Transport system

Abstract

Transport system (1), comprising: several transport path units (10) which form a movement route on which several moving bodies (20), each comprising a magnet (22), move and which exert a driving force on the several moving bodies (20); a control unit (30) which controls the multiple transport path units (10), where the transport route units (10) each comprise: a coil (121); a transport route communication substation (11); a power control (124) which is connected to the transport path communication substation (11); and a position detector (13) which is connected to the transport path communication substation (11) and is configured to detect a position of the moving body (20) and output a position detection signal, the control control (30) comprises: a communication master station (31) which communicates with the transport path communication substation (11); at least one communication substation (32) which communicates with the communication master station (31); a position command generator (33) which is connected to the communication master station (31); a position generator (34) which is connected to the communication master station (31); a power command generator (36) which is connected to the communication master station (31); and a position control (35) which is connected to the communication substation (32) and is assigned to the several moving bodies (20), wherein the transport path communication substation (11) transmits the position detection signal of the position detector (13) to the communication master station (31), wherein the position generator (34) generates a moving body position information, which is position information for each of the several moving bodies (20), based on the position detection signal obtained from the communication master station (31), wherein the position command generator (33) generates a motion body position command value, which is a position command value for each of the multiple motion bodies (20), wherein the communication master station (31) transmits the moving body position command value and the moving body position information to the communication substation (32) or transmits a position deviation obtained from the moving body position command value and the moving body position information to the communication substation (32), wherein the position control (35) generates a motion body drive command value, which is a drive command value for each of the multiple motion bodies (20), based on the motion body position command value and the motion body position information obtained from the communication substation (32), or on the position deviation, wherein the communication substation (32) transmits the moving body drive command value to the communication master station (31), wherein the current command generator (36) generates a first current command value, which is a current command value of the several transport path units (10), based on the motion body drive command value obtained from the communication master station (31) and the motion body position information, wherein the communication master station (31) transmits the first current command value obtained from the current command generator (36) to the transport path communication substation (11), and wherein the current control (124) controls a current to be supplied to the coil (121) based on the first current command value obtained from the transport path communication substation (11).

Description

Area

[0001] The present disclosure relates to a transport system which moves several moving bodies along a movement route. background

[0002] In the field of factory automation (FA) in production lines for product assembly, product packaging, and food packaging, transport systems are used to move objects between multiple stations along a production line and between different production lines. In recent years, to improve production efficiency, transport systems have gained attention that divide a transport route into multiple control zones. These systems, which control the movement of the transport body within each control zone, effectively move the object within that zone.

[0003] Patent reference 1 below discloses a linear path control system comprising several linear motor modules and a drive control unit, and a transport system comprising a carriage serving as a moving body that travels along a transport path (transport route) configured by the several linear motor modules. The linear path control system disclosed in patent reference 1 comprises, for each of the several linear motor modules, several coil units, several control sections, a position detection section, and an assignment section. In such a linear path control system, when the carriage enters a linear motor module, the position of the carriage is detected by the position detection section, and a single control section is assigned to a single carriage by the assignment section.Then the control section to which a single car is assigned calculates current control information and performs a control operation so that a drive current is supplied to the coil unit according to the current control information, which is required to move the single car to which the control section is assigned.

[0004] When a single carriage is assigned to a single control section, patent literature 1 describes a case where the assigned carriage is located at a single coil unit in the linear motor module. In such a case, the single control section performs a control operation such that a drive current is supplied to the single coil unit in which the carriage is located. Furthermore, in a case where the assigned carriage is located in the vicinity of the boundary between two adjacent coil units in the linear motor module, the single control section performs a control operation such that a drive current is supplied to the two coil units that form the vicinity of the boundary where the carriage is located.In the linear path control system disclosed in patent literature 1, when several cars enter a single linear motor module, a single control section is assigned to a single car by the assignment section; however, if the number of cars exceeds the number of control sections contained in the linear motor system and there is no control section to assign, an error message is transmitted to the drive control by the assignment section.

[0005] Patent literature 2 discloses a transport device with several coils arranged along a first direction and a movable element that moves along the coils. The movable element has a first group of magnets arranged along the first direction and a second group of magnets arranged along a second direction intersecting the first direction. At least one of the coils consists of a core, a winding section, and a yoke. The yoke is arranged at the edge of the winding section along the first direction.

[0006] Patent literature 3 discloses a method for detecting a load and / or wear of a transport element of a transport system with a long-stator linear motor, comprising the steps of: exciting a dynamic system consisting of the long-stator linear motor and the transport element according to at least one excitation pattern; detecting the motion profile of the transport element based on the at least one excitation pattern; and detecting a time course of a load current and / or a load voltage of the long-stator linear motor according to the at least one excitation pattern by means of an integrated measuring device of the long-stator linear motor; wherein a load state of the transport element is determined depending on the detected motion profile and the detected time course of the load current and / or the load voltage.

[0007] Patent literature 4 discloses a half-bridge inverter with upper and lower switches, which can be placed in linear motor rail sections to alternately connect a common point of all drive coils to a full-bus DC rail ("full bus") and a DC reference according to PWM command signals. It functions as a "virtual middle bus" to enable the bidirectional flow of the sum of the currents of all drive coils in the section.Separate upper and lower drive switches of the half-bridge inverters, which are also connected to drive the drive coils, can then be controlled according to separate PWM command signals to synchronize their PWM cycles and duty cycle commands with respect to the virtual center bus when no drive is present, resulting in zero voltage across the drive coils, or to control different duty cycles with respect to the virtual center bus when a drive is present, resulting in a desired voltage across the drive coils. The desired voltage can then generate a current in the drive coils to electromagnetically drive the drive.

[0008] Patent reference 5 discloses a linear high-speed placement system with multiple rotors and a control method. The linear high-speed placement system with multiple rotors comprises a guide rail, several dual-rotor placement modules, a master control module, and several slave control modules. The dual-rotor placement modules are arranged on the guide rail, and the master control module is connected to the slave control modules via a bus. Each slave control module is connected to one dual-rotor placement module. The dual-rotor placement modules are used to pick up or place materials by synchronized movement of the first and second rotors on the guide rail. The master control module generates multiple instructions and sends them synchronously to the slave control modules via the bus.The slave control modules receive the corresponding instructions from the master control module and control the first and second rotors so that they move together to pick up or place the materials according to the instructions. Since the master control module sends the instructions synchronously via the bus to all dual-rotor pick-and-place modules, synchronous control of multiple rotors is achieved. Citation list of patent literature Patent literature 1: JP 6 490 273 B2 Patent literature 2: JP 2021 - 126 002 A Patent literature 3: US 2021 / 0 116 292 A1 Patent literature 4: US 10 164 555 B1 Patent Literature 5: CN 1 13 800 218 A Brief description of the invention Problem to be solved by the invention

[0009] In the linear path control system described above, which is disclosed in patent literature 1, when a carriage enters a linear motor module comprising multiple coil units and multiple control sections, a single control section is assigned to a single carriage to control the carriage's movement. Therefore, even if a carriage is located near the boundary between adjacent coil units within a single linear motor module, the linear path control system controls the carriage's movement through a single control section assigned to that carriage, thus preventing simultaneous control of a single carriage by multiple control sections and ensuring highly accurate carriage movement.If the position of the assigned carriage is in the vicinity of the boundary between two adjacent coil units in the linear motor module, then a single control section, to which a single carriage is assigned, performs a control such that a drive current is supplied to the two coil units that form the vicinity of the boundary where the carriage is located. Accordingly, the linear motion control system prevents the drive force exerted on the carriage from being halved in a single linear motor module and does not require expensive electrical circuitry set up for a single coil unit to supply the drive force expected from two coil units to the carriage.

[0010] In this transport system, the cart moves along a route configured by several linear motor modules. Therefore, the system must be able to control the cart's movement with high accuracy, even at the boundary between adjacent linear motor modules. It should not require expensive electrical circuitry for a single coil unit to supply the drive force to the cart when two coil units are needed. Furthermore, despite the transport system moving multiple carts along the route, it is desirable to minimize system stoppages due to control system malfunctions to improve production efficiency.

