Linear conveying system, control procedure for linear conveying system, control program for linear conveying system and storage medium

Abstract

Linear conveyor system, comprising: several fixed linear modules, each extending in a first direction, driving a carriage in the first direction and arranged in a second direction which intersects the first direction; a slide transfer mechanism with a movable linear module that is movable between several facing areas arranged in the second direction and each facing the several stationary linear modules from the first direction, and driving the slide in the first direction, wherein the slide transfer mechanism transports the movable linear module between the several facing areas by driving the movable linear module in the second direction; and a controller configured to control the drive of at least one object under a carriage and movable linear module, where: the carriage can be brought into and out of engagement with the stationary linear module from one end in the first direction, and the stationary linear module drives the carriage, which is engaged with the stationary linear module, in the first direction, the carriage can be moved into and out of engagement with the movable linear module from one end in the first direction, and the movable linear module drives the carriage, which is engaged with the movable linear module, in the first direction, the carriage moves between the movable linear module, which is located in one facing area among the several facing areas, and the stationary linear module, which faces the one facing area, and The controller determines whether the object's movement is allowed or prohibited based on position-related information about the position of the carriage or the movable linear module before the object's movement is started.

Description

[Technical field]

[0001] This invention relates to a linear conveying system with a mechanism for driving a carriage by linear modules. [State of the art]

[0002] Patent literature 1 describes a conveying system comprising conveying devices for moving a carriage in an X-direction and transfer devices for moving the carriage picked up by the conveying device in a Y-direction, and conveying a pallet carried on the carriage by driving the carriage. Such a conveying system can periodically drive the carriage carrying the pallet by arranging two conveying devices spaced apart in the Y-direction and two transfer devices on either side of these conveying devices in the X-direction. [List of oppositions][Patent literature]

[0003] Patent literature 1: JP 5 977 145 B2 [Short description][Technical task]

[0004] The transfer devices for moving the carriage between several stationary linear modules (conveyors) to drive the carriage in the X-direction can be configured using movable linear modules that are also movable in the Y-direction. In such a configuration, the movable linear modules move between several facing areas, each oriented towards the several stationary linear modules in the X-direction. The carriage can be moved between the stationary linear module facing one of the several facing areas and the movable linear module located in that one facing area. By using such movable linear modules, the carriage can be transferred between the several stationary linear modules.

[0005] However, in such a linear conveyor system, the linear module, such as the fixed linear module or the movable linear module, and the carriage can interfere with each other due to an improper positional relationship.

[0006] This invention was developed with regard to the above problem and aims to provide a technique capable of suppressing the occurrence of a disturbance of a linear module and a slide in a linear conveying system for transferring the slide between several stationary linear modules using a movable linear module. [Solution to the task]

[0007] A linear conveying system according to the invention comprises: several stationary linear modules, each extending in a first direction, driving a carriage in the first direction and arranged in a second direction which intersects the first direction; a carriage transfer mechanism with a movable linear module that is movable between several facing areas arranged in the second direction and each facing the several stationary linear modules from the first direction, and which drives the carriage in the first direction, wherein the carriage transfer mechanism conveys the movable linear module between the several facing areas by driving the movable linear module in the second direction; and a controller configured to control the drive of at least one object under the carriage and movable linear module.wherein: the carriage can be moved into and out of engagement with the stationary linear module from one end in the first direction, and the stationary linear module drives the carriage engaged with the stationary linear module in the first direction; the carriage can be moved into and out of engagement with the movable linear module from one end in the first direction, and the movable linear module drives the carriage engaged with the movable linear module in the first direction; the carriage moves between the movable linear module, which is located in one facing area of ​​the multiple facing areas, and the stationary linear module, which is facing the one facing area; and the controller determines, based on position-related information about the position of the carriage or the movable linear module, whether the driving of the object is allowed or prohibited before the driving of the object is started.

[0008] A control method for a linear conveying system according to the invention, wherein the linear conveying system comprises: several stationary linear modules, each extending in a first direction, capable of driving a carriage in the first direction and arranged in a second direction intersecting the first direction; and a carriage transfer mechanism with a movable linear module that is movable between several facing areas arranged in the second direction and each facing the several stationary linear modules from the first direction, and capable of driving the carriage in the first direction, wherein the carriage transfer mechanism conveys the movable linear module between the several facing areas by driving the movable linear module in the second direction.wherein the carriage can be moved into and out of engagement with the stationary linear module from one end in the first direction, wherein the stationary linear module drives the carriage engaged with the stationary linear module in the first direction, wherein the carriage can be moved into and out of engagement with the movable linear module from one end in the first direction, wherein the movable linear module drives the carriage engaged with the movable linear module in the first direction, and wherein the carriage is movable between the movable linear module, which is located in one of the multiple facing areas, and the stationary linear module, which is facing the one facing area. The control method comprises: obtaining position-related information about the position of the carriage or the movable linear module; and determining, based on the position-related information,whether driving at least one object under the carriage and movable linear module is allowed or prohibited before driving the object is started.

[0009] A control program for a linear conveying system according to the invention, wherein the linear conveying system comprises: several stationary linear modules, each extending in a first direction, capable of driving a carriage in the first direction and arranged in a second direction intersecting the first direction; and a carriage transfer mechanism with a movable linear module that is movable between several facing areas arranged in the second direction and each facing the several stationary linear modules from the first direction, and capable of driving the carriage in the first direction, wherein the carriage transfer mechanism conveys the movable linear module between the several facing areas by driving the movable linear module in the second direction.wherein the carriage can be moved into and out of engagement with the stationary linear module from one end in the first direction, wherein the stationary linear module drives the carriage engaged with the stationary linear module in the first direction, wherein the carriage can be moved into and out of engagement with the movable linear module from one end in the first direction, wherein the movable linear module drives the carriage engaged with the movable linear module in the first direction, wherein the carriage is movable between the movable linear module, which is located in one of the multiple facing regions, and the stationary linear module, which is facing the one facing region. The control program causes the computer to: obtain position-related information about the position of the carriage or the movable linear module; and determine, based on the position-related information,whether driving at least one object under the carriage and movable linear module is allowed or prohibited before driving the object is started.

[0010] Storage medium according to the invention, on which the control program for the above linear conveyor system is stored in a computer-readable form.

