Conveying system

Abstract

A transport system (1A) is provided with a plurality of transport bodies, a transport path (10) on which the plurality of transport bodies are moved, and a controller (13) that assigns identification information to each of the plurality of transport bodies, manages the plurality of transport bodies, and controls each of the plurality of transport bodies. A reference point (15) is set in the conveyance path (10), said reference point (15) being a reference for the position in the forward direction, said position being one of the directions in which the plurality of conveyance bodies are moved. The controller (13) allocates first identification information, which is a reference for identification information, to a first transport body among the plurality of transport bodies, the first transport body being a first transport body that is located closest to the reference point (15) in the forward direction. Second identification information, which is identification information that follows the first identification information, is assigned to each of second transport bodies, which are transport bodies other than the first transport bodies among the plurality of transport bodies, in the order of arrangement of the second transport bodies in the forward direction or in the reverse direction opposite to the forward direction.

Description

Technical Field

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

[0002] In a production line introduced with factory automation, such as a production line for assembling industrial products or a production line for packaging food, etc., a conveying system for conveying workpieces is usually used. The conveying system constructs equipment related to each of a plurality of processes in a path and individually controls each of a plurality of carriers moving in the path, thereby expecting effects such as reduction of the area required for equipment installation, reduction of production cycle time, and flexibility of equipment design. As one mode of the conveying system, there is a so-called moving magnet type linear motor in which magnets are arranged on a carrier as a movable member and coils are arranged on a stator constituting a conveying path.

[0003] The conveying system has an individual identification function of the carriers so that each of the plurality of carriers can be identified by a user of the conveying system, and thus the carriers can be determined to perform inherent actions or assume inherent functions. In this case, a highly functional and highly flexible production line can be constructed.

[0004] Patent Document 1 discloses a conveying system that detects one of a plurality of conveyors, i.e., a specific conveyor, by a detection unit, and assigns identification information to each of the plurality of conveyors based on the detected specific conveyor. The specific conveyor has a convex portion that is not possessed by each of the plurality of conveyors other than the specific conveyor. By detecting the convex portion, the specific conveyor is identified. Alternatively, a magnet is installed on the specific conveyor, and based on the result of detecting the magnitude of the magnetic field, the specific conveyor is identified. In this case, among the plurality of conveyors, each conveyor other than the specific conveyor does not have the same magnet as the magnet installed on the specific conveyor.

[0005] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2021 - 160842 Summary of the Invention

[0006] In the conveying system disclosed in Patent Document 1, it is necessary to separately prepare a conveyor in which a member, i.e., a convex portion or a magnet, given characteristics for identification is provided in one of a plurality of conveyors, i.e., a specific conveyor, and a conveyor in which the above-described member is not provided. Further, in the conveying system disclosed in Patent Document 1, it is necessary to provide a detection unit for detecting the member. As described above, in order to distinguish the conveyors by providing the members, it is necessary to prepare a plurality of types of conveyors. Therefore, in the conveying system disclosed in Patent Document 1, there is a problem that the structure of the system becomes complicated and the manufacturing cost increases.

[0007] The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to obtain a transport system capable of identifying each of a plurality of transport bodies with a simple structure.

[0008] 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 bodies; a conveying path for the plurality of conveying bodies to move; and a controller, which manages the plurality of conveying bodies and controls the plurality of conveying bodies by assigning identification information to each of the plurality of conveying bodies. A reference point, i.e., a reference point in the positive direction in which the plurality of conveying bodies move, is set in the conveying path. The controller assigns the first identification information as a reference of the identification information to the first conveying body, i.e., the first conveying body, which is the closest to the reference point in the positive direction among the plurality of conveying bodies, and assigns the second identification information, i.e., the identification information that follows the first identification information, to the conveying bodies other than the first conveying body, i.e., the second conveying bodies, according to the arrangement order of the second conveying bodies in the positive direction or in the reverse direction opposite to the positive direction.

[0009] Effects of the Invention

[0010] The transport system according to the present invention has an effect of being able to identify each of a plurality of transport bodies with a simple structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a diagram showing a configuration example of a transport system according to the first embodiment.

[0012] Figure 2 This is a diagram showing an example of a guide rail and a position detection unit included in the conveying system according to the first embodiment.

[0013] Figure 3 This is a diagram showing a configuration example of a transport system according to the second embodiment.

[0014] Figure 4 This is a diagram showing a configuration example of a transport system according to the third embodiment.

[0015] Figure 5 This is a diagram showing a configuration example of a transport system according to a fourth embodiment.

[0016] Figure 6 This is a diagram showing a configuration example of a transport system according to the fifth embodiment.

[0017] Figure 7 This is a diagram showing a configuration example of a learning device included in the transportation system according to the fifth embodiment.

[0018] Figure 8 This is a diagram for explaining pre-processing of data in a pre-processing unit included in the learning device according to the fifth embodiment.

[0019] Figure 9 This is a diagram showing a structural example of a neural network used for learning in the learning device according to Embodiment 5.

[0020] Figure 10 This is a flowchart showing the order of learning processing performed by the learning device according to Embodiment 5.

[0021] Figure 11 This is a diagram showing a structural example of a remaining life estimation device included in the transport system according to Embodiment 5.

[0022] Figure 12 This is a flowchart showing the order of inference processing performed by the remaining life estimation device according to Embodiment 5.

[0023] Figure 13 This is a diagram showing a structural example of the control circuit according to Embodiments 1 to 5.

[0024] Figure 14 This is a diagram showing a structural example of a dedicated hardware circuit according to Embodiments 1 to 5. Detailed Embodiment

[0025] Next, the transport system according to the embodiment will be described in detail based on the drawings.

[0026] Embodiment 1.

[0027] Figure 1 This is a diagram showing a structural example of the transport system 1A according to Embodiment 1. The transport system 1A is a system used for transporting an object. In Embodiment 1, the transport system 1A transports the object by moving a transport body on which the object is placed.

[0028] The transport system 1A includes a plurality of carts 11a - 11f, a transport path 10 which is a path for the plurality of carts 11a - 11f to move, and a controller 13. Each of the plurality of carts 11a - 11f is a transport body. In the following description, the carts 11a - 11f will not be distinguished from each other and will be referred to as cart 11.

[0029] The transport path 10 is composed of a plurality of transport path units 12a - 12n. The plurality of transport path units 12a - 12n are connected to each other to form one transport path 10. The plurality of transport path units 12a - 12n move each cart 11a - 11f by applying a thrust to each cart 11a - 11f. In the following description, the transport path units 12a - 12n will not be distinguished from each other and will be referred to as transport path unit 12.

[0030] Figure 1The shown conveying path 10 is a circular path. That is, Figure 1 The shown conveying path 10 is a closed path. The conveying path 10 of the conveying system 1A can also be an open path. That is, the conveying path 10 of the conveying system 1A can be a path having a starting point and an ending point at positions separated from each other.

[0031] Figure 1 The shown conveying path 10 is an oval path including a straight path and a curved path. The conveying path units 12a, 12b, 12g, 12h, 12i, 12n are linear conveying path units 12 constituting the straight path. The conveying path units 12c, 12d, 12e, 12f, 12j, 12k, 12l, 12m are curved conveying path units 12 constituting the curved path, which change the traveling direction of the conveyed body. The conveying path 10 may not have the conveying path units 12 constituting the straight path, but may be constituted only by the conveying path units 12 constituting the curved path. The conveying path 10 having a starting point and an ending point at positions separated from each other may also be constituted only by the conveying path units 12 constituting the straight path. The overall shape of the conveying path 10 is arbitrary.

