Conveying system

Abstract

The conveying system has: movable parts; multiple fixed parts; multiple drive devices (D9 to D11) that drive the fixed parts; and a host controller (40) that controls the drive devices. In the drive devices, the internal circuits of the drive devices are daisy-chained in parallel with the converter (C23) of the managed object on the main circuit power line (EP3) that transmits power from the power source used when driving the fixed parts. The drive devices are daisy-chained from the host controller on the control detection signal line (L2) that transmits signals between the host controller and the host controller. In the host controller, power is supplied from the main circuit power source to the drive devices by controlling the converter. The drive devices connected to the converter are determined by receiving the power supply voltage value detected by the drive devices. The connection structure of the connected drive devices is detected by sending and receiving signals between the drive devices and the connected drive devices to determine the connection sequence of the connected drive devices.

Description

Technical Field

[0001] This invention relates to a conveying system with a linear motor. Background Technology

[0002] In automated assembly lines for industrial products and food packaging lines, a conveying system is used to transport work objects (workpieces, etc.) placed on trolleys that are movable parts between multiple workstations within or between production lines.

[0003] In recent years, a widely used conveyor system divides the conveyor line into multiple control zones, equips each control zone with a control device, and enables movable parts to move between the control zones. One type of this conveyor system is the moving-magnet linear motor.

[0004] Moving-magnet linear motors, with magnets in the moving parts and coils in the stationary parts, are suitable for long-stroke transport compared to moving-coil linear motors that connect wires to the trolley. Such moving-magnet linear motors require multiple coils corresponding to the stroke length when a drive stroke longer than the size of the moving parts is needed.

[0005] As one of the technologies that utilize this type of moving-magnet linear motor, there is a technology that continuously arranges multiple linear track modules with coils and drive devices to transport multiple trolleys on the same track over long distances.

[0006] In conveyor systems employing this technology, the converter is typically connected to the motor's drive power supply, aiming to connect multiple drive devices to a single converter. However, user configurations are not unique, therefore product specifications are based on worst-case scenarios. That is, the number of drive devices allowed to be connected to a single converter is set to a minimum in the product specifications. Consequently, for most users, achieving high-specification product specifications sometimes unnecessarily increases the number of converters, thus necessitating a desire to appropriately connect drive devices while reducing the number of converters.

[0007] Regarding the peripheral device of the programmable controller in Patent Document 1, the connection structure of the network communication path is displayed as image graphic information. If the user selects an image name from the image graphic information, the programmable controller corresponding to the selected image name is set as the connection target of the peripheral device.

[0008] Patent Document 1: Japanese Patent No. 3587099 Summary of the Invention

[0009] However, in the technology of the aforementioned Patent Document 1, there is a problem that the connection structure of the drive device cannot be detected if the user has not prepared information about the connection structure of the drive device in advance.

[0010] The present invention was made in view of the above-mentioned problems, and its object is to provide a conveying system that can detect the connection structure of the drive device even when the user has not prepared information about the connection structure of the drive device in advance.

[0011] To solve the aforementioned problems and achieve the objective, the conveying system of the present invention comprises: at least one movable member; a plurality of fixed members arranged along the path of movement of the movable member; a plurality of drive devices that drive the fixed members; and a host controller that controls the drive devices. In the drive devices, on the main circuit power line from the power source used to drive the fixed members (i.e., the main circuit power source), the drive devices are daisy-chained in parallel with the internal circuits of the drive devices, starting from the converter of the managed object. Furthermore, on the signal line transmitting signals between the host controller and the host controller, the drive devices are daisy-chained from the host controller. In the host controller, power is supplied from the main circuit power source to the drive devices by controlling the converter. The host controller determines the drive devices connected to the converter (i.e., the connected drive devices) by receiving power supply voltage values ​​detected by the drive devices connected to the converter. It detects the connection structure of the connected drive devices by determining the connection sequence of the connected drive devices by sending and receiving signals between the host controller and the connected drive devices.

[0012] The effects of the invention

[0013] The conveying system of the present invention achieves the following effect: the connection structure of the drive device can be detected even when the user has not prepared information about the connection structure of the drive device in advance. Attached Figure Description

[0014] Figure 1 This is a diagram showing the general structure of the conveying system according to Embodiment 1.

[0015] Figure 2 This is a diagram illustrating a structural example of the conveying system according to Embodiment 1.

[0016] Figure 3 This is a flowchart illustrating the processing flow performed by the conveying system according to Embodiment 1.

[0017] Figure 4 This is a diagram illustrating a structural example of the drive device included in the conveying system according to Embodiment 1.

[0018] Figure 5This is a flowchart illustrating the process by which the host controller in Implementation 1 determines the connection sequence of the drive devices.

[0019] Figure 6 This is a diagram illustrating the correspondence between the regenerative circuit that operates under the control of the host controller according to Embodiment 1 and the current detection circuit that detects the current value.

[0020] Figure 7 This is a diagram showing other structural examples of the drive device in the conveying system according to Embodiment 1.

[0021] Figure 8 This is a diagram illustrating a structural example of the drive device in the conveying system according to Embodiment 2.

[0022] Figure 9 This is a flowchart illustrating the process flow of the upper controller in Implementation 2 determining the connection sequence of the drive devices.

[0023] Figure 10 This is a diagram illustrating the wiring status of the conveying system according to Embodiment 3 before the wiring status is detected.

[0024] Figure 11 This is a diagram used to illustrate the wiring state after the wiring state has been changed relative to the conveying system involved in Embodiment 3.

[0025] Figure 12 This is a diagram illustrating a structural example of the learning device included in the delivery system according to Embodiment 4.

[0026] Figure 13 This is a flowchart illustrating the processing flow of the learning process performed by the learning device according to Embodiment 4.

[0027] Figure 14 This is a diagram illustrating a structural example of the inference device included in the conveying system according to Embodiment 4.

[0028] Figure 15 This is a flowchart illustrating the processing flow of the reasoning process performed by the reasoning device according to Embodiment 4.

[0029] Figure 16 This is a diagram illustrating a structural example of the processing circuit in the case where the processing circuit of the host controller involved in embodiments 1 to 4 is implemented by a processor and a memory.

[0030] Figure 17 This is a diagram illustrating an example of a processing circuit in the case where the processing circuit of the host controller involved in embodiments 1 to 4 is constructed using dedicated hardware. Detailed Implementation

[0031] The conveying system according to embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0032] Implementation Method 1

[0033] Figure 1 This is a diagram showing the schematic structure of the conveying system according to Embodiment 1. Figure 1 The diagram shows a structural example of a conveyor system 10, which is configured with a moving magnetic linear motor in a track-like configuration.

[0034] The conveying system 10 is a system in which a movable part 11 is moved along a conveying path by multiple drive devices Dn. The conveying system 10 of Embodiment 1 detects the connection structure of the drive devices Dn.

[0035] The conveying system 10 includes a control device 200, a drive device Dn, at least one movable member 11, and multiple linear track modules 105. The linear track module 105 includes a fixing member 12, a guide rail 13, and a guide module 14 arranged on the path of movement of the movable member 11.

[0036] In the conveying system 10, a magnet (not shown) is provided on the movable part 11 of the moving magnet type linear motor, i.e., the trolley, and a coil (not shown) is provided on the fixed part 12.

[0037] In addition, in the conveying system 10, the guide rail 13 and the fixing member 12 are fixed to the guide module 14 for use. The guide rail 13 is a machine part used to make the movable member 11 move smoothly and without shaking along the direction of the track.

[0038] By connecting multiple linear track modules 105 that combine guide rails 13, fasteners 12 and guide modules 14, a conveying system 10 with various paths can be constructed.

[0039] To enable the movable element 11 to move, the drive device Dn drives the fixed element 12 by supplying electricity to the coil of the fixed element 12. The drive device Dn is configured within the track, for example, together with the linear track module 105.

[0040] Furthermore, the drive device Dn can also be an integral part of the linear track module 105. Alternatively, the drive device Dn can be configured completely separately from the linear track module 105. Alternatively, the drive device Dn can be configured within the control device 200, which is located remotely from the linear track module 105.

[0041] The control device 200 is, for example, a control panel. The control device 200 generates power from a power source (the main circuit power source described later) used to drive the movable member 11 and sends it to the drive device Dn. Furthermore, the control device 200 is connected to the drive device Dn and controls the drive device Dn. As a result, the drive device Dn supplies power to the coil of the fixed member 12, and the movable member 11 moves on the guide rail 13. In Embodiment 1, the control device 200 detects the connection structure of the drive device Dn by transmitting and receiving signals with it.

[0042] Figure 2 This is a diagram illustrating a structural example of the conveying system according to Embodiment 1. Figure 2 The diagram shows an example of the connection structure of the drive device for detecting the connection structure by the conveying system 10 and an example of the structure of the control device 200. Figure 2 The illustrations of movable part 11 and linear track module 105 are omitted.

[0043] The conveying system 10 receives power from a commercial power source, i.e., AC power source 1 (the control circuit power source and main circuit power source described later). The conveying system 10 has a control device 200 and a drive device Dn, the control device 200 detecting the connection structure of the drive device Dn. Figure 2 The diagram shows the case where the drive device Dn is 11 drive devices D1 to D11, but the drive device Dn can be less than or equal to 10 or greater than or equal to 12.

[0044] The control device 200 includes multiple control devices, converters for multiple managed objects, and a host controller 40. Figure 2 The diagram shows a control device 200 with three control devices 31 to 33, but the number of control devices can be less than or equal to two, or greater than or equal to four. Additionally, in... Figure 2 The diagram shows the control device 200 with three converters C21 to C23, but the number of converters can be less than or equal to two, or greater than or equal to four. Since the converters are connected one-to-one with the control devices, the number of converters in the conveying system 10 is the same as the number of control devices. The conveying system 10 manages the converters C21 to C23 by detecting the connection structure of the drive devices connected to them.

[0045] Control devices 31-33 are connected to the drive power supply for the motor, i.e., AC power supply 1. Additionally, control device 31 is connected to converter C21, control device 32 is connected to converter C22, and control device 33 is connected to converter C23. For converters C21-C23, multiple drive devices are daisy-chained from converters C21-C23.

[0046] The host controller 40 can communicate with the control devices 31-33 and the drive devices D1-D11, and control the control devices 31-33 and the drive devices D1-D11. The host controller 40 controls the converters C21-C23 by controlling the control devices 31-33, and drives the drive devices D1-D11 by controlling the converters C21-C23.

[0047] In the conveying system 10, the control devices 31-33 are controlled by the host controller 40, thereby controlling the converters C21-C23. As a result, in order to drive the fixed member 12 and move the movable member 11, the converters C21-C23 convert the main circuit power supply, supplying the converted main circuit power supply to the drive devices D1-D11. Furthermore, in the conveying system 10, supplying power (control circuit power supply or main circuit power supply) refers to supplying electricity from the power source.

[0048] The control device 200 and the drive devices D1 to D11 are connected by winding the cable. The cable connecting the control device 200 and the drive devices D1 to D11 is the control detection signal line L2. That is, the host controller 40 is connected to the drive devices D1 to D11 through the control detection signal line L2.