[0011] In the invention configured as described (linear conveyor system, control method for linear conveyor system, control program for linear conveyor system, and storage medium), the multiple stationary linear modules are arranged in a row in the second direction, and each stationary linear module extends in the first direction, which intersects the second direction, and drives the carriage in the first direction. Furthermore, a carriage transfer mechanism is provided to transfer the carriage between these multiple stationary linear modules. This carriage transfer mechanism includes the movable linear module, which is movable in the second direction. This movable linear module moves between the multiple facing areas and drives the carriage in the first direction, the multiple facing areas being arranged in the second direction and each facing the multiple stationary linear modules from the first direction.The carriage is moved between the movable linear module, located in one of the multiple facing areas, and the stationary linear module, which faces that one facing area. The carriage can be transferred between the multiple stationary linear modules using such a carriage transfer mechanism.

[0012] The invention uses position-related information about the position of the carriage or the movable linear module to determine whether driving at least one object under the carriage and movable linear module is permitted or prohibited before the object's driving is initiated. In this way, the occurrence of interference between the linear module and the carriage can be suppressed in the linear conveying system for transferring the carriage between the multiple stationary linear modules using the movable linear modules.

[0013] The linear conveyor system can be configured such that the position-related information includes the position of the movable linear module before the carriage drive is started, and the controller allows the carriage drive from a stationary linear module among the multiple stationary linear modules into the facing area if the movable linear module is located in the facing area that is adjacent to the stationary linear module, when the carriage needs to be moved from the stationary linear module to the movable linear module to drive the carriage into a target position, whereas the controller prohibits the carriage drive if the movable linear module is located at least partially outside the facing area opposite the stationary linear module.In this way, the occurrence of disturbances between the carriage and the movable linear module can be suppressed when the carriage is moved from the stationary linear module to the movable linear module.

[0014] The linear conveyor system can be configured such that the controller prohibits the drive of the movable linear module in the second direction from the area facing the stationary linear module until the carriage has completed its movement from the stationary linear module to the movable linear module, if carriage movement is subsequently permitted. In this way, the carriage movement from the stationary linear module to the movable linear module can be completed while suppressing any interference between the carriage and the movable linear module.

[0015] The linear conveyor system can be configured such that the positional information includes the position of the carriage before the carriage drive is initiated, and the controller allows the drive of the movable linear module if, before the drive starts, the carriage does not overlap a drive prohibition zone, including an end portion of the stationary linear module and an end portion of the facing section, and prohibits the drive of the movable linear module if the carriage overlaps the drive prohibition zone before the drive begins. With such a configuration, it is possible to suppress the occurrence of interference between the carriage and the linear module due to the drive of the movable linear module in the second direction, where the carriage engages both the end portion of the stationary linear module and the end portion of the movable linear module.

[0016] The linear conveyor system can be configured such that the positional information includes a target position as the carriage's drive target, and the controller allows the carriage to be driven to the target position if it is predicted that the carriage driven to the target position will not overlap a no-stop zone, including an end portion of the stationary linear module and an end portion of the moving section facing each other. Conversely, the system prohibits the carriage from being driven if it is predicted that the carriage driven to the target position will overlap the no-stop zone. That is, if the carriage overlaps the no-stop zone as a result of being driven to the target position, the carriage can stop while engaged with both the end portion of the stationary linear module and the end portion of the moving linear module.If the movable linear module is driven in the second direction at this point, a disturbance occurs between the carriage and the movable linear module. If the carriage driven into the target position overlaps the no-stopping zone, the occurrence of disturbances between them can be suppressed by prohibiting the carriage drive from the outset.

[0017] The linear conveyor system may also include a notification device configured to inform a user that the controller has prohibited the object from being moved. With such a configuration, the user can then conveniently perform an action to remove the prohibition after being notified that the object is prohibited from being moved.

[0018] The linear conveyor system can be configured so that the signaling device also indicates the reason for prohibiting the object's movement. With such a configuration, the user can effectively carry out the process to lift the movement prohibition after identifying the reason for the prohibition. [Effect of the invention]

[0019] According to the invention, the occurrence of disturbances between a slide and a linear module in a linear conveying system for driving the slide using multiple linear modules can be suppressed. [Brief description of the drawings] Fig. Figure 1 is a perspective view showing an example of a linear module provided in a linear conveying system according to the invention. Fig. 2 is a perspective view showing the linear module from Fig. Figure 1 shows the partially exposed inner surface of the linear module. Fig. Figure 3 is a representation that schematically shows an example of the linear conveying system according to the invention. Fig. 4 is a block diagram that shows an example of an electrical configuration of the linear conveyor system of Fig. 3 shows. Fig. Figure 5 is a representation that schematically shows disturbance modes that occur between the carriage and the linear modules. Fig. 6 is a flowchart showing an example of the drive control used in the Fig. The linear conveyor system shown in section 3 is implemented. Fig. 7 is a flowchart showing an example of a normal drive mode controlled by the drive controller of Fig. 6 is executed. Fig. Figure 8 is a flowchart showing an example of a transit drive mode controlled by the drive controller of Fig. 6 is executed. Fig. Figure 9 is a diagram that schematically shows various prohibited areas for the linear modules as determined by the drive control of Fig. 6 were hired. [Description of the embodiments]

[0020] Fig. Figure 1 is a perspective view showing an example of a linear module provided in a linear conveying system according to the invention, and Fig. 2 is a perspective view showing the linear module from Fig. Figure 1 shows the partially exposed inner surface of the linear module. In the Fig. 1 and Fig. Figure 2 shows orthogonal XYZ coordinate axes, with an X direction parallel to a horizontal direction, a Y direction parallel to the horizontal direction while being orthogonal to the X direction, and a Z direction parallel to a vertical direction. Furthermore, in both figures, a diagonal side at the top right along the X direction is designated as an X1 side, and a diagonal side at the bottom left along the X direction is designated as an X2 side. Similar designations are used in subsequent drawings where appropriate. This linear module has a similar basic structure to, for example, a module of a linear conveying device described in WO2018 / 055709A1. Here, following the description of the linear module, the entire linear conveying system is described.

[0021] In the Fig. 1 and Fig. Figure 2 shows the linear module 2 extending in the X-direction, the base elements 3 supporting the linear module 2 from below, and a slide 4 engaging with the linear module 2. The linear module 2 is attached to the upper ends of three base elements 3, which are arranged at equal intervals in the X-direction, and drives the slide 4 in the X-direction by a magnetic force. In this example, the linear module 2 comprises two module units 20 arranged in the X-direction. However, the number of module units 20 contained in the linear module 2 is not limited to two and can be one, three, or more.