[0032] The conveying system 1A according to Embodiment 1 has a moving magnet type linear motor. Each carriage 11 has a permanent magnet 17 constituting a movable member. Each conveying path unit 12 has a plurality of coils and a plurality of inverters. The inverter has a switching element and supplies the power after being subjected to power conversion by the on / off of the switching element to the coil. If a current flows in the coil, the coil generates a thrust for moving the conveyed body through the interaction with the magnetic field generated by the permanent magnet 17. The illustration of the coil and the inverter is omitted.

[0033] The controller 13 is connected to each conveying path unit 12 via a data communication line 14. The data communication line 14 is constituted by a line connecting one of the plurality of conveying path units 12, i.e., the conveying path unit 12a, and the controller 13 and a line connecting between the adjacent conveying path units 12. In addition, the conveying system 1A may have a plurality of data communication lines 14, and each conveying path unit 12 and the controller 13 are directly connected via the data communication line 14.

[0034] The controller 13 outputs a drive command to each conveying path unit 12 via the data communication line 14. The drive command includes the command value of the current flowing in each coil of the conveying path unit 12. Each conveying path unit 12 controls the current flowing in each coil according to the command value included in the coil drive command. The controller 13 outputs a drive command to each conveying path unit 12, thereby controlling each of the plurality of carriages 11 individually.

[0035] The traveling direction of each carriage 11 is Figure 1the clockwise direction in, or Figure 1 the counterclockwise direction in. Set Figure 1 the counterclockwise direction in as the positive direction, and set Figure 1 the clockwise direction in as the reverse direction. Figure 1 The arrow 16 shown in indicates the positive direction. The controller 13 can control the movement in the positive direction and the movement in the reverse direction separately for each carriage 11. In addition, the controller 13 can also control separately for each carriage 11 the position at which the carriage 11 stops, or the speed of the carriage 11, etc. Furthermore, here, set Figure 1 the counterclockwise direction in as the positive direction, but it is also possible to set Figure 1 the clockwise direction in as the positive direction. The direction set as the positive direction is arbitrary.

[0036] In Figure 1 the example shown, the conveying system 1A has six carriages 11 and fourteen conveying path units 12. The number of carriages 11 included in the conveying system 1A is arbitrary. It is sufficient that the conveying system 1A has a plurality of carriages 11. In addition, the number of conveying path units 12 constituting the conveying path 10 is arbitrary.

[0037] Figure 2 is a diagram showing an example of the guide rail 18 and the position detection unit 19 included in the conveying system 1A according to Embodiment 1. A guide rail 18 for guiding the movement of each carriage 11 is provided on the side surface of the conveying path 10. Each carriage 11 is mounted on the side surface of the conveying path 10 via the guide rail 18. The carriage 11 moves along the guide rail 18 on the side surface of the conveying path 10 and stops on the side surface of the conveying path 10. In Figure 2 , three of the six carriages 11 shown in Figure 1 are shown, and the illustration of the other three is omitted. In the above description, the carriage 11 is assumed to be mounted on the side surface of the conveying path 10, but the carriage 11 can also be mounted on the upper surface or the lower surface of the conveying path 10.

[0038] The position detection unit 19 detects the positions of the plurality of carriages 11 in the conveying path 10. The position detection unit 19 is mounted on the upper surface of the conveying path 10. The position detection unit 19 is, for example, a linear scale having a plurality of position sensors. The position sensor is a sensor that detects a magnetic field, such as a Hall sensor or a magnetoresistive sensor. Each position sensor detects the magnetic field of the permanent magnet 17 included in the carriage 11. The carriage 11 can have a permanent magnet 17 that constitutes a moving member of a linear motor and a permanent magnet for a linear scale. Each position sensor can detect the magnetic field of the permanent magnet for a linear scale included in the carriage 11.

[0039] The controller 13 obtains the detection result obtained by the position detection unit 19. Based on the detection result obtained by the position detection unit 19, the controller 13 confirms the positions of the respective carts 11 while controlling the respective carts 11. In addition, the position detection unit 19 only needs to be able to detect the positions of the multiple carts 11, and is not limited to a linear scale. Further, in the above description, the position detection unit 19 is provided to be installed on the upper surface of the conveying path 10, but the position detection unit 19 may also be installed other than the upper surface of the conveying path 10.

[0040] In the conveying path 10, a reference point 15, which is a reference for the position in one direction, i.e., the positive direction, in which the multiple carts 11 move respectively, is set. In Figure 1 the example shown, the reference point 15 is set at the boundary between the conveying path unit 12a and the conveying path unit 12n. In addition, the reference point 15 is not limited to the boundary between the conveying path unit 12a and the conveying path unit 12n. The reference point 15 can be set at any position in the conveying path 10.

[0041] Next, the process of allocating identification information to each of the multiple carts 11 will be described. The conveying system 1A is started, for example, when the production line starts to operate, and stops operating when the production line stops operating. When the conveying system 1A is started, the controller 13 executes the process of allocating identification information to each of the multiple carts 11. The controller 13 allocates identification information to each of the multiple carts 11 to manage the multiple carts 11 and controls each of the multiple carts 11. Thus, during the operation of the conveying system 1A, inherent identification information is associated with each cart 11 moving along the conveying path 10. The conveying system 1A identifies each of the multiple carts 11 based on the identification information and controls each of the multiple carts 11 individually. In addition, managing the multiple carts 11 specifically means associating an operation mode designated by the user with each cart 11 existing in the conveying path 10. The operation mode is a mode of the moving manner of the cart 11.

[0042] When the power supply of the conveying system 1A is cut off and the conveying system 1A stops operating, the association between each of the multiple carts 11 and the identification information is lost. When the conveying system 1A is started after stopping operating, the process of allocating identification information to each of the multiple carts 11 is executed again.

[0043] The controller 13 allocates the first identification information, which is a reference for the identification information, to the first conveyor, which is the one closest to the reference point 15 in the positive direction among the multiple conveyors. In addition, the controller 13 allocates the second identification information, which is the identification information following the first identification information, to each of the conveyors other than the first conveyor, i.e., the second conveyor, among the multiple conveyors in the order of arrangement of the second conveyor in the positive direction.

[0044] In the case where the conveying system 1A is Figure 1 in the state shown, the carriage 11 that is closest to the reference point 15 in the forward direction indicated by the arrow 16, i.e., the first conveyor, is the carriage 11a. In addition, the carriages 11 other than the carriage 11a, i.e., the carriages 11b, 11c, 11d, 11e, and 11f, are each the second conveyor.

[0045] In the first embodiment, the identification information is set to be a number. The first identification information is a pre-determined number. The second identification information is a number that is sequentially extended in ascending or descending order from the number that is the first identification information. Here, the first identification information is set to be the pre-determined number "N". The second identification information is the number sequentially extended in ascending order from "N", and is set to "N + 1", "N + 2", ···. "N" is an arbitrary integer. By setting the number that is sequentially extended in ascending or descending order from the number that is the first identification information as the second identification information, the conveying system 1A can assign the identification information indicating the arrangement order of the multiple carriages 11 in the traveling direction of each carriage 11 to each carriage 11.