[0049] Furthermore, the AC power supply 1 and the drive devices D1 to D11 are connected by winding the cable. The cable connecting the AC power supply 1 and the drive devices D1 to D11 is the control circuit power supply line EX. That is, the AC power supply 1 is connected to the drive devices D1 to D11 through the control circuit power supply line EX.

[0050] In addition, the host controller 40 is connected to the control devices 31-33 via the control signal line L1. The control signal line L1 is a signal line used to send signals (control signals of the control devices), and the host controller 40 uses this signal to control the control devices 31-33.

[0051] When determining the drive devices connected to converters C21 to C23, the host controller 40 sequentially sends control signals for powering on control devices 31 to 33 to converters C21 to C23. That is, the host controller 40 sequentially executes the process for determining the drive devices connected to multiple converters C21 to C23 for each converter.

[0052] If control devices 31-33 receive a control signal to power on converters C21-C23, they power on converters C21-C23. If converters C21-C23 are powered on, the drive device connected to the powered-on converter can detect the power supply voltage value via control detection signal line L2. The drive device that detects the power supply voltage value sends this value to the upper controller 40, which can then identify the drive device connected to the powered-on converter (the connected drive device).

[0053] The control detection signal line L2 is a signal line used to transmit signals between the host controller 40 and the drive devices D1 to D11. The host controller 40 uses the control detection signal line L2 to send control signals such as action commands (power-on signals) to the drive devices D1 to D11. In addition, the drive devices D1 to D11 use the control detection signal line L2 to send response signals (detection signals described later) to the host controller 40.

[0054] The control signal is used by the host controller 40 to control the drive devices D1 to D11. When the host controller 40 detects the connection sequence of drive devices D1 to D11, the control signal sent to drive devices D1 to D11 is an action command. The action command is used by the host controller 40 to connect the main circuit power supply to drive devices D1 to D11.

[0055] If an action command is received, drive devices D1 to D11 turn on the main circuit power. Regardless of whether the main circuit power is turned on, each drive device D1 to D11 detects the current value of the main circuit power supply and sends the detection result as a detection signal to the host controller 40. The detection signal contains information identifying the drive device that sent the detection signal. Therefore, when the host controller 40 receives a detection signal, it can determine which drive device sent the detection signal.

[0056] Drive devices D1 to D11 use control detection signal line L2 to send detection signals to the host controller 40. The detection signal indicates that a current value has been detected (received) and contains information about the current value.

[0057] Drive devices D1 to D11 are connected to AC power supply 1 via control circuit power supply line EX. In addition, control device 31 is connected to AC power supply 1 via main circuit power supply line EP1, control device 32 is connected to AC power supply 1 via main circuit power supply line EP2, and control device 33 is connected to AC power supply 1 via main circuit power supply line EP3.

[0058] The control circuit power supply line EX and the main circuit power supply lines EP1 to EP3 are power supply lines used to send (transmit) the power supplied from AC power source 1 (control circuit power supply and main circuit power supply). The power supplied from AC power source 1 is used to drive and control the linear motors (linear track module 105) of drive devices D1 to D11.

[0059] Drive devices D1 to D11 are daisy-chained to AC power supply 1 via control circuit power line EX, in the order of D11, D10, D9, D8, D7, D6, D5, D4, D3, D2, and D1. As described above, drive devices D1 to D11 are connected to AC power supply 1 in a daisy-chain configuration. Each drive device D1 to D11 on control circuit power line EX uses the power supplied from AC power supply 1 (control circuit power) via control circuit power line EX to control the linear motor.

[0060] The main circuit power line EP1 connects the control device 31, the converter C21, and the drive devices D1 to D4. Specifically, the control device 31 is connected to the converter C21 via the main circuit power line EP1. For the converter C21, the drive devices are daisy-chained, with the internal circuits (such as the regenerative resistor 101, described later) of the drive devices D1 to D4 connected in parallel via the main circuit power line EP1 in the order of drive devices D1, D2, D3, and D4. That is, drive device D2 is connected to drive device D1 via the main circuit power line EP1, drive device D3 is connected to drive device D2 via the main circuit power line EP1, and drive device D4 is connected to drive device D3 via the main circuit power line EP1. Furthermore, for the converter C21, drive devices D1 to D4 are connected in parallel. The connection structure of the converter C21 and drive devices D1 to D4 will be described later.

[0061] As described above, drive devices D1 to D4 are connected to converter C21 in a daisy-chain configuration. Each drive device D1 to D4 on the main circuit power line EP1 uses the power from the main circuit power supply of converter C21, which is transmitted through the main circuit power line EP1, to drive the linear motor.

[0062] Additionally, control device 32, converter C22, and drive devices D5-D8 are connected to the main circuit power line EP2. Specifically, control device 32 is connected to converter C22 via main circuit power line EP2. For converter C22, drive devices D5-D8 are daisy-chained via main circuit power line EP2 in the order of drive devices D8, D7, D6, and D5. That is, drive devices D7 and D8 are connected via main circuit power line EP2, drive devices D6 and D7 are connected via main circuit power line EP2, and drive devices D5 and D6 are connected via main circuit power line EP2. Furthermore, for converter C22, drive devices D5-D8 are connected in parallel. The connection structure of converter C22 and drive devices D5-D8 will be described later.

[0063] As described above, drive devices D5 to D8 are connected to converter C22 in a daisy-chain configuration. Each drive device D5 to D8 on the main circuit power line EP2 uses the power from the main circuit power supply of converter C22, which is transmitted via the main circuit power line EP2, to drive the linear motor.

[0064] Additionally, control device 33, converter C23, and drive devices D9-D11 are connected to the main circuit power line EP3. Specifically, control device 33 is connected to converter C23 via main circuit power line EP3, and drive devices D9-D11 are daisy-chained with converter C23 in the order of D9, D10, and D11. That is, drive device D10 is connected to drive device D9 via main circuit power line EP3, and drive device D11 is connected to drive device D10 via main circuit power line EP3. Furthermore, for converter C23, drive devices D9-D11 are connected in parallel. The connection structure of converter C23 and drive devices D9-D11 will be described later.

[0065] As described above, drive devices D9 to D11 are connected to converter C23 in a daisy-chain configuration. Each drive device D9 to D11 on the main circuit power line EP3 uses the power from the main circuit power supply of converter C23, which is transmitted through the main circuit power line EP3, to drive the linear motor.

[0066] Drive devices D1 to D11 are connected to the host controller 40 via control detection signal line L2. For the host controller 40, drive devices D1 to D11 are daisy-chained to the host controller 40 via control detection signal line L2 in the order of drive devices D11, D10, D9, D8, D7, D6, D5, D4, D3, D2, and D1.

[0067] For example, when the first drive device D1 sends a signal (detection signal, etc.) to the host controller 40 via the control detection signal line L2, the signal is sent to the host controller 40 via the second drive device D2, the third drive device D3, ..., the eleventh drive device D11.

[0068] In addition, when the host controller 40 sends a signal (control signal such as an action command) to the first drive device D1 via the control detection signal line L2, the signal is sent to the first drive device D1 via the 11th drive device D11, the 10th drive device D10, ..., the 2nd drive device D2.

[0069] As described above, in the conveyor system 10, considering the convenience of wiring by the user, the drive devices D1 to D11 are daisy-chained. The connection methods of the control detection signal line L2, the control circuit power line EX, and the main circuit power lines EP1 to EP3 within the conveyor system 10 are arbitrary, but there are restrictions on the connection of drive devices to the main circuit power lines EP1 to EP3. That is, the drive devices that can be connected to the main circuit power lines EP1 to EP3 depend on the allowable capacity of the converters C21 to C23. Therefore, compared to the control circuit power line EX and the control detection signal line L2, the number of devices that can be connected to the main circuit power lines EP1 to EP3 via a single daisy chain is limited. Due to this limitation, the number of drive devices connected to the main circuit power lines EP1 to EP3 from the control detection signal line L2, the control circuit power line EX, and the main circuit power lines EP1 to EP3 is set to be less than a specific number, and the control detection signal line L2 and the control circuit power line EX are set to a single daisy-chain connection.

[0070] In addition, drive devices D1 to D11 are connected to AC power supply 1 via control circuit power line EX. Drive devices D1 to D11 are daisy-chained to AC power supply 1 in the order of drive devices D11, D10, D9, D8, D7, D6, D5, D4, D3, D2, D1.

[0071] Drive devices D1 to D11 use power received from the control circuit power supply line EX (i.e., the control circuit power supply) to perform various controls. Additionally, drive devices D1 to D4 use power received from the main circuit power supply line EP1 (i.e., the main circuit power supply) to supply power to the coil. Furthermore, drive devices D5 to D8 use power received from the main circuit power supply line EP2 (i.e., the main circuit power supply) to supply power to the coil. Finally, drive devices D9 to D11 use power received from the main circuit power supply line EP3 (i.e., the main circuit power supply) to supply power to the coil.

[0072] When the host controller 40 determines the connection sequence of the drive devices D1 to D11 and detects the connection structure, it transmits and receives signals between each converter and the drive device connected to the converter. That is, for each converter, the host controller 40 performs the process of determining the connection sequence of the drive devices connected to converters C21 to C23 and detecting the connection structure of the drive devices.

[0073] Next, the processing flow of the processing performed by the conveying system 10 will be described. Figure 3 This is a flowchart illustrating the processing flow performed by the conveying system according to Embodiment 1.

[0074] In the conveying system 10, such as Figure 2 As shown, after connecting the AC power supply 1, control devices 31-33, converters C21-C23, drive devices D1-D11 and host controller 40, the host controller 40 detects the connection structure in the conveying system 10.

[0075] Specifically, the host controller 40 controls the control device, causing the converter connected to the control device to connect to the main circuit power supply from AC power source 1 (step S10). The host controller 40 first controls the first control device (any of control devices 31-33), thereby causing the converter connected to the first control device (any of converters C21-C23) to connect to the main circuit power supply from AC power source 1. For example, the host controller 40 first controls the control device 31, thereby causing the converter C21 connected to the control device 31 to connect to the main circuit power supply from AC power source 1. The converter C21 converts the power from the main circuit power supply and outputs the converted power to the drive devices D1-D4. Thus, power is supplied to the drive devices D1-D4.

[0076] The drive device connected to the converter detects the power supply voltage value and sends the detection result as a detection signal to the upper controller 40 via the control detection signal line L2. For example, when the converter C21 is powered on by the main circuit power, the drive devices D1 to D4 connected to the converter C21 detect the power supply voltage value and send the detection result as a detection signal to the upper controller 40 via the control detection signal line L2.

[0077] Therefore, the host controller 40 obtains the power supply voltage value detected by the drive device connected to the converter (step S20). The host controller 40 obtains, for example, the power supply voltage value detected by the drive devices D1 to D4 connected to the converter C21. In this case, since the drive devices other than drive devices D1 to D4 (here, drive devices D5 to D11) are not powered on by the main circuit, the detected value of the power supply voltage is 0 (no input).

