. The learning device 51 outputs a trained model as a result of the learning. The trained model storage unit 52 stores the trained model.

[0099] The position command generation unit 53 generates a position command indicating a position to be moved to each of the plurality of carriages 16 included in the transport system 2. The position command generation unit 53 reads the trained model from the trained model storage unit 52. The position command generation unit 53 inputs the operation information to the trained model, thereby inferring the position command for reducing the number of transport path units 11. The position command generation unit 53 generates the position command through the inference.

[0100] The coil drive command generation unit 54 generates a coil drive command based on the position command. The controller 12 outputs the coil drive command to each transport path unit 11 to control the movement of each carriage 16 .

[0101] Figure 8 1 is a diagram showing a configuration example of a learning device 51 included in the controller 12 of Embodiment 3. The learning device 51 includes a data acquisition unit 61 and a model generation unit 62. The data acquisition unit 61 acquires learning data and creates a data set in which the learning data is merged. The learning data is operation information and position instructions. That is, the data acquisition unit 61 acquires learning data including operation information and position instructions.

[0102] The model generation unit 62 generates a trained model using the learning data. The model generation unit 62 generates a trained model used for estimating a position command from the operating information based on the learning data.

[0103] As the learning algorithm used by the model generation unit 62, well-known algorithms such as teacher learning, teacherless learning or reinforcement learning can be used. As an example, the application of reinforcement learning in the learning algorithm used by the model generation unit 62 is described. Reinforcement learning is an intelligent agent, i.e., an acting subject, in a certain environment observes the current state and decides the action to be taken. The intelligent agent obtains rewards from the environment by selecting actions, and learns the countermeasures that obtain the most rewards through a series of actions. As representative methods of reinforcement learning, Q-learning and TD-learning are known. For example, in the case of Q-learning, the general update formula of the action value function Q(s, a), i.e., the action value table, is expressed by the following formula (1). The action value function Q(s, a) represents the value of the action of selecting action "a" based on the environment "s", i.e., the action value Q.

[0104] [Formula 1]

[0105] Q(s t , a t )←Q(st , a t )+α(r t+1 +γmax a Q(s t+1 , a t )-Q(s t , a t ))…(1)

[0106] In formula (1), “s t " represents the environment at time "t". t " represents the action at time "t". t ", the environment becomes "s t+1 ". t+1 ” represents the return brought by the change of its environment. “γ” represents the discount rate. “α” represents the learning coefficient. The operation information becomes the environment “s t ". The position instruction becomes the action "a t ”.

[0107] The update formula represented by formula (1) is that if the action value of the best action "a" at time "t+1" is greater than the action value Q of the action "a" executed at time "t", the action value Q is increased, and in the opposite case, the action value Q is decreased. In other words, the action value function Q (s, a) is updated in such a way that the action value Q of the action "a" at time "t" is close to the best action value at time "t+1". In this way, the best action value in a certain environment is continuously propagated to the action value in its previous environment.

[0108] The model generation unit 62 includes a reward calculation unit 63 and a function update unit 64. The reward calculation unit 63 calculates rewards based on the data set. The function update unit 64 updates the function for determining the operation plan according to the rewards calculated by the reward calculation unit 63.

[0109] Specifically, the reward calculation unit 63 calculates the reward "r" based on the number of conveying path units 11 that perform on and off for each control cycle. For example, when the number of conveying path units 11 that perform on and off is less than or equal to the number of trolleys 16 possessed by the conveying system 2, the reward calculation unit 63 increases the reward "r". The reward calculation unit 63 increases the reward "r" by giving a reward value of "1". In addition, the value of the reward is not limited to "1". On the other hand, when the number of conveying path units 11 that perform on and off is greater than the number of trolleys 16 possessed by the conveying system 2, the reward calculation unit 63 decreases the reward "r". The reward calculation unit 63 gives a reward value of "-1", thereby decreasing the reward "r". In addition, the value of the reward is not limited to "-1".

[0110] The function updating unit 64 updates the model for determining the position command, i.e., the function, according to the reward calculated by the reward calculating unit 63. The function can be updated according to the data set, for example, by updating the action value table. The action value table is a data set that associates any action with its action value and stores it in the form of a table. For example, in the case of Q learning, the action value function Q(s ) represented by the above formula (1) is t , a t ) is used as a function to determine the position instruction.