[0046] In the process of assigning identification information to each of the multiple carriages 11, first, the conveying system 1A detects the positions of the carriages 11 through the position detection unit 19. When the position detection unit 19 is the above-mentioned linear scale, the position detection unit 19 sends the information indicating whether or not the carriage 11 is detected in each position sensor to the controller 13. The controller 13 calculates the positions of the multiple carriages 11 based on the information from the position detection unit 19. In addition, the conveying system 1A can also detect the positions of the carriages 11 by a method other than this method. For example, the position detection unit 19 can calculate the positions of the carriages 11 based on the detection results of the position sensors and send the position information indicating the positions of the carriages 11 to the controller 13.

[0047] The controller 13 compares the positions of the carriages 11 detected by the position detection unit 19 with the reference point 15, thereby determining the carriage 11 that is the first conveyor. That is, the controller 13 determines the carriage 11 that is the first conveyor based on the detection result obtained by the position detection unit 19. In the case where the conveying system 1A is Figure 1 in the state shown, the controller 13 determines the carriage 11a located on the conveying path unit 12b as the first conveyor. The controller 13 associates the carriage 11a that is the first conveyor with "N" that is the first identification information. In the above manner, the controller 13 determines the first conveyor and assigns the first identification information to the first conveyor.

[0048] Next, the controller 13 assigns the second identification information, which is the number in ascending order starting from "N", to each of the carts 11b - 11f as the second conveyor in the arrangement order of the carts 11b - 11f. That is, "N + 1", "N + 2", "N + 3", "N + 4", and "N + 5" are assigned to the cart 11b, the cart 11c, the cart 11d, the cart 11e, and the cart 11f, respectively. Thus, the controller 13 associates "N + 1" as the second identification information with the cart 11b. The controller 13 associates "N + 2" as the second identification information with the cart 11c. The controller 13 associates "N + 3" as the second identification information with the cart 11d. The controller 13 associates "N + 4" as the second identification information with the cart 11e. The controller 13 associates "N + 5" as the second identification information with the cart 11f.

[0049] In the above manner, the controller 13 assigns the first identification information to the first conveyor and assigns the second identification information to each of the second conveyors in the arrangement order of the second conveyors in the positive direction. In addition, when the second identification information is the number in descending order starting from "N", numbers such as "N - 1", "N - 2",... are assigned to each of the second conveyors in the arrangement order of the second conveyors in the positive direction. In addition, whether the second identification information is the ascending number or the descending number is unified at each startup of the conveying system 1A.

[0050] When the controller 13 assigns the second identification information, which is the identification information subsequent to the assignment of the first identification information to each of the conveyors other than the first conveyor among the plurality of conveyors, i.e., the second conveyor, it can also assign the second identification information in the arrangement order of the second conveyors in the reverse direction opposite to the positive direction. It can be preset in the controller 13 whether the assignment of the second identification information to each of the second conveyors is in the arrangement order of the second conveyors in the positive direction or in the arrangement order of the second conveyors in the reverse direction.

[0051] Figure 1 The shown conveying path 10 is a closed path and has no branches. In the conveying path 10 as described above, during the continuous operation of the conveying system 1A, the arrangement order of the plurality of carts 11 in the traveling direction of each cart 11 is not switched. Therefore, each cart 11 moving in the conveying path 10 can be accurately identified by the identification information assigned to each cart 11 at the startup of the conveying system 1A.

[0052] According to Embodiment 1, the conveying system 1A sets a reference point 15 in the conveying path 10, and assigns first identification information serving as a reference of identification information to one first conveying body that is the closest to the reference point 15 among the plurality of carts 11 in the forward direction. The conveying system 1A assigns second identification information, which is the identification information following the first identification information, to the second conveying bodies, which are the conveying bodies other than the first conveying body among the plurality of carts 11, in the arrangement order of the second conveying bodies in the forward or reverse direction. Thus, the conveying system 1A can associate unique identification information with each of the plurality of carts 11, and can identify each of the plurality of carts 11 based on the identification information. The conveying system 1A can identify each of the plurality of carts 11 without distinguishing between the carts 11 provided with members characterized for identification and the carts 11 not provided with the above-described members. In addition, the conveying system 1A according to Embodiment 1 does not require a detection unit for identifying the carts 11 other than the position detection unit 19 that performs position detection for controlling each cart 11.

[0053] As described above, the conveying system 1A has the effect of being able to identify each of the plurality of conveying bodies with a simple structure. The conveying system 1A can be configured to have a simple structure, thereby preventing an increase in the manufacturing cost of the conveying system 1A.

[0054] Embodiment 2.

[0055] In Embodiment 1, the first identification information assigned to the first conveying body is set to a predetermined number. In Embodiment 2, an example in which an arbitrary number can be set as the first identification information will be described.

[0056] Figure 3 FIG. shows a structural example of the conveying system 1B according to Embodiment 2. The conveying system 1B has an input device 21 on the basis of the same structure as the Figure 1 conveying system 1A shown. In Embodiment 2, the same reference numerals are given to the same structural elements as those in the above-described Embodiment 1, and mainly the structures different from those in Embodiment 1 will be described.

[0057] The input device 21 is connected to the controller 13. A number set as the first identification information is input to the input device 21. The input device 21 is a device for input by the operation of the user of the conveying system 1B. The input device 21 includes, for example, a keyboard, a mouse, a keypad, or a touch panel. The input device 21 sends the input number to the controller 13. The controller 13 receives the number sent from the input device 21 and sets the received number as the first identification information.

[0058] The user inputs an arbitrary integer into the input device 21. Here, the number input into the input device 21 is set as "M". Similar to Embodiment 1, the controller 13 determines the carriage 11 as the first conveyor. The controller 13 associates "M", which is the first identification information, with the determined carriage 11. In the above manner, the controller 13 assigns "M", which is the first identification information, to the carriage 11 as the first conveyor.

[0059] Next, the controller 13 assigns second identification information to each carriage 11 as the second conveyor. In Embodiment 2, the second identification information is the number that follows the number set as the first identification information in ascending or descending order. Here, the second identification information is the number that follows "M" in ascending order, and is set as "M + 1", "M + 2", ···. The controller 13 assigns the numbers that follow "M" in ascending order to each carriage 11 as the second conveyor according to the arrangement order of each carriage 11 as the second conveyor.

[0060] The controller 13 assigns an arbitrary number, i.e., the first identification information, to the first conveyor in the above manner, and assigns the second identification information to each of the second conveyors according to the arrangement order of the second conveyors in the forward or reverse direction. In addition, for example, in the conveying system 1B, there are 6 carriages 11, and the numbers "1", "2", "3", "4", "5", and "6" are assigned to each carriage 11. When the number input into the input device 21 is "5", the ascending order starting from "5" is the order of "6", "1", "2", "3", and "4". That is, in the case of ascending order, the next number after the largest number among the multiple numbers returns to the smallest number among the multiple numbers.

[0061] When the second identification information is the number that follows "M" in descending order, the numbers such as "M - 1", "M - 2", ··· are assigned to each of the second conveyors according to the arrangement order of the second conveyors in the forward or reverse direction. In addition, in the case of descending order, the next number after the smallest number among the multiple numbers returns to the largest number among the multiple numbers.