[0011] On the other hand, in the linear path control system disclosed in patent literature 1, a single control section in a single linear motor module, as described above, can perform control such that a drive current is supplied to several coil units by means of control by the single control section, even if a carriage is present at the boundary between adjacent coil units. However, in the linear path control system disclosed in patent literature 1, if a carriage is present at the boundary between adjacent linear motor modules, the movement of a single carriage is controlled simultaneously by two control sections: the control section of one linear motor module and the control section of the other linear motor module.For this reason, a problem exists with the linear path control system disclosed in patent literature 1: it is difficult to control the movement of the carriage at the boundary between adjacent linear motor modules with high accuracy.

[0012] If, in the linear path control system disclosed in patent literature 1, a carriage is present at the boundary between adjacent linear motor modules, then, if a single carriage is controlled using one of the control sections of the adjacent linear motor modules, the control section of one linear motor module cannot supply any drive current to the coil unit of the other linear motor module, and therefore the drive force exerted on the carriage is halved.In such a case, in the linear railway control system disclosed in patent literature 1, in order for the carriage to receive a driving force equal to that in which both adjacent coil units are driven, it is necessary to supply twice the driving current to a single coil unit, which can be controlled to receive a supply of driving current through the control section of one linear motor module, and there is a problem that the electrical circuit is expensive.

[0013] Furthermore, the linear path control system disclosed in patent literature 1 has a problem in that, if the number of carriages entering the linear motor module exceeds the number of control sections contained in the linear motor module, an error message is transmitted to the drive control via the assignment section, and carriage control of all linear motor modules is stopped as soon as no assignable control section is available.Because the linear path control system disclosed in patent literature 1 includes a control section in the linear motor module, it is also necessary to provide the same number of control sections in all linear motor modules as the number of carriages, which are the moving bodies that move on the transport path of the transport system, in order to avoid the problem of stopping the carriage control of the linear motor module, and there is a problem in that the control system increases in size and cost due to the increase in the number of control sections.

[0014] The present disclosure was made to solve the problems described above, and its aim is to provide a transport system in which transport path units with multiple drive elements, which exert a driving force on a moving body, are arranged adjacent to one another, the movement of the moving body can be controlled with high accuracy even at the boundary between the adjacent transport path units, the increase in the cost of the electrical circuitry contained in a single drive element is reduced or prevented, and the control of the moving body of the transport system is prevented from stopping, without increasing the size and cost of the control system. Means to solve the problem

[0015] A transport system according to the present disclosure comprises: several transport path units, which form a movement route along which several moving bodies move and which exert a driving force on the moving bodies; a communication master station, which is communicatively connected to a transport path communication substation provided in the transport path unit; a communication substation, which is communicatively connected to the communication master station; a position command generator, which is connected to the communication master station and configured to generate a position command value of a moving body, which is a position command value for each of the several moving bodies; a position generator, which is connected to the communication master station and configured to generate position information about a moving body.which is position information for each of the multiple motion bodies; a position controller, which is connected to the communication substation, assigned to the motion body and configured to generate a drive command value of the motion body based on the position command value of the motion body and the position information about the motion body, or based on a position deviation obtained from the position command value of the motion body and the position information about the motion body; and a current command generator,which generates a current command value for the transport unit based on the drive command value of the moving body and the position information about the moving body. The communication master station then performs an initial communication to transmit the position command value of the moving body and the position information about the moving body or its position deviation to the communication substation. Furthermore, if the current command generator is connected to the communication master station, the communication substation performs a second communication to transmit the drive command value of the moving body to the communication master station, and the communication master station performs a third communication to transmit the current command value of the transport unit to the transport communication substation. If the current command generator is connected to the communication substation,The communication substation performs a fourth communication, transmitting the current command value of the transport path unit to the communication master station, and the communication master station performs the third communication. Furthermore, if the current command generator is connected to the transport path communication substation, the communication substation performs the second communication, and the communication master station performs a fifth communication, transmitting the drive command value of the moving body and the position information about the moving body to the transport path communication substation. Effects of the invention

[0016] In the transport system according to the present disclosure, transport path units that exert the driving force on the moving body are arranged adjacent to one another. The movement of the moving body can be controlled with high accuracy even at the boundary between adjacent transport path units, and an increase in the cost of the electrical circuits contained in the transport path units can be reduced or prevented. Furthermore, the transport system according to the present disclosure can prevent the control of the moving body of the transport system from being stopped without increasing the size and cost of the transport system. Brief description of the drawings Fig. Figure 1 is a schematic diagram showing an exemplary configuration of the transport system according to the first embodiment. Fig. Figure 2 is a diagram showing an exemplary configuration of a transport path unit and a moving body according to the first embodiment. Fig. Figure 3 is a diagram showing an exemplary hardware configuration of the transport path unit according to the first embodiment. Fig. Figure 4 is a diagram showing an exemplary configuration of the control system according to the first embodiment. Fig. Figure 5 is a diagram showing an example of a communication control in the communication master station according to the first embodiment. Fig. Figure 6 is a diagram showing an exemplary hardware configuration of the control system according to the first embodiment. Fig. Figure 7 is a flowchart showing an example of the operation of the control system according to the first embodiment. Fig. Figure 8 is a flowchart showing an example of the operation of the transport route unit according to the first embodiment. Fig. Figure 9 is a schematic diagram showing an exemplary configuration of the transport system according to the second embodiment. Fig. Figure 10 is a diagram showing an exemplary hardware configuration of the control controller according to the second embodiment. Fig. Figure 11 is a schematic diagram showing an exemplary configuration of the transport system according to the third embodiment. Fig. Figure 12 is a diagram showing an exemplary hardware configuration of the control controller according to the third embodiment. Fig. Figure 13 is a flowchart which shows an example of the operation of the control system according to the third embodiment. Fig. Figure 14 is a flowchart which shows an example of the operation of the transport route unit according to the third embodiment. Fig. Figure 15 is a schematic diagram showing an exemplary configuration of the transport system according to the fourth embodiment. Fig. Figure 16 is a diagram showing an example of communication control in the communication master station according to the fourth embodiment. Fig. Figure 17 is a diagram showing an exemplary hardware configuration of the control controller according to the fourth embodiment. Fig. Figure 18 is a flowchart which shows an example of the operation of the control system according to the fourth embodiment. Fig. Figure 19 is a flowchart which shows an example of the operation of the transport route unit according to the fourth embodiment. Fig. Figure 20 is a schematic diagram showing an exemplary configuration of the transport system according to the fifth embodiment. Fig. Figure 21 is a diagram showing an exemplary hardware configuration of the control controller according to the fifth embodiment. Fig. Figure 22 is a flowchart showing an example of the operation of the control system according to the fifth embodiment. Fig. Figure 23 is a schematic diagram showing an exemplary configuration of the transport system according to the sixth embodiment. Fig. Figure 24 is a flowchart which shows an example of the operation of the control system according to the sixth embodiment. Fig. Figure 25 is a flowchart which shows an example of the operation of the transport route unit according to the sixth embodiment. Fig. Figure 26 is a schematic diagram showing an exemplary configuration of the transport system according to the seventh embodiment. Fig. Figure 27 is a diagram showing an exemplary configuration of the current command generator of the control controller according to the seventh embodiment. Fig. Figure 28 is a flowchart relating to a learning process of the current command generator according to the seventh embodiment. Fig. Figure 29 is a flowchart relating to a follow-up processing of the current command generator according to the seventh embodiment. Fig. Figure 30 is a diagram showing an exemplary configuration of a transport path unit and a moving body according to a modification. Fig. Figure 31 is a schematic diagram showing an exemplary configuration of a transport system according to a modification. Description of embodiments

[0017] The following sections describe in detail embodiments of the present disclosure with reference to the drawings. The present disclosure is not limited to these embodiments. First embodiment.