[0022] The module unit 20 includes a base plate 21 extending in the X direction. The base plate 21 is a flat plate with a rectangular shape in a top view from the Z direction. On the upper surface of the base plate 21, two guide rails 22 are arranged parallel to the X direction, spaced apart in the Y direction. Furthermore, several linear motor stators 23, arranged in a row in the X direction with a predetermined spacing P23, and several magnetic sensors 24, also arranged in a row in the X direction with a predetermined spacing P24, are mounted on the upper surface of the base plate 21. Here, the spacing P24 of the magnetic sensors 24 is greater than the spacing P23 of the linear motor stators 23. In the Y direction, the multiple linear motor stators 23 are arranged between the two guide rails 22, and the multiple magnetic sensors 24 are arranged between the linear motor stators 23 and one guide rail 22.

[0023] The linear motor stator 23 is an electromagnet with a coil and a core inserted into the coil. The carriage 4 is equipped with a rotor containing a permanent magnet and a counter yoke that holds the permanent magnet. The linear motor stators 23 drive the carriage 4 in the X-direction by imparting a magnetic thrust to the rotor of the carriage 4 by generating a magnetic flux corresponding to an applied current. Furthermore, a magnetic scale indicating positions in the X-direction is mounted on the carriage 4, and the magnetic sensor 24 detects the position of the carriage 4 in the X-direction by reading the magnetic scale. The carriage 4 is driven in the X-direction by regulating the current applied to the linear motor stators 23 based on the position of the carriage 4 detected by the magnetic sensors 24, as described below.

[0024] Furthermore, the module unit 20 includes a cover element 25, which has a rectangular shape in a top view and covers the guide rails 22, linear motor stators 23, and magnetic sensors 24 from above. The cover element 25 includes a support leg 251, which projects downwards in the Y-direction at its center, and the support leg 251 is attached to the upper surface of the base plate 21. Gaps are formed on both sides in the Y-direction between the cover element 25 and the base plate 21, and both end parts of the slide 4, which is inserted between the cover element 25 and the base plate 21 through these gaps, engage with the two guide rails 22.

[0025] The linear module 2 is configured by arranging several (two) module units 20 in the X direction. In plan view, such a linear module 2 has a rectangular shape. The module unit 20 on the X1 side, consisting of the two module units 20 of the linear module 2, is positioned between the base element 3 at the X1-side end and a central base element 3 of the three base elements 3, and the module unit 20 on the X2 side is positioned between the base element 3 at the X2-side end and the central base element 3 of the three base elements 3.

[0026] The carriage 4 can move from one end in the X-direction of the linear module 2 to a central side of the linear module 2 in order to engage with the guide rails 22 of the linear module 2. The carriage 4, thus engaged with the guide rails 22, is driven in the X-direction by the linear module 2. Furthermore, the carriage 4 can move outwards from one end in the X-direction of the linear module 2 to disengage from the guide rails 22 of the linear module 2.

[0027] Fig. Figure 3 is a schematic representation showing an example of the linear conveying system according to the invention. The linear conveying system 1 comprises four linear modules 2. It is noted that the four linear modules 2 are in Fig. 3 each are provided with different reference symbols 2a, 2b, 2c and 2d.

[0028] Linear modules 2a and 2b are fixed linear modules attached to a mounting surface of the linear conveyor system 1, and linear modules 2c and 2d are movable linear modules that can be moved in the Y-direction relative to the mounting surface. The fixed linear modules 2a and 2b and the movable linear modules 2c and 2d have different lengths in the X-direction but the same width in the Y-direction. Apart from their lengths in the X-direction, however, they have the same dimensions as described in the... Fig. 1 and Fig. 2 common basic configurations shown.

[0029] The two fixed linear modules 2a, 2b are arranged parallel to the X-direction with a distance in the Y-direction. The fixed linear modules 2a, 2b, arranged parallel to the X-direction in this way, have the same length in the X-direction. On the other hand, the movable linear modules 2c, 2d have the same length in the X-direction, which is shorter than that of the fixed linear modules 2a, 2b.

[0030] Such a linear conveyor system 1 includes two actuators 5c, 5d, which drive the movable linear modules 2c, 2d in the Y direction. Actuator 5c is arranged parallel to the Y direction on the X1 sides of the stationary linear modules 2a, 2b in the X direction. Actuator 5d is arranged parallel to the Y direction on the X2 sides of the stationary linear modules 2a, 2b in the X direction. In this way, the two actuators 5c, 5d are arranged such that they sandwich-like enclose two stationary linear modules 2a, 2b in the X direction.

[0031] Actuator 5c, for example, is a single-axis robot with a ball screw parallel to the Y-direction, and the movable linear module 2c is attached to a nut on the ball screw of actuator 5c. This actuator 5c drives the movable linear module 2c in the Y-direction along a movable area Rc. Here, the movable area Rc is a region extending in the Y-direction, with an adjacent area Fca facing an end on the X1-side of the stationary linear module 2a from the X1-side in the X-direction, and an adjacent area Fcb facing an end on the X1-side of the stationary linear module 2b from the X1-side in the X-direction.The facing area Fca is equivalent to a presence area (including a tolerance of the movable linear module 2c) of the movable linear module 2c, which is arranged in a row with the fixed linear module 2a in the X direction, and the facing area Fcb is equivalent to a presence area (including a tolerance of the fixed linear module 2b) of the movable linear module 2c, which is arranged in a row with the fixed linear module 2b in the X direction.

[0032] For example, actuator 5d is a single-axis robot with a ball screw parallel to the Y-direction, and the movable linear module 2d is attached to a nut on the ball screw of actuator 5d. This actuator 5d drives the movable linear module 2d in the Y-direction along a movable area Rd. Here, the movable area Rd is a region extending in the Y-direction, with an adjacent area Fda facing an end on the X2-side of the stationary linear module 2a from the X2-side in the X-direction, and an adjacent area Fdb facing an end on the X2-side of the stationary linear module 2b from the X2-side in the X-direction.The facing area Fda is equivalent to a presence area (including a tolerance of the movable linear module 2d) of the movable linear module 2d, which is arranged in a row with the fixed linear module 2a in the X direction, and the facing area Fdb is equivalent to a presence area (including a tolerance of the fixed linear module 2b) of the movable linear module 2d, which is arranged in a row with the fixed linear module 2b in the X direction.

[0033] In such a linear conveyor system 1, the carriage 4 can be driven periodically. For example, the stationary linear module 2a drives the carriage 4, which engages with it, towards the X1 side in the X direction, with the movable linear module 2c being located in the facing area Fca, thus allowing the carriage 4 to move from the stationary linear module 2a to the movable linear module 2c. Then, after the actuator 5c moves the movable linear module 2c from the facing area Fca to the facing area Fcb, the movable linear module 2c, which is located in the facing area Fcb, drives the carriage 4, which engages with it, towards the X2 side in the X direction, thus allowing the carriage 4 to move from the movable linear module 2c to the stationary linear module 2b.