[0062] For example, when starting up, the user visually confirms the carriage 11 that is closest to the reference point 15 in the forward direction among the multiple carriages 11, i.e., the carriage 11 that serves as the first conveyor. The user determines the number assigned to this carriage 11 in the previous operation of the conveying system 1B and inputs the same number as the determined number into the input device 21. Thereby, the conveying system 1B can assign the same identification information as in the previous operation of the conveying system 1B to the multiple carriages 11 respectively. In this case, even when the carriage 11 that serves as the first conveyor is replaced each time the conveying system 1B starts up, the conveying system 1B can assign the same identification information to the multiple carriages 11 in each operation.

[0063] Alternatively, when the multiple carriages 11 include carriages 11 of different types and are arranged according to a determined pattern for each type of carriage 11, the numbers to be input can be determined in advance for each type. The user inputs the number corresponding to the type of the carriage 11 that serves as the first conveyor into the input device 21. Since the conveying system 1B can input any number, the numbers can be assigned to the respective carriages 11 with a high degree of freedom.

[0064] According to Embodiment 2, the conveying system 1B inputs the number set as the first identification information into the input device 21, whereby the numbers can be assigned to the respective carriages 11 with a high degree of freedom.

[0065] Embodiment 3.

[0066] As an example of Embodiment 2, the following example has been described, i.e., the user confirms the carriage 11 that serves as the first conveyor, and the user inputs the same identification information as the identification information assigned to this carriage 11 in the previous operation, whereby the same identification information is assigned to the multiple carriages 11 in each operation. In Embodiment 3, an example in which the same identification information as the identification information assigned to the first conveyor in the previous operation is automatically assigned to the first conveyor will be described.

[0067] Figure 4 It is a diagram showing a structural example of the conveying system 1C according to Embodiment 3. The conveying system 1C has a reading device 22 on the basis of the same structure as the Figure 1 shown conveying system 1A. In Embodiment 3, the same reference numerals are given to the same structural elements as in the above Embodiment 1 or 2, and mainly the structures different from those in Embodiment 1 or 2 will be described.

[0068] In Embodiment 3, each of the plurality of carts 11 is given an individual identifier 26 that is unique to each individual cart 11. The controller 13 stores the identification information respectively assigned to the plurality of carts 11 in association with the individual identifier 26. When the conveying system 1C is started up, the controller 13 assigns the identification information associated with the individual identifier 26 of the first conveyor as the first identification information to the first conveyor.

[0069] The individual identifier 26 is, for example, an identifier such as a bar code or a two-dimensional code, or an RFID (Radio Frequency Identification) tag or the like. When the individual identifier 26 is a bar code or a two-dimensional code, the reading device 22 is an optical device such as an optical reading device or a camera. When the individual identifier 26 is an RFID tag, the reading device 22 is an RFID reader.

[0070] The reading device 22 is connected to the controller 13. The reading device 22 reads the individual identifier 26 assigned to the first conveyor and sends the read individual identifier 26 to the controller 13. Thereby, the controller 13 acquires the read individual identifier 26.

[0071] In Figure 4 the example shown, the reading device 22 is an optical reading device. The optical reading device irradiates light and obtains reflected light, thereby obtaining the identifier. In Figure 4 the case where light is irradiated from the reading device 22 is indicated by a dashed line. The reading device 22 reads the individual identifier 26 of the cart 11 that has entered the detection range of the reading device 22. The detection range is the range within which the reading device 22 can read the individual identifier 26 and is substantially the same as the range in which light is irradiated from the reading device 22. In Figure 4 the example shown, the reading device 22 is arranged opposite to the side surface of the conveying path 10 and emits light in the direction of the side surface of the conveying path 10. In Figure 4 the example shown, the individual identifier 26 is provided on the surface of the cart 11 that is opposite to the surface facing the side surface of the conveying path 10.

[0072] In Figure 4 the example shown, the reference point 15 is a position within the conveying path unit 12b. Further, the reading device 22 faces the conveying path unit 12b. As described above, in Figure 4 the example shown, the reference point 15 is set in accordance with the position of the reading device 22.

[0073] The conveying system 1C stores an identification information table in which the individual identifier 26 and the identification information are associated with each other. In Figure 4In the example shown, the identification information table is stored in the internal memory 23 of the controller 13. The memory 23 is a non-volatile memory. The individual identifier 26 is, for example, a number unique to each vehicle 11. The number as the identification information may be the same as the number as the individual identifier 26, or may be different from the number as the individual identifier 26.

[0074] In the process of allocating identification information to each of the plurality of vehicles 11, first, the conveying system 1C detects the positions of the respective vehicles 11 through the position detection unit 19. When the vehicle 11, i.e., the first conveyor, that is closest to the reference point 15 in the forward direction is within the detection range of the reading device 22, the reading device 22 reads the individual identifier 26 of the vehicle 11. When the vehicle 11 that is closest to the reference point 15 in the forward direction is outside the detection range of the reading device 22, the controller 13 moves each vehicle 11 in the forward direction until the vehicle 11 reaches the detection range of the reading device 22. The reading device 22 reads the individual identifier 26 of the vehicle 11 that has reached the detection range of the reading device 22.

[0075] Assume that when the reading device 22 is in a position separated from the reference point 15 and there is a second conveyor between the first conveyor closest to the reference point 15 and the reading device 22, there is a possibility that the reading device 22 sometimes erroneously reads the individual identifier 26 of the second conveyor. In the third embodiment, the reference point 15 is set in accordance with the position of the reading device 22, thereby preventing the reading device 22 from erroneously reading the individual identifier 26 of the second conveyor.

[0076] If the controller 13 reads the individual identifier 26 of the vehicle 11 as the first conveyor, the controller 13 reads out the identification information associated with the same individual identifier 26 as the read individual identifier 26 from the identification information table. The controller 13 allocates the read identification information to the vehicle 11 as the first conveyor. Next, the controller 13, in the same manner as in the first embodiment, allocates the identification information that is in ascending order or descending order from the identification information allocated to the vehicle 11 as the first conveyor to each of the vehicles 11 as the second conveyor.

[0077] The controller 13 allocates the first identification information to the first conveyor and the second identification information to each of the second conveyors in the above manner. Thus, the controller 13 can allocate the same identification information to the plurality of vehicles 11 respectively in each operation.

[0078] In the above description, it is assumed that the individual identifier 26 is provided on one surface of the carriage 11, but the individual identifier 26 may be provided on each of two or more surfaces of the carriage 11. The individual identifier 26 is provided, for example, on at least two of the upper surface, side surface, and lower surface of the carriage 11. By providing the individual identifier 26 on a plurality of surfaces, the degree of freedom of the position and orientation of the reading device 22 when the reading device 22 can read the individual identifier 26 can be increased.

[0079] In the above description, it is assumed that the identification information table is stored in the memory 23 inside the controller 13, but the identification information table may be stored in a non-volatile memory which is an external storage device of the controller 13. In this case, the controller 13 obtains the identification information associated with the same individual identifier 26 as the individual identifier 26 read by the reading device 22 from the identification information table stored in the external storage device.