[0078] The host controller 40 obtains the power supply voltage value from the drive device connected to the converter that has been powered on by the main circuit power supply, thereby determining the drive device connected to the converter that has been powered on (step S30). For example, if the host controller 40 powers on the main circuit power supply of the converter C21 and obtains the power supply voltage value from the drive devices D1 to D4, it determines that the drive devices D1 to D4 are connected to the converter C21.

[0079] The host controller 40 determines the connection sequence of the drive devices daisy-chained with the converter that has its main circuit power on (step S40). The host controller 40 determines the connection sequence of the drive devices and detects the connection structure by transmitting and receiving signals with the drive devices daisy-chained with the converter that has its main circuit power on. Specific examples of the method for determining the connection sequence of the daisy-chained drive devices will be described later.

[0080] The host controller 40 determines whether the connection sequence of the drive devices has been determined for all converters (step S50). If there are converters for which the connection sequence of the drive devices has not yet been determined (step S50, No), the host controller 40 controls the next control device to connect the converter connected to that control device to the main circuit power supply from AC power source 1 (step S60). Here, the next control device is a control device that has not been connected to the main circuit power supply from AC power source 1. By connecting the converter connected to the next control device to the main circuit power supply from AC power source 1, power is supplied to the drive devices connected to the converters whose main circuit power is connected.

[0081] Afterwards, the host controller 40 repeats the processing steps S20 to S50. For example, the host controller 40 controls the control device 32, thereby connecting the converter C22 connected to the control device 32 to the main circuit power supply from the AC power supply 1.

[0082] Therefore, the host controller 40 obtains the power supply voltage values ​​detected by the drive devices D5 to D8 connected to the converter C22 (step S20). In addition, the host controller 40 determines the drive devices D5 to D8 connected to the power-on converter C22 by obtaining the power supply voltage values ​​from the drive devices D5 to D8 connected to the power-on converter C22 (step S30).

[0083] The host controller 40 determines the connection sequence of drive devices D5 to D8 that are daisy-chained with the power-on converter C22 (step S40). The host controller 40 determines whether the connection sequence of drive devices has been determined for all converters (step S50).

[0084] The host controller 40 repeats steps S60 and S20 to S50 until the connection sequence of the drive devices is determined for all converters.

[0085] If the host controller 40 determines that the connection sequence of the drive devices has been determined for all converters (step S50, Yes), it generates connection information (step S70) and ends the detection and processing of the connection structure in the conveying system 10.

[0086] The connection information represents the connection structure (connection order) of drive devices D1-D11 relative to converters C21-C23. Here, the host controller 40 generates the representation... Figure 2 The connection information of the connection structure of the drive devices D1 to D11 shown. That is, the connection information generated by the host controller 40 includes the following three types of information.

[0087] The first piece of information included in the connection information is that for converter C21, drive devices D1 to D4 are daisy-chained in the order of drive device D1, drive device D2, drive device D3, and drive device D4.

[0088] The second piece of information included in the connection information is that for converter C22, drive devices D5 to D8 are daisy-chained in the order of drive device D8, drive device D7, drive device D6, and drive device D5.

[0089] The third piece of information included in the connection information is that, relative to converter C23, drive devices D9 to D11 are daisy-chained in the order of drive device D9, drive device D10, and drive device D11.

[0090] As described above, in the conveying system 10, the host controller 40 controls the control devices 31-33, causing one of the converters C21-23 connected to drive devices D1-D11 to turn on the main circuit power. By turning on the main circuit power, the drive device whose main circuit power is turned on uses a circuit that detects the power of the main circuit power (the voltage detection circuit 102 described later) to detect that the main circuit power is on. The drive device sends a detection signal corresponding to this detection result to the host controller 40 via the control detection signal line L2. Thus, the host controller 40 can determine the drive device connected to the converter whose main circuit power is turned on.

[0091] Figure 4 This is a diagram illustrating a structural example of the drive device included in the conveying system according to Embodiment 1. Figure 4 The structure of drive devices D9 to D11 is shown, but drive devices D1 to D8 also have the same structure. Figure 4The connection structure of drive devices D9 to D11 is shown together with the structure of drive devices D9 to D11.

[0092] Drive devices D9 to D11 are connected to control and detection signal line L2, which transmits and receives control signals (action commands, etc.) and detection signals, and to main circuit power line EP3, which receives power from the main circuit power supply of AC power supply 1. Furthermore, in Figure 4 The diagram of the control circuit power line EX is omitted in the text.

[0093] The control detection signal line L2 is connected to the host controller 40, and the main circuit power supply line EP3 is connected to the converter C23. Figure 4 The dashed lines in the diagram show the path of the current corresponding to the power from AC power source 1 (main circuit power supply).

[0094] Drivers D9 through D11 are connected in parallel with respect to converter C23. Drivers D9 through D11 are connected to the P (positive) and N (negative) sides of the main circuit power line EP3. The P side is the plug side, and the N side is the ground side. Figure 4 In the main circuit power line EP3 shown, the main circuit power line EP3 shown in the upper diagram is the P side, and the main circuit power line EP3 shown in the lower diagram is the N side.

[0095] Control detection signal line L2 is a communication line used for bidirectional communication. The control detection signal line L2 extending to the drive device D9 side is connected to drive device D8 (in...). Figure 4 (Not shown in the diagram). Additionally, the control detection signal line L2, which extends to the drive device D11 side, is connected to the host controller 40.

[0096] The drive devices D9 to D11 each have a regenerative resistor 101, a voltage detection circuit 102, an example of a control unit, namely an MPU (Micro Processing Unit) 103, a regenerative switching circuit 104, and a current detection circuit 100.

[0097] The regenerative resistor 101, voltage detection circuit 102, MPU 103, and regenerative switch circuit 104 in the circuits of drive devices D9 to D11 are internal circuits connected in parallel from converter C23. That is, in the transport system 10 of Embodiment 1, drive devices D9 to D11 are daisy-chained by connecting the internal circuits (regenerative resistor 101, voltage detection circuit 102, MPU 103, and regenerative switch circuit 104) of drive devices D9 to D11 in parallel from converter C23. Furthermore, the current detection circuit 100 is not an internal circuit connected in parallel from converter C23.

[0098] Drive devices D9 to D11 have the same structure, therefore the structure of drive device D9 will be described here. Drive device D9 is connected to the main circuit power line EP3 via connection points 110 to 112 and the current detection circuit 100. In addition, drive device D9 is connected to the control detection signal line L2 via connection point 113.

[0099] One end of the regenerative resistor 101 is connected to connection point 110 on the P side, and the other end is connected to one end of the regenerative switching circuit 104. One end of the voltage detection circuit 102 is connected to connection point 111 on the P side, and the other end is connected to the MPU 103. The voltage detection circuit 102 detects the voltage value corresponding to the main circuit power supply and sends the detected voltage value to the MPU 103.

[0100] Furthermore, the drive device D11, which is closest to the host controller 40 in the daisy-chain connection, may not have a connection point 111. That is, in the drive device D11, the main circuit power line EP3 can also be directly connected to the voltage detection circuit 102.

[0101] MPU 103 is connected to connection point 113 on the P side, voltage detection circuit 102, regenerative switching circuit 104 and current detection circuit 100.

[0102] Regenerative switching circuit 104 is connected to regenerative resistor 101 and connection point 112 on the N side. Regenerative switching circuit 104 is a switching circuit used to drive the load of regenerative resistor 101. Regenerative switching circuit 104 is turned on or off according to a signal sent from MPU 103. If regenerative switching circuit 104 is turned on, regenerative resistor 101 is connected to connection point 112; if it is turned off, the connection between regenerative resistor 101 and connection point 112 is broken.

[0103] In the conveying system 10, if the regenerative switch circuit 104 of one drive device is turned on, the converter is connected in series with one or more current detection circuits 100.

[0104] The current sent from converter C23 returns to converter C23 after passing through connection points 110 and 111 of drive device D9, connection points 110 and 111 of drive device D10, connection points 110 and 111 of drive device D11, connection point 112 of drive device D11, connection point 112 of drive device D10, and connection point 112 of drive device D9.

[0105] A current detection circuit 100 is configured on the main circuit power line EP3 within the drive device D9 to detect the current value flowing through the main circuit power line EP3. That is, the current detection circuit 100 detects the current flowing in the path supplying the main circuit power.

[0106] exist Figure 4 The diagram shows the current detection circuit 100 connected on the main circuit power line EP3 to the front end of the N side of the regenerative switching circuit 104 (between contact 112 and converter C23). That is, in... Figure 4 In this circuit, the current detection circuit 100 is connected downstream (to the converter C23 side) on the main circuit power line EP3, compared to the connection point 112 of the regenerative switching circuit 104. The current detection circuit 100 sends the detected current value to the MPU 103.

[0107] Alternatively, the regenerative resistor 101 can be configured externally to the drive device D9. When the regenerative resistor 101 is configured internally to the drive device D9, it is a built-in regenerative resistor; when configured externally, it is an external regenerative resistor. Furthermore, the current detection circuit 100 can also be configured externally to the drive device D9.

[0108] Next, the process flow of the upper controller 40 determining the connection order of the drive devices to be daisy-chained will be explained. Figure 5 This is a flowchart illustrating the process by which the host controller in Implementation 1 determines the connection sequence of the drive devices.

[0109] The host controller 40 sends the command (power-on signal), i.e., the operation command, to the controller via the regenerative switching circuit 104. Figure 3 The processing of the drive devices described above is determined. The host controller 40 sends operation commands to each drive device daisy-chained to the converter via the control detection signal line L2.

[0110] The host controller 40 designates any object converter (any of converters C21 to C23) as the object determining the connection sequence (step S110). For example, the host controller 40 selects one converter C23 as the next object converter.

[0111] The host controller 40 sequentially sends action commands to all drive device groups connected to the object converter. First, the host controller 40 designates any drive device among the drive devices connected to the object converter and sends the action command to the designated drive device (first designated drive device) (step S120). For example, if the object converter is converter C23, the host controller 40 sends a power-on signal, i.e., an action command, to one drive device (e.g., drive device D9) connected to converter C23.

[0112] Upon receiving an operation command, the MPU 103 of the drive device controls the regenerative switching circuit 104, causing it to operate. For example, if the drive device D9, connected to the converter C23, receives an operation command, the MPU 103 of the drive device D9 activates the regenerative switching circuit 104, turning it on. As a result, current flows through the regenerative resistor 101 of the drive device D9 to the main circuit power line EP3.

[0113] If the current detection circuits 100 of the drive devices D9 to D11 connected to the converter C23 detect a current value other than zero, they send the current value to the MPU 103. Each MPU 103 then sends the current value detected by the current detection circuit 100 to the host controller 40.

[0114] As described above, in the conveying system 10, when a specific drive device is operated, the current value of the current flowing through the main circuit power line EP3 is detected by all current detection circuits 100 capable of detecting the current value, and sent to the host controller 40 via the control detection signal line L2.

[0115] Therefore, in the drive devices D9 to D11 connected to the object converter (here, converter C23), all drive devices that detect the current value send the detected current value to the host controller 40 via the control detection signal line L2. The host controller 40 receives the current value from all drive devices that have detected the current value (step S130).