[0034] Furthermore, the stationary linear module 2b drives the engaged carriage 4 towards the X2 side in the X direction, with the movable linear module 2d being located in the facing area Fdb, thus allowing the carriage 4 to move from the stationary linear module 2b to the movable linear module 2d. Then, after the actuator 5d moves the movable linear module 2d from the facing area Fdb to the facing area Fda, the movable linear module 2d, which is located in the facing area Fda, drives the engaged carriage 4 towards the X1 side in the X direction, thus allowing the carriage 4 to move from the movable linear module 2d to the stationary linear module 2a.

[0035] In this way, the carriage 4 can be driven periodically counterclockwise. Furthermore, the carriage 4 can be driven periodically clockwise by performing a process opposite to the one described above. It should be noted that the periodic drive is merely one example of a drive mode for the carriage 4 that can be implemented by the linear conveyor system 1, and that the carriage 4 can be driven in various other modes.

[0036] Fig. 4 is a block diagram showing an example of an electrical configuration of the linear conveyor system. Fig. Figure 3 shows that the linear conveyor system 1 includes a control device 11 that controls the position of each carriage 4 and simultaneously monitors the entire system. This control device 11 is a computer, for example, a personal computer.

[0037] The control device 11 includes a controller 12, a memory 13, and a display 14. The controller 12 is, for example, a processor configured by a CPU (Central Processing Unit) and performs calculations in the control device 11. The memory 13 is configured, for example, by an HDD (Hard Disk Drive) and stores data and programs used in the calculations in the control device 11. In particular, a program 18 is stored in the memory 13, which causes the controller 12 of the control device 11 to execute a control action described below. This program 18 can be installed in the memory 13 by providing it in a state readable by the control device 11 via a storage medium 19, such as a USB (Universal Serial Bus) storage device, or it can be installed in the memory 13 by downloading it from an internet server.Display 14, for example, is a touch panel display and functions as a UI (user interface) to not only show displays to a user, but also to receive input from the user.

[0038] The controller 12 of such a control device 11 causes each of the stationary linear modules 2a to 2d to drive the carriage 4 by means of feedback control of the linear motor stators 23 based on the position of the carriage 4 detected by the magnetic sensors 24. Furthermore, each of the actuators 5c, 5d includes a servo motor 51, which rotates the ball screw, and a encoder 52, which detects the rotational position of the servo motor 51. The controller 12 causes the respective actuators 5c, 5d to drive the movable linear modules 2c, 2d by means of feedback control of the servo motors 51 based on the rotational positions detected by the encoders 52.

[0039] As in Fig. Figure 5 shows that in such a linear conveyor system 1, the carriages and the linear modules may interfere with each other in different modes. Fig. Figure 5 is a representation that schematically shows disturbance modes that occur between the carriage and the linear modules.

[0040] In a fault mode M1, the stationary linear module 2a drives the carriage 4 towards the facing area Fca on side X1, with part of the movable linear module 2c located outside the facing area Fca and the other part within the facing area Fca. In this case, the carriage 4, which extends from the end of the stationary linear module 2a towards the X1 side, cannot engage with the movable linear module 2c and collides with it.

[0041] In a fault mode M2, the actuator 5c drives the movable linear module 2c in the Y direction, with the carriage 4 resting on an end part on the X1 side of the stationary linear module 2a and on an end part on the X2 side of the movable linear module 2c in the facing area Fca. In this case, the stationary linear module 2a and the carriage are pressed against each other in the Y direction, and the movable linear module 2c and the carriage 4 are pressed against each other in the Y direction.

[0042] If these fault modes M1 and M2 occur, the stationary linear module 2a, the movable linear module 2c, or the carriage 4 may be damaged. Furthermore, these fault modes M1 and M2 may not only occur in the Fig. The linear modules 2a, 2c shown in Figure 5 are not affected, but rather similarly for the linear modules 2a, 2d, 2b, 2c and 2b, 2d. In contrast, in the linear conveyor system 1, the transport of the carriage 4 is managed by a drive control described below in order to suppress such disturbances.

[0043] Fig. 6 is a flowchart showing an example of the drive control used in the Fig. The linear conveyor system shown in section 3 is implemented. Fig. 7 is a flowchart showing an example of a normal drive mode controlled by the drive controller of Fig. 6 is executed, Fig. Figure 8 is a flowchart showing an example of a transit drive mode controlled by the drive controller of Fig. 6 is executed, and Fig. Figure 9 is a diagram that schematically shows various prohibited areas for the linear modules as determined by the drive control of Fig. 6 were hired.

[0044] Each flowchart is specified by program 18 and executed by controller 12, which controls each component based on program 18. It is noted that these flowcharts can be executed collectively for a plurality of (four) carriages 4 provided in the linear conveyor system 1. However, a case is described here in which these flowcharts are executed using one of the four carriages 4 for illustrative purposes. It is noted that it is assumed that the carriage 4 and the movable linear modules 2c, 2d are stopped when these flowcharts are started.

[0045] In step S101, one of the four linear modules 2 (2a to 2d) is specified that engages with the carriage 4. Specifically, the linear module 2 can be specified by confirming that the magnetic sensor 24 detects the carriage 4. Furthermore, the current position of the carriage 4 is obtained in step S101. If the linear module 2 engaging with the carriage 4 is the fixed linear module 2a, 2b, the current position of the carriage 4 can be obtained from a detection result of the magnetic sensors 24. If the linear module 2 engaging with the carriage 4 is the movable linear module 2c, 2d, the current position of the carriage 4 can be obtained from an output result of the encoder 52.

[0046] In step S102, a target position (i.e., a movement target) of the carriage 4 is obtained, and the linear module 2 responsible for driving the carriage 4 to the target position is specified from the four linear modules 2.

[0047] In step S103, based on information obtained in step S101, it is determined whether the carriage 4 overlaps a drive prohibition area Hd or not. That is, the controller 12 sets the drive prohibition area Hd, which overlaps the end part of the fixed linear module 2a, 2b and an X-direction adjacent end part of the facing area Fca, Fda, Fcb, Fdb (in other words, the movable linear module 2c, 2d is located in the facing area Fca, Fda, Fcb, Fdb). This point is determined by Fig. 9 described, which shows as an example the fixed linear module 2a and the movable linear module 2c, which are located in the facing area Fca.

