Conveying system

Abstract

A transport system is provided with: transport bodies (20, 21) that move on transport paths (10, 11, 12, 13); a sensor unit (70) that acquires data relating to the transmission body; and a recognition unit (81) that recognizes, from the data acquired by the sensor unit, stop-time data generated by the stop of the transport body.

Description

[0001] Cross-reference to related applications

[0002] This application is based on Japanese Patent Application No. 2022-205793 filed on December 22, 2022, the contents of which are hereby incorporated by reference. Technical Field

[0003] The present disclosure relates to a conveying system. Background Art

[0004] In a conveying system used in a production line for automotive parts or the like, the conveying path is long, so it takes time for an operator to perform daily inspections. When an abnormality occurs in the conveying path, the production line stops for a long time until the conveying system is restored and the inspection is completed.

[0005] In recent years, a technology has been developed that uses multi-sensors including vibration sensors to patrol the conveying path, and detects abnormalities in the conveying path based on the results obtained by inputting sensor data into a machine learning model, improving the energy efficiency of the factory (for example, refer to Patent Document 1).

[0006] Prior Art Documents

[0007] Patent Documents

[0008] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2020-027095 Summary of the Invention

[0009] In a conveying system, the time from the start of conveyance to the end of conveyance changes according to the condition of the conveying path. For example, before a workpiece processing step, a change in the conveying path, or the transfer of a workpiece to another pallet, the advance of the pallet is stopped by a stopper provided on the conveying path. Then, when the preparation for the processing step or the like is completed, the stopper is released and the pallet starts moving forward again.

[0010] The presence or absence of such a stop and the length of the stop time achieved by the stopper change according to the congestion condition of the conveying path. Therefore, for example, if a pallet equipped with multi-sensors patrols together with other pallets, the time required for the patrol changes, resulting in a deviation in the amount of sensor data, making it difficult to input the sensor data into a machine learning model to determine an abnormality in the conveying path.

[0011] The present disclosure has been made in view of the above problems, and an object thereof is to provide a conveying system capable of easily determining an abnormality in a conveying path.

[0012] According to one aspect of the present disclosure, a conveyance system includes: a conveyance body that moves on a conveyance path; a sensor unit that acquires data related to the conveyance body; and an identification unit that identifies stop-time data generated due to the stop of the conveyance body from the data acquired by the sensor unit.

[0013] Accordingly, by identifying the stop-time data from the data acquired by the sensor unit, it is possible to reduce the deviation of the amount of data used in anomaly determination, and thus anomaly determination of the conveyance path becomes easier.

[0014] In addition, the reference signs in parentheses assigned to the respective components and the like are examples showing the correspondence between the components and the specific components and the like described in the following embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a diagram showing the configuration of the conveyance system according to the first embodiment.

[0016] Figure 2 It is a diagram showing the configuration of the conveyance system according to the first embodiment.

[0017] Figure 3 It is a block diagram showing the configuration of the sensor unit and the control unit.

[0018] Figure 4 It shows the process of the inspection process of the sensor unit.

[0019] Figure 5 It shows the process of the anomaly determination process.

[0020] Figure 6 It is a diagram showing an example of the time-series data acquired by the sensor unit.

[0021] Figure 7 It is a diagram showing an example of the determination data.

[0022] Figure 8 It is a diagram showing an example of the time-series data acquired by the sensor unit.

[0023] Figure 9 It is a diagram showing the configuration of the conveyance system according to the second embodiment. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In addition, in the following embodiments, the same or corresponding parts will be described with the same reference signs.

[0025] (First Embodiment)

[0026] The first embodiment will be described. As Figures 1 to 3As shown in the figure, the transfer system of this embodiment includes a transfer path 10, a tray 20 as a transfer body, a processing device 30, stoppers 40 to 42 as stopping parts, a pushing device 50, a display part 60, a sensor part 70, and a control part 80. The transfer system constitutes a production line for manufacturing automotive parts and the like by loading the workpiece 100 onto the tray 20 for transfer and performing processing such as screwing on the workpiece 100 during the transfer process.

[0027] The transfer path 10 transfers the tray 20. The transfer path 10 includes a conveying mechanism in which the transfer surface contacts the tray 20 or the workpiece 100 on the tray 20. For example, the transfer path 10 is constituted by a belt conveyor, a chain conveyor, a screw conveyor, a clamping conveyor, a side clamping conveyor, etc.

[0028] The tray 20 carries the workpiece 100 and advances along the transfer path 10. The workpiece 100 can be, for example, an object to be processed by a processing device, or a product during or after manufacturing. When inspecting the transfer path 10, the sensor part 70 is mounted on the tray 20 and inspects the transfer path 10. The tray 20 mounted with the sensor part 70 is called the tray 21.

[0029] As Figure 1 and Figure 2 shown, the transfer system includes transfer paths 11 to 13 as the transfer path 10. Two directions perpendicular to each other in the horizontal plane are defined as the X direction and the Y direction, and the direction perpendicular to the X direction and the Y direction is defined as the Z direction.

[0030] As Figure 1 shown, the transfer path 11 extends along the X direction, and the processing device 30 and the stoppers 40, 41 are arranged in the middle of the transfer path 11. The processing device 30 performs processing such as screwing on the workpiece 100 and is constituted by a robot arm or the like.