[0111] Fig. 9 1 is a flowchart showing the processing procedure of the learning device 51 included in the controller 12 according to the third embodiment. Fig. 9 Flowchart of , illustrating the reinforcement learning method for updating the action-value function Q(s, a).

[0112] In step S11, the learning device 51 acquires the operation information and the position command through the data acquisition unit 61. That is, the learning device 51 acquires the learning data. The data acquisition unit 61 outputs a data set in which the learning data is collected to the model generation unit 62.

[0113] In step S12, the learning device 51 calculates the report by the report calculation unit 63. The report calculation unit 63 calculates the report for the combination of the operation information related to each vehicle 16 and the position command related to each vehicle 16. The report calculation unit 63 increases or decreases the report based on the number of transmission path units 11 that perform regenerative power supply for each control cycle.

[0114] In step S13, the learning device 51 updates the action value function through the function updating unit 64. The function updating unit 64 updates the action value function Q(s, a) based on the reward calculated in step S12. The learning device 51 updates the action value function Q(s, a) stored in the trained model storage unit 52. t , a t ) to update.

[0115] In step S14, the learning device 51 determines whether the action value function Q(s, a) has converged by the function updating unit 64. The function updating unit 64 determines that the action value function Q(s, a) has converged because the action value function Q(s, a) has not been updated in step S13.

[0116] If it is determined that the action value function Q(s, a) does not converge (step S14, No), the learning device 51 returns the sequence to step S11. On the other hand, if it is determined that the action value function Q(s, a) converges (step S14, Yes), the learning device 51 ends. Fig.10The processing involved in the sequence shown. In addition, the learning device 51 may not perform the judgment implemented in step S14, but continue learning by returning the sequence from step S13 to step S11. The trained model storage unit 52 stores the generated action value function Q (s, a), that is, the trained model.

[0117] In Embodiment 3, the case where reinforcement learning is applied to the learning algorithm used by the learning device 51 is described, but learning other than reinforcement learning may also be applied to the learning algorithm. The learning device 51 may perform machine learning using a well-known learning algorithm other than reinforcement learning, such as a learning algorithm such as deep learning, neural network, genetic programming, inductive logic programming, or support vector machine.

[0118] Figure 7 and Figure 8 The learning device 51 shown is a device built into the controller 12. The learning device 51 may also be a device external to the controller 12. The learning device 51, which is a device external to the controller 12, constitutes the conveying system 2. The learning device 51 may be a device that can be connected to the controller 12 via a network. The learning device 51 may also be a device existing on a cloud server.

[0119] The learning device 51 can learn position instructions such as reducing the number of conveying path units 11 that perform on and off according to the data set created for the plurality of conveying systems 2. The learning device 51 can obtain learning data from a plurality of conveying systems 2 used in the same place, or can also obtain learning data from a plurality of conveying systems 2 used in different places. The learning data can be collected from a plurality of conveying systems 2 that operate independently of each other in a plurality of places. It is also possible to add a new conveying system 2 to the objects from which the learning data is collected after the collection of learning data from the plurality of conveying systems 2 is started. In addition, it is also possible to exclude a part of the plurality of conveying systems 2 from the objects from which the learning data is collected after the collection of learning data from the plurality of conveying systems 2 is started.

[0120] The learning device 51 that has learned about a certain transport system 2 may also learn about another transport system 2 other than the transport system 2. The learning device 51 that has learned about the other transport system 2 can update the trained model by relearning in the other transport system 2.

[0121] Fig.101 is a diagram showing a configuration example of a position command generation unit 53 included in the controller 12 according to Embodiment 3. The position command generation unit 53 has a function as an estimation device that estimates a position command based on operation information. The position command generation unit 53 includes a data acquisition unit 65 and an estimation unit 66 .

[0122] The data acquisition unit 65 acquires the inference data. The inference data is operation information related to each of the plurality of carriages 16 of the conveying system 2. The inference unit 66 reads the trained model generated by the learning device 51 from the trained model storage unit 52. The inference unit 66 inputs the inference data to the trained model, thereby inferring the position instruction. The inference unit 66 outputs the position instruction as the inference result to the coil drive instruction generation unit 54. The coil drive instruction generation unit 54 generates the coil drive instruction based on the position instruction.

[0123] Fig.11 This is a flowchart showing the processing procedure of the position command generating unit 53 and the coil drive command generating unit 54 included in the controller 12 according to the third embodiment.