[0048] As previously described, the movable linear module 2c, located in the facing region Fca, faces the end on the X1 side of the fixed linear module 2a from the X1 side. In contrast, the drive prohibition region Hd is set to include the end portion on side X1 (one side) of the fixed linear module 2a and the end portion on side X2 (other side) of the movable linear module 2c located in the facing region Fca. In other words, the drive prohibition region Hd is set to include the end portion of the fixed linear module 2a and the end portion of the movable linear module 2c that are located in the facing region Fca and are adjacent in the X direction.This means that in the X-direction, one end on the X2 side of the drive prohibition area Hd is located on the X2 side of the end on the X1 side of the fixed linear module 2a, and one end on the X1 side of the drive prohibition area Hd is located on the X1 side of the end on the X2 side of the movable linear module 2c in the facing area Fca. The length in the X-direction of an overlap area df, in which the fixed linear module 2a and the drive prohibition area Hd overlap, and the length of an overlap area dm, in which the movable linear module 2c and the drive prohibition area Hd overlap, are equal.

[0049] As just described, in the X-direction, the drive-no-movement zone Hd is set such that it includes the end portion of the fixed linear module 2a and the end portion of the facing zone Fca, which are adjacent to each other. Here, the facing zone Fca has the width (including the tolerance of the movable linear module 2c) of the movable linear module 2c in the Y-direction, as previously described. Furthermore, the facing zone Fca has the same length in the X-direction as the movable linear module 2c, and the positions on both sides of the facing zone Fca are aligned with the positions at both ends of the movable linear module 2c. Additionally, each of the facing zones Fda, Fcb, and Fdb, except for the facing zone Fca, has a similar dimensional relationship with the movable linear module 2c or 2d in the X- and Y-directions, and drive-no-movement zones Hd are set similarly for these facing zones.

[0050] In particular, such no-entry zones are defined for: The end part of the fixed linear module 2a and the end part of the facing area Fca (in other words, the movable linear module 2c in the facing area Fca), adjacent in the X direction. The end part of the fixed linear module 2a and the end part of the facing area Fda (in other words, the movable linear module 2d in the facing area Fda), adjacent in the X direction. The end part of the fixed linear module 2b and the end part of the facing area Fcb (in other words, the movable linear module 2c in the facing area Fcb), adjacent in the X direction. The end part of the fixed linear module 2b and the end part of the facing area Fdb (in other words, the movable linear module 2d in the facing area Fdb), adjacent in the X direction.

[0051] In step S103, it is determined whether the carriage 4 overlaps the no-movement zone Hd or not, i.e., whether the carriage 4 is at least partially within the no-movement zone Hd. If the carriage 4 overlaps the no-movement zone Hd ("YES" in step S103), the movement (i.e., the movement in the Y-direction) of the movable linear module 2c, 2d that overlaps the no-movement zone Hd is prohibited (step S104). For example, if the carriage 4 overlaps the no-movement zone Hd, which is defined at a boundary between the fixed linear module 2a and the facing area Fca, the movement of the movable linear module 2c is prohibited. In this way, the movement of the movable linear module 2c is prohibited if the carriage 4 rests on both the fixed linear module 2a and the movable linear module 2c (i.e., overlaps both), as in the "disturbance mode M2" of Fig. 5 shown. Thus, the occurrence of the “fault mode M2”, as in Fig. As shown in Figure 5, the drive of the movable linear module 2c is suppressed even if the carriage 4 is not resting on it, if the carriage 4 partially overlaps the drive prohibition area Hd. In this way, the occurrence of the fault mode M2 ​​can be suppressed more reliably.

[0052] In step S105, display 14 informs the user that the movable linear module 2c, 2d is prohibited from moving. At this point, display 14 also reports a reason for the prohibition of moving the movable linear module 2c, 2d. Specifically, display 14 may show, for example, an error code consisting of a combination of numbers, or indicate verbally that the carriage 4 is in the prohibited movement area Hd. At this point, only the former or the latter may be displayed, or the latter may be displayed if the user performs an action, such as a touch operation, in response to the former after it has been displayed.

[0053] If, on the other hand, the currently stopped carriage 4 is outside any movement prohibition zone Hd and does not overlap any of the movement prohibition zones Hd (“NO” in step S103), it is determined whether the carriage 4, after moving to the target position, overlaps a stopping prohibition zone Hs. That is, the controller 12 sets the stopping prohibition zones Hs that overlap the end parts of the fixed linear modules 2a, 2b and the end parts of the adjacent facing zones Fca, Fda, Fcb and Fdb in the X-direction (in other words, the movable linear modules 2c, 2d are located in the facing zones Fca, Fda, Fcb and Fdb). This point is determined by means of Fig. 9 described, which shows as an example the fixed linear module 2a and the movable linear module 2c, which are located in the facing area Fca.

[0054] As previously described, the movable linear module 2c, located in the facing area Fca, faces the end on the X1 side of the fixed linear module 2a from the X1 side. In contrast, the no-stopping area Hs is set to include the end portion on side X1 (one side) of the fixed linear module 2a and the end portion on side X2 (other side) of the movable linear module 2c located in the facing area Fca. In other words, the no-stopping area Hs is set to include the end portion of the fixed linear module 2a and the end portion of the movable linear module 2c that are located in the facing area Fca and are adjacent in the X direction.This means that in the X-direction, one end on the X2 side of the no-stopping zone Hs is located on the X2 side of the end on the X1 side of the fixed linear module 2a, and one end on the X1 side of the no-stopping zone Hs is located on the X1 side of the end on the X2 side of the movable linear module 2c in the facing zone Fca. The length in the X-direction of an overlap zone df, in which the fixed linear module 2a and the no-stopping zone Hs overlap, and the length of an overlap zone sm, in which the movable linear module 2c and the no-stopping zone Hs overlap, are equal. As just described, in the X-direction, the no-stopping zone Hs is set such that it includes the end portion of the fixed linear module 2a and the end portion of the facing zone Fca, which are adjacent to each other.Furthermore, no-stopping zones Hs are set similarly for the other facing zones Fda, Fcb and Fdb as the facing zone Fca.

[0055] In particular, such no-stopping zones (Hs) are designated for: The end part of the fixed linear module 2a and the end part of the facing area Fca (in other words, the movable linear module 2c in the facing area Fca), adjacent in the X direction. The end part of the fixed linear module 2a and the end part of the facing area Fda (in other words, the movable linear module 2d in the facing area Fda), adjacent in the X direction. The end part of the fixed linear module 2b and the end part of the facing area Fcb (in other words, the movable linear module 2c in the facing area Fcb), adjacent in the X direction. The end part of the fixed linear module 2b and the end part of the facing area Fdb (in other words, the movable linear module 2d in the facing area Fdb), adjacent in the X direction.