[0031] The stopper 40 stops the tray 20 waiting to be processed by the processing device 30 and is arranged at a position in front of the processing device 30 in the transfer direction of the transfer path 11. The stopper 41 stops the tray 20 being processed by the processing device 30 and is arranged near the processing device 30 on the transfer path 11. As the stoppers 40, 41 and the stopper 42 described later, a member in which a rod-shaped member protrudes from below the transfer path 10 or a member in which a plate-shaped member protrudes from the side of the transfer path 10 can be used.

[0032] The transfer paths 12, 13 constitute parts for switching the transfer direction of the tray 20 in the transfer system. Specifically, the transfer paths 12, 13 extend along the X direction and the Y direction respectively, and the tray 20 moves from the transfer path 12 to the transfer path 13, so that the traveling direction of the tray 20 is switched from the X direction to the Y direction.

[0033] As shown Figure 2 in FIG., a stopper 42 is disposed on the transfer path 12. The stopper 42 is disposed at the end portion of the transfer path 12 to stop the tray 20 waiting for the transfer path to be switched. A pushing device 50 is disposed on the transfer path 13. The pushing device 50 is disposed at the starting end portion of the transfer path 13, and the tray 20 after the transfer path is switched is pushed along the Y direction by the pushing device 50 moving as indicated by an arrow A1.

[0034] In addition, the transfer system further includes a transfer path (not shown), and in this transfer path, processes such as transferring the load on the tray 20 to another tray 20 are performed.

[0035] The display unit 60 displays an identifier 61, and information related to the stop of the tray 20 is stored in the identifier 61. This information includes, for example, information such as the next operation process to be performed on the tray 20, the stop position of the tray 20, and the traveling direction. As the identifier 61, for example, two-dimensional codes such as QR code (registered trademark), micro QR code, rMQR code, etc. can be used. The display unit 60 is constituted, for example, by pasting a sticker printed with the identifier 61 on the wall near the position where the tray 20 waiting for processing, waiting for the transfer path to be switched, or waiting for the tray to be transferred stops. In Figure 1 and Figure 2 the portions shown, the display unit 60 is disposed in front of the stoppers 40 and 42.

[0036] One or more display units 60 are provided for one stop position. Although the number of the display units 60 is not limited, it is preferably set to correspond to the number and stop positions of the trays 20 expected to be stopped by the stoppers 40 and 42.

[0037] As Figure 1 shown in FIG., on the transfer path 11, three display units 60 are disposed in front of the stopper 40. These three display units 60 are referred to as display units 60a to 60c in the order of approaching the stopper 40. The identifiers 61 displayed on the display units 60a, 60b, and 60c are referred to as identifiers 61a, 61b, and 61c, respectively.

[0038] The display units 60a to 60c are respectively disposed at positions corresponding to the positions of the first to third trays 20 stopped by the stopper 40. Specifically, the display unit 60a is disposed such that when the tray 21 becomes the first in a row of trays 20 stopped by the stopper 40, the identifier 61a enters the reading range of a reading unit 71 described later. Similarly, the display units 60b and 60c are disposed such that when the tray 21 becomes the second and third in a row of trays 20 stopped by the stopper 40, the identifiers 61b and 61c enter the reading range of the reading unit 71.

[0039] Information such as information on the processing device 30, the position information of the transfer path 11, and the transfer direction of the transfer path 11 is stored in the identifiers 61a to 61c.

[0040] In addition, position information in the stop interval of the stopper 40 is stored in the identifiers 61a to 61c. Specifically, information indicating the first, second, and third positions waiting for the processing of the processing device 30 is stored in the identifiers 61a to 61c respectively.

[0041] As Figure 2 shown, in the transfer path 12, the three display units 60 are arranged in front of the stopper 42. These three display units 60 are referred to as display units 60d to 60f in the order of approaching the stopper 42. The identifiers 61 displayed by the display units 60d to 60f are referred to as identifiers 61d, 61e, and 61f respectively.

[0042] The display units 60d to 60f are respectively arranged at positions corresponding to the positions of the first to third pallets 20 stopped by the stopper 42. Specifically, the display units 60d to 60f are arranged such that when the pallet 21 becomes the first to third in a row of pallets 20 stopped by the stopper 42, the identifiers 61d to 61f enter the reading range of the reading unit 71.

[0043] Information such as transfer path switching information, the position information of the transfer paths 12 and 13, and the transfer directions of the transfer paths 12 and 13 is stored in the identifiers 61d to 61f. As described later, in the transfer system, the abnormality of the transfer path 10 is judged by having the pallet 21 equipped with the sensor unit 70 patrol on the transfer path 10. At this time, even when the transfer path is switched and the transfer direction is changed, there is a case where the direction of the sensor unit 70 is not switched and it is transferred while maintaining the original direction. In this case, by storing the transfer direction information in the identifier 61, in step S22 described later, data preprocessing for switching the X direction and the Y direction of the acceleration data of the sensor unit 70 can be performed, and analysis corresponding to the transfer direction can be performed. The same applies to the change in the transfer direction caused by pallet transfer.

[0044] In addition, position information in the stop interval stopped by the stopper 42 is stored in the identifiers 61d to 61f. Specifically, information indicating the first, second, and third positions waiting for transfer path switching is stored in the identifiers 61d to 61f respectively.

[0045] As Figure 3As shown, the sensor unit 70 includes a reading unit 71, an illuminance sensor 72, an acceleration sensor 73, an angular velocity sensor 74, and a sound sensor 75. In the present embodiment, they are mounted on the tray 21 and patrol on the transfer path 10.