[0080] According to Embodiment 3, the conveying system 1C holds the identification information assigned to a plurality of conveyors in association with the individual identifier 26. When the conveying system 1C is started up, the conveying system 1C assigns the identification information associated with the individual identifier 26 of the first conveyor as the first identification information to the first conveyor. The conveying system 1C automatically assigns the same identification information as the identification information assigned to the first conveyor in the previous operation to the first conveyor. Thereby, the conveying system 1C can automatically assign the same identification information to a plurality of carriages 11 in each operation. The conveyors involved in the conveying system 1C have individual identifiers 26, but since all the conveyors in the conveying system 1C have individual identifiers 26, it is not necessary to prepare carriages 11 having different structures from each other separately. Therefore, the conveying system 1C can be configured simply, and an increase in the manufacturing cost of the conveying system 1C can be prevented.

[0081] Embodiment 4.

[0082] In Embodiment 3, an example in which the same identification information as the identification information assigned to the first conveyor in the previous operation is automatically assigned to the first conveyor has been described. In Embodiment 4, another example in which the same identification information as the identification information assigned to the first conveyor in the previous operation is automatically assigned to the first conveyor will be described.

[0083] Figure 5 is a diagram showing a structural example of the conveying system 1D according to Embodiment 4. The conveying system 1D has the same structure as Figure 1 the conveying system 1A shown. In Embodiment 4, the same reference numerals are given to the same structural elements as those in Embodiments 1 to 3, and mainly the structures different from those in Embodiments 1 to 3 will be described.

[0084] In Embodiment 4, the controller 13 periodically stores in the memory 23 the position information indicating the positions of the respective plurality of carriers 11 in the conveying path 10 in association with the identification information respectively assigned to the plurality of carriers 11. At the start of the conveying system 1D, the controller 13 acquires the start-up position information indicating the positions of the respective plurality of carriers 11 at the start-up. The controller 13 reads out from the memory 23 the position information stored in the memory 23 and the latest position information before the start-up, that is, the latest position information. The controller 13 compares the latest position information with the start-up position information. Through this comparison, the controller 13 determines, for each of the plurality of carriers 11 at the start-up, the carrier 11 whose position indicated by the latest position information is the closest to the position indicated by the start-up position information along the conveying path 10. The controller 13 assigns the identification information associated with the latest position information of the determined carrier 11 to each of the plurality of carriers 11 at the start-up.

[0085] For example, in the case where the power supply of the conveying system 1D is turned off due to an unexpected alarm, the conveying system 1D is restarted. At the restart, the controller 13 acquires the start-up position information of each of the plurality of carriers 11 through the position detection unit 19. The controller 13 reads out the latest position information of each carrier 11 from the memory 23. Next, the controller 13 compares the start-up position information with the latest position information, and assigns the identification information associated with the latest position information to the carrier 11 at the position closest to the position indicated by the latest position information. The controller 13 assigns identification information to each of the plurality of carriers 11.

[0086] In the above-described Embodiment 3, when the carrier 11 located closest to the reference point 15 is outside the detection range of the reading device 22, the controller 13 moves each carrier 11 in the forward direction and assigns identification information to each of the plurality of carriers 11. In contrast, in Embodiment 4, the controller 13 can assign identification information to each of the plurality of carriers 11 without moving each carrier 11. Therefore, according to Embodiment 4, it is possible to quickly and automatically assign identification information to each of the plurality of carriers 11 at the start-up.

[0087] In the above description, it is assumed that the position information and the identification information are stored in the memory 23 inside the controller 13, but the conveying system 1D may also store the position information and the identification information in a storage device external to the controller 13, that is, a non-volatile memory.

[0088] According to Embodiment 4, the conveying system 1D periodically stores the position information in association with the identification information. Regarding the plurality of carts 11, the conveying system 1D determines, for each of the carts 11, the cart 11 whose position along the conveying path 10 is closest to the position indicated by the latest position information and the position indicated by the start-up position information, and assigns the identification information associated with the latest position information of the determined cart 11 to the plurality of carts 11 respectively. Thus, the conveying system 1D can automatically assign the same identification information to the plurality of carts 11 respectively in each operation.

[0089] Embodiment 5.

[0090] In Embodiment 5, the following method will be described, that is, the remaining life of each of the plurality of carts 11 is estimated, and the identification numbers are swapped between the carts 11 based on the estimated remaining life. In addition, in Embodiment 5, an example in which machine learning is applied in the estimation of the remaining life will be described.

[0091] In the conveying systems 1A - 1D according to Embodiments 1 to 4, sometimes the carts 11 are moved in different ways for each cart 11, so the loads borne by the carts 11 fluctuate for each cart 11. For example, the longer the cumulative time for moving the cart 11, the greater the load borne by the cart 11. In addition, the higher the frequency of acceleration change, or the more rapid the acceleration change, the greater the load borne by the cart 11.

[0092] Since there are imbalances in the loads borne by the carts 11, there are differences in the remaining lives of the respective carts 11. The remaining life is the period until maintenance of the cart 11 is performed. Maintenance includes cases where the cart 11 is repaired and cases where the cart 11 is replaced. The greater the fluctuation in the remaining lives of the plurality of carts 11 in the conveying systems 1A - 1D, the higher the frequency of stopping the conveying systems 1A - 1D for performing maintenance of the carts 11, so the operating efficiency of the conveying systems 1A - 1D will be hindered. To solve this problem, in Embodiment 5, the remaining life of each of the plurality of carts 11 is estimated, and the identification numbers are swapped so that the remaining lives become uniform between the carts 11.

[0093] Figure 6 FIG. is a structural example diagram of the conveying system 1E according to Embodiment 5. The conveying system 1E has a life estimation device 24 and a learning device 25 on the basis of the same structure as the Figure 1 conveying system 1A shown. In Embodiment 5, the same reference numerals are given to the same structural elements as in the above Embodiments 1 to 4, and mainly the structures different from those in Embodiments 1 to 4 will be described.

[0094] The remaining life estimation device 24 is connected to the controller 13. The remaining life estimation device 24 estimates the remaining life related to each of the plurality of carts 11. The learning device 25 is connected to the remaining life estimation device 24. The learning device 25 learns the relationship between the operation state data, the operation history data, and the remaining life. The details of the operation state data and the operation history data will be described later. The remaining life estimation device 24 estimates the remaining life based on the learning result obtained by the learning device 25.

[0095] Based on the estimation result of the remaining life related to each of the plurality of carts 11, the controller 13 exchanges the identification information respectively assigned to the plurality of carts 11. By exchanging the identification information respectively assigned to the plurality of carts 11, the controller 13 performs an adjustment to balance the future remaining life related to each of the plurality of carts 11.

[0096] Figure 7 It is a diagram showing a structural example of the learning device 25 included in the transportation system 1E according to the fifth embodiment. The learning device 25 includes a preprocessing unit 31, a data acquisition unit 32, a model generation unit 33, and a trained model storage unit 34.

[0097] The preprocessing unit 31 performs preprocessing of the data input to the learning device 25. The operation state data of each cart 11, the operation history data of each cart 11, and the maintenance information of each cart 11 are input to the preprocessing unit 31.

[0098] The operation state data is data indicating the movement mode of the cart 11. The operation state data includes various data such as the weight of the jig mounted on the cart 11, the weight of the workpiece placed on the cart 11, the frequency of acceleration, the frequency of deceleration, the thrust during acceleration, the thrust during deceleration, the moving speed, the vibration frequency of the cart 11, or the magnitude of the vibration of the cart 11. For example, the operation state data includes data obtained when the cart 11 actually moves. The data included in the operation state data only needs to be data related to the movement mode of the cart 11 and is not limited to the examples here.