[0124] In step S21, the position command generation unit 53 acquires the operation information of each vehicle 16 through the data acquisition unit 65. The data acquisition unit 65 outputs the acquired operation information to the estimation unit 66.

[0125] In step S22, the position instruction generation unit 53 inputs the operation information of each vehicle 16 into the trained model in the inference unit 66, thereby generating a position instruction. In step S23, the inference unit 66 outputs the position instruction to the coil drive instruction generation unit 54. In step S24, the coil drive instruction generation unit 54 generates a coil drive instruction based on the position instruction. The above is the end of the position instruction generation unit 53 and the coil drive instruction generation unit 54. Fig.11 The controller 12 transmits the coil drive command generated by the coil drive command generating unit 54 to each transport path unit 11 via the data communication line 14 .

[0126] According to Embodiment 3, the transport system 2 includes the learning device 51 and the position command generating unit 53 as an estimation device, thereby being able to derive position commands that reduce the number of transport path units 11 that are switched on and off. Thus, the transport system 2 can reduce noise and energy consumption.

[0127] So far, an example of applying learning to the generation of position instructions in the conveying system 2 involved in Embodiment 2 has been described. The learning described in Embodiment 3 can be applied to the generation of position instructions in the case where the on / off stop of the conveying path unit 11 without the carriage 16 is stopped as described in Embodiment 1. The conveying system 2 may generate position instructions by methods other than learning.

[0128] Next, the hardware for realizing the controller 12 according to the first to third embodiments will be described. The controller 12 is realized by a processing circuit. The processing circuit may be a circuit in which a processor executes software, or may be a dedicated circuit.

[0129] In the case where the processing circuit is implemented by software, the processing circuit is, for example, Fig.12 The control circuit shown. Fig.12 1 is a diagram showing a configuration example of a control circuit 80 according to Embodiments 1 to 3. The control circuit 80 includes an input unit 81, a processor 82, a memory 83, and an output unit 84. The input unit 81 is an interface circuit that receives data input from the outside of the control circuit 80 and gives the data to the processor 82. The output unit 84 is an interface circuit that sends data from the processor 82 or the memory 83 to the outside of the control circuit 80.

[0130] The processing circuit is Fig.12 In the case of the control circuit 80 shown in FIG. 1 , the controller 12 is implemented by software, firmware, or a combination of software and firmware. The software or firmware is described as a program and stored in a memory 83. The processing circuit reads out the program stored in the memory 83 and executes it through the processor 82, thereby realizing each function of the controller 12. That is, the processing circuit has a memory 83, and the memory 83 is used to store the program that is finally executed by the processing of the controller 12. In addition, these programs can be said to cause the computer to execute the procedures and methods of the controller 12.

[0131] The processor 82 is a CPU (also called a Central Processing Unit, a central processing device, a processing device, an arithmetic device, a microprocessor, a microcomputer, a processor, or a DSP (Digital Signal Processor). The memory 83 is, for example, a nonvolatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), an EEPROM (registered trademark) (Electrically Erasable Programmable Read Only Memory), a magnetic disk, a floppy disk, an optical disk, a compact disk, a mini disk, or a DVD (Digital Versatile Disc).

[0132] Fig.12 This is an example of hardware in which the controller 12 is realized by a general-purpose processor 82 and a memory 83 , but the controller 12 may be realized by a dedicated hardware circuit. Fig.13 This is a diagram showing a configuration example of a dedicated hardware circuit 85 according to the first to third embodiments.

[0133] The dedicated hardware circuit 85 has an input unit 81, an output unit 84, and a processing circuit 86. The processing circuit 86 is a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a circuit formed by combining them. Each function of the controller 12 can be implemented by the processing circuit 86 according to the functional category, or each function can be summarized and implemented by the processing circuit 86. In addition, the controller 12 can also be implemented by combining the control circuit 80 and the hardware circuit 85.

[0134] The structures shown in the above embodiments illustrate an example of the content of the present invention. The structures of the embodiments can be combined with other known technologies. The structures of the embodiments can also be appropriately combined with each other. Without departing from the scope of the gist of the present invention, a part of the structure of the embodiments can be omitted or changed.