[0046] The reading unit 71 reads the identifier 61. The reading unit 71 is composed of a camera that photographs the surroundings of the tray 21, a scanner module, and the like.

[0047] The illuminance sensor 72 measures the illuminance of the display unit 60. The illuminance measurement result of the illuminance sensor 72 is used to determine whether the display unit 60 is in a state where the identifier 61 can be correctly read by the reading unit 71. As described above, in the present embodiment, the illuminance sensor 72 is mounted on the tray 21 together with other sensors, but the illuminance sensor 72 may also be arranged near the display unit 60.

[0048] The acceleration sensor 73 measures the acceleration of the tray 21. The acceleration sensor 73 is configured to measure the acceleration in three mutually perpendicular directions. The angular velocity sensor 74 measures the angular velocity of the tray 21. The angular velocity sensor 74 is configured to measure the angular velocity about the axes in three mutually perpendicular directions. The angular velocity sensor 74 is composed of a gyroscope or the like, for example. The sound sensor 75 detects the sound around the tray 21. The sound sensor 75 is composed of a microphone or the like, for example.

[0049] Data of the captured image of the reading unit 71 and the measurement results of the illuminance sensor 72, the acceleration sensor 73, the angular velocity sensor 74, and the sound sensor 75 are transmitted to the control unit 80 via an edge computer, a server, a cloud, etc. (not shown) through a wireless communication device.

[0050] The control unit 80 performs abnormality determination of the transfer path 10 and the like. The control unit 80 is composed of a microcomputer or the like, and the microcomputer includes a CPU (not shown), a storage unit composed of non-transitory physical storage media such as a ROM, a RAM, a flash memory, and an HDD. CPU is the abbreviation of Central Processing Unit, ROM is the abbreviation of Read Only Memory, RAM is the abbreviation of Random Access Memory, and HDD is the abbreviation of Hard DiskDrive. As Figure 3 shown, the control unit 80 includes an identification unit 81 and a determination unit 82.

[0051] The recognition unit 81 recognizes data generated due to the stop of the tray 21 (hereinafter referred to as stop-time data) from the data acquired by the sensor unit 70. Specifically, the recognition unit 81 recognizes the data when the tray 21 is stopped by the stoppers 40 and 42, and the data when the tray 21 stops in contact with the tray 20 stopped by the stoppers 40 and 42, and regards these data as the stop-time data. Then, the recognition unit 81 excludes the stop-time data from the data acquired by the sensor unit 70 and generates determination data for determining an abnormality in the transfer path 10.

[0052] The determination unit 82 determines the state of the transfer path 10. Specifically, a learned model for determining an abnormality in the transfer path 10 is stored in the control unit 80. This learned model is configured to output a value such as the probability indicating the presence of an abnormality in the transfer path 10 when the determination data is input. A plurality of learned models are stored, and the determination unit 82 selects a learned model for determination according to the situation. Then, the determination unit 82 inputs the determination data generated by the recognition unit 81 into the selected learned model and determines whether an abnormality has occurred in the transfer path 10 based on the value output from the learned model. For example, the determination unit 82 determines that an abnormality has occurred in the transfer path 10 when the output value is greater than a predetermined threshold, and determines that no abnormality has occurred in the transfer path 10 when the output value is below the predetermined threshold. In addition, when it is determined that an abnormality has occurred in the transfer path 10, the determination unit 82 uses the determination data to calculate the position of the abnormal location.

[0053] The operation of the transfer system will be described. In the transfer system, the tray 21 equipped with the sensor unit 70 is patrolled on the transfer path 10, and the abnormality of the transfer path 10 is determined using the data acquired during this period.

[0054] During the patrol of the sensor unit 70, the transfer system performs Figure 4 the processing shown. The patrol of the sensor unit 70 is performed before or during the operation of the production line. When the patrol of the sensor unit 70 is performed before the operation of the production line, the trays 20 other than the tray 21 travel around the transfer path 10 in an empty state without carrying the workpiece 100. When the patrol of the sensor unit 70 is performed during the operation of the production line, it is set not to process the load on the tray 21 by the processing device 30.

[0055] In step S11, the sensor unit 70 acquires data regarding the tray 21. Specifically, the reading unit 71 captures images of the surroundings of the tray 21 using a camera. In addition, the illuminance sensor 72 measures the illuminance of the shooting range of the reading unit 71. Furthermore, the acceleration sensor 73 measures the acceleration of the tray 21 in the X, Y, and Z directions. Moreover, the angular velocity sensor 74 measures the angular velocity of the tray 21 about the axes in the X, Y, and Z directions. In addition, the sound sensor 75 measures the sound around the tray 21. The data such as the captured images and measurement results acquired by the sensor unit 70 are periodically transmitted to the control unit 80. Alternatively, the data acquired by the sensor unit 70 may be transmitted to the control unit 80 together after the inspection is completed.

[0056] In the next step S12, the sensor unit 70 analyzes the captured image of the reading unit 71 and determines whether the reading unit 71 has read the identifier 61. When it is determined that the reading unit 71 has read the identifier 61, the process proceeds to step S13. If it is determined that the reading unit 71 has not read the identifier 61, the process proceeds to step S14.

[0057] In step S13, the sensor unit 70 acquires the position information stored in the identifier 61 based on the captured image of the reading unit 71. In addition, the sensor unit 70 stores the time when the identifier 61 is read. After step S13, the process proceeds to step S11.