[0099] The operation state data can be a single value such as a value indicating the weight of the workpiece, or time series data. The time series data is, for example, a series of values obtained by sampling values that change over time at a certain period, such as the data of the moving speed of the cart 11.

[0100] The operation history data is data representing the history of the operation of the carriage 11. The operation history data includes various data such as the accumulation of the operation time of the carriage 11, the accumulation of the moving distance of the carriage 11, or the accumulation of the number of times the carriage 11 crosses the guide rail provided on the conveying path 10. The data included in the operation history data may be data related to the movement history of the carriage 11, and is not limited to the examples shown here.

[0101] The operation status data or the operation history data is stored, for example, in a non-volatile memory within the controller 13. The illustration of the non-volatile memory is omitted. The preprocessing unit 31 reads out the operation status data or the operation history data from the non-volatile memory. The operation status data or the operation history data may also be stored in an external storage device of the controller 13, that is, a non-volatile memory.

[0102] The maintenance information is data representing the actual results of the maintenance of the carriage 11. The maintenance information is recorded, for example, by an operator performing the maintenance. The maintenance information includes data on the date and time when the maintenance of the carriage 11 was performed and information indicating the content of the maintenance.

[0103] Figure 8 This is a diagram for explaining the preprocessing of data in the preprocessing unit 31 of the learning device 25 according to the fifth embodiment. The preprocessing unit 31 collects the operation status data and the operation history data related to the period back from the date and time indicated in the maintenance information. The preprocessing unit 31 divides the period back from the date and time indicated in the maintenance information into a plurality of periods, and classifies the collected operation status data and the collected operation history data for each period.

[0104] Figure 8 The horizontal axis shown represents the time as the remaining life. t0 is when the maintenance is performed, that is, when the carriage 11 reaches the end of its life. t4 is the start of use of the carriage 11 in the conveying system 1E. In Figure 8 In the example shown, the preprocessing unit 31 divides the period from t4 to t0 into four periods, namely T1 - T4, and classifies the collected operation status data and the collected operation history data as the data for each period. T1 is the period from t4 to t3. T2 is the period from t3 to t2. T3 is the period from t2 to t1. T4 is the period from t1 to t0. The preprocessing unit 31 generates remaining life data corresponding to each classified data. The remaining life data is data representing the remaining time until the carriage 11 reaches the end of its life. The remaining life data is, for example, data indicating the classification of the period. The remaining life data generated in the preprocessing unit 31 represents the remaining life calculated based on the actual results of the life of the carriage 11.

[0105] The preprocessing unit 31 creates a set, i.e., a data set, of state variables including operation status data and operation history data, and remaining life data. The data acquisition unit 32 acquires the data set created by the preprocessing unit 31, i.e., the learning data 35. The learning data 35 is data in which the operation status data, the operation history data, and the remaining life data are correlated with each other. As described above, the data acquisition unit 32 acquires the learning data 35, which includes the operation status data indicating the moving mode of the carriage 11, the operation history data indicating the history of operating the carriage 11, and the remaining life data indicating the remaining life calculated based on the actual life of the carriage 11. The data acquisition unit 32 outputs the acquired learning data 35 to the model generation unit 33.

[0106] The model generation unit 33 generates a trained model 36 for inferring the remaining life based on the operation status data and the operation history data, based on the learning data 35. The model generation unit 33 learns the relationship between the operation status data, the operation history data, and the remaining life data, thereby generating the trained model 36. The trained model 36 is stored in the trained model storage unit 34.

[0107] As the learning algorithm used by the model generation unit 33, known algorithms such as supervised learning, unsupervised learning, or reinforcement learning can be used. As an example, the case of applying a neural network will be described.

[0108] The model generation unit 33 learns the relationship between the operation status data, the operation history data, and the remaining life data, for example, according to a neural network model, by so-called supervised learning. Here, supervised learning is a method in which, by giving a set of input and result data to the learning device 25, the characteristics of the learning data 35 are learned, and the result is inferred based on the input.

[0109] The learning data 35 includes an input and a result corresponding to the input, i.e., a label. The operation status data and the operation history data correspond to the input. The remaining life data is teacher data and corresponds to the label. The neural network is composed of an input layer composed of multiple neurons, an intermediate layer, i.e., a hidden layer, composed of multiple neurons, and an output layer composed of multiple neurons. The intermediate layer can be one layer or two or more layers.

[0110] Figure 9 It is a diagram showing a structural example of the neural network used in the learning of the learning device 25 according to Embodiment 5. Figure 9The neural network shown is a three-layer neural network. The input layer includes neurons X1, X2, and X3. The middle layer includes neurons Y1 and Y2. The output layer includes neurons Z1, Z2, and Z3. In addition, the number of neurons in each layer is arbitrary. The multiple values input to the input layer are multiplied by w11, w12, w13, w14, w15, and w16 as weights W1 and input to the middle layer. The multiple values input to the middle layer are multiplied by w21, w22, w23, w24, w25, and w26 as weights W2 and output from the output layer. The output result output from the output layer changes according to the values of weights W1 and W2.

[0111] In Embodiment 5, the neural network learns the remaining life through so-called supervised learning according to the learning data 35 obtained by the data acquisition unit 32. That is, the neural network adjusts the weights W1 and W2 so that the result of inputting the operation state data and the operation history data to the input layer and outputting from the output layer approaches the remaining life data, thereby learning the remaining life. The model generation unit 33 generates a trained model 36 by performing the above learning and outputs the trained model 36. The trained model storage unit 34 can store the trained model 36 output from the model generation unit 33. The model generation unit 33 reads out the already generated trained model 36 from the trained model storage unit 34 and updates the trained model 36 through re-learning according to the learning data 35.

[0112] Next, the learning process implemented by the learning device 25 will be described. Figure 10 is a flowchart showing the order of the learning process performed by the learning device 25 according to Embodiment 5. In step S11, the learning device 25 obtains the learning data 35 including the operation state data, the operation history data, and the remaining life data through the preprocessing unit 31 and the data acquisition unit 32. The learning device 25 simultaneously obtains the operation state data, the operation history data, and the remaining life data, for example. The learning device 25 only needs to be able to obtain the learning data 35 that correlates the operation state data, the operation history data, and the remaining life data with each other, and can obtain the operation state data, the operation history data, and the remaining life data respectively at different timings.

[0113] In step S12, the model generation unit 33 generates a trained model 36 through so-called supervised learning according to the learning data 35 obtained in step S11. In step S13, the trained model storage unit 34 stores the trained model 36 generated in step S12. Above, the learning device 25 ends Figure 10 the learning process related to the order shown. The learning device 25 can update the trained model 36 through the same learning process as when generating the trained model 36.

[0114] In Figure 6 the example shown, the learning device 25 is an external device of the controller 13. The learning device 25 can be a device that can be connected to the controller 13 via a network. The learning device 25 can be a device existing on a cloud server. In addition, the learning device 25 can also be a device built into the controller 13. In Figure 7 the example shown, the trained model storage unit 34 is built into the learning device 25. The trained model storage unit 34 can also be provided outside the learning device 25.