[0056] In step S106, it is predicted whether or not the carriage 4 overlaps the no-stopping zone Hs; that is, the carriage 4 will be at least partially within the no-stopping zone Hs when it is moved to the target position. If it is predicted that the moving carriage 4 overlaps the no-stopping zone Hs ("YES" in step S106), the movement of the carriage 4 is prohibited (step S111). In this way, the carriage 4 is prevented from stopping at the target position by resting on (i.e., overlapping) both the fixed linear module 2a and the movable linear module 2c, as in the "disturbance mode M2" of Fig. 5 shown. As a result, the occurrence of the “fault mode M2”, as shown in Fig. As shown in Figure 5, moving the carriage 4 into the target position and driving the movable linear module 2c in advance can prevent this. Furthermore, if it is predicted that the carriage 4 will partially overlap the stopping prohibition zone Hs, even without resting on the stationary linear module 2a and the movable linear module 2c, the driving of the carriage 4 is prohibited. In this way, the occurrence of the disturbance mode M2 ​​can be more reliably prevented.

[0057] In step S105, display 14 informs the user that carriage 4 is prohibited from moving. At this point, display 14 also reports a reason for the prohibition. Specifically, display 14 may show, for example, an error code consisting of a combination of numbers, or indicate verbally that the carriage to be moved will be in the no-stopping zone Hs. At this point, only the former or the latter may be displayed, or the latter may be displayed if the user performs an action, such as a touch operation, in response to the former after it has been displayed.

[0058] If, on the other hand, carriage 4 is outside any no-stopping zone Hs and it is predicted that it will not overlap any of the no-stopping zones Hs when carriage 4 is moved to the target position (“NO” in step S106), it is determined whether the movable linear module 2c, 2d is used to move carriage 4 from the current position to the target position (step S107). If the movable linear module 2c, 2d is not used (“NO” in step S107), the normal drive mode of step S108 is executed.

[0059] As in Fig. As shown in Figure 7, in normal drive mode the linear module 2, which engages with the carriage 4, begins to drive the carriage 4 (step S201). Then, when the carriage 4 reaches the target position (“YES” in step S202), the carriage 4 is stopped (step S203).

[0060] If, on the other hand, the movable linear module 2c, 2d is used to move the carriage 4 (“YES” in step S107), the current position of the movable linear module 2c, 2d to be used is obtained (step S109). In step S110, it is determined whether a transit of the carriage 4 from the stationary linear module 2a, 2b in engagement with the stationary carriage 4 to the movable linear module 2c, 2d intended for use is possible. In particular, it is determined whether the transit is possible based on whether the movable linear module 2c, 2d intended for use is located in the facing area Fca, Fcb, Fda, Fda corresponding to the stationary linear module 2a, 2b in engagement with the stationary carriage 4. If the transit is not possible (“NO” in step S110), the process continues to step S111.

[0061] For example, if the carriage 4, which engages with the stationary linear module 2a, is moved using the movable linear module 2c, it is determined whether the movable linear module 2c is located within the facing area Fca or not. If the movable linear module 2c is at least partially outside the facing area Fca, step S110 determines that the transit is not possible (NO), and the process continues with step S111.

[0062] In step S111, the drive of the carriage 4 is prohibited. If, in this way, the movable linear module 2c is at least partially outside the facing area Fca, as for example in the "fault mode M1" of Fig. As illustrated in Figure 5, the drive of the carriage 4 is prohibited. Thus, the occurrence of "fault mode M1", as shown in Figure 5, is prevented. Fig. 5 shown, will be suppressed.

[0063] In step S105, display 14 informs the user that carriage 4 is prohibited from moving. At this point, display 14 also reports a reason for the prohibition. Specifically, display 14 may show, for example, an error code consisting of a combination of numbers, or it may indicate in speech that carriage 4 cannot move because the movable linear module 2c deviates from the facing area Fca. At this point, only the former or the latter may be displayed, or the latter may be displayed if the user performs an action, such as a touch operation, in response to the former.

[0064] If, on the other hand, it is determined that the transit of the carriage 4 from the stationary linear module 2a, 2b, engaged with the stationary carriage 4, to the movable linear module 2c, 2d to be used is possible (YES), the transit drive mode of step S112 is executed. For example, if the carriage 4, engaged with the stationary linear module 2a, is moved using the movable linear module 2c, step S110 determines that the transit is possible (YES), and it proceeds to step S112 if it is determined that the movable linear module 2c is in the facing area Fca.

[0065] As in Fig. As shown in Figure 8, in transit drive mode, the drive of the movable linear module 2c, 2d to be used is prohibited (step S301). For example, if the carriage 4, which is engaged with the stationary linear module 2a, is moved using the movable linear module 2c, the drive of the movable linear module 2c from the facing area Fca is prohibited.

[0066] In this way, the drive of carriage 4 is started (step S302), stopping the movable linear module 2c, 2d to be used. When it is determined that the transit of carriage 4 is complete ("YES" in step S303), the drive prohibition of the movable linear module 2c, 2d as the transit destination is lifted. For example, if carriage 4, which is engaged with the stationary linear module 2a, is moved using the movable linear module 2c, the drive prohibition of the movable linear module 2c is lifted after the transit of carriage 4 from the stationary linear module 2a to the movable linear module 2 is complete.

[0067] Then, the movable linear module 2c, 2d drives the received carriage 4 towards the target position. In an example of the carriage 4 being received from the stationary linear module 2a by the movable linear module 2c, the movable linear module 2c moves the carriage 4 to the target position if the target position of the carriage 4 lies on the movable linear module 2c. Alternatively, if the target position of the carriage 4 is on the stationary linear module 2b, the carriage 4 is driven by the movable linear module 2c into the facing area Fcb according to an intermediate position on a route to the target position, and further transferred by the movable linear module 2c in the facing area Fcb to the stationary linear module 2b and to the target position. When the carriage 4 reaches the target position ("YES" in step S305), the carriage 4 is stopped (step S306).

[0068] In the embodiment described above, the multiple stationary linear modules 2a, 2b are arranged in a row in the Y-direction, and each stationary linear module 2a, 2b extends orthogonally to the Y-direction in the X-direction and can drive the carriage 4 in the X-direction. To transfer the carriage 4 between these multiple stationary linear modules 2a and 2b, a carriage transfer mechanism is further provided, which includes the movable linear module 2c, 2d and the actuator 5c, 5d. This carriage transfer mechanism includes the movable linear module 2c, 2d, which is movable in the Y-direction. This movable linear module 2c, 2d is movable between several facing areas Fca, Fcb, Fda, Fdb, which are arranged in the Y-direction and face the several fixed linear modules 2a, 2b from the X-direction, and can move the carriage 4 in the X-direction. The carriage 4 can move between the movable linear module (e.g.the movable linear module 2c), which is located in one of the multiple facing areas Fca, Fcb, Fda and Fdb, and the stationary linear module (e.g. the stationary linear module 2a), which faces the one facing area (e.g. the facing area Fca). By using such a slide transfer mechanism, the slide 4 can be transferred between the multiple stationary linear modules 2a, 2b.