[0116] The host controller 40 determines whether to send an action command to all drive devices connected to the object converter (step S140). If there is a drive device connected to the object converter that has not yet sent an action command (step S140, No), the host controller 40 sends the action command to the next arbitrary drive device connected to the object converter that has not sent an action command (step S150). That is, the host controller 40 designates a drive device (the second designated drive device) that has not yet been designated from among the drive devices connected to the object drive converter.

[0117] For example, when the object converter is converter C23, the host controller 40 sends an action command to the drive device D10 connected to converter C23. Then, steps S130 and S140 are repeated. As described above, the host controller 40... Figure 3 In step S30, steps S130 and S140 are performed for all drive devices determined to be connected to the object converter.

[0118] For example, in the case where the object converter is converter C23, if the host controller 40 sends an operation command to the drive device D10, the MPU 103 of the drive device D10 activates the regenerative switching circuit 104 and turns it on. As a result, current flows through the regenerative resistor 101 of the drive device D10 to the main circuit power line EP3. The current detection circuits 100 of drive device D10 and D9, which are connected to converter C23, detect the current value and send it to the MPU 103.

[0119] The host controller 40 repeats steps S150, S130, and S140 until an action command is sent to all drive devices connected to the object converter. As described above, the host controller 40 repeats the following processes until all drive devices are specified: specifying an unspecified drive device from the drive devices; sending an action command to power on the specified drive device; and receiving current values ​​from the drive devices that detect current.

[0120] When the action command is sent to all drive devices connected to the object converter (step S140, Yes), the host controller 40 determines the connection order of the drive devices connected to the object converter based on the drive devices that have received the current value (step S160).

[0121] The host controller 40 determines whether the connection order of the drive devices has been determined for all converters (step S170). If there are converters among the converters whose connection order has not yet been determined (step S170, No), the host controller 40 designates the next arbitrary object converter as the object to determine the connection order (step S180). For example, the host controller 40 selects one converter C22 as the next object converter.

[0122] Then, the process of steps S120 to S170 is repeated for the next object converter. After determining the connection order of the drive devices for all converters (step S170, Yes), the host controller 40 ends the process of determining the connection order of the drive devices.

[0123] Here, a specific example of the process by which the host controller 40 determines the connection order of the drive devices connected to the object converter based on the drive devices that have received current values ​​will be explained.

[0124] Here, it is explained that... Figure 4The structure shown depicts a daisy-chain connection of drive devices D9 to D11. In this case, if the host controller 40 sends an operation command to drive device D9, the regenerative switching circuit 104 of drive device D9 is activated. As a result, the current flowing from AC power supply 1 on the main circuit power line EP3 flows back to AC power supply 1 via connection point 110, regenerative resistor 101, regenerative switching circuit 104, connection point 112, and current detection circuit 100 within drive device D9. In this case, in the delivery system 10, only the current detection circuit 100 of drive device D9 detects the current value corresponding to the load of the current detection circuit 100 of drive device D9. Furthermore, the host controller 40 only receives the current value from drive device D9.

[0125] Furthermore, if the host controller 40 sends an operation command to the drive device D10, the regenerative switching circuit 104 of the drive device D10 will activate. As a result, the current flowing from the AC power supply 1 to the main circuit power line EP3 flows back to the AC power supply 1 via the connection point 110, regenerative resistor 101, regenerative switching circuit 104, connection point 112, and current detection circuit 100 within the drive device D10. In this case, in the delivery system 10, the current detection circuits 100 of the drive device D10 and D9 detect the current value corresponding to the load of the current detection circuit 100 of the drive device D10. Moreover, the host controller 40 receives the current value from the drive devices D9 and D10.

[0126] Figure 6 This diagram illustrates the correspondence between the regenerative circuit, which operates under the control of the host controller according to Embodiment 1, and the current detection circuit, which detects the current value. The regenerative circuit includes a regenerative resistor 101, a regenerative switch circuit 104, and an MPU 103.

[0127] like Figure 6 As shown, when the upper controller 40 activates the regenerative switching circuit 104 of the drive device D9, the current detection circuit 100 of the drive device D9 detects the current value, while the current detection circuits 100 of the drive devices D10 and D11 do not detect the current value. That is, when the regenerative switching circuit 104 of the drive device D9 is activated, current is detected in the drive device D9, but no current is detected in the drive devices D10 and D11.

[0128] Similarly, when the host controller 40 activates the regenerative switching circuit 104 of drive device D10, the current detection circuits 100 of drive devices D9 and D10 detect the current value, while the current detection circuit 100 of drive device D11 does not detect the current value. That is, when the regenerative switching circuit 104 of drive device D10 is activated, current is detected in drive devices D9 and D10, but no current is detected in drive device D11.

[0129] Similarly, when the host controller 40 activates the regenerative switching circuit 104 of the drive device D11, the current detection circuits 100 of the drive devices D9, D10, and D11 detect the current value. That is, when the regenerative switching circuit 104 of the drive device D11 is activated, current is detected in the drive devices D9, D10, and D11.

[0130] The host controller 40 determines the connection sequence of the drive devices connected to the object converter based on the correspondence between the regenerative circuit that has performed the operation and the current detection circuit 100 that detects the current value.

[0131] For example, the host controller 40 has achieved Figure 6 Given the shown correspondence, it can be determined that drive device D9 is connected to the foremost segment (on the converter C23 side) among drive devices D9, D10, and D11. Furthermore, the host controller 40 can determine that drive device D10 is connected to the subsequent segment of drive device D9 (on the host controller 40 side), and drive device D11 is connected to the subsequent segment of drive device D10. Based on these determinations, the host controller 40 determines the connection order of drive devices D9, D10, and D11 connected to converter C23.

[0132] In the conveying system 10, user settings for detecting the connection structure of the drive device are not required, and additional circuitry for detecting the connection structure of the drive device is also unnecessary. The conveying system 10 can detect the connection structure of the drive device by using circuitry for driving the drive device, etc.

[0133] In the conveying system 10, considering factors such as voltage drop in the cables, radiation such as noise from the cables, reduction in total cable length, and reduction in system cost, it is preferable to arrange the drive devices sequentially. That is, it is preferable that adjacent drive devices in the conveying system 10 are connected to each other via cables. In Embodiment 1, the conveying system 10 detects the connection structure of the drive devices, so the user can easily determine whether the drive devices are properly connected.

[0134] In addition, the current detection circuit 100 can also be configured on the rear side of the drive device. Figure 7This is a diagram illustrating other structural examples of the drive device included in the conveying system according to Embodiment 1. Figure 7 Among the various structural elements, the implementation and Figure 4 Structural elements with the same function in the drive devices D9 to D11 shown are labeled with the same numbers, and repeated descriptions are omitted. Figure 7 In the example shown, the structures of drive devices D9A to D11A are shown as other structural examples of drive devices D9 to D11, but drive devices D1 to D8 may also have the same structure as drive devices D9A to D11A.

[0135] The drive devices D9A to D11A are identical to drive devices D9 to D11, and each has a regenerative resistor 101, a voltage detection circuit 102, an MPU 103, a regenerative switch circuit 104, and a current detection circuit 100.

[0136] Similar to drive devices D9 to D11, the regenerative resistor 101, voltage detection circuit 102, MPU 103, and regenerative switch circuit 104 in the circuits of drive devices D9A to D11A are internal circuits that are connected in parallel from converter C23.

[0137] Furthermore, drive devices D9A to D11A have the same structure, therefore the structure of drive device D9A will be described here. Drive device D9A has the same structural elements as drive device D9.

[0138] exist Figure 7 The current detection circuit 100 is shown in drive device D9A connected to the rear section (connection point 112 and drive device D10A) of the N side of regenerative switching circuit 104 on the main circuit power line EP3. That is, in Figure 7 In the process, the current detection circuit 100 is connected to the upstream side (drive device D10A side) on the main circuit power line EP3, compared to the connection point 112 of the regenerative switch circuit 104.

[0139] The current detection circuit 100 of the drive device D9A is configured on the main circuit power line EP3 and connected to MPU103. For example... Figure 7 As shown, the current detection circuit 100 can detect the current value even if it is configured in the later part of the N side of the regeneration circuit.

[0140] In addition, Figure 4 and Figure 7 The current detection circuit 100 is described in the case where it is configured on the N side, but the current detection circuit 100 can also be configured on the P side.

[0141] In addition, Figure 7As shown, the current detection circuit 100 is also configured for the drive device D11A, which is the furthest from the converter C23. However, the current detection circuit 100 may not be configured in the drive device D11A.

[0142] As shown in drive devices D9A to D11A, when the current detection circuit 100 is configured in the latter part of the N side of the regenerative circuit, the correspondence between the regenerative circuit controlled by the upper controller 40 and the current detection circuit that detects the current value is as follows: Figure 6 The correspondences explained in the text are different.

[0143] The correspondence between the regeneration circuit (where the current detection circuit 100 is located in the latter part of the N side of the regeneration circuit) and the current detection circuit that detects the current value will be explained. For example, when the host controller 40 activates the regeneration switch circuit 104 of the drive device D9A, the current detection circuit 100 of the drive devices D9A to D11A does not detect the current value.

[0144] In addition, when the host controller 40 activates the regenerative switching circuit 104 of the drive device D10A, the current detection circuit 100 of the drive device D9A detects the current value, while the current detection circuits 100 of the drive devices D10A and D11A do not detect the current value.

[0145] In addition, when the host controller 40 activates the regenerative switching circuit 104 of the drive device D11A, the current detection circuits 100 of the drive devices D9A and D10A detect the current value, while the current detection circuit 100 of the drive device D11A does not detect the current value.

[0146] The correspondence between the regeneration circuit when the current detection circuit 100 is configured on the P side and the current detection circuit that detects the current value is the same as the correspondence when the current detection circuit 100 is configured on the N side. That is, when the current detection circuit 100 is configured on the P side and located in the front section of the regeneration circuit (converter C23 side), the correspondence with... Figure 6 The same correspondence applies. Furthermore, when the current detection circuit 100 is configured on the P side and located in the latter part of the regeneration circuit (on the drive device D10 side), the same correspondence can be derived as when the current detection circuit 100 is configured on the N side and located in the latter part of the regeneration circuit.

[0147] As described above, the current detection circuit 100 can be configured on either the upstream or downstream side of the regeneration circuit, allowing for a highly flexible circuit structure to implement the transmission system 10. Furthermore, the current detection circuit 100 can be configured on either the P-side or the N-side of the main circuit power lines EP1 to EP3, again enabling a highly flexible circuit structure to implement the transmission system 10. For example, by configuring the current detection circuit 100 on the P-side of the main circuit power lines EP1 to EP3, the reference voltage can be common to all drive circuits. Additionally, by configuring the current detection circuit 100 on the N-side of the main circuit power lines EP1 to EP3, the current detection circuit 100 can be simplified as it does not need to be isolated. As described above, the connection position of the current detection circuit 100 can be selected according to the design specifications.