[0058] In step S14, the sensor unit 70 determines whether the tray 21 has reached the target position. When it is determined that the tray 21 has reached the target position, the process ends. If it is determined that the tray 21 has not reached the target position, the process proceeds to step S11. When the sensor unit 70 completes the inspection of the transfer path 10, the transfer system performs Figure 5 the abnormal determination process shown.

[0059] In step S21, the control unit 80 arranges the data transmitted from the sensor unit 70 in time series in the Figure 4 process shown to generate time series data.

[0060] In the next step S22, the recognition unit 81 preprocesses the time series data for abnormal determination. That is, the recognition unit 81 removes the stop-time data from the time series data and uses the generated data as the determination data.

[0061] The recognition unit 81 recognizes the stop data based on the data generated by reading the identifier 61 by the reading unit 71. Specifically, the recognition unit 81, based on the time stored in step S13, identifies the data during the period when the identifier 61 is read by the reading unit 71 from the time-series data of the acceleration sensor 73, the angular velocity sensor 74, and the sound sensor 75 as the stop data. Then, the recognition unit 81 excludes the stop data from the time-series data of the acceleration sensor 73 and the like. Thereby, the data during the stop caused by the stoppers 40, 42, and other stoppers such as waiting for tray transfer (not shown) is excluded from the time-series data. Then, when the tray 21 moves at a constant speed, when passing through the abnormal position on the transfer path 10, the time-series data when stopped by the stopper 41 is retained, and the retained time-series data constitutes the determination data.

[0062] In addition, in step S22, in addition to excluding the stop data from the time-series data, processing such as handling missing values and deviation values and extracting feature quantities is performed on the time-series data to generate interval data of any length used in step S24.

[0063] In the next step S23, the determination unit 82 selects a learned model to be used for abnormality determination from among the multiple learned models stored in the control unit 80.

[0064] In the next step S24, the determination unit 82 determines whether the transfer path 10 is abnormal. That is, the determination unit 82 inputs the determination data generated in step S22 into the learned model selected in step S23. Then, the determination unit 82 determines whether an abnormality has occurred in the transfer path 10 based on the output value of the learned model. When it is determined that an abnormality has occurred in the transfer path 10, the determination unit 82 estimates the position of the abnormal location based on the position information of the identifier 61 included in the time-series data. After step S24, the process ends.

[0065] The effects of this embodiment will be described. Here, the case where in the transfer system, the transfer path 12 is arranged continuously to the transfer path 11 and an abnormality has occurred in the part of the transfer path 11 between the stopper 40 and the processing device 30 will be described. Assume that the location where the abnormality has occurred is the abnormal location P. In this case, the time-series data of the sensor unit 70 is, for example, as Figure 6 shown. The abnormality of the transfer path 11 here is, for example, the unevenness of the upper surface of the transfer path 11 caused by the slack of the chain conveyor.

[0066] Figure 6 Shows the time-series data when the tray 21 enters the transfer path 11 and no tray 20 is stopped by the stopper 40. In addition, Figure 6The uppermost curve in [the figure] shows the operation of the stoppers 40, 41, and 42. In addition, Figure 6 represents the time-series data from when the tray 21 enters the transfer path 11 until the stop at the stopper 42 ends and the tray 21 starts moving again.

[0067] When the tray 21 enters the transfer path 11, the stopper 40 operates, and the tray 21 contacts the stopper 40 at time t1. As a result, in step S11, a negative acceleration in the X direction is detected by the acceleration sensor 73. In addition, an image of the identifier 61a is captured by the reading unit 71, and in step S13, the start time of reading the identifier 61a, that is, time t1, is stored. During the period when the tray 21 stops, the capture of the identifier 61a continues.

[0068] When the stopper 40 is removed and the movement of the tray 21 starts again at time t2, a positive acceleration in the X direction is detected by the acceleration sensor 73 in step S11. In addition, the capture of the identifier 61a by the reading unit 71 ends. During the period until the capture of the identifier 61a ends, the storage of the time in step S13 continues, and the sensor unit 70 stores the end time of reading the identifier 61a, that is, time t2.

[0069] After the tray 21 starts moving again, it moves at a constant speed and passes through the abnormal location P at times t3 to t4. Thus, in step S11, accelerations in the X direction and the Z direction are detected by the acceleration sensor 73.

[0070] After the tray 21 passes through the abnormal location P, it moves at a constant speed toward the processing device 30. When the tray 21 reaches near the processing device 30, the stopper 41 operates, and the tray 21 contacts the stopper 41 at time t5. Thus, in step S11, a negative acceleration in the X direction is detected by the acceleration sensor 73.

[0071] When the stopper 41 is removed and the movement of the tray 21 starts again at time t6, a positive acceleration in the X direction is detected by the acceleration sensor 73 in step S11. After the tray 21 starts moving again, it moves at a constant speed and enters the transfer path 12.

[0072] When the tray 21 enters the transfer path 12, the stopper 42 operates, and the tray 21 contacts the stopper 42 at time t7. Thus, in step S11, a negative acceleration in the X direction is detected by the acceleration sensor 73. In addition, the identifier 61d is captured by the reading unit 71, and in step S13, the start time of reading the identification code 61d, that is, time t7, is stored.

[0073] When the stopper 42 is removed and the movement of the tray 21 resumes at time t8, in step S11, a positive acceleration in the X direction is detected by the acceleration sensor 73. In addition, the imaging of the identifier 61d by the end reading unit 71 ends. During the period until the imaging of the identifier 61d ends, the storage of the time in step S13 continues, and the sensor unit 70 stores the end time of the reading of the identifier 61d, that is, time t8.