[0115] The learning device 25 can learn the remaining life according to the data set created for the plurality of conveying systems 1E. The learning device 25 can obtain the operation state data, operation history data, and maintenance information from the plurality of conveying systems 1E used at the same location, or can also obtain the operation state data, operation history data, and maintenance information from the plurality of conveying systems 1E used at different locations. The operation state data, operation history data, and maintenance information can be collected from the plurality of conveying systems 1E operating independently of each other at a plurality of locations. A new conveying system 1E can be added to the objects for collecting the operation state data, operation history data, and maintenance information after the collection of the operation state data, operation history data, and maintenance information from the plurality of conveying systems 1E is started. In addition, a part of the plurality of conveying systems 1E can be excluded from the objects for collecting the operation state data, operation history data, and maintenance information after the collection of the operation state data, operation history data, and maintenance information from the plurality of conveying systems 1E is started.

[0116] The learning device 25 that has learned about a certain one conveying system 1E can perform learning related to other conveying systems 1E other than the conveying system 1E. The learning device 25 that performs learning related to the other conveying system 1E can update the trained model 36 through relearning in the other conveying system 1E.

[0117] Figure 11 is a diagram showing a structural example of the remaining life estimation device 24 included in the conveying system 1E according to Embodiment 5. The remaining life estimation device 24 has a function as an inference device that infers the remaining life based on the operation state data and the operation history data. The remaining life estimation device 24 includes a data acquisition unit 41 and an inference unit 42.

[0118] Operation state data and operation history data related to each of the plurality of carriers 11 included in the conveying system 1E are input to the data acquisition unit 41. Thereby, the data acquisition unit 41 acquires the operation state data and the operation history data for each of the plurality of carriers 11. The data acquisition unit 41 outputs the acquired operation state data and the inference-use data 43 that is the operation history data to the inference unit 42. The trained model 36 stored in the trained model storage unit 34 of the learning device 25 is input to the inference unit 42. The inference unit 42 inputs the operation state data and the operation history data to the trained model 36, thereby inferring the remaining life of each of the plurality of carriers 11. The inference unit 42 outputs the inference result of the remaining life, i.e., the remaining life data 44, to the controller 13.

[0119] Figure 12 FIG. is a flowchart showing the order of the inference process performed by the life estimation device 24 according to Embodiment 5. In step S21, the life estimation device 24 acquires the operation state data and the operation history data through the data acquisition unit 41.

[0120] In step S22, the inference unit 42 generates the remaining life data 44 by inputting the inference-use data 43 to the trained model 36. In step S23, the inference unit 42 outputs the remaining life data 44 generated in step S22. Thus, the life estimation device 24 ends Figure 12 the process related to the order shown.

[0121] In Figure 6 the example shown, the life estimation device 24 is an external device of the controller 13. The life estimation device 24 may be a device that can be connected to the controller 13 via a network. The life estimation device 24 may be a device existing on a cloud server. In addition, the life estimation device 24 may also be a device built into the controller 13.

[0122] So far, an example in which supervised learning is applied to the learning algorithm used in the model generation unit 33 has been described, but in the learning algorithm, learning other than supervised learning may also be applied. Reinforcement learning, unsupervised learning, or semi-supervised learning, etc. may be applied in the learning algorithm. In addition to neural networks, the model generation unit 33 can perform machine learning using learning algorithms such as Deep Learning, genetic programming, inductive logic programming, or support vector machines, for example.

[0123] The controller 13 acquires the remaining life data 44 related to each of the multiple bogies 11 from the remaining life estimation device 24. The controller 13 refers to the remaining life data 44 of each bogie 11 and appropriately exchanges the identification information assigned to each bogie 11. The controller 13 exchanges the identification information among the bogies 11, thereby exchanging the operation modes among the bogies 11.

[0124] Based on the estimation results of the remaining life related to each of the multiple bogies 11, for example, the controller 13 exchanges the identification information of the bogie 11 with the shortest estimated remaining life among the multiple bogies 11 and the identification information of the bogie 11 with the longest estimated remaining life among the multiple bogies 11. Through the exchange of the identification information, a high-load operation mode is applied to the bogie 11 with the longest remaining life among the multiple bogies 11, and a low-load operation mode is applied to the bogie 11 with the shortest remaining life among the multiple bogies 11. By exchanging the operation modes, the future remaining lives among the bogies 11 are balanced. In the above manner, based on the estimation results of the remaining life related to each of the multiple bogies 11, the controller 13 exchanges the identification information assigned to the multiple bogies 11 respectively, thereby performing an adjustment to balance the future remaining lives related to each of the multiple bogies 11.

[0125] According to Embodiment 5, the conveying system 1E includes a learning device 25 and a remaining life estimation device 24 as an inference device, whereby the remaining life of each bogie 11 can be estimated. In addition, the conveying system 1E exchanges the identification information based on the estimation results of the remaining life, thereby performing an adjustment to balance the future remaining lives related to each of the multiple bogies 11. Thereby, the frequency of stopping the conveying system 1E for maintaining the bogies 11 can be reduced, and the operating efficiency of the conveying system 1E can be improved.

[0126] In addition, in the conveying system 1E according to Embodiment 5, the controller 13 can arbitrarily exchange the identification information assigned to the multiple conveyors based on the estimation results of the remaining life. For example, the controller 13 can be set to exchange the identification information of the bogie 11 with the shortest estimated remaining life among the multiple bogies 11 and the identification information of the bogie 11 with the second shortest estimated remaining life among the multiple bogies 11. That is, the conveying system 1E performs an adjustment to balance the future remaining lives of the two bogies 11 with short remaining lives among the multiple bogies 11. In the above structure, the frequency of stopping the conveying system 1E for maintaining the bogies 11 can also be reduced, and the operating efficiency of the conveying system 1E can be improved.

[0127] In the conveyance system 1E according to the fifth embodiment, the case where the remaining life estimation device 24 is a device that estimates the remaining life by the inference unit 42 using the trained model 36 has been described. However, the remaining life estimation device 24 is not limited to the above-described configuration. For example, the remaining life estimation device 24 may be a device that stores a data table associating operation state data, operation history data, and remaining life data, and outputs the remaining life by comparing with the data table when at least one of the operation state data and the operation history data is input. The remaining life estimation device 24 can also output the remaining life in a configuration that does not use the trained model 36.

[0128] Next, the hardware that implements the controller 13 according to the first to fifth embodiments will be described. The controller 13 is implemented by a processing circuit. The processing circuit may be a circuit in which a processor executes software, or may be a dedicated circuit.

[0129] When the processing circuit is implemented by software, the processing circuit is, for example, Figure 13 the control circuit 50 shown. Figure 13 FIG. shows a structural example of the control circuit 50 according to the first to fifth embodiments. The control circuit 50 includes an input unit 51, a processor 52, a memory 53, and an output unit 54. The input unit 51 is an interface circuit that receives data input from the outside of the control circuit 50 and supplies it to the processor 52. The output unit 54 is an interface circuit that transmits data from the processor 52 or the memory 53 to the outside of the control circuit 50.

[0130] When the processing circuit is Figure 13 the control circuit 50 shown, the controller 13 is implemented by software, firmware, or a combination of software and firmware. The software or firmware is described as a program and stored in the memory 53. The processing circuit reads out the program stored in the memory 53 by the processor 52 and executes it, thereby implementing each function of the controller 13. That is, the processing circuit has a memory 53 that stores the program for finally executing the processing of the controller 13. In addition, these programs can be said to cause a computer to execute the sequence and method of the controller 13.