[0018] Fig. Figure 1 is a schematic diagram showing an exemplary configuration of the transport system according to the first embodiment of the present disclosure. As in Fig. As shown in Figure 1, the transport system 1 comprises several transport path units 10A to 10H, which form a transport route for several moving bodies 20A to 20C, a control unit 30, which controls the operating modes of the several moving bodies 20A to 20C, and a power supply unit 40, which supplies power to the transport path units 10A to 10H. The several moving bodies 20A to 20C are installed such that they move along the transport route formed by the transport path units 10A to 10H. In the present disclosure, the several transport path units 10A to 10H may simply be referred to as the transport path units 10 when it is not necessary to distinguish between them. In the present disclosure, the several moving bodies 20A to 20C may simply be referred to as the moving bodies 20 when it is not necessary to distinguish between them.

[0019] It should be noted that in the transport system 1 a programmable logic controller (PLC) (not shown), which gives a command to execute a sequence control to the higher-ranking control controller 30, a human-machine interface (HMI) (not shown) for entering parameters by an operator and checking the operating status of the system, and the like, may be connected to the control controller 30.

[0020] In the Fig. In the transport system 1 shown, the control unit 30 is connected to the transport path units 10 by a first communication line 50, and each of the transport path units 10 is connected to adjacent transport path units 10 by a second communication line 60. The transport path units 10A to 10H are connected to the power supply unit 40 by a power supply line 70.

[0021] In Fig. 1. The control unit 30 and a transport path unit 10 are connected by the first communication line 50, and transport path units 10 that are adjacent to each other are connected by the second communication line 60, thus forming a communication network between the control unit 30 and the transport path units 10 via a line network. However, the communication network between the control unit 30 and the transport path units 10 need not be a line network.For example, the communication network between the control unit 30 and the transport path units 10 can be in the form of a star connection, in which the control unit 30 and a communication hub are connected by a communication line and the communication hub and the transport path units 10A to 10H are connected by communication lines extending from the communication hub, corresponding to the number of transport path units 10, or it can be in the form in which the control unit 30 and the transport path units 10A to 10H are connected by communication lines extending from the control unit 30, corresponding to the number of transport path units 10.

[0022] Although the connection between the control unit 30 and the transport units 10, and the connection between the transport units 10, is made via the first communication line 50 and the second communication line 60, which are wired, they can be wirelessly connected. This means that the connection between the control unit 30 and the transport units 10, and the connection between the transport units, only needs to be configured to be capable of communication via any communication device.

[0023] A positive bus and a negative bus run through the power supply line 70. The positive bus is connected to the positive electrode of the power supply unit 40, and the negative bus is connected to the negative electrode of the power supply unit 40.

[0024] Furthermore, it shows Fig. 1. The form of a multi-drop connection, in which each of the transport path units 10A to 10H is connected to the common power supply line 70 and is configured to share power supplied by the power supply unit 40. However, the connection between the transport path units 10 and the power supply unit 40 need not be in the form of a multi-drop connection. For example, the power supply unit 40 and the transport path unit 10 can be connected in the form of a network by connecting the power supply unit 40 and a single transport path unit 10 via a power supply line and connecting adjacent transport path units 10 via a power supply line.Furthermore, it is acceptable that the transport system 1 includes several power supply units and that several transport route units 10 are connected to a single power supply unit by a power supply line in order to form a power supply domain in which a power supply is distributed to the transport route units 10.

[0025] In the Fig. The transport system 1 shown comprises the multiple transport path units 10A to 10H, transport path units 10A, 10B, 10E and 10F, each of which has a shape forming a straight path, and transport path units 10C, 10D, 10G and 10H, each of which has a shape forming a curved path. The multiple transport path units 10 are coupled to form a transport route for the moving body 20. Furthermore, the transport system 1 is a system that can move the moving body 20 along the transport route by controlling drive elements 12 contained in the transport path units 10, based on the control data output by the control controller 30.

[0026] Fig. Figure 1 shows an example in which transport system 1 comprises a transport route with a closed loop shape, by coupling the multiple transport path units 10A to 10H. Fig. Transport system 1 comprises eight transport path units 10; the number of transport path units 10 is not particularly limited. Furthermore, the transport path unit 10 is not limited to the one in Fig. The form shown is limited. For example, the transport path unit 10 can have a shape that has various paths, such as a Y-shape with a branch, a T-shape, and a crossover shape. This means that the transport system 1 can comprise various transport routes by combining the transport path units 10 with various shapes. Furthermore, the transport route can be configured as a route with a start point and an end point. Fig. 1 The transport system 1 comprises the three moving bodies 20A to 20C, however the number of moving bodies 20 is not limited to three and only needs to be a required number.

[0027] In the first embodiment, each configuration is described using an example of a linear transport system of the moving magnet type, in which the moving bodies comprise 20 magnets, the transport path units comprise 10 coils, and the magnets and the coils form a linear motor of the moving magnet type, such that the moving bodies 20 move along the transport route formed by the transport path units 10.

[0028] Fig. Figure 2 is a diagram showing an exemplary configuration of a transport path unit and a moving body according to the first embodiment of the present disclosure. The transport path units 10A to 10H may differ in the number of drive elements 12 depending on their shape, but apart from the number of drive elements 12, they have the same configuration. Therefore, Figure 2 shows Fig. 2 a single transport path unit 10. In addition, the moving bodies 20A to 20C have the same configuration, and therefore in Fig. 2 a single moving body 20 shown. In Fig. 2 is a direction of travel, which is a direction along the extension direction of the transport route formed by the transport route unit 10, shown as an X-axis.

[0029] As in Fig. As shown in Figure 2, the moving body 20 comprises a moving magnet group 22 in which S-pole magnets and N-pole magnets are arranged side by side along the X-axis direction on a moving body support plate 21. Fig. Figure 2 shows a single S-pole magnet and a single N-pole magnet for the mover magnet group 22; however, any number of S-pole magnets and N-pole magnets can be arranged alternately along the X-axis direction. The moving body 20 moves by receiving a driving force through the interaction between the electromagnetic field generated by a coil 121 of the transport unit 10 (described later) and the magnetic field generated by the mover magnet group 22.

[0030] The moving body 20 comprises, on the moving body carrier plate 21, a position detection magnet group 23 for detecting the position of the moving body 20 with a position sensor 131, which is provided in a measuring device 13 described later. Fig. 2 four S-pole magnets and four N-pole magnets are arranged alternately along the X-axis direction in the position detection magnet group 23, however any number of S-pole magnets and N-pole magnets can be arranged alternately along the X-axis direction for the position detection magnet group 23.

[0031] In the moving body 20, the moving magnet group 22 is arranged on the moving body carrier plate 21 at a position facing the coil 121 described later, and the position detection magnet group 23 is arranged on the moving body carrier plate 21 at a position facing the position sensor 131 described later. Therefore, the moving magnet group 22 and the position detection magnet group 23 are arranged at different positions on the moving body carrier plate 21.

[0032] It should be noted that the moving body 20 does not necessarily include the position detection magnet group 23. If the moving body 20 does not include the position detection magnet group 23, the moving magnet group 22 is arranged in a position where a magnetic field can be detected by the position sensor 131 described later, so that the moving magnet group 22 can also serve as the position detection magnet group 23.

[0033] As in Fig. As shown in Figure 2, the transport path unit 10 comprises a transport path communication substation 11, which transmits and receives control data to and from the control controller 30 and other transport path units 10, several drive elements 12, which exert a drive force on the moving body 20, the measuring device 13, which comprises several position sensors 131, and a position calculator 14, which calculates measuring device detection information based on a detection signal output by the position sensor 131. For the sake of simplicity, the description is shown in Figure 2. Fig. 2 One of the drive elements 12 is surrounded by a dashed line. Furthermore, the transport path unit 10 includes an internal power supply bus, which is connected to the power supply line 70. The internal power supply bus comprises a positive-side power supply bus, which is connected to the positive bus of the power supply line 70, and a negative-side power supply bus, which is connected to the negative bus of the power supply line 70. A capacitor 15 is arranged between the positive-side power supply bus and the negative-side power supply bus.