[0074] If the time series data is generated in step S21 in this way Figure 6 then, in step S22, determination data is generated as follows. That is, based on the start time t1 and end time t2 of the reading of the identifier 61a stored in the sensor unit 70, the portion of the time series data from time t1 to t2 is identified as stop-time data and excluded from the time series data. In addition, based on the start time t7 and end time t8 of the reading of the identifier 61d stored in the sensor unit 70, the portion of the time series data from time t7 to t8 is identified as stop-time data and excluded from the time series data. Thus, the Figure 7 shown determination data is generated.

[0075] In Figure 7 the shown determination data, the data during the period when the tray 21 is stopped by the stoppers 40 and 42 is excluded. On the other hand, the data when the tray 21 passes through the abnormal location P and the data when the tray 21 is stopped by the stopper 41 near the processing device 30 are not excluded and are retained. By inputting this determination data into the learned model, an abnormality in the transfer path 10 is detected. In addition, the position of the abnormal location P is calculated based on the time when the tray 21 passes through the abnormal location P and the time by the stopper 41 in the determination data.

[0076] In addition, an abnormality such as a decrease in the transfer speed can be detected based on the time stored in step S13. For example, by storing Figure 6 the time t2 and time t7, the transfer speed from the stopper 40 to the stopper 42 can be calculated, and it can be determined whether the transfer speed is within the normal range.

[0077] Figure 8 is the time series data indicating that when the tray 21 enters the transfer path 11, there are multiple trays 20 mixed on the conveying path 11, and the tray 21 is the third in the column of trays 20 stopped by the stopper 40. In Figure 8 it represents the time series data from when the tray 21 enters the transfer path 11 until the stop by the stopper 41 ends and the tray 21 starts moving again.

[0078] If the tray 21 enters the transfer path 11, the stopper 40 operates to stop the two trays 20. At time t9, the tray 21 contacts the second tray 20 from the beginning. As a result, in step S11, a negative acceleration in the X direction is detected by the acceleration sensor 73. In addition, the reading unit 71 captures the identifier 61c, and stores the start time of reading the identifier 61c, i.e., time t9, in step S13.

[0079] If the stopper 40 is removed and the trays 20 from the beginning start moving again in sequence, and the tray 21 starts moving again at time t10, then a positive acceleration in the X direction is detected by the acceleration sensor 73 in step S11. In addition, the shooting of the identifier 61c by the reading unit 71 ends. The sensor unit 70 stores the end time of reading the identifier 61c, i.e., time t10.

[0080] If the first tray 20 passes the stopper 40, the stopper 40 operates, the second tray 20 contacts the stopper 40 and stops, and the tray 21 contacts this tray 20 at time t11. As a result, a negative acceleration in the X direction is detected by the acceleration sensor 73 in step S11. In addition, the reading unit 71 captures the identification code 61b, and stores the start time of reading the identifier 61b, i.e., time t11, in step S13.

[0081] If the stopper 40 is removed and the first tray 20 starts moving again, and the tray 21 starts moving again at time t12, then a positive acceleration in the X direction is detected by the acceleration sensor 73 in step S11. In addition, the shooting of the identifier 61b by the reading unit 71 ends. The sensor unit 70 stores the end time of reading the identifier 61b, i.e., time t12.

[0082] If the first tray 20 passes the stopper 40, the stopper 40 operates, and the tray 21 contacts the stopper 40 at time t13. As a result, a negative acceleration in the X direction is detected by the acceleration sensor 73 in step S11. In addition, the reading unit 71 captures the identifier 61b, and stores the start time of reading the identifier 61a, i.e., time t13, in step S13.

[0083] If the stopper 40 is removed and the movement of the tray 21 starts again at time t14, then a positive acceleration in the X direction is detected by the acceleration sensor 73 in step S11. In addition, the shooting of the identifier 61a by the reading unit 71 ends. The sensor unit 70 stores the end time of reading the identifier 61a, i.e., time t14.

[0084] After the tray 21 starts moving again, it moves at a constant speed and passes through the abnormal location P at times t15 - t16. As a result, accelerations in the X direction and Z direction are detected by the acceleration sensor 73 in step S11.

[0085] After passing the abnormal point P, the tray 21 moves toward the processing device 30 at a constant speed. When the tray 21 reaches the vicinity of the processing device 30, the stopper 41 operates, and at time t17 the tray 21 contacts the stopper 41. Thus, in step S11, the acceleration sensor 73 detects negative acceleration in the X direction.

[0086] If the stopper 41 is removed and the movement of the tray 21 resumes at time t18, the acceleration sensor 73 detects positive acceleration in the X direction in step S11. After the tray 21 resumes movement, it moves at a constant speed and enters the transport path 12.

[0087] Afterwards, with Figure 6 Similarly, data from the time when the tray 21 enters the conveying path 12 and is stopped by the stopper 42 until the tray 21 starts moving again is acquired.