[0131] The processor 52 is a CPU (Central Processing Unit). The processor 52 may be a central processing device, a processing device, an arithmetic device, a microprocessor, a microcomputer, a processor, or a DSP (Digital Signal Processor). The memory 53 is, for example, a non-volatile 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] Figure 13 This is an example of the hardware when the controller 13 is implemented by the general processor 52 and the memory 53, but the controller 13 may also be implemented by a dedicated hardware circuit. Figure 14 This is a diagram showing a structural example of the dedicated hardware circuit 55 related to Embodiments 1 to 5.

[0133] The dedicated hardware circuit 55 has an input section 51, an output section 54, and a processing circuit 56. The processing circuit 56 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 13 can be implemented by the processing circuit 56 according to function categories, or all functions can be summarized and implemented by the processing circuit 56. In addition, the controller 13 may also be implemented by combining the control circuit 50 and the hardware circuit 55.

[0134] When the learning device 25 is an external device of the controller 13, the learning device 25 is similarly implemented by a processing circuit. The processing circuit that implements the learning device 25 is Figure 13 the control circuit 50 shown, or Figure 14 the dedicated hardware circuit 55 shown.

[0135] When the life estimation device 24 is an external device of the controller 13, the life estimation device 24 is similarly implemented by a processing circuit. The processing circuit that implements the life estimation device 24 is Figure 13The control circuit 50 shown, or Figure 14 the dedicated hardware circuit 55 shown.

[0136] The specific ways of dispersing or integrating each structural element in the conveying systems 1A - 1E involved in Embodiments 1 to 5 are not limited to the descriptions in Embodiments 1 to 5. All or part of the components of the N conveying systems 1A - 1E can be functionally or physically dispersed or integrated in any unit to form.

[0137] The structures shown in the above embodiments show 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. Part of the structures of the embodiments can be omitted or changed without departing from the gist of the present invention.

[0138] Explanation of reference numerals

[0139] 1A, 1B, 1C, 1D, 1E conveying systems, 10 conveying path, 11, 11a, 11b, 11c, 11d, 11e, 11f trolleys, 12, 12a, 12b, 12c, 12d, 12e, 12f, 12g, 12h, 12i, 12j, 12k, 12l, 12m, 12n conveying path units, 13 controller, 14 data communication line, 15 reference point, 16 arrow, 17 permanent magnet, 18 guide rail, 19 position detection unit, 21 input device, 22 reading device, 23, 53 memories, 24 remaining life estimation device, 25 learning device, 26 individual identifier, 31 pre - processing unit, 32, 41 data acquisition units, 33 model generation unit, 34 trained model storage unit, 35 learning data, 36 trained model, 42 inference unit, 43 inference data, 44 remaining life data, 50 control circuit, 51 input unit, 52 processor, 54 output unit, 55 hardware circuit, 56 processing circuit.

Claims

1. A conveying system, characterized in that, have: Multiple transport bodies; a conveying path for the plurality of conveying bodies to move; and a controller that manages the plurality of conveyors by assigning identification information to each of the plurality of conveyors, and controls each of the plurality of conveyors, In the conveying path, a reference point is set as a reference for one of the moving directions of each of the plurality of conveying bodies, namely, a forward position. The controller assigns first identification information, which serves as a basis for the identification information, to a first conveying body among the plurality of conveying bodies that is closest to the reference point in the forward direction, and assigns second identification information, which is identification information subsequent to the first identification information, to a second conveying body among the plurality of conveying bodies other than the first conveying body, according to an arrangement order of the second conveying bodies in the forward direction or in a reverse direction opposite to the forward direction.

2. The conveying system according to claim 1, characterized in that A position detection unit is provided, the position detection unit detects the position of each of the plurality of conveying bodies in the conveying path, The controller specifies the first transport body based on a detection result obtained by the position detection unit.

3. The conveying system according to claim 1 or 2, characterized in that: The conveying path is a closed path and has no branches.

4. The conveying system according to any one of claims 1 to 3, characterized in that: A permanent magnet is provided in each of the plurality of conveying bodies. The transport path includes a coil that generates a thrust for moving the transport body through interaction with a magnetic field generated by the permanent magnet.

5. The conveying system according to any one of claims 1 to 4, characterized in that: The first identification information is a predetermined number. The second identification information is a number that is sequentially followed in ascending or descending order from the number that is the first identification information.

6. The conveying system according to any one of claims 1 to 4, characterized in that: having an input device to which the number set as the first identification information is input, The second identification information is a number that is sequentially added in ascending or descending order from the number set as the first identification information.

7. The conveying system according to any one of claims 1 to 4, characterized in that: Assigning an individual identifier unique to each of the plurality of transport bodies to each of the plurality of transport bodies, The controller maintains the identification information respectively assigned to the plurality of conveying bodies in association with the individual identifiers, and when the conveying system is activated, assigns the identification information associated with the individual identifier of the first conveying body as the first identification information to the first conveying body.

8. The conveying system according to claim 7, characterized in that A reading device is provided, the reading device reads the individual identifier assigned to the first transport body, The controller acquires the individual identifier read by the reading device.

9. The conveying system according to claim 8, characterized in that The reference point is set to match the position of the reading device.

10. The conveying system according to claim 8 or 9, characterized in that The individual identifiers are respectively provided on two or more surfaces of the conveyor.

11. The conveying system according to any one of claims 1 to 4, characterized in that The controller periodically stores in a memory the position information indicating the positions of the plurality of conveyors in the conveying path in association with the identification information respectively assigned to the plurality of conveyors. At the start of the conveying system, the controller determines, for each of the plurality of conveyors, the conveyor closest to the position indicated by the start position information along the conveying path among the positions indicated by the latest position information by comparing the start position information indicating the positions of the plurality of conveyors at the start with the position information stored in the memory and the latest position information before the start, that is, the latest position information, and assigns the identification information associated with the latest position information of the determined conveyor to the plurality of conveyors respectively.

12. The conveying system according to any one of claims 1 to 4, characterized in that It has a remaining life estimation device that estimates, for each of the plurality of conveyors, the period until maintenance of the conveyor, that is, the remaining life. The controller exchanges the identification information respectively assigned to the plurality of conveyors based on the estimation results of the remaining life related to each of the plurality of conveyors.

13. The conveying system according to claim 12, characterized in that The controller exchanges the identification information assigned to the conveyor with the longest estimated remaining life among the plurality of conveyors and the identification information assigned to the conveyor with the shortest estimated remaining life among the plurality of conveyors based on the estimation results of the remaining life related to each of the plurality of conveyors.

14. The conveying system according to claim 12 or 13, characterized in that It is equipped with a learning device having: A data acquisition unit that acquires learning data, which includes operation state data representing the movement mode of the conveyor, operation history data representing the history of operating the conveyor, and remaining life data representing the remaining life obtained based on the actual performance of the life of the conveyor. And A model generation unit that generates a trained model for inferring the remaining life based on the operation state data and the operation history data from the learning data.

15. The conveying system according to claim 12 or 13, characterized in that The remaining life estimation device has: A data acquisition unit that acquires, for each of the plurality of conveyors, operation state data representing the movement mode of the conveyor and operation history data representing the history of operating the conveyor; and An inference unit that inputs the operation state data and the operation history data to a trained model for inferring the remaining life based on the operation state data and the operation history data, thereby inferring the remaining life of each of the plurality of conveyors.

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