[0135] Description of the label

[0136] 1, 2 conveying system, 10 conveying path, 11, 11A, 11B, 11C, 11D, 11E, 11F, 11G, 11H conveying path unit, 12 controller, 13 DC power supply, 14 data communication line, 15 DC power bus, 16, 16A, 16B, 16C trolley, 17A, 17B, 48 arrow, 20 coil, 21 inverter circuit, 22 current sensor, 23 capacitor, 24 current controller, 25 linear scale, 26 position sensor, 27, 82 processor, 28 communication slave station, 30, 31 permanent magnet, 40A, 40 B, 40C, 40D switching elements, 41A, 41B, 41C, 41D insulated gate drivers, 42A, 42B bootstrap circuits, 44 secondary power supply, 45 positive wiring, 46 negative wiring, 47 signal lines, 51 learning devices, 52 trained model storage units, 53 position instruction generation units, 54 coil drive instruction generation units, 61, 65 data acquisition units, 62 model generation units, 63 feedback calculation units, 64 function update units, 66 inference units, 80 control circuits, 81 input units, 83 memory, 84 output units, 85 hardware circuits, 86 processing circuits.

Claims

1. A conveying system, characterized in that: A plurality of conveying path units are provided, which constitute a conveying path for a conveying body to move, and the conveying body is moved by applying power to the conveying body. Each of the plurality of conveying path units includes: a driving unit that generates the power; and an inverter circuit including a switching element, and supplying electric power converted by turning on and off the switching element to the driving unit, The switching is stopped in one of the portions of the transport path where the transport body does not exist or in at least one of two or more transport path units.

2. The conveying system according to claim 1, characterized in that Having one or more of the transport bodies, The driving unit includes a coil that generates electromagnetic force as the motive force by power supplied from the inverter circuit. The conveying body is provided with a permanent magnet.

3. The conveying system according to claim 1 or 2, characterized in that: A detection unit is provided in the conveying path, and the detection unit detects the position of the conveying body. The conveyance path unit among the plurality of conveyance path units, in which it is determined that the conveyance body is not present based on the detection result obtained by the detection unit, stops the switching in the inverter circuit.

4. The conveying system according to claim 1 or 2, characterized in that: A controller is provided, the controller controls each of the plurality of conveying path units, The controller determines the conveyance path unit that performs the switching and the conveyance path unit that stops the switching, based on position information indicating the position of the conveyance body in the conveyance path.

5. The conveying system according to claim 4, characterized in that: The controller determines the conveying path unit in which the conveying body exists, that is, the first conveying path unit, and at least one of one or more than two conveying path units located adjacent to the first conveying path unit in front of the conveying body in the traveling direction in the conveying path, and one or more than two conveying path units located adjacent to the first conveying path unit in the rear of the traveling direction, that is, the second conveying path unit, as the conveying path unit to perform the switching. The transport path unit other than the first transport path unit and the second transport path unit among the plurality of transport path units is determined as the transport path unit for which the switching is stopped.

6. The conveying system according to claim 5, characterized in that: At least one of the number of the second conveying path units located adjacent to the first conveying path unit in front of the traveling direction and the number of the second conveying path units located adjacent to the first conveying path unit in the rear of the traveling direction is calculated based on the speed of the conveyor in the conveying path.

7. The conveying system according to claim 1 or 2, characterized in that: A learning device is provided, the learning device having: a data acquisition unit that acquires learning data, the learning data including operation information that is information indicating a schedule related to movement of each of the plurality of conveying bodies in the conveying path, and a position instruction related to each of the plurality of conveying bodies that indicates a position to which the conveying body is to move; as well as A model generation unit generates a trained model used for estimating the position command from the operating information based on the learning data.

8. The conveying system according to claim 1 or 2, characterized in that: A controller is provided, the controller having a position instruction generating unit generating a position instruction indicating a position to be moved to each of the plurality of conveying bodies, and controlling each of the plurality of conveying path units. The position instruction generating unit comprises: a data acquisition unit that acquires operation information that is information indicating a schedule related to movement of each of the plurality of transport bodies in the transport path; and The inference unit inputs the operation information into a trained model for inferring a position instruction indicating a position to be moved for each of the plurality of conveying bodies based on the operation information, thereby inferring the position instruction.

9. The conveying system according to any one of claims 1 to 8, characterized in that: The upper arm of the switching element connected between the positive electrode of the power supply connected to the inverter circuit and the driving unit is set to an open state during the period in which the switching is stopped. The lower arm as the switching element connected between the negative electrode of the power supply and the driving unit is set to an energized state during the period in which the switching is stopped.

10. The conveying system according to claim 9, characterized in that The inverter circuit has: a switch driver circuit, which drives the upper bridge arm; and A bootstrap power supply circuit drives the switch driver circuit.

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