[0034] If it is necessary to distinguish between different transport path units 10 with respect to the transport path communication substation 11, the drive element 12, the measuring device 13, the position sensor 131, and the position calculator 14, the transport path communication substation 11, the drive element 12, the measuring device 13, the position sensor 131, and the position calculator 14 are described in the present disclosure by alphabetical symbols that are the same as the alphabetical symbols attached to the transport path unit 10. For example, the transport path communication substation 11, the drive element 12, the measuring device 13, the position sensor 131, and the position calculator 14, which are contained in the transport path unit 10A, are referred to as the transport path communication substation 11A, the drive element 12A, the measuring device 13A, the position sensor 131A, and the position calculator 14A.

[0035] The transport route communication substation 11 is an interface for transmitting and receiving control data to and from the control controller 30 and for transmitting and receiving control data to and from an adjacent transport route unit 10. If the transport system 1 connects the control controller 30 and the transport route units 10 in a line network, the transport route communication substation 11 of a transport route unit 10, which is connected to the control controller 30, is connected to the first communication line 50 for connection to the control controller 30 and to the second communication line 60 for connection to the adjacent transport route unit 10.In addition, the transport path communication substation 11 of the transport path unit 10 (for example, the transport path unit 10B, which is located between the transport path unit 10A and the transport path unit 10C), which is located between the transport path units 10, without being connected to the control controller 30, is connected to two second communication lines 60 for connecting to the neighboring transport path units 10.

[0036] When transmitting and receiving control data to and from the control controller 30 and when transmitting and receiving control data to and from the adjacent transport path units 10, the transport path communication substation 11 can use constant-cycle communication, in which communication takes place on a predetermined, freely configurable communication cycle, or it can use non-constant-cycle communication, in which no predetermined communication cycle is set. The control data transmitted and received by the transport path communication substation 11 is data for controlling the movement of the moving body 20 in the transport system 1 and includes a current command value, measuring device detection information, and the like, which will be described later.

[0037] The drive elements 12 are arranged continuously along the direction of the X-axis of the transport path unit 10 and exert a driving force on the moving body 20, which has entered the transport path unit 10, based on the control data received by the transport path communication substation 11. Fig. Figure 2 shows an example in which nine drive elements 12 are arranged in the transport unit 10. A single drive element 12 comprises the coil 121, which generates an electromagnetic field to exert a driving force on the moving body 20; an inverter circuit 122, which controls a current supplied to the coil 121 to generate the electromagnetic field; a current sensor 123, which detects a current value RA supplied to the coil 121; and a current controller 124, which controls the operation of the inverter circuit 122. Each configuration of the drive element 12 is described below.

[0038] If it is necessary to distinguish between different transport path units 10 with respect to the coil 121, the inverter circuit 122, the current sensor 123, and the current controller 124, the coil 121, the inverter circuit 122, the current sensor 123, and the current controller 124 are described in this description using alphabetical symbols that correspond to the alphabetical symbols affixed to the transport path unit 10. For example, the coil 121, the inverter circuit 122, the current sensor 123, and the current controller 124 contained in the drive element 12A of the transport path unit 10A are referred to as the coil 121A, the inverter circuit 122A, the current sensor 123A, and the current controller 124A.

[0039] The coil 121 is a winding-type coil in which a conductive winding is wound around an iron core, and the current sensor 123 is connected at one end of the two windings. One of the two ends of the winding of coil 121 is connected to the inverter circuit 122 via the current sensor 123, and the other end is connected to the inverter circuit 122, so that both ends of the winding are connected to the inverter circuit 122.

[0040] The inverter circuit 122 is an electrical circuit that controls the current supplied to the coil 121. This means that the inverter circuit 122 is an electrical circuit contained within a single drive element 12. One end of the inverter circuit 122 is connected to one end of the positive-side power supply bus, and the other end is connected to the negative-side power supply bus. Power is supplied from the power supply unit 40 via the power supply line 70. The inverter circuit 122 is connected to the current controller 124 via an internal bus. The inverter circuit 122 operates based on a control signal for its operation, which is output by the current controller 124 (described later), and operates to supply the required current from the power supply unit 40 to the coil 121.It should be noted that the inverter circuit 122 only needs to have one form of electrical circuit for the energy supplied by the power supply unit 40. For example, in the case of single-phase energy, a single-phase full bridge circuit or a single-phase half bridge circuit can be used, and in the case of three-phase energy, a three-phase full bridge circuit or a three-phase half bridge circuit can be used.

[0041] The current sensor 123 is connected at one end of the winding of the coil 121 and detects the current value RA, which is the value of the current supplied to and currently flowing through the coil 121. The detected current value RA is output to the current controller 124 via an internal bus.

[0042] The current controller 124 is an arithmetic circuit that calculates a control signal for controlling the operation of the inverter circuit 122, so that the current supplied to the coil 121 can be controlled by the inverter circuit 122. The current controller 124 is connected to the transport path communication substation 11 and the current sensor 123 via an internal bus. The current controller 124 calculates the voltage value of the current supplied to the coil 121 based on the current command value contained in the control data received by the transport path communication substation 11 and the current value RA detected by the current sensor 123. The calculation of the voltage value by the current controller 124 can be performed, for example, using a proportional-integral differential (PID) controller based on the deviation between the current command value and the current value RA.The current controller 124 generates a pulse-width modulation (PWM) signal, which is obtained by comparing the calculated voltage value with a triangular waveform of the voltage value in the power supply line 70. The PWM signal is a control signal for controlling the operating mode of the inverter circuit 122. The current controller 124 outputs the control signal to the inverter circuit 122 via an internal bus.

[0043] The measuring device 13 outputs a detection signal to obtain the position of the moving body 20 in the transport unit 10. The measuring device 13 is arranged along the X-axis direction in the transport unit 10 and comprises several position sensors 131, which detect the position detection magnet group 23 or the mover magnet group 22 provided in the moving body 20. The following description describes a configuration in which the moving body 20 includes the position detection magnet group 23. However, if the moving body 20 does not include the position detection magnet group 23, the position detection magnet group 23 can be replaced by the mover magnet group 22.

[0044] The position sensor 131 is a sensor capable of detecting a magnetic field generated by the position detection magnet group 23, and, for example, a Hall sensor or a magnetic resistance sensor can be used. The multiple position sensors 131 are arranged on the measuring device 13 at positions facing the position detection magnet group 23 provided on the moving body 20 and along the transport route formed by the transport path unit 10. Fig. Figure 2 shows a configuration in which nine position sensors 131 are arranged along the X-axis direction on the measuring device 13 in a single transport path unit 10. However, a desired number of position sensors 131 can be arranged on the measuring device 13 in a single transport path unit 10 depending on conditions, for example, the length of the transport route of a single transport path unit 10, the size of the moving body 20, and the detection frequency of the moving body 20.

[0045] For example, if a Hall sensor is used as the position sensor 131, a single Hall sensor comprising two Hall elements arranged at an interval of half the magnetization length of the position detection magnet group 23 can be used. The magnetization length is the distance from one end of a single N-pole magnet (or an S-pole magnet) to the end of an adjacent S-pole magnet (or an N-pole magnet) on the side opposite that end in the direction in which the N-pole magnets and the S-pole magnets of the position detection magnet group 23 are aligned. This means that the magnetization length in the Fig. The position detection magnet group 23 shown in Figure 2 is the length of a single N-pole magnet or the length of a single S-pole magnet in the X-axis direction. The measuring device 13, which includes such a Hall sensor as the position sensor 131, outputs a sine wave, associated with the N-pole magnet of the position detection magnet group 23, and a cosine wave, associated with the S-pole magnet, as a detection signal when the moving body 20 passes a position sensor 131 of the measuring device 13. The sine wave and the cosine wave output by the measuring device 13 are then detected by an analog-to-digital converter (AD) (not shown) and obtained by the position calculator 14 described later. The measuring device 13 is an example of a position detector.