[0148] As described above, the host controller 40 can simultaneously determine the drive devices daisy-chained to multiple converters. Furthermore, even with arbitrary main circuit power connections in the conveyor system 10, the host controller 40 can easily detect the connection structure of the drive devices connected to the main circuit power lines EP1 to EP3. Therefore, the user can change the connection of the drive devices relative to the main circuit power lines EP1 to EP3 as needed, and can use the conveyor system 10 with a suitable connection structure.

[0149] In addition, the host controller 40 can accurately detect the connection structure of the drive device. Therefore, in the event of miswiring or other issues in the drive device, the user can appropriately optimize the connection structure to achieve proactive protection against overload and other anomalies.

[0150] Furthermore, in Embodiment 1, it was described that the host controller 40 controls the control devices 31 to 33 sequentially, thereby selecting the target converters sequentially. However, the host controller 40 may also simultaneously select multiple converters C21 to C23 as target converters. In this case, converters C21 to C23 capable of outputting arbitrary voltages are used.

[0151] The host controller 40 simultaneously sends commands to output different voltages to converters numbered from 1 to N (N being a natural number), receiving different power supply voltage values ​​from converters 1 to N. For example, the host controller 40 simultaneously sends output commands for the first voltage value to converter C21, the second voltage value to converter C22, and the third voltage value to converter C23 to control devices 31 to 33. For instance, if converter C21 is the first converter, then converter C22 or C23 is the second converter, and the converter among C22 and C23 that is not the second converter is the third converter. As described above, control devices 31 to 33 simultaneously send commands (voltage value output commands) to converters C21 to C23 for outputting different voltages.

[0152] If the host controller 40 instructs the converter C21 to output a voltage of 100V, the drive devices D1 to D4 connected to the converter C21 will detect the 100V voltage as the main circuit power supply. In this case, the drive devices D1 to D4 will send the 100V voltage value to the host controller 40.

[0153] Additionally, when the host controller 40 instructs converter C22 to output a voltage of 150V, the drive devices D5 to D8 connected to converter C22 will detect 150V as the main circuit power supply. In this case, drive devices D5 to D8 will send the 150V voltage value to the host controller 40.

[0154] Furthermore, when the host controller 40 instructs converter C23 to output a voltage of 170V, the drive devices D9 to D11 connected to converter C23 will detect 170V as the main circuit power supply. In this case, drive devices D9 to D11 will send the 170V voltage value to the host controller 40.

[0155] The drive devices D1 to D4, which are determined by the host controller 40 to be receiving a voltage value of 100V, are connected to converter C21. Similarly, the drive devices D5 to D8, which are determined by the host controller 40 to be receiving a voltage value of 150V, are connected to converter C22, and the drive devices D9 to D11, which are determined to be receiving a voltage value of 170V, are connected to converter C23.

[0156] As described above, the host controller 40 can simultaneously designate multiple converters C21 to C23 as object converters and perform detection processing of the connection structure relative to each converter C21 to C23 in parallel, thus enabling the detection of the connection structure to be performed in a short time.

[0157] As described above, in Embodiment 1, the host controller 40 supplies power from the main circuit power supply to the drive device by controlling the converter, and receives the power supply voltage value detected by the drive device connected to the converter, thereby determining the drive device connected to the converter. Furthermore, the host controller 40 detects the connection structure of the drive devices by determining the connection sequence of the drive devices through the transmission and reception of signals (in Embodiment 1, the power-on signal and current value) between itself and the drive devices. Therefore, the delivery system 10 can detect the connection structure of the drive devices even when the user has not prepared information about the connection structure of the drive devices in advance.

[0158] In addition, by outputting different voltage values ​​for each converter, the host controller 40 can simultaneously determine the drive device that is daisy-chained to each converter for multiple converters.

[0159] Implementation Method 2

[0160] Next, use Figure 8 and Figure 9 Embodiment 2 will be described. In Embodiment 2, the host controller 40 detects the connection structure of the drive device that does not have a regenerative circuit.

[0161] Figure 8 This is a diagram illustrating a structural example of the drive device included in the conveying system according to Embodiment 2. Figure 8 Among the various structural elements, the realization and Figure 4 Structural elements with the same function in the drive devices D9 to D11 shown are labeled with the same numbers, and repeated descriptions are omitted. Figure 8 In the example shown, the structures of drive devices D9B to D11B are shown as other structural examples of drive devices D9 to D11, but drive devices D1 to D8 may also have the same structure as drive devices D9B to D11B.

[0162] Drive device D9B is configured at the position of drive device D9, drive device D10B is configured at the position of drive device D10, and drive device D11B is configured at the position of drive device D11.

[0163] Drive devices D9B to D11B are connected to the control detection signal line L2 and the main circuit power supply line EP3, similar to drive devices D9 to D11. The control detection signal line L2 is connected to the host controller 40, and the main circuit power supply line EP3 is connected to the converter C23. Figure 8 The path of the notification command signal output from the drive device is shown by a dashed line.

[0164] Drivers D9B to D11B are connected in parallel with respect to converter C23. Drivers D9B to D11B are connected to the N and P sides of the main circuit power line EP3. Figure 8 In the main circuit power line EP3 shown, the main circuit power line EP3 shown in the upper diagram is the P side, and the main circuit power line EP3 shown in the lower diagram is the N side.

[0165] Each of the drive devices D9B to D11B does not have a regeneration circuit, but instead has a voltage detection circuit 102 and an MPU 103. The voltage detection circuit 102 and MPU 103 in the circuits of drive devices D9B to D11B are internal circuits connected in parallel from converter C23. That is, in the transport system 10 of Embodiment 2, drive devices D9B to D11B are daisy-chained by connecting the internal circuits (voltage detection circuit 102 and MPU 103) of drive devices D9B to D11B in parallel from converter C23.

[0166] Drive devices D9B to D11B have the same structure, therefore the structure of drive device D9B will be described here. Drive device D9B is connected to the main circuit power line EP3 via connection point 114. Additionally, drive device D9B is connected to the control detection signal line L2 via connection point 113. One end of the voltage detection circuit 102 is connected to connection point 114 on the P side, and the other end is connected to MPU 103. MPU 103 is connected to connection point 113 on the P side.

[0167] In drive devices D9B to D11B, MPU 103 is connected to each other via notification line LA. Specifically, MPU 103 of drive device D9B is connected to MPU 103 of drive device D10B via notification line LA, and MPU 103 of drive device D10B is connected to MPU 103 of drive device D11B via notification line LA.

[0168] In Embodiment 2, similarly to Embodiment 1, the host controller 40 controls the control devices 31-33 sequentially, and sequentially powers on the converters C21-C23. Thus, the host controller 40, as in Embodiment 1, determines the drive device connected to each converter C21-C23.

[0169] The host controller 40 detects the connection structure of the drive device for each converter C21 to C23. In this case, the host controller 40 sequentially designates the object converters that are the objects to be detected as connection structures, and sequentially designates the drive devices connected to the designated object converters, and sends notification command signals accordingly.

[0170] The notification command signal is used to execute the transmission of a detection signal (receive notification signal) indicating that a notification command signal has been received, and the forwarding of the notification command signal, for a drive device that has received the notification command signal. As described above, the detection signal in Embodiment 2 is a signal indicating that a notification command signal has been received. The notification command signal in Embodiment 2 is the first signal, and the detection signal in Embodiment 2 is the second signal.

[0171] If each MPU 103 of the drive unit in the conveying system 10 detects a notification command signal received from the host controller 40, it sends the detection signal to the host controller 40 via the control detection signal line L2, and sends the notification command signal to the MPU 103 of the drive unit connected to the host controller 40 via the notification line LA. That is, if each MPU 103 of the drive unit receives a notification command signal, it sends the notification command signal to the MPU 103 of the drive unit connected to the host controller 40 among the one or two connected MPUs 103.

[0172] For example, from the perspective of drive device D9, drive device D10 is the first upper-side drive device connected to the upper-level controller 40, compared to this device, i.e., drive device D9, and drive device D11 is the second upper-side drive device. Furthermore, from the perspective of drive device D10, drive device D11 is the first upper-side drive device connected to the upper-level controller 40, compared to this device, i.e., drive device D10.

[0173] In the conveying system 10, notification command signals are repeatedly sent and received (forwarded) between MPUs 103 until no MPU 103 is connected to the upper controller 40. The upper controller 40 continuously waits for detection signals until no detection signals are sent. If a specific time has elapsed after receiving a detection signal, the upper controller 40 sends a notification command signal to the next drive device. The next drive device is the drive device connected to the object converter that did not send a detection signal to the upper controller 40.

[0174] Notification command signals sent from the host controller 40 are transmitted to the drive device via the control detection signal line L2. Conversely, notification command signals sent from the drive device are transmitted to the host controller 40 via the control detection signal line L2. As described above, signals transmitted and received between the host controller 40 and the drive device are performed using the control detection signal line L2.

[0175] Additionally, notification command signals sent from the drive device are transmitted to the drive device on the upper controller 40 side via the notification line LA. As described above, signals transmitted and received between the drive devices are performed using the notification line LA.

[0176] In the conveying system 10, the transmission and reception of notification command signals and detection signals between the upper controller 40 and the MPU 103, and the transmission and reception of notification command signals between the MPUs 103 are repeatedly executed.

[0177] Next, the process flow of the upper controller 40 determining the connection order of the drive devices to be daisy-chained will be explained. Figure 9 This is a flowchart illustrating the process by which the host controller determines the connection sequence of the drive devices according to Embodiment 2. Here, the process by which the host controller 40 determines the connection sequence of the drive devices for one object converter will be described.

[0178] Furthermore, the process by which the host controller 40 determines the connection order of the drive devices for converter C23 is the same as the process by which it determines the connection order of the drive devices for converters C21 and C22. Therefore, the process by which the host controller 40 determines the connection order of the drive devices for converter C23 will be explained here.

[0179] The host controller 40 passes through Figure 3 The process described above determines the drive devices D9 to D11 connected to the converter C23. The host controller 40 designates any drive device from among the drive devices D9 to D11 connected to the converter C23 that are being connected in the determined connection order (step S210).

[0180] The host controller 40 sends a notification command signal to the MPU 103 of the designated drive device. For example, when the host controller 40 sends a notification command signal to the MPU 103 of the drive device D10B, the MPU 103 of the drive device D10B receives the notification command signal.

[0181] In this case, the MPU 103 of the drive device D10B sends a detection signal and a notification command signal (step S220). Specifically, the MPU 103 of the drive device D10B sends a detection signal indicating that a notification command signal has been received to the upper controller 40 via the control detection signal line L2, and sends a notification command signal to the MPU 103 of the drive device D11B connected to the upper controller 40 via the notification line LA. The upper controller 40 receives the detection signal from the MPU 103 of the drive device D10B. Additionally, the MPU 103 of the drive device D11B receives the notification command signal from the MPU 103 of the drive device D10B.