[0088] If in this way the Figure 8 If there is time series data, then in step S22, judgment data is generated as follows. That is, based on the reading start time t9 and the end time t10 of the identifier 61c stored in the sensor unit 70, the portion of the time series data from time t9 to t10 is identified as stop data and is excluded from the time series data. In addition, based on the reading start time t11 and the end time t12 of the identifier 61b stored in the sensor unit 70, the portion of the time series data from time t11 to t12 is identified as stop data and is excluded from the time series data. In addition, based on the reading start time t13 and the end time t14 of the identifier 61a stored in the sensor unit 70, the portion of the time series data from time t13 to t14 is identified as stop data and is excluded from the time series data. In addition, based on the reading start time and the end time of the identifier 61d stored in the sensor unit 70, the portion of the period during which the stopper 42 is stopped is identified as stop data and is excluded from the time series data. Thus, a judgment data is generated as follows. Figure 7 The judgment data shown is the same data.

[0089] That is, in this embodiment, the length of the determination data can be aligned when there is space in front of the tray 21 or when other trays 20 are mixed in front of the tray 21 and the stop time of the tray 21 is prolonged due to the stopper 40 etc.

[0090] As described above, in the transfer system, the pallet 20 waiting to be processed by the processing device 30 is stopped by the stopper 40. In addition, the pallet 20 waiting to switch the transfer path is stopped by the stopper 42. Further, in a transfer path (not shown), the pallet 20 waiting to transfer the workpiece 100 to another pallet is stopped by a stopper (not shown). And the time required for these stops irregularly varies within a wide range from several hundred milliseconds to several tens of seconds or minutes according to the number of pallets 20 arranged in the column of the stopper.

[0091] Therefore, if the determination data is generated in a state where the stop-time data is included in the time-series data of the sensor unit 70, the length of the determination data changes every time the sensor unit 70 makes a patrol. Such data is difficult to be used as input data for the learned model, and thus it is difficult to determine an abnormality.

[0092] However, as in the present embodiment, by identifying the stop-time data and excluding it from the time-series data, and by setting the length of the determination data to the same format, it is possible to obtain determination data that is easy to use. Therefore, the comparison and analysis of the data become easy, and the abnormality determination becomes easy.

[0093] As described above, in the present embodiment, the stop-time data is identified based on the data obtained by the sensor unit 70. Thereby, the deviation of the data amount of the determination data can be reduced, and thus the abnormality determination of the transfer path 10 can be easily performed.

[0094] In addition, according to the above embodiment, the following effects can be obtained.

[0095] (1) The identification unit 81 identifies the stop-time data from the time-series data acquired by the sensor unit 70. Accordingly, by excluding the stop-time data from the time-series data, the time length of the determination data can be made consistent.

[0096] (2) The sensor unit 70 acquires the data of the position of the pallet 21, and the identification unit 81 identifies the stop-time data based on this data. Accordingly, the abnormality determination can be performed by excluding the stop-time data from the position data.

[0097] (3) The sensor unit 70 acquires the acceleration data of the pallet 21, and the identification unit 81 identifies the stop-time data based on this data. The acceleration detected when the pallet 21 contacts the stoppers 40 and 42 or contacts the pallet 20 stopped by the stoppers 40 and 42 is an acceleration generated independently of the abnormality in the transfer path 10 and becomes noise in the determination data. By identifying and excluding the stop-time data from the acceleration data, the above noise can be removed.

[0098] (4) It is provided with a display unit 60 which displays an identifier 61 for identifying the position of the tray 21. The sensor unit 70 is provided with a reading unit 71 for reading the identifier 61. The identification unit 81 identifies the stop-time data based on the data generated by the reading unit 71 reading the identifier 61.

[0099] For example, a method of identifying the stop-time data by associating all the stopper signals in the conveying system with the signals of the sensor unit 70 can be considered. However, this method complicates the system and increases the manufacturing cost, etc. In this embodiment, since the stop-time data can be identified based on the data obtained by the reading unit 71, the system can be simplified and the cost can be reduced.

[0100] (5) The reading unit 71 is composed of a camera that photographs the identifier 61. By configuring the reading unit 71 with a camera, it is possible to non-contact distinguish between a stop and a constant-speed movement that cannot be distinguished by the acceleration sensor 73 and the angular velocity sensor 74.

[0101] In addition, it can also be considered to detect the position of the tray 21 by measuring the distance to the stopper 40 etc. using, for example, an ultrasonic sensor, and distinguish between a stop and a constant-speed movement. However, since the transmission signal of the ultrasonic sensor may interfere with the reception signal of the sound sensor 75, it is difficult to use the ultrasonic sensor and the sound sensor 75 together. By configuring the reading unit 71 with a camera, it is possible to easily use the reading unit 71 and the sound sensor 75 together.

[0102] Alternatively, for example, it can also be considered to set up an RF (radio frequency) tag and a wireless communication circuit to replace the identifier 61 and the reading unit 71, and detect the position of the tray 21 by using radio waves to read the information stored in the RF tag, and distinguish between a stop and a constant-speed movement. However, since the radio waves used in the RF tag have a wide directivity, it is difficult to detect the detailed position of the tray 21 when the trays 20 stopped by the stopper 40 etc. are arranged at a narrow pitch. By configuring the identification code 61 with a two-dimensional code such as a QR code and configuring the reading unit 71 with a camera, the detailed position of the tray 21 can be detected.

[0103] In addition, the combination of a two-dimensional code such as a QR code constituting the identifier 61 and a camera constituting the reading unit 71 has been widely popularized in communication devices such as smartphones. The operator knows the precautions regarding the adhesion of dirt etc., so the introduction threshold is very low. In addition, by configuring the identifier 61 with a two-dimensional code, after pasting the sticker printed with the identifier 61 on the wall etc., no special maintenance is required, thus reducing the maintenance cost of the conveying system.