[0046] The position calculator 14 is an arithmetic circuit that calculates measuring device detection information based on a detection signal output by the position sensor 131. The position calculator 14 is connected to the transport path communication substation 11 via an internal bus. If the detection signal output by the measuring device 13 is a sine wave and a cosine wave, the position calculator 14 obtains the sine and cosine waves through an analog-to-digital converter (ADC) (not shown) and performs an arctangent function (ARCTAN) calculation based on the obtained sine and cosine waves. Accordingly, the position calculator 14 can calculate the relative position of the moving body 20 with respect to the position sensor 131 of the measuring device 13 as measuring device detection information. The position calculator 14 then outputs the measuring device detection information to the transport path communication substation 11.The measuring device detection information is an example of control data transmitted through the transport path communication substation 11.

[0047] Fig. Figure 3 is a diagram showing an exemplary hardware configuration of the transport path unit according to the first embodiment. The hardware of the transport path unit 10 comprises a communication interface (communication SS) 1001, which functions as the transport path communication substation 11, a processor 1002, which functions as the current controller 124 and the position calculator 14, a memory 1003, which reads and writes various data used in the respective calculation in the processor 1002, and the coil 121, the inverter circuit 122, the current sensor 123, and the measuring device 13, which are described above.

[0048] The processor 1002 is the processor 1002, which can calculate a control signal as the current controller 124 and which can calculate measuring device detection information as the position calculator 14; for example, a microprocessor, a microcontroller, a microcomputer, a central processing unit (CPU), a digital signal processor (DSP), or the like can be used. The memory 1003 comprises a non-volatile memory, which stores a respective calculation program that is executed by the processor 1002, and a volatile memory, which serves as working memory in the processor 1002 during a respective calculation. Fig. Figure 3 shows an example where the hardware configuration of the transport route unit 10 includes a single processor 1002; however, it can include multiple processors, for example, one processor functioning as the power controller 124 and one processor functioning as the position calculator 14. Furthermore, the hardware configuration of the transport route unit 10 can include a processor functioning as the power controller 124.

[0049] Fig. Figure 4 is a diagram showing an exemplary configuration of the control system according to the first embodiment. As shown in Fig. As shown in Figure 4, the control unit 30 comprises a communication master station 31, which transmits and receives various command values ​​and information for generating control data, which are transmitted by the control unit 30, to and from a communication substation 32, the communication substation 32, which transmits various command values ​​and information for generating control data, which are transmitted by the control unit 30 to and from the communication substation 32.a position command generator 33, which generates a position command value of the moving body 20, a position generator 34, which generates position information about the moving body 20 on the transport route of the transport system 1 based on the measuring device detection information received from the transport path unit 10, a position control 35, which generates a drive command value of the moving body 20 based on the position command value of the moving body 20 and the position information about the moving body 20, and a current command generator 36, which generates current command values ​​of all transport path units 10 on the transport route of the transport system 1 based on the drive command value of the moving body 20 and the position information about the moving body 20.The following may refer to various command values ​​and information for generating control data as generation data.

[0050] The communication master station 31 is an interface for transmitting and receiving generation data, comprising various command values ​​and information, to and from the communication substation 32, which will be described later, and for transmitting and receiving control data to and from the transport path communication substation 11 contained in the transport path unit 10. The communication master station 31 is communicatively connected to the communication substation 32 via an internal bus in the control unit 30 and is configured to transmit and receive generation data, comprising various command values ​​and information, to and from the communication substation 32 in a continuous communication cycle. Furthermore, the communication master station 31 is configured to perform one-to-many communication with the communication substation 32 and the transport path communication substation 11.

[0051] Furthermore, the communication master station 31 is connected via an internal bus in the control unit 30 to the position command generator 33, the position generator 34 and the current command generator 36, which will be described later, and is configured to transmit and receive generation data, which contains various command values ​​and information, to and from the position command generator 33, the position generator 34 and the current command generator 36.It should be noted that a specific description of a connection between the communication master station 31, the communication substation 32 and the transport path communication substation 11 of the transport path unit 10, and a specific description of a communication control concerning a transmission and a reception with the communication substation 32, which is carried out by the communication master station 31, and a transmission and a reception with the transport path communication substation 11 contained in the transport path unit 10, will be provided later.

[0052] The communication substation 32 is an interface for transmitting and receiving generation data, containing various command values ​​and information, to and from the communication master station 31, and for transmitting and receiving control data to and from the transport path communication substation 11 contained in the transport path unit 10. The communication substation 32 is communicatively connected to the communication master station 31 via an internal bus in the control controller 30. In the first embodiment, the communication substation 32 comprises three communication substations 32A, 32B, and 32C, as shown in Fig. Figure 4 shows that communication substations 32A, 32B, and 32C can simply be referred to as communication substation 32 if it is not necessary to distinguish between them.

[0053] The communication substation 32 is connected via an internal bus in the control unit 30 to a position controller 35, which will be described later, and is configured to transmit and receive various command values ​​and information to and from the position controller 35. As in Fig. As shown in Figure 4, the control unit 30 according to the first embodiment comprises three position controllers 35A, 35B, and 35C. The communication substation 32A is connected to position controller 35A via an internal bus, the communication substation 32B is connected to position controller 35B via an internal bus, and the communication substation 32C is connected to position controller 35C via an internal bus. This means that the number of communication substations 32 is equal to the number of position controllers 35, enabling the communication substations 32 to perform one-to-one communication with the position controllers 35. It should be noted that a specific description of the position controllers 35A, 35B, and 35C is provided later.

[0054] The position command generator 33 is an arithmetic circuit that generates a position command value for the moving body 20. When the transport system 1, as in Fig. As shown in Figure 1, which comprises three motion bodies 20A, 20B, and 20C, the position command generator 33 generates a position command value for motion body 20A, a position command value for motion body 20B, and a position command value for motion body 20C. This means that the position command generator 33 generates a position command value for motion body 20, which is a position command value for each motion body 20 contained in the transport system 1. The position command value is, for example, a command value that specifies a target position of the motion body 20 on the transport route. The position command generator 33 outputs the generated position command value to the communication master station 31. The position command value is an example of various command values ​​for generating control data and is generation data.

[0055] When generating the position command value, the position command generator 33 can generate the position command of each motion body 20 based on the position command generation program stored in the memory of the control unit 30. Alternatively, the position command generator 33 can generate the position command value of each motion body 20 based on external information, such as a command from a programmable logic controller (PLC) (not shown) connected to the control unit 30, an operator command from a human-machine interface (HMI), and the like.

[0056] The position generator 34 is an arithmetic circuit that generates position information about the moving body 20 on the transport route of the transport system 1 based on the measuring device detection information received by the transport path unit 10. The position generator 34 calculates the position information about the moving body 20 on the transport route based on the measuring device detection information contained in the control data received by all transport path units 10 that make up the transport route.

[0057] As in Fig. As shown in Figure 1, in a case where the movement route of transport system 1 comprises transport path units 10A to 10H and the transport route includes three moving bodies 20A, 20B, and 20C, the position generator 34 calculates and generates position information about moving body 20A, position information about moving body 20B, and position information about moving body 20C. This information indicates the position of each moving body 20A, 20B, and 20C on the transport route, based on the measuring device detection information contained in all control data received by transport path units 10A to 10H. This means that the position generator 34 generates the position information for each moving body 20A, 20B, and 20C contained in transport system 1.The position information for the moving body 20 is information that specifies the position of the moving body 20 on the transport route of the transport system 1 as an absolute position. The position generator 34 outputs the generated position information for the moving body 20 to the communication master station 32. It should be noted that the position information for the moving body 20 is an example of information for generating control data and is itself generation data.

[0058] The generation of position information about the moving body 20 by the position generator 34 can, for example, be a calculation of adding all received measuring device position information by an adder or a calculation of pre-storing a recording table in which the number of transport path units 10, which form the transport route, and an identification information are recorded, in the memory of the control controller 30 and comparing all received measuring device detection information with the recording table, and various calculation methods can be used.

[0059] The position control 35 is an arithmetic circuit that generates a drive command value for the moving body 20 based on the position command value of the moving body 20, which is generated by the position command generator 33, and the position information about the moving body 20, which is generated by the position generator 34. In the first embodiment, the position control 35 comprises three position controllers 35A, 35B and 35C, as shown in Fig. Figure 4 shows that these position controllers 35A, 35B, and 35C can simply be referred to as position controller 35 when it is not necessary to distinguish between them. Position controller 35 is assigned to the motion body 20 provided in transport system 1 and is configured to generate a drive command value for the assigned motion body 20.