[0069] In this embodiment, based on position-related information about the position of the carriage 4 or the movable linear module 2c, 2d, it is determined whether the drive of at least one object from the carriage 4 and the movable linear module 2c, 2d should be allowed or prohibited before the drive of the object is started. In this way, the occurrence of disturbances of the linear module 2a to 2d and the carriage 4 in the linear conveying system 1 for transferring the carriage 4 between the several stationary linear modules 2a, 2b using the movable linear modules 2c, 3d can be suppressed.

[0070] Furthermore, in step S110, the position (position-related information) of the movable linear module 2c, 2d is obtained before the drive of the carriage 4 is started. To drive the carriage 4 to the target position, the controller 12 then executes the following control when the carriage 4 needs to be moved from one of the fixed linear modules (e.g., 2a) or from one of the multiple fixed linear modules 2a, 2b to the movable linear module (e.g., 2c) ("YES" in step S108). That is, if the movable linear module (e.g., 2c) is located in the area facing the one fixed linear module (e.g., 2a), the drive of the carriage from the one fixed linear module (e.g., 2a) to the area facing it (e.g., Fca) is permitted. On the other hand, if the movable linear module (e.g. 2c) is located at least partially outside the facing area (e.g. Fca) which contains a fixed linear module (e.g.When the carriage 4 is facing 2a), the drive of the carriage 4 is prohibited. In this way, the occurrence of disturbances between the carriage 4 and the movable linear module 2c, 2d can be suppressed when the carriage 4 is moved from the stationary linear module 2a, 2b to the movable linear module 2c, 2d.

[0071] If the movement of the carriage 4 is permitted, the controller 12 prohibits the movement of the movable linear module (e.g., 2c) in the Y-direction from the area (e.g., Fca) facing the one stationary linear module (e.g., 2a) until the movement of the carriage 4 from the one stationary linear module (e.g., 2a) to the movable linear module (e.g., 2c) is completed. In this way, the movement of the carriage 4 from the stationary linear module 2a, 2b to the movable linear module 2c, 2d can be completed, while the disturbance between the carriage 4 and the movable linear module 2c, 2d is suppressed.

[0072] Furthermore, in step S101, the position (position-related information) of the carriage 4 is obtained before the drive of the carriage 4 is started. Then, the controller 12 allows the drive of the movable linear module 2c, 2d if, before the start of the drive, the carriage 4 does not overlap the drive prohibition area Hd, including the end part of the stationary linear module 2a, 2b and the end part of the facing area Fca, Fda, Fcb, Fdb, and prohibits the drive of the movable linear module 2c, 2d if the carriage 4 overlaps the drive prohibition area Hd before the start of the drive.In such a configuration it is possible to suppress the occurrence of disturbances between the carriage 4 and the movable linear module 2c, 2d due to the drive of the movable linear module 2c, 2d in the Y direction, wherein the carriage 4 engages both the end part of the stationary linear module 2a, 2b and the end part of the movable linear module 2c, 2d.

[0073] Furthermore, in step S102, the target position (position-related information) is received as the drive target of the carriage 4. Then, the controller 12 allows the carriage 4 to be driven to the target position if it is predicted that the carriage 4 driven to the target position will not overlap the no-stopping area Hs, including an end part of the stationary linear module 2a, 2b and an end part of the facing area Fca, Fda, Fcb, Fdb, which are facing each other, and prohibits the carriage 4 from being driven if it is predicted that the carriage 4 driven to the target position will overlap the no-stopping area Hs. This means that if the carriage 4 overlaps the no-stopping zone Hs as a result of driving the carriage 4 into the target position, the carriage 4 can stop while it is engaged with both the end part of the fixed linear module 2a, 2b and the end part of the movable linear module 2c, 2d.If the movable linear module 2c, 2d is driven in the Y direction at this time, a disturbance occurs between the carriage 4 and the movable linear module 2c, 2d. Accordingly, the occurrence of disturbances between them can be suppressed by prohibiting the drive of the carriage 4 from the outset if the carriage 4, which is driven towards the target position, overlaps the stopping prohibition area Hs.

[0074] Furthermore, display 14 is provided, which informs the user that the controller 12 prohibits the movement of the object (carriage 4, movable linear module 2c, 2d). In such a configuration, the user can conveniently perform an operation to lift the movement prohibition after detecting the movement prohibition of the object (carriage 4, movable linear module 2c, 2d).

[0075] Display 14 also reports a reason for prohibiting the movement of the object (carriage 4, movable linear module 2c, 2d). In such a configuration, the user can effectively perform an operation to remove the movement prohibition by detecting the reason for the movement prohibition of the object (carriage 4, movable linear module 2c, 2d).

[0076] As just described, in this embodiment the linear conveyor system 1 corresponds to an example of a “linear conveyor system” according to the invention, the carriage 4 corresponds to an example of a “carriage” according to the invention, the stationary linear modules 2a, 2b correspond to an example of “stationary linear modules” according to the invention, the movable linear modules 2c, 2d correspond to an example of a “movable linear module” according to the invention, the movable linear module 2c, 2d and the actuator 5c, 5d work together to form a “carriage transfer mechanism” according to the invention, the controller 2 corresponds to an example of a “controller” according to the invention, the display 14 corresponds to an example of a “signaling device” according to the invention, the X-direction corresponds to an example of a “first direction” according to the invention, the Y-direction corresponds to an example of a “second direction” according to the invention.The propulsion prohibition zone Hd corresponds to an example of a "propulsion prohibition zone" according to the invention, the stopping prohibition zone Hs corresponds to an example of a "stopping prohibition zone" according to the invention, the program 18 corresponds to an example of a "control program for a linear conveyor system" according to the invention, the storage medium 19 corresponds to an example of a "storage medium" according to the invention, and the control device 11 corresponds to an example of a "computer" according to the invention.

[0077] It should be noted that the invention is not limited to the embodiment described above and that various modifications can be made to the above content without departing from the spirit of the invention. For example, the arrangement direction of the stationary linear modules 2a, 2b is not limited to the Y-direction (horizontal direction) and can extend along the Z-direction (vertical direction). In this case, the actuators 5c, 5d move the movable linear modules 2c, 2d upwards and downwards in the Z-direction.