[0104] In addition, when the reading unit 71 is composed of a camera, data processing is performed in conjunction with other sensors, making it easier to detect a failure in the reading unit 71 and enabling measures such as replacing the camera module to be taken earlier. Further, by performing pattern matching on the image captured by the reading unit 71, it is possible to calculate the deviation between the designed stop position and the actual stop position of the stopper 40 or the like, thereby enabling detection of functional degradation of the stopper 40 or the like. Moreover, by suppressing the shooting cycle and image quality according to the position detection cycle of the tray 21 and the size of the identifier 61 required for analyzing time-series data, the amount of data can be reduced.

[0105] (6) The reading unit 71 is provided on the tray 21, and the display unit 60 is provided corresponding to the number and position of the trays 20 stopped by the stoppers 40 and 42. By setting the display unit 60 according to the expected number of stalled trays 20, the recognition accuracy of the data at the time of stop can be improved.

[0106] (7) The sensor unit 71 includes an illuminance sensor 72 that measures the illuminance of the display unit 60. Thereby, it is possible to use the measured value of the illuminance sensor 72 to determine whether the display unit 60 is in a state where the identifier 61 can be correctly read by the reading unit 71.

[0107] (8) The identification unit 81 uses the data during the period when the identifier 61 is read by the reading unit 71 as the data at the time of stop. Accordingly, the data at the time of stop can be accurately identified.

[0108] (9) The determination unit 82 determines the state of the transfer path 10 based on the determination data generated by excluding the data at the time of stop from the data acquired by the sensor unit 70. Accordingly, the determination accuracy of abnormalities in the transfer path 10 or the like is improved.

[0109] (Second Embodiment)

[0110] The second embodiment will be described. The difference between this embodiment and the first embodiment is that the positions of the display unit 60 and the reading unit 71 are changed, and other aspects are the same as those of the first embodiment. Therefore, only the parts different from the first embodiment will be described.

[0111] As Figure 9 shown, in this embodiment, the display unit 60 is provided on each tray 20. Information on the tray 20 on which the display unit 60 is provided is stored in the identifier 61.

[0112] In addition, in this embodiment, the reading unit 71 is arranged near the transfer path 10. One or more reading units 71 are provided for one stop location. Although there is no limit to the number of reading units 71, it is preferable that the number of prepared reading units 71 is the same as the expected number of stalled trays 20.

[0113] In Figure 9 In the example shown, the three reading units 71 are arranged in front of the stopper 40 on the transfer path 11. These three reading units 71 are referred to as reading units 71a to 71c in the order of approaching the stopper 40.

[0114] In step S12 of the present embodiment, it is determined whether the identifier 61 is read by any one of the plurality of reading units 71 in the transfer system. Then, in step S13, the position information of the reading unit 71 that has read the identifier 61, the information of the read identifier 61, and the time when the identifier 61 is read are acquired.

[0115] For example, as Figure 9 shown, when the tray 21 is stopped by the stopper 40, by reading the identifier 61 of the tray 21 by the reading unit 71a, it is possible to acquire the information that the tray 21 is at the beginning of the column of the tray 20 stopped by the stopper 40.

[0116] Similarly, when the reading unit 71b reads the identifier 61 of the tray 21, the information that the tray 21 is the second in the column of the tray 20 stopped by the stopper 40 is acquired. In addition, when the reading unit 71c reads the identifier 61 of the tray 21, the information that the tray 21 is the third in the column of the tray 20 stopped by the stopper 40 is acquired.

[0117] The time series data includes information related to the stop position of the tray 21 and the like. Then, in step S22, based on this information, the stop-time data is identified and excluded from the time series data.

[0118] The display unit 60 can be provided only on the tray 21, or can be provided on a part or all of the other trays 20 in the transfer path in addition to being provided on the tray 21. By providing the display unit 60 on the other trays 20 as well, it is possible to grasp the progress of the other trays 20, and it is possible to cope with unconventional situations such as the stop of the tray 20, the mid-course removal of the product, and reloading due to, for example, malfunction of the processing device 30. In addition, by analyzing the stagnation time of the tray 20, it is possible to improve the bottleneck process and increase the production efficiency. Thus, the reading result of the identifier 61 can be used not only for the abnormality determination of the transfer path 10, but also for product lot management and tracking.

[0119] Since the present embodiment has the same configuration and operation as the first embodiment, the same effects as the first embodiment can be obtained.

[0120] In addition, according to the above embodiment, the following effects can be obtained.

[0121] (1) The display unit 60 is provided on the tray 21, and the reading unit 71 is provided corresponding to the number and positions of the trays 20 stopped by the stoppers 40, 42. In such a configuration, by providing the display unit 60 not only on the tray 21 but also on other trays 20 on the conveyance path, it is possible to grasp the progress of the other trays 20.

[0122] (Other embodiments)

[0123] In addition, the present disclosure is not limited to the above-described embodiments and can be appropriately modified. Further, in each of the above-described embodiments, it goes without saying that the elements constituting the embodiments are not necessarily essential, unless specifically stated as essential or clearly considered essential in principle, etc. Also, in each of the above-described embodiments, when referring to numerical values such as the number, numerical value, quantity, range, etc. of the constituent elements of the embodiment, it is not limited to the specific numerical value, unless specifically stated as essential or clearly limited in number in principle, etc.