[0060] The first embodiment describes an example of a configuration in which the transport system 1 comprises the three motion bodies 20A, 20B, and 20C, and a single position controller 35 is assigned to a single motion body 20. Specifically, position controller 35A is assigned to generate a drive command value for motion body 20A, position controller 35B is assigned to generate a drive command value for motion body 20B, and position controller 35C is assigned to generate a drive command value for motion body 20C. Then, position controller 35A outputs the generated drive command value for motion body 20A to communication substation 32A, position controller 35B outputs the generated drive command value for motion body 20B to communication substation 32B, and position controller 35C outputs the generated drive command value for motion body 20C to communication substation 32C.The drive command value of the moving body 20 is an example of various command values ​​for generating control data and is generation data.

[0061] It should be noted that the number of moving bodies 20, which are to be assigned to the position controls 35, can be freely determined and set before the transport system 1 is operated. As in Fig. As shown in Figure 1, in a case where the transport system 1 comprises the three motion bodies 20A, 20B and 20C, for example all of the three motion bodies 20A, 20B and 20C can be assigned to a single position control 35.Furthermore, for example, in a case where the transport system 1 comprises nine motion bodies, the control controller 30 can comprise nine position controllers 35 and assign a single motion body to a single position controller 35 in order to assign the nine motion bodies to the nine position controllers 35; the control controller 30 can comprise three position controllers 35 and assign three motion bodies to a single position controller 35 in order to assign the nine motion bodies to the three position controllers 35; or the control controller 30 can comprise a single position controller 35 and assign nine motion bodies to a single position controller 35 in order to assign the nine motion bodies to a single position controller 35. This means that in the entire transport system 1, the position controller 35 can be provided at most as many times as the number of motion bodies 20 provided in the transport system 1.

[0062] In a process for generating a drive command value for the moving body 20 by the position controller 35, a position deviation is calculated from a position command value of a predetermined moving body 20 and position information about the predetermined moving body 20 based on the position command value of the moving body 20 generated by the position command generator 33 and the position information about the moving body 20 generated by the position generator 34. A velocity command value of the predetermined moving body 20 is then generated by calculating a proportional-integral differential (PID) controller using the calculated position deviation. The velocity command value is a value obtained by calculating the velocity assigned to the moving body 20 from the position deviation.The velocity command value of the moving body 20 is an example of a drive command value.

[0063] A method for generating the drive command value of the motion body 20 by the position controller 35 is described in detail using the motion body 20A as an example. The position controller 35A, assigned to the motion body 20A, calculates a position deviation based on the position command value of the motion body 20A, which is generated by the position command generator 35, and the position information about the motion body 20A, which is generated by the position generator 34. It then performs a PID control calculation using the position deviation to generate a velocity command for the motion body 20A. For the motion bodies 20B and 20C, the assigned position controllers 35B and 35C generate the velocity command values ​​of the motion bodies 20B and 20C in the same way, from the position command values ​​and the position information.

[0064] In another method of generating the drive command value of the moving body 20 by the position controller 35, the velocity command value of the predetermined moving body 20 is generated as described above, and the velocity of the predetermined moving body 20 is calculated by differentially computing the position information about the predetermined moving body 20. In this method, the velocity deviation is calculated from the velocity command value of the predetermined moving body 20 and the velocity of the predetermined moving body 20, and the thrust command value of the predetermined moving body 20 is generated by calculating a proportional-integral-differential (PID) controller using the calculated velocity deviation. The thrust command value is a value obtained by calculating the velocity given to the moving body 20 from the velocity deviation.The generation of the drive command value of the moving body 20 by this different method serves to generate the drive command value based on the position command value of the moving body 20, which is generated by the position command generator 33, and the position information about the moving body 20, which is generated by the position generator 34. The thrust command value of the moving body 20 is an example of a drive command value.

[0065] Another method for generating the drive command value of the moving body 20 by the position controller 35 is described in detail using the moving body 20A as an example. The position controller 35A, which is assigned to the moving body 20A, generates the velocity command value of the moving body 20A as described above, calculates the position information about the moving body 20 differentially, and calculates the velocity of the moving body 20A. In this method, the velocity deviation is calculated from the velocity command value of the moving body 20A and the velocity of the moving body 20A, and the thrust command value of the moving body 20A is generated by the PID controller using the calculated velocity deviation.For the motion bodies 20B and 20C, the assigned position controllers 35B and 35C generate the thrust command values ​​of the motion bodies 20B and 20C in the same way from the position command values ​​and the position information.

[0066] The position control 35 generates either the velocity command value of the moving body 20 or the thrust command value of the moving body 20 and outputs either the velocity command value of the moving body 20 or the thrust command value of the moving body 20 as a drive command value of the moving body 20 to the communication substation 32.

[0067] The current command generator 36 is an arithmetic circuit that generates current command values ​​for all transport path units 10 on the transport route of the transport system 1 based on the drive command value of the moving body 20 and the position information about the moving body 20. This means that the current command generator 36 generates current command values ​​for the multiple transport path units 10 as a single control target. The current command value is a command value that specifies the current to be supplied to the coil 121, which is contained in the respective drive element 12 provided in the transport path unit 10. The current command generator 36 generates a current command value based on the drive command value of the moving body 20 and the position information about the moving body 20.If the drive command value of the moving body 20 is a velocity command value, the current command generator 36 generates the current command value, which is a command value specifying the current to be supplied to the coil 121 as a driving force to give the moving body 20 the velocity specified by the velocity command value. Conversely, if the drive command value of the moving body 20 is a thrust command value, the current command generator 36 generates a command value specifying the current to be supplied to the coil 121 as a driving force to give the moving body 20 the velocity specified by the thrust command value. The current command generator 36 generates current command values ​​for all transport path units 10 on the transport route of transport system 1.

[0068] When generating the current command value, the current command generator 36 calculates and generates the current command values ​​for all coils 121 contained in all transport path units 10, using an arithmetic expression stored in the memory of the control controller 30. In particular, when eight transport path units 10 are connected as in the diagram in Fig. 1 shown transport system 1 are included and a single transport route unit 10 as shown in Fig. Figure 2 shows nine coils 121. The current command generator produces 36 current command values ​​for the 72 coils 121. It should be noted that the arithmetic expression used here only needs to be an arithmetic expression that converts the velocity of the moving body 20, which is specified by the velocity command value or the thrust command value, which is a drive command value, into the magnitude of the current to be supplied to the coil 121, and an arithmetic expression can be used which is used for a known motor control.

[0069] The current command generator 36 outputs all generated current command values ​​to the communication master station 31. The communication master station 31, which has received the current command values, transmits the current command values ​​to the transport path communication substations 11 of the transport path units 10. The current command value is an example of control data that is transmitted by the control controller 30.

[0070] Now, a connection between the communication master station 31, the communication substation 32, and the transport path communication substation 11 of the transport path unit 10 in the control unit 30 according to the first embodiment is described. As in Fig. As shown in Figure 4, the communication master station 31 is connected to the communication substation 32A via an internal bus. The communication substation 32A is connected to the communication substation 32B via an internal bus. The communication substation 32B is connected to the communication substation 32C via an internal bus. This means that the communication master station 31 and the communication substations 32A, 32B, and 32C are connected by a network of lines, and generation data, which contains various command values ​​and information for generating control data, can be transmitted and received between the communication master station 31 and the communication substation 32.By using such a network of lines, serial communication can be used to transmit and receive various command values ​​and information between the communication master station 31 and the communication substation 32, and an increase in internal buses can be reduced or prevented.