[0182] In the conveying system 10, if a drive device connected to the object converter receives a notification command signal (step S230, Yes), the MPU 103 of the drive device that received the notification command signal sends a detection signal and a notification command signal (step S240). Here, since the MPU 103 of the drive device D11B received the notification command signal, the MPU 103 of the drive device D11B sends a detection signal to the upper controller 40. Therefore, the upper controller 40 receives the detection signal from the MPU 103 of the drive device D11B.

[0183] Furthermore, if there is a driver connected to the host controller 40 for the driver that receives the notification command signal, the MPU 103 of the driver that receives the notification command signal will send the notification command signal to the driver connected to the host controller 40. For example, if there is a driver D12B (not shown) connected to the host controller 40 for the driver D11B that receives the notification command signal, the MPU 103 of the driver D11B will send the notification command signal to the MPU 103 of the driver D12B. In Embodiment 2, since there is no driver D12B, the MPU 103 of the driver D11B will not send the notification command signal to any MPU 103.

[0184] In the conveying system 10, steps S230 and S240 are repeated until no drive device receives the notification command signal. Thus, the host controller 40 receives detection signals from the drive device that initially sent the notification command signal and from all drive devices connected to the host controller 40 that are closer to the host controller 40 than the drive device that initially sent the notification command signal.

[0185] If no drive device receives a notification command signal (step S230, No), the host controller 40 determines whether all drive devices connected to the object converter have been detected (step S250). That is, the host controller 40 determines whether a detection signal has been received from all drive devices D9B to D11B connected to the object converter, i.e., converter C23.

[0186] If the host controller 40 does not detect all drive devices connected to the object converter (step S250, No), it designates any undetected drive device from the drive devices connected to the object converter (step S260). That is, the host controller 40 designates any drive device that has not sent a detection signal from the drive devices connected to the object converter. Here, the host controller 40 designates drive device D9, which has not sent a detection signal, from the drive devices D9 to D11 connected to the object converter, i.e., converter C23.

[0187] As described above, if no more detection signals are received, the host controller 40 designates other drive devices that have not sent detection signals from among the drive devices connected to the object converter designated as the detection object in the connection structure. The host controller 40 then sends a notification command signal to the designated drive device.

[0188] Subsequently, notification command signals and detection signals are transmitted and received in the conveying system 10. That is, in the conveying system 10, the upper controller 40 repeats the processing of steps S220 to S250 until all drive devices connected to the object converter have been detected.

[0189] The host controller 40 repeatedly performs the process of sending notification command signals to other drive devices that have not sent detection signals, and performs the process of sending and receiving notification command signals and detection signals in the conveying system 10, thereby the host controller 40 receives detection signals from all drive devices.

[0190] After detecting all drive devices connected to the object converter (step S250, Yes), the host controller 40 determines the connection order of the drive devices connected to the object converter based on the order in which the detection signals are received (step S270).

[0191] The host controller 40 detects the connection order of the drive devices connected to the object converter designated as a detection object of the connection structure. That is, even if the host controller 40 receives a detection signal from a drive device connected to a converter that has never been designated as a detection object of the connection structure, it will not include that drive device in the set object of the connection order.

[0192] For example, if the object converter is converter C22, even if the host controller 40 receives detection signals from drive devices D9B to D11B connected to converter C23, it will not include drive devices D9B to D11B in the connection sequence settings. In this case, the host controller 40 sets drive devices D5B to D8B connected to the object converter, i.e., converter C22, as the connection sequence settings.

[0193] The host controller 40 performs the following for all converters: Figure 5 The processing and in Figure 9 The process described earlier. That is, the host controller 40 sequentially designates the converters included in the conveying system 10 as object converters, and performs the following for each object converter: Figure 5 The processing and in Figure 9 The process described above applies. Therefore, the host controller 40 is able to detect the connection sequence of all drive devices within the conveying system 10.

[0194] Furthermore, the order in which converters C21 to C23 are selected as object converters is arbitrary. That is, the host controller 40 can also select converters C21 to C23 as object converters in any order.

[0195] As described above, according to Embodiment 2, since notification command signals are transmitted and received between drive devices, and the drive device that receives the notification command signal sends a detection signal to the host controller 40, the delivery system 10 can detect the connection structure of drive devices that do not have regeneration circuits.

[0196] Implementation Method 3

[0197] Next, use Figure 10 and Figure 11 Implementation method 3 will be described. In implementation method 3, for a conveyor system whose wiring status is not yet known, the user modifies the wiring based on the wiring status detected by the conveyor system.

[0198] In a conveyor system, allowing random connections between drive devices would make it difficult to guarantee the quality of the conveyor system as a product due to various limiting factors. Therefore, in conveyor systems where the wiring configuration of the main circuit power supply is not yet known, a daisy-chain connection for consecutive linear track modules 105 is recommended. Furthermore, the number of drive devices allowed to connect to one converter is also the same. A daisy-chain connection for consecutive linear track modules 105 refers to the wiring connection between adjacent linear track modules 105.

[0199] Figure 10 This is a diagram illustrating the wiring state before the conveyor system according to Embodiment 3 detects the wiring state. Furthermore, in Figure 10 The illustration of the linear track module 105 of the conveying system 151 in Embodiment 3 is omitted. Additionally, in Figure 10 The diagram shows the converter in the control device 200 of the conveying system 151, but the diagrams of the control equipment and the host controller 40 are omitted.

[0200] exist Figure 10 The connection structure of the conveyor system 151 is shown. A daisy-chain connection is recommended for the continuous linear track module 105, and the number of drive devices that are daisy-chained with one converter is recommended to be uniformly four.

[0201] The conveying system 151 of Embodiment 3 has the same function as the conveying system 10 of Embodiments 1 and 2. That is, like the conveying system 10, the conveying system 151 has the function of detecting the connection sequence of the drive devices that are daisy-chained with the converter.

[0202] The conveying system 151 of embodiment 3 includes drive devices 400-403, 500-503, 600-602, and 700-703. Additionally, the conveying system 151 includes converters 300-303.

[0203] In conveyor system 151 where the wiring status is not yet known, drive devices 400-403 are daisy-chained, and drive devices 500-503 are also daisy-chained. Additionally, in conveyor system 151 where the wiring status is not yet known, drive devices 600-602 and drive devices 700-703 are also daisy-chained.

[0204] In Embodiment 3, the permissible load (e.g., wattage) of each converter 300 to 303 is 400. Furthermore, in Embodiment 3, the load (e.g., wattage) of each drive device is set as follows.

[0205] Load: 100… Drive devices 400~403, 602, 702, 703 Load: 80… Drive devices 700, 701 Load: 50… Drive devices 500~503 Load: 20… Drive devices 600, 601 like Figure 10 As shown, in the conveyor system 151, the drive device 400 in the drive devices 400 to 403 that perform daisy chain connection is connected to the converter 300 via the connection wiring (cable) 4.

[0206] In addition, in the conveyor system 151, the drive device 500 in the drive devices 500 to 503 that perform daisy chain connection is connected to the converter 301 via the connection wiring 5.

[0207] In addition, in the conveyor system 151, the drive device 600 in the drive devices 600 to 602 that perform daisy chain connection is connected to the converter 302 via the connection wiring 6.

[0208] In addition, in the conveyor system 151, the drive device 700 of the drive devices 700 to 703 that perform daisy chain connection is connected to the converter 303 via the connection wiring 7.

[0209] As shown above, when the wiring status is not yet known, it is recommended to daisy-chain no more than four drive devices with each converter 300-303. For example, drive devices 400-403 with a total load of 400 are connected to converter 300 with a permissible load of 400, and drive devices 500-503 with a total load of 200 are connected to converter 301 with a permissible load of 400. In addition, drive devices 600-602 with a total load of 140 are connected to converter 302 with a permissible load of 400, and drive devices 700-703 with a total load of 360 are connected to converter 303 with a permissible load of 400.

[0210] As shown above, each of converters 300 to 303 is connected to four or fewer drive devices, but the total load of the drive devices connected to converters 300 to 303 is uneven. That is, when the loads of the drive devices differ, the total load of the four or fewer drive devices will vary.

[0211] For example, although the allowable load (maximum load) of converters 300 to 303 is 400, the total load of drive devices 600 to 602 connected to converter 302 is 140. Compared with other converters 300, 301, and 303, the ratio of actual load to allowable load, i.e., load rate, is small.

[0212] 40 pairs of upper-level controllers Figure 10 The connection structure of the drive device, as shown, is determined and displayed on a display device (not shown), thereby providing the user with the connection structure. Based on the connection structure displayed on the display device, the user can determine whether the connection of the drive device and converter is suitable and modify the connection of the drive device and converter as needed. A suitable connection for the drive device and converter refers to a connection with a small number of converters and a short total length of wiring. To reduce the number of converters, it is necessary to increase the load factor calculated by dividing the allowable load of the converter by the actual load.

[0213] Although converters 300-303 cannot connect to actual loads greater than or equal to the permissible load, the number of drive devices connected to a single converter can be greater than or equal to 5. Therefore, users can modify the connections of the drive devices and converters to accommodate actual loads within the permissible load range.

[0214] Furthermore, the conveying system 10 can also re-determine the connection structure of the drive equipment based on the connection structure of the conveying system (conveyor system 152 described later) after the user has changed the connection, and display the connection structure again on a display device or the like. Thus, the user can, based on the connection structure displayed on the display device, re-determine whether the connection of the drive equipment and converter is suitable, and change the connection of the drive equipment and converter again as needed.

[0215] The host controller 40 can also use a wiring tool to calculate the wiring between devices, and to calculate the connections between each drive device and between the drive device and the converter. By using the wiring tool to calculate the connections between devices, the host controller 40 calculates optimized connections between devices. For example, when calculating optimized connections between devices, the host controller 40 can calculate the wiring in such a way that the actual load connected to a single converter is less than or equal to the allowable load, and close to the allowable load.

[0216] Furthermore, when calculating the optimized connections between devices, the host controller 40 can also calculate the wiring in a way that minimizes the number of converters. That is, the host controller 40 can also calculate the wiring by prioritizing the use of converters with higher permissible loads.

[0217] Furthermore, when calculating the optimized connections between devices, the host controller 40 can also calculate the wiring in a way that makes the load or load rate of each converter equal. Additionally, when calculating the optimized connections between devices, the host controller 40 can also calculate the wiring in a way that makes the total length of the cables connecting each drive device and the cables connecting the drive device and the converter shorter than the current length.

[0218] Furthermore, when calculating the optimized connections between devices, the host controller 40 can also calculate the connection wiring based on the already determined connection sequence of the drive devices. In this case, for connection points where the already determined connection sequence of the drive devices does not need to be changed, the host controller 40 calculates the connection wiring for changing other connection positions while maintaining that connection sequence.

[0219] By optimizing the connections between the various drive devices and between the drive devices and the converters, the number of converters can be reduced, thereby reducing the system cost of the conveyor system 151.

[0220] Figure 11 This is a diagram illustrating the wiring configuration after the wiring configuration has been changed relative to the conveyor system described in Embodiment 3. Figure 11 As shown in the figure, relative to Figure 10The wiring configuration of conveyor system 152 is shown as a modified version of the wiring configuration of conveyor system 151. Conveyor system 152 is a modified version of the connection structure of conveyor system 151, which is based on the connection structure determined by conveyor system 10.