[0078] Furthermore, the linear conveyor system 1 can be configured such that the carriage 4 is moved along an L-shaped path consisting of a stationary linear module 2a and an actuator 5d for driving the movable linear module 2d. Alternatively, the stationary linear module 2b can be moved from the state in Fig.3 moved parallel to the X direction and arranged on one side opposite the stationary linear module 2a with respect to the actuator 5c.

[0079] Furthermore, the number of fixed linear modules 2a, 2b is not limited to two and can be three or more.

[0080] Furthermore, the dimensions of the drive prohibition zone Hd can be changed as needed. For example, the overlap zone df can be shorter or longer than the overlap zone dm.

[0081] Furthermore, the dimensions of the no-stopping zone Hs can be changed as needed. For example, the overlap zone sf can be shorter or longer than the overlap zone sm.

[0082] Furthermore, the drive directions of the carriage 4 through the fixed linear modules 2a, 2b do not necessarily have to be orthogonal to the drive directions of the carriage 4 through the actuators 5c, 5d and may be inclined with respect to the latter drive directions. [List of reference symbols] 1 Linear conveyor system 2a, 2b fixed linear module 2c, 2d movable linear modules (sled transfer mechanism) 4 sleds 5c, 5d Actuator (sled transfer mechanism) 11 Control device (computer) 12 controllers 14 Display (reporting device) 18 Program (Control program for linear conveyor system) 19 Storage medium HD propulsion restricted area Hs No Stopping Zone X X-direction (first direction) Y Y-direction (second direction)

Claims

Linear conveying system comprising: several stationary linear modules, each extending in a first direction, driving a carriage in the first direction and arranged in a second direction intersecting the first direction; a carriage transfer mechanism with a movable linear module that is movable between several facing areas arranged in the second direction and each facing the several stationary linear modules from the first direction, and driving the carriage in the first direction, wherein the carriage transfer mechanism conveys the movable linear module between the several facing areas by driving the movable linear module in the second direction; and a controller configured to control the drive of at least one object under the carriage and movable linear module.wherein: the carriage can be moved into and out of engagement with the stationary linear module from one end in the first direction, and the stationary linear module drives the carriage engaged with the stationary linear module in the first direction; the carriage can be moved into and out of engagement with the movable linear module from one end in the first direction, and the movable linear module drives the carriage engaged with the movable linear module in the first direction; the carriage moves between the movable linear module, which is located in one facing area among the multiple facing areas, and the stationary linear module, which faces the one facing area; and the controller determines, based on position-related information about the position of the carriage or the movable linear module, whether the movement of the object is allowed or prohibited before the movement of the object is started. Linear conveying system according to claim 1, wherein: the position-related information includes the position of the movable linear module before the drive of the carriage is started, and the controller allows the drive of the carriage from a stationary linear module among the multiple stationary linear modules into the facing area if the movable linear module is located in the facing area that is facing the one stationary linear module, when the carriage must be moved from the one stationary linear module to the movable linear module in order to drive the carriage into a target position, whereas the controller prohibits the drive of the carriage if the movable linear module is located at least partially outside the facing area relative to the one stationary linear module. Linear conveying system according to claim 2, wherein the controller prohibits the drive of the movable linear module in the second direction from the area facing the one stationary linear module until a movement of the carriage from the one stationary linear module to the movable linear module is completed, if the drive of the carriage is allowed. Linear conveying system according to one of claims 1 to 3, wherein: the position-related information includes the position of the carriage before the carriage drive is started, and the controller allows the drive of the movable linear module if, before the drive is started, the carriage does not overlap a drive prohibition area, including an end part of the stationary linear module and an end part of the facing area, which are facing each other, and prohibits the drive of the movable linear module if the carriage overlaps the drive prohibition area before the drive begins. Linear conveying system according to one of claims 1 to 4, wherein: the position-related information includes a target position as the drive target of the carriage, and the controller allows the carriage to be driven to the target position if it is predicted that the carriage driven to the target position will not overlap a no-stopping area, including an end part of the stationary linear module and an end part of the facing area, which are facing each other, and prohibits the carriage from being driven if it is predicted that the carriage driven to the target position will overlap the no-stopping area. Linear conveyor system according to one of claims 1 to 5, further comprising a notification device configured to inform a user that the controller is prohibiting the driving of the object. Linear conveyor system according to claim 6, wherein the signaling device further communicates a reason for prohibiting the drive of the object. Control method for a linear conveying system, wherein the linear conveying system comprises several stationary linear modules, each extending in a first direction, capable of driving a carriage in the first direction, and arranged in a second direction intersecting the first direction; and a carriage transfer mechanism with a movable linear module that is movable between several facing areas arranged in the second direction, each facing the several stationary linear modules from the first direction, and capable of driving the carriage in the first direction, wherein the carriage transfer mechanism conveys the movable linear module between the several facing areas by driving the movable linear module in the second direction, wherein the carriage can be engaged and disengaged from the stationary linear module from one end in the first direction.wherein the stationary linear module drives the carriage, which engages with the stationary linear module, in the first direction, wherein the carriage can be moved in and out of engagement with the movable linear module from one end in the first direction, wherein the movable linear module drives the carriage, which engages with the movable linear module, in the first direction, wherein the carriage is movable between the movable linear module, which is located in a facing area under the multiple facing areas, and the stationary linear module, which faces the one facing area, wherein the control method comprises: obtaining position-related information about the position of the carriage or the movable linear module; and determining, based on the position-related information, whether the driving of at least one object under the carriage and the movable linear module is permitted or prohibited.before the object is driven. Control program for a linear conveying system, wherein the linear conveying system comprises several stationary linear modules, each extending in a first direction, capable of driving a carriage in the first direction, and arranged in a second direction intersecting the first direction; and a carriage transfer mechanism with a movable linear module that is movable between several facing areas arranged in the second direction, each facing the several stationary linear modules from the first direction, and capable of driving the carriage in the first direction, wherein the carriage transfer mechanism conveys the movable linear module between the several facing areas by driving the movable linear module in the second direction, wherein the carriage can be engaged and disengaged from the stationary linear module from one end in the first direction.wherein the stationary linear module drives the carriage, which engages with the stationary linear module, in the first direction, wherein the carriage can be moved in and out of engagement with the movable linear module from one end in the first direction, wherein the movable linear module drives the carriage, which engages with the movable linear module, in the first direction, wherein the carriage is movable between the movable linear module, which is located in one facing area among the multiple facing areas, and the stationary linear module, which faces the one facing area, wherein the control program causes a computer to: obtain position-related information about the position of the carriage or the movable linear module; and determine, based on the position-related information, whether the driving of at least one object under the carriage and movable linear module is allowed or prohibited.before the object is driven. Storage medium which stores the control program for the linear conveyor system according to claim 9 in a computer-readable format.

Images