[0071] In the configuration where the communication master station 31 and the communication substation 32 are connected by a line network as in Fig. As shown in Figure 4, the communication master station 31 transmits and receives generation data to and from the communication substation 32A via an internal bus connecting the communication master station 31 and the communication substation 32A. The communication master station 31 also transmits and receives generation data to and from the communication substation 32B via an internal bus connecting the communication master station 31 and the communication substation 32A. In other words, the communication substation 32B performs transmission and reception with the communication master station 31 via the communication substation 32A.Communication master station 31 transmits and receives generation data to and from communication substation 32C via an internal bus connecting communication master station 31 and communication substation 32A, communication substation 32A, an internal bus connecting communication substation 32A and communication substation 32B, communication substation 32B, and an internal bus connecting communication substation 32B and communication substation 32C. In other words, communication substation 32C transmits and receives data with communication master station 31 via communication substation 32A and communication substation 32B. Even with this configuration, it can be said that communication master station 31 transmits and receives generation data to and from communication substations 32A, 32B, and 32C.In addition, the communication master station 31 is configured to include two channels: a transmission channel and a reception channel.

[0072] As in Fig. As shown in Figure 4, communication substation 32C is connected to communication substation 32B and is connected to the first communication line 50, which is connected to the transport path unit 10. Specifically, communication substation 32C, which is contained in the control unit 30, and transport path communication substation 11, which is contained in the transport path unit 10, are connected via the first communication line 50, thereby forming a communication network for transmitting and receiving control data between the control unit 30 and the transport path unit 10. This means that communication substation 32 and transport path communication substation 11 are connected by a network, and control data can be transmitted and received between communication master station 31 and transport path communication substation 11 via communication substation 32.

[0073] It should be noted that the control unit 30 does not necessarily have to connect the communication substation 32C and the first communication line 50, and only needs to be capable of establishing a communication network for transmitting and receiving control data between the control unit 30 and the transport path unit 10. For example, the control unit 30 can establish a communication network for transmitting and receiving control data between the control unit 30 and the transport path unit 10 by connecting the communication master station 31 and the transport path communication substation 11, which is provided in the transport path unit 10, via the first communication line 50.

[0074] In the configuration in which the communication master station 31, the communication substation 32 and the transport path communication substation 11 are connected by a line network, as in Fig. As shown in Figure 4, the communication master station 31 also transmits and receives control data to and from the transport path communication substation 11 of the transport path unit 10 via an internal bus connecting the communication master station 11 and the communication substation 32A, the communication substation 32A, an internal bus connecting the communication substation 32A and the communication substation 32B, the communication substation 32B, an internal bus connecting the communication substation 32B and the communication substation 32C, the communication substation 32C and the first communication line 50. In other words, the communication master station 31 performs transmission and reception with the transport path communication substation 11 of the transport path unit 10 via the first communication line 50.Even in such a configuration, it can be said that the control unit 30 transmits and receives control data to and from the transport path communication substation 11 of the transport path unit 10. By using such a network of lines, serial communication can be used for the transmission and reception of control data between the communication master station 31 and the transport path communication substation 11, and the need for additional communication lines can be reduced or prevented.

[0075] Fig. Figure 5 is a diagram showing an example of communication control in the communication master station according to the first embodiment. Communication control of the communication master station 31 relating to a transmission and a reception with the communication substation 32, which are carried out by the communication master station 31, and a transmission and a reception with the transport path communication substation 11, which is contained in the transport path unit 10, which are carried out by the communication master station 31, are shown with reference to Fig. 5 described in detail.

[0076] Communication master station 31 is configured to transmit generation data to communication substation 32. For example, communication master station 31 is configured to designate a desired communication substation 32 as a communication destination for the multiple communication substations 32A to 32C and to transmit the generation data to the designated communication substation 32. Communication master station 31 is also configured to transmit control data to transport path communication substation 11. For example, communication master station 31 is configured to designate a desired transport path communication substation 11 for the multiple transport path communication substations 11A to 11H and to transmit control data to the designated transport path communication substation 11.The communication master station 31 is configured to receive generation data from one or more communication substations 32. The communication master station 31 is configured to receive control data from the multiple transport path communication substations 11. As in . Fig. As shown in Figure 5(A), the communication master station 31 transmits and receives generation data, containing various command values ​​and information for generating control data, to and from the communication substation 32, and transmits and receives control data to and from the transport path communication substation 11 using a transmission channel SC and a receive channel RC. The communication master station 31 performs communication control such that each communication frame to and from the communication substation 32 and the transport path communication substation 11 is transmitted and received once within a predetermined constant communication cycle CTn (where n is a natural number).

[0077] In particular, as in Fig. As shown in Figure 5(A), the communication master station 31 specifies the communication substation 32A and transmits a communication frame T1A to communication substation 32A, specifies the communication substation 32B and transmits a communication frame T1B to communication substation 32B, and specifies the communication substation 32C and transmits a communication frame T1C to communication substation 32C, in communication cycle CT1 using transmission channel SC. The transmission of these communication frames T1A, T1B, and T1C is an example of initial communication. When the communication master station 31 transmits the communication frames T1A, T1B, and T1C to communication substations 32A to 32C, the communication master station 31 does not need to specify the communication substations 32A to 32C if it is not necessary to do so.Examples of cases in which the communication master station 31 does not need to specify the communication substation 32 include a case in which only one communication substation 32 is provided in transport system 1, a case in which the communication substation 32 of the transmission destination is predetermined in transport system 1, and the like. In the same communication cycle CT1 using transmission channel SC, the communication master station 31 also specifies the transport path communication substation 11A and transmits a communication frame T2A to transport path communication substation 11A, specifies the transport path communication substation 11B and transmits a communication frame T2B to transport path communication substation 11B, and similarly specifies the transport path communication substations 11C to 11H and transmits communication frames T2C to T2H to transport path communication substations 11C to 11H.The transmission of these communication frames T2A to T2H is an example of third-party communication. When the communication master station 31 transmits the communication frames T2A to T2H to the transport path communication substations 11A to 11H, the communication master station 31 does not need to specify the transport path communication substations 11A to 11H if it is not necessary to do so. Examples of cases in which the communication master station 31 does not need to specify the transport path communication substation 11 include a case in which only one transport path communication substation 11 is provided in transport system 1, a case in which the transport path communication substation 11 of the transmission destination is predetermined in transport system 1, and the like.The communication master station 31 performs a control operation to divide the communication cycle CT1 into time slots and transmit all communication frames in a time-split manner.

[0078] As in Fig. As shown in Figure 5(A), the communication master station 31 receives a communication frame R1A from the communication substation 32A, receives a communication frame R1B from the communication substation 32B, and receives a communication frame R1C from the communication substation 32C, in the communication cycle CT1 using the receive channel RC. In other words, the communication substation 32A transmits the communication frame R1A to the communication master station 31, the communication substation 32B transmits the communication frame R1B to the communication master station 31, and the communication substation 32C transmits the communication frame R1C to the communication master station 31. The transmission of these communication frames R1A, R1B, and R1C is an example of a second communication.

[0079] Further, as in Fig. As shown in Figure 5(A), the communication master station 31 receives a communication frame R2A from the transport path communication substation 11A, receives a communication frame R2B from the transport path communication substation 11B, and likewise receives communication frames R2C to R2H from the transport path communication substations 11C to 11H, in the same communication cycle CT1 using the receive channel RC. In other words, the transport path communication substation 11A transmits the communication frame R2A to the communication master station 31, the transport path communication substation 11B transmits the communication frame R2B to the communication master station 31, and likewise the transport path communication substations 11C to 11H transmit the communication frames R2C to R2H to the communication master station 31. The transmission of these communication frames R2A to R2H is an example of a sixth communication.The communication master station 31 performs a control operation to divide the communication cycle CT1 into time slots and to receive all communication frames in a time-split manner.