[0221] In addition, Figure 11 In, with Figure 10 Similarly, the illustration of the linear track module 105 of the conveyor system 152 is omitted. Additionally, in Figure 11 The diagram shows the converter in the control device 200 of the conveying system 152, but the diagrams of the control equipment and the host controller 40 are omitted.

[0222] exist Figure 11 In, with Figure 10 In contrast, additional wiring was added to connect drive device 503 and drive device 602. Thus, drive devices 500-503 and 602 are daisy-chained. As a result, drive devices 500-503 and 602, with a total load of 300, are connected to converter 301, which has a permissible load of 400.

[0223] In addition, Figure 11 In, with Figure 10 In contrast, deleting the connecting wire disconnects the connection between drive device 601 and drive device 602, while adding a connecting wire connects drive device 601 and drive device 700. Thus, drive devices 600, 601, and 700-703 are daisy-chained. Furthermore, in Figure 11 In, with Figure 10 In contrast, connecting wires 6 and 7 are deleted, and connecting wire 8 is added. Connecting wire 8 connects drive device 600 and converter 303. Thus, in conveyor system 152, drive device 600, which is daisy-chained with drive devices 600, 601, and 700-703, is connected to converter 303 via connecting wire 8. As a result, drive devices 600, 601, and 700-703 with a total load of 400 are connected to converter 303, which has a permissible load of 400. Furthermore, converter 302 is removed from conveyor system 152.

[0224] As described above, according to Embodiment 3, the conveying system 152 modifies the connection structure based on the connection structure of the conveying system 151 determined by the conveying system 151, thereby creating a suitable connection structure that suppresses system costs.

[0225] Implementation Method 4

[0226] Next, use Figures 12-15Embodiment 4 will be described. In Embodiment 4, connection information indicating the connection sequence of the drive devices is learned and inferred. Furthermore, the following description assumes that the conveying system 10 has a learning device and an inference device, but the conveying systems 151 and 152 may also have a learning device and an inference device.

[0227] <Learning Phase>

[0228] Figure 12 This diagram illustrates a structural example of the learning device included in the conveying system according to Embodiment 4. The learning device (machine learning device) 50, which performs machine learning related to the conveying system 10, includes a data acquisition unit 51 and a model generation unit 52.

[0229] The learning device 50 may be configured inside or outside the control device 200. The controller (control devices 31-33) of the conveying system 10 may have the learning device 50. Alternatively, the host controller 40 connected to the controller may have the learning device 50, or a computer connected to at least one of the controller or the host controller 40 may have the learning device 50.

[0230] The data acquisition unit 51 acquires connection information indicating the connection sequence of drive devices D1 to D11 connected to converters C21 to C23, operation mode information indicating the operation mode of the conveyor system 10 when the conveyor system 10 is operated under the connection state shown in the connection information, and the load information of converters C21 to C23 in the operation mode information, namely converter load information (hereinafter referred to as load information), as learning data.

[0231] The operation mode information obtained by the data acquisition unit 51 is information corresponding to the connection information obtained by the data acquisition unit 51, and the load information obtained by the data acquisition unit 51 is information corresponding to the operation mode information obtained by the data acquisition unit 51.

[0232] The load information represents the load of converters C21 to C23 themselves during the operation of the conveyor system 10, that is, during the operation of the drive equipment. For example, the load information of converter C21 represents the load of converter C21 itself during the operation of drive equipment D1 to D4 connected to converter C21.

[0233] Converters C21 to C23 calculate load information, for example, during the operation of the drive device, and output it to the host controller 40. The host controller 40 then performs control based on the load information. The data acquisition unit 51 acquires the load information output from converters C21 to C23 to the host controller 40. The data acquisition unit 51 can acquire load information from converters C21 to C23 or from the host controller 40.

[0234] The connection information of the drive devices connected to the converters includes information such as the number of converters configured in the conveyor system 10, the number of drive devices connected to each converter, and the connection order of the drive devices connected to each converter (hereinafter, sometimes simply referred to as "connection information"). The operation mode information for operating the conveyor system 10 under the connection state shown in this connection information is information about the operation mode when the movable member 11 moves within the conveyor system 10. The operation mode information includes, for example, information such as the timing of acceleration and deceleration of the movable member 11 on the conveying path (hereinafter, sometimes simply referred to as "operation mode information").

[0235] The load information in the operation mode information includes, for example, the electrical load applied to the converter connected to the drive device when the movable part 11, as shown in the operation mode information, is energized to the coil of the fixed part 12 during acceleration timing. (Hereinafter, it is sometimes simply referred to as "load information").

[0236] The model generation unit 52 learns the connection status of the drive equipment for reducing the number of converters based on learning data including connection information, operation mode information, and load information. That is, the model generation unit 52 generates a learned model based on the connection information, operation mode information, and load information of the conveyor system 10, and this learned model is used to infer the connection status of the drive equipment for reducing the number of converters.

[0237] The learning algorithm used by the model generation unit 52 can be any known algorithm, such as teacher-assisted learning, teacherless learning, or reinforcement learning. As an example, we will explain the case where reinforcement learning is applied to the model generation unit 52.

[0238] In reinforcement learning, an agent (acting entity) within an environment observes the current state (parameters of the environment) and decides on the action to be taken. The environment changes dynamically due to the agent's actions, and the agent is rewarded accordingly. The agent repeats this process, learning the action strategy that yields the highest reward through a series of actions. Representative methods of reinforcement learning include Q-learning and TD-learning. For example, in the case of Q-learning, the usual update formula for the action value function Q(s, a) is expressed by equation (1).

[0239] [Mathematical Expression 1]

[0240] In equation (1), s ta represents the state of the environment at time t. t Indicates the action at time t. Through action a t The state change is s t+1 r t+1 This represents the reward for the change in state, γ represents the discount rate, and α represents the learning coefficient. Furthermore, γ is in the range of 0 < γ ≤ 1, and α is in the range of 0 < α ≤ 1. The connection information is action a. t The operating mode information and load information are status s t The model generator sets 52 pairs of states s at time t. t The best action under the following circumstances t To learn.

[0241] Regarding the update formula represented by equation (1), if the action value Q of action a with the highest Q value at time t+1 is greater than the action value Q of action a performed at time t, then the action value Q is increased; conversely, the action value Q is decreased. In other words, the model generation unit 52 updates the action value function Q(s, a) in a way that makes the action value Q of action a at time t close to the optimal action value at time t+1. Thus, the optimal action value in a certain environment is sequentially passed to the action values ​​in its previous environments.

[0242] As described above, when a learned model is generated through reinforcement learning, the model generation unit 52 includes a reward calculation unit 521 and a function update unit 522.

[0243] The compensation calculation unit 521 calculates the compensation based on connection information, operation mode information, and load information. The compensation calculation unit 521 also calculates the compensation r based on the increase or decrease in the number of converters used in the conveyor system 10. For example, if the number of converters used in the conveyor system 10 decreases, the compensation calculation unit 521 increases the compensation r (e.g., assigns a compensation of "1"), and conversely, if the number of converters used in the conveyor system 10 increases, the compensation r decreases (e.g., assigns a compensation of "-1").

[0244] The function update unit 522 updates the function used to determine the connection status of the drive device for reducing the number of converters according to the reward calculated by the reward calculation unit 521, and outputs it to the learning completed model storage unit 55. For example, in the case of Q-learning, the action value function Q(s) represented by equation (1) is updated. t a t This is a function used to calculate the connection status of the drive devices for reducing the number of converters.

[0245] The learning device 50 repeats the learning process as described above. After learning is complete, the model storage unit 55 updates the action value function Q(s) by the function update unit 522. t at That is, the model is stored after it has been learned.

[0246] Next, use Figure 13 This indicates that the learning process is performed by the learning device 50. Figure 13 This is a flowchart illustrating the processing flow of the learning process performed by the learning device according to Embodiment 4.

[0247] The data acquisition unit 51 acquires connection information, operation mode information, and load information as learning data (step S310).

[0248] The model generation unit 52 calculates the compensation based on the connection information, operation mode information, and load information (step S320). Specifically, the compensation calculation unit 521 obtains the connection information, operation mode information, and load information, and determines whether to increase the compensation (step S330) or decrease the compensation (step S340) based on the predetermined increase or decrease in the number of converters used in the conveying system 10.

[0249] If the compensation calculation unit 521 determines that the compensation should be increased (the number of converters decreased in step S320), it increases the compensation in step S330. On the other hand, if the compensation calculation unit 521 determines that the compensation should be decreased (the number of converters increased in step S320), it decreases the compensation in step S340.

[0250] Based on the reward calculated by the reward calculation unit 521, the function update unit 522 updates the action value function Q(s) represented by equation (1) stored in the learned model storage unit 55. t a t Update (step S350).

[0251] The learning device 50 repeats steps S310 to S350 above, and generates the action value function Q(s). t a t The learned model is stored in the learned model storage section 55 as a learned model.

[0252] The description illustrates a scenario where the learning device 50 of Embodiment 4 stores the learned model in a learned model storage unit 55 provided externally to the learning device 50. However, the learning device 50 may also have a learned model storage unit 55 internally.

[0253] <Application Phase>

[0254] Figure 14 This diagram illustrates a structural example of the reasoning device included in the conveying system according to Embodiment 4. The reasoning device 60, which performs reasoning related to the conveying system 10, includes a data acquisition unit 61 and a reasoning unit 62.

[0255] The inference device 60 can be configured, for example, inside the control device 200 or the host controller 40, or outside the control device 200 and the host controller 40. Alternatively, the inference device 60 may be a transport controller (not shown) in the transport system 10 that controls the transport, or a transport host controller (not shown) connected to the transport controller may have the inference device 60, or a computer connected to at least one of the transport controller or the transport host controller may have the inference device 60.

[0256] The data acquisition unit 61 acquires operating mode information and load information as inference data. The inference unit 62 uses the learned model to infer the connection information representing the connection status of the drive device that reduces the number of converters. That is, the inference unit 62 infers the connection information representing the connection status of the drive device that is suitable for the operating mode information and load information by inputting the operating mode information and load information acquired by the data acquisition unit 61 into the learned model read from the learned model storage unit 55.

[0257] Furthermore, in Embodiment 4, the case where the connection information of the drive device for reducing the number of converters is output using the learning completed model learned by the model generation unit 52 of the conveying system 10 is described. However, the inference device 60 may also obtain the learning completed model from other conveying systems and output the connection information of the drive device for reducing the number of converters based on the learning completed model.

[0258] Next, use Figure 15 This indicates that the inference device 60 performs inference processing on the connection information of the drive device. Figure 15 This is a flowchart illustrating the processing flow of the reasoning process performed by the reasoning device according to Embodiment 4.

[0259] The data acquisition unit 61 acquires operating mode information and load information as inference data (step S410).

[0260] The inference unit 62 retrieves the learned model from the learned model storage unit 55 and inputs the operating mode information and load information into the retrieved learned model (step S420). As a result, the inference unit 62 obtains the connection information of the drive devices for reducing the number of converters. The inference unit 62 outputs the connection information of the drive devices for reducing the number of converters obtained from the learned model (step S430).