[0124] The control unit and method described in the present disclosure can be implemented by a dedicated computer, which is implemented by a processor and a memory programmed to execute one or more functions implemented by a computer program. Alternatively, the control unit and method described in the present disclosure can be implemented by a dedicated computer, which is implemented by a processor using one or more dedicated hardware logic circuits. Alternatively, the control unit and method described in the present disclosure can be implemented using one or more dedicated computers, which are composed of the following combinations: a combination of a processor programmed to execute one or more functions and a memory and a processor composed of one or more hardware logic circuits. The computer program can also be stored as instructions executed by a computer on a computer-readable non-transitory tangible recording medium.

[0125] (Viewpoint of the present disclosure)

[0126] [First viewpoint]

[0127] A conveyance system includes:

[0128] Conveyors (20, 21) moving on a conveyance path (10, 11, 12, 13);

[0129] A sensor unit (70) that acquires data related to the conveyors; and

[0130] An identification unit (81) that identifies stop-time data generated due to the stop of the conveyors from the data acquired by the sensor unit.

[0131] [Second viewpoint]

[0132] The conveyance system according to the first viewpoint, wherein

[0133] The recognition unit recognizes the stop data from the time series data acquired by the sensor unit.

[0134] [Third perspective]

[0135] The transfer system according to the first or second perspective, wherein

[0136] the sensor unit acquires data on the position of the transfer body,

[0137] the recognition unit recognizes the stop data from the data on the position.

[0138] [Fourth perspective]

[0139] The transfer system according to any one of the first to third perspectives, wherein

[0140] the sensor unit acquires data on the acceleration of the transfer body,

[0141] the recognition unit recognizes the stop data from the data on the acceleration.

[0142] [Fifth perspective]

[0143] The transfer system according to any one of the first to fourth perspectives, wherein

[0144] the transfer system includes a display unit (60) that displays an identifier (61) for identifying the position of the transfer body,

[0145] the sensor unit includes a reading unit (71) that reads the identifier,

[0146] the recognition unit recognizes the stop data based on the data generated by the reading unit reading the identifier.

[0147] [Sixth perspective]

[0148] The transfer system according to the fifth perspective, wherein

[0149] the reading unit is formed by a camera that captures the identifier.

[0150] [Seventh perspective]

[0151] The transfer system according to the fifth or sixth perspective, wherein

[0152] the transfer path includes a stop unit (40, 42) that stops the transfer body,

[0153] the reading unit is provided on the transfer body,

[0154] The display unit is provided corresponding to the number and position of the conveyors stopped by the stopping unit.

[0155] [Eighth Aspect]

[0156] A conveying system as described in the fifth or sixth aspect, wherein

[0157] the conveying path is provided with stopping units (40, 42) for stopping the conveyors,

[0158] the display unit is provided on the conveyors,

[0159] the reading unit is provided corresponding to the number and position of the conveyors stopped by the stopping unit.

[0160] [Ninth Aspect]

[0161] A conveying system as described in any one of the fifth to eighth aspects, wherein

[0162] the sensor unit includes an illuminance sensor (72) for detecting the illuminance of the display unit.

[0163] [Tenth Aspect]

[0164] A conveying system as described in any one of the fifth to ninth aspects, wherein

[0165] the identification unit sets the data during the period when the identifier is read by the reading unit as the data at the time of stopping.

[0166] [Eleventh Aspect]

[0167] A conveying system as described in any one of the first to tenth aspects, wherein

[0168] the conveying system includes a determination unit (82) that determines the state of the conveying path based on determination data generated by excluding the data at the time of stopping from the data acquired by the sensor unit.

Claims

1. A conveying system, characterized in that, Comprising: Transporters (20, 21) moving on a transport path (10, 11, 12, 13); A sensor unit (70) that acquires data related to the transporter; And An identification unit (81) that identifies stop-time data generated due to the stop of the transporter from the data acquired by the sensor unit.

2. The transport system according to claim 1, wherein The identification unit identifies the stop-time data from the time-series data acquired by the sensor unit.

3. The transport system according to claim 1 or 2, wherein The sensor unit acquires data on the position of the transporter, The identification unit identifies the stop-time data from the position data.

4. The transport system according to claim 1 or 2, wherein The sensor unit acquires data on the acceleration of the transporter, The identification unit identifies the stop-time data from the acceleration data.

5. The transport system according to claim 1 or 2, wherein The transport system includes a display unit (60) that displays an identifier (61) for identifying the position of the transporter, The sensor unit includes a reading unit (71) that reads the identifier, The identification unit identifies the stop-time data based on the data generated by the reading unit reading the identifier.

6. The transport system according to claim 5, wherein The reading unit is formed by a camera that captures the identifier.

7. The transport system according to claim 5, wherein The transport path has stop units (40, 42) that stop the transporter, The reading unit is provided on the transporter, The display unit is provided corresponding to the number and position of the transporters stopped by the stop units.

8. The transport system according to claim 5, wherein The transport path has stop units (40, 42) that stop the transporter, The display unit is provided on the transporter, The reading unit is provided corresponding to the number and position of the transporters stopped by the stop units.

9. The transport system according to claim 5, wherein The sensor unit includes an illuminance sensor (72) that detects the illuminance of the display unit.

10. The transport system according to claim 5, wherein The identification unit sets the data during the period when the identifier is read by the reading unit as the stop-time data.

11. The transport system according to claim 1 or 2, wherein The transport system includes a determination unit (82) that determines the state of the transport path based on determination data generated by excluding the stop-time data from the data acquired by the sensor unit.

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