[0261] Referring to the output connection information of the drive equipment with reduced number of converters, the user implements wiring between the converters and drive equipment in the conveyor system 10 with reduced number of converters. As a result, the conveyor system 10 can improve the operating efficiency (load rate) of each converter and can effectively move the movable part 11 with fewer converters.

[0262] Furthermore, in Embodiment 4, the learning algorithm used to apply reinforcement learning to the inference device 60 was described, but it is not limited to this. Regarding the learning algorithm, in addition to reinforcement learning, teacher-assisted learning, teacherless learning, or semi-teacher-assisted learning can also be applied.

[0263] Furthermore, the learning algorithm used by the model generation unit 52 can also employ deep learning, which involves learning by extracting the feature quantities themselves. Alternatively, the model generation unit 52 can also employ other known methods, such as neural networks, genetic programming, inductive logic programming, support vector machines, etc., to perform machine learning.

[0264] Furthermore, the learning device 50 and the inference device 60 can also be other separate devices connected to the delivery system 10 via a network. Alternatively, the learning device 50 and the inference device 60 can be integrated into the delivery system 10. Furthermore, the learning device 50 and the inference device 60 can also reside on a cloud server.

[0265] Additionally, the model generation unit 52 can also use learning data obtained from multiple conveying systems to learn the connection information of the drive equipment that reduces the number of converters corresponding to the operation mode information and load information. Furthermore, the model generation unit 52 can also use learning data collected from multiple conveying systems used in the same area to learn the connection information of the drive equipment that reduces the number of converters corresponding to the operation mode information and load information. Additionally, the model generation unit 52 can also use learning data collected from multiple conveying systems operating independently in different areas to learn the connection information of the drive equipment that reduces the number of converters corresponding to the operation mode information and load information.

[0266] Furthermore, the data collection and transmission system can be added to or removed from the data collection process. Additionally, a learning device that has learned the connection information of the drive equipment for reducing the number of converters on a particular transmission system can be applied to a different transmission system, and the connection information of the drive equipment for reducing the number of converters on that different transmission system can be relearned and updated.

[0267] As described above, the conveying system 10 of Embodiment 4 learns connection information with a reduced number of converters corresponding to the operating mode information and load information based on operating mode information, load information, and connection information indicating the connection sequence of the drive devices. Therefore, the conveying system 10 can infer connection information with a reduced number of converters based on the operating mode information and load information.

[0268] Therefore, even when the load on the converters in the conveyor system 10 using linear motors is uneven, the inference device 60 can infer connection information that reduces the number of converters, thus providing the user with suitable connection information that suppresses system costs.

[0269] Next, the hardware structure of the host controller 40, the learning device 50, and the inference device 60 will be described. Furthermore, since the host controller 40, the learning device 50, and the inference device 60 have the same hardware structure, the hardware structure of the host controller 40 will be described here. The host controller 40 is implemented by a processing circuit. The processing circuit can be a processor that executes a program stored in memory, or it can be dedicated hardware.

[0270] Figure 16 This is a diagram illustrating a structural example of the processing circuit in the case where the processing circuit of the host controller involved in embodiments 1 to 4 is implemented by a processor and a memory. Figure 16 The processing circuit 90 shown includes a processor 91 and a memory 92. When the processing circuit 90 is composed of the processor 91 and the memory 92, each function of the processing circuit 90 is implemented by software, firmware, or a combination of both. The software or firmware is described as a connection structure detection program that detects the connection structure of the drive device and is stored in the memory 92. In the processing circuit 90, each function is implemented by reading and executing the connection structure detection program stored in the memory 92. That is, the processing circuit 90 has a memory 92 for storing the connection structure detection program that ultimately executes the processing of the host controller 40. In other words, the connection structure detection program is a program used to cause the host controller 40 to execute the functions implemented by the processing circuit 90. This connection structure detection program can be provided by a computer-readable recording medium containing the connection structure detection program, or by other devices such as communication media.

[0271] In other words, the above-mentioned connection structure detection program is executed by the upper controller 40. Figure 3 Processing steps S10 to S70 and Figure 5 The processing procedure for steps S110 to S180. Furthermore, the above-mentioned connection structure detection procedure can also be executed by the host controller 40. Figure 3Processing steps S10 to S70 and Figure 9 The processing procedure in steps S210 to S270. Here, the processor 91 is, for example, a CPU (Central Processing Unit), processing device, arithmetic device, microprocessor, microcomputer, or DSP (Digital Signal Processor). Here, the memory 92 is, for example, non-volatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable ROM), EEPROM (Electrically EPROM), magnetic disk, floppy disk, optical disk, high-density disk, mini disk, or DVD (Digital Versatile Disc).

[0272] Figure 17 This is a diagram illustrating an example of a processing circuit in the case where the processing circuit of the host controller involved in embodiments 1 to 4 is constructed using dedicated hardware. Figure 17 The processing circuit 93 shown is, for example, equivalent to a single circuit, a composite circuit, a programmable processor, a parallel-programmable processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. The processing circuit 93 may also be partially implemented by dedicated hardware and partially by software or firmware. Thus, the processing circuit 93 can achieve the aforementioned functions through dedicated hardware, software, firmware, or a combination thereof.

[0273] In addition, the learning device 50 may also have Figure 16 or Figure 17 The hardware structure is shown. In this case, the learning program used by the learning device 50 is to cause the learning device 50 to execute... Figure 13 The processing procedure for steps S310 to S350.

[0274] Additionally, the reasoning device 60 may also have Figure 16 or Figure 17 The hardware structure is shown. In this case, the learning program used by the inference device 60 is to cause the inference device 60 to execute... Figure 15 The processing procedure for steps S410 to S430.

[0275] The structure shown in the above embodiments is an example and can be combined with other known technologies. The embodiments can also be combined with each other. Without departing from the main idea, a part of the structure can be omitted or changed.

[0276] Explanation of the label

[0277] 1 AC power supply; 4-8 connection wiring; 10, 151, 152 conveying system; 11 movable part; 12 fixed part; 13 guide rail; 14 guide module; 31-33 control equipment; 40 upper controller; 50 learning device; 51, 61 data acquisition unit; 52 model generation unit; 55 learning completed model storage unit; 60 inference device; 62 inference unit; 90, 93 processing circuit; 91 processor; 92 memory; 100 current detection circuit; 101 regenerative resistor; 102 voltage detection circuit; 103 MPU; 104 regenerative switching circuit; 105 linear track module; 110-114 connection points; 200 Control device, 300~303, C21~C23 converters, 400~403, 500~503, 600~602, 700~703, D1~D11, D9A~D11A, D5B~D12B, Dn drive device, EP1~EP3 main circuit power line, EX control circuit power line, L1 control signal line, L2 control detection signal line, LA notification line.

Claims

1. A conveying system, characterized in that, have: At least one movable part; Multiple fixed members are arranged along the path of movement of the movable member; Multiple drive devices drive the fixing member; as well as The host controller controls the drive device. In the drive device, On the main circuit power line that transmits power from the power source used to drive the fixing component, i.e., the main circuit power supply, the drive device is daisy-chained in parallel with the internal circuitry of the drive device, starting from the converter of the managed object. Furthermore, on the signal line that transmits signals between the drive device and the host controller, the drive device is daisy-chained from the host controller. In the host controller, Power is supplied from the main circuit power supply to the drive device by controlling the converter. The drive device connected to the converter is identified by receiving the power supply voltage value detected by the drive device connected to the converter. The connection sequence of the drive device is determined by sending and receiving the signal between the drive device and the drive device, thereby detecting the connection structure of the drive device.

2. The conveying system according to claim 1, characterized in that, In the host controller, Any connection driver device is designated as a specified driver device from the connection driver devices. A power-on signal, which is used to turn on the power, is sent to the specified driver device as the signal. The current value is received from the connection driver device that detects the current. Based on the connection driver device that sent the current value, the connection order of the connection driver devices is determined.

3. The conveying system according to claim 2, characterized in that, In the host controller, The process of further designating undesignated connection drivers from the connection drivers as designated drivers, the process of sending the power-on signal to the designated driver as the signal, and the process of receiving the current value from the connection drivers that detect the current, is repeated until all the connection drivers are designated. Based on the connection drivers that send the current value, the connection order of the connection drivers is determined.

4. The conveying system according to claim 2 or 3, characterized in that, The driving device has: A regenerative resistor, which is connected to the main circuit power supply line; A regenerative switching circuit, which is a switching circuit for driving the load of the regenerative resistor; and The control unit controls the regenerative switching circuit. If the control unit receives the power-on signal, it will set the regenerative switching circuit to be on.

5. The conveying system according to any one of claims 1 to 4, characterized in that, The host controller sequentially performs processing for each of the converters to detect the connection structure of the connection driving device.

6. The conveying system according to claim 1, characterized in that, The host controller designates any connected driver device from the connected driver devices as a designated driver device, and sends the first signal to the designated driver device as the signal. If the designated driving device receives the first signal, it sends a second signal indicating that the first signal has been received to the host controller. Furthermore, if there is a driving device connected to the host device on the host controller side (i.e., a first host-side driving device), the first signal is sent to that first host-side driving device. If the first host-side driving device receives the first signal, it sends the second signal to the host controller. The host controller determines the connection sequence of the connection drive device based on the second signal.

7. The conveying system according to claim 6, characterized in that, If the first host-side driving device receives the first signal, then, in the presence of a second host-side driving device connected to a driving device closer to the host controller than this device, the first signal will be sent to the second host-side driving device. If the second host-side driving device receives the first signal, it sends the second signal to the host controller. The host controller determines the connection sequence of the connection drive device based on the second signal.

8. The conveying system according to claim 6 or 7, characterized in that, The host controller repeatedly executes the process of further designating the connection drive devices that have not sent the second signal as the designated drive devices, and the process of sending the first signal to the designated drive devices as the signal, until the second signal is received from all the drive devices. Based on the second signal, the host controller determines the connection order of the connection drive devices.

9. The conveying system according to any one of claims 1 to 8, characterized in that, The host controller simultaneously sends commands to output different voltages to the first converter and the second converter in the converter, receives different power supply voltage values ​​from the first converter and the second converter, and determines the connection driver device connected to the first converter and the connection driver device connected to the second converter based on the received power supply voltage values.

10. The conveying system according to any one of claims 1 to 9, characterized in that, The converter outputs load information representing the load of the driving device during operation to the host controller. The conveying system also features: The data acquisition unit acquires connection information indicating the connection sequence of the connection drive device, information on the operation mode when the drive device is operated under the connection state shown in the connection information (i.e., operation mode information), and the load information corresponding to the operation mode information as learning data. The model generation unit uses the learning data obtained by the data acquisition unit to generate a learned model, which is used to infer the connection status of the drive device with a reduced number of converters. as well as The inference unit uses the learned model to infer the connection information, which indicates the connection status of the drive device representing a reduction in the number of converters, based on the operation mode information and the load information corresponding to the operation mode information.

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