[0080] As in Fig. As shown in Figure 5B, the communication frame T1A, which is transmitted from the communication master station 31 to the communication substation 32A, comprises a header, a footer, and a payload. Communication frame T1A is used to identify the communication substation 32A and transmit the generation data to it. The header of communication frame T1A contains identification information (destination address, etc.) for the communication substation 32A, and this information identifies the communication substation 32A. The payload includes a position command value for the moving body 20A and position information about the moving body 20A. The footer contains frame verification sequence data and similar information to confirm that the communication frame was correctly received at the receiving destination.Communication frames T1B and T1C (not shown) are used to specify communication substations 32B and 32C and to transmit generation data to these substations. They contain specification information about communication substations 32B and 32C as a header and include position command values ​​for moving bodies 20B and 20C, as well as position information about these bodies as payloads. Frame verification sequence data and similar information are contained in the footer. Accordingly, the communication master station 31 can specify a desired communication substation 32 as a communication target and transmit the generation data to that specified substation.

[0081] Further, as in Fig. As shown in Figure 5C, the communication frame T2A, which is transmitted by the communication master station 31 to the transport path communication substation 11A, comprises a header, a footer, and a payload. Communication frame T2A is used to specify the transport path communication substation 11A and to transmit control data to it. The header of communication frame T2A contains specification information (destination address, etc.) for the transport path communication substation 11A, and this information specifies the transport path communication substation 11A. The payload includes current command values ​​for controlling the power supply or lack thereof for all coils 121A contained in the transport path unit 10A, which comprises the transport path communication substation 11A.The footer contains frame verification sequence data and the like to confirm that the communication frame was correctly received at the receiving destination. Communication frames T2B to T2H (not shown) are used to specify the transport path communication substations 11B to 11H and to transmit current command values ​​to control the power supply or dispowering of all coils 121B to 121H contained in the transport path units 10B to 10H, which comprise the transport path communication substations 11B to 11H. Communication frames T2B to T2H contain specification information about the transport path communication substations 11B to 11H as a header, and the transport path communication substations 11B to 11H are specified by the information in the header.The payload includes current command values ​​for controlling the power supply or lack thereof for all coils 121B to 121H, which are contained in the transport path units 10B to 10H, which in turn comprise the transport path communication substations 11B to 11H. Frame verification sequence data and the like are included in the footer. Accordingly, the communication master station 31 can transmit the control data to the desired transport path communication substation 11.

[0082] As in Fig. As shown in Figure 5(D), the communication frame R1A, which is received by the communication master station 31 from the communication substation 32A, comprises a header, a footer, and a payload. Communication frame R1A is used to transmit the generation data from the communication substation 32A to the communication master station 31. The communication frame R1A contains a header containing specification information (destination address, etc.) for the communication master station 31 and a drive command value for the moving body 20A as its payload. The footer contains frame verification sequence data and the like to confirm that the communication frame was correctly received at the receiving destination. Communication frames R1B and R1C (not shown) are used by the communication master station 31 to receive the generation data from the communication substations 32B and 32A, respectively.Communication frames R1B and R1C are received by communication substations 32C and 32B, and are transmitted from these substations to the communication master station 31. The communication frames R1B and R1C contain configuration information about the communication master station 31 as a header and include drive command values ​​for the moving bodies 20B and 20C, respectively, as payloads. Frame verification sequence data and the like are contained in the footer. Accordingly, each communication substation 32 can transmit generation data to the communication master station 31, and the communication master station 31 can receive generation data from each of the communication substations 32.

[0083] Further, as in Fig. As shown in Figure 5(E), the communication frame R2A, which is received by the communication master station 31 from the transport path communication substation 11A, comprises a header, a footer, and a payload. The communication frame R2A is used to transmit control data from the transport path communication substation 11A to the communication master station 31. The communication frame R2A contains a header containing specification information (destination address, etc.) from the communication master station 31 and, as its payload, includes measurement device detection information. This information specifies the relative positions of the moving body 20A with respect to all position sensors 131A and is output by the position calculator 14A, which is contained in the transport path unit 10A, which comprises the transport path communication substation 11A.The footer contains frame verification sequence data and similar information to confirm that the communication frame was correctly received at the receiving destination. Communication frames R2B to R2H (not shown) are communication frames for transmission from the transport path communication substations 11B to 11H to the communication master station 31. These frames contain the measuring device detection information output by the position calculators 14B to 14H, which are contained in the transport path units 10B to 10H, which comprise the transport path communication substations 11B to 11H. Communication frames R2B to R2H contain a header specifying the communication master station 31 and include measuring device detection information calculated by position calculator 14B, up to and including measuring device detection information calculated by position calculator 14H, as payloads.Frame verification sequence data and the like are contained in the footer. Accordingly, the transport path communication substations 11 can each transmit the control data to the communication master station 31, and the communication master station 31 can receive the control data from each of the transport path communication substations 11.

[0084] It should be noted that Fig. Figure 5(A) shows an example in which the communication master station 31 performs communication control such that each communication frame is transmitted to and received from the communication substation 32 and the transport path communication substation 11 once within the constant communication cycle CTn (n is a natural number). However, it goes without saying that the communication control is not limited to such a single communication control. The communication master station 31 can change the communication cycle CTn for each type of communication frame or can differentiate the communication cycle CTn for each type of frame. For example, in a case where the processing time for generating the position command value in the position command generator 33 is longer than other processing times, the communication master station 31 can perform the transmission of communication frames T1A to T1C once in N communication cycles.Furthermore, the communication master station 31 can, for example, transmit communication frames T1A to T1C and receive communication frames R1A to R1C in the same communication cycle CT1, and can transmit communication frames T2A to T2H and receive communication frames R2A to R2H in the same communication cycle CT2. By implementing such communication control, it is possible to use a communication band efficiently and shorten a single communication cycle, and therefore it is also possible to improve the control performance of the moving body 20.

[0085] Fig. Figure 6 is a diagram showing an exemplary hardware configuration of the control unit according to the first embodiment. The hardware of the control unit 30 comprises a first communication interface (first communication SS) 3001, which functions as the communication master station 31, a second communication interface (second communication SS) 3002, which functions as the communication substation 32A, a third communication interface (third communication SS) 3003, which functions as the communication substation 32B, a fourth communication interface (fourth communication SS) 3004, which functions as the communication substation 32C, a first processor 3005, which functions as the position command generator 33, the position generator 34 and the current command generator 36, a second processor 3006, which functions as the position controller 35A, and a third processor 3007.which functions as the position controller 35B, a fourth processor 3008, which functions as the position controller 35C, and a memory 3009, which reads and writes various data that are used for a respective calculation in the first processor 3005 to the fourth processor 3008.

[0086] The first processor 3005 is a processor that can calculate a position command value, position information, and a current command value for the transport unit 10 as the position command generator 33, the position generator 34, and the current command generator 36. For example, a microprocessor, a microcontroller, a microcomputer, a central processing unit (CPU), a digital signal processor (DSP), or the like can be used. Furthermore, the second processor 3006 to the fourth processor 3008 are processors that can calculate drive command values ​​as the position controllers 35A to 35C. For example, a microprocessor, a microcontroller, a microcomputer, a central processing unit (CPU), a digital signal processor (DSP), or the like can be used.The memory 3009 comprises a non-volatile memory, which stores calculation programs and the like, which are executed by the first processor 3005 to fourth processor 3008, and a volatile memory, which serves as working memory in the processor 3005 to 3008 during each calculation.

[0087] In the hardware configuration of the control unit 30 in Fig. Processor 6 functions as position instruction generator 33, position generator 34, and current instruction generator 36, shown as the first processor 3005 for example. However, the hardware configuration can include multiple processors, such as one processor functioning as position instruction generator 33, one processor functioning as position generator 34, and one processor functioning as current instruction generator 36. Furthermore, the hardware configuration of the control controller 30 shows three processors, from the second processor 3006 to the fourth processor 3008, functioning as position controllers 35A to 35C. In a case where a single position controller 35 is assigned to multiple motion bodies 20, a single processor functioning as a single position controller 35 may be included.Furthermore, the hardware configuration of the control controller 30 shows a single memory 3009, which is shared by the first processor 3005 to the fourth processor 3008. However, multiple memories can be included instead of a single memory shared by the processors.

[0088] Fig. Figure 7 is a flowchart which shows an example of the operation of the control system according to the first embodiment of the present disclosure. Fig. Figure 8 is a flowchart showing an example of the operation of the transport unit according to the first embodiment of the present disclosure. Control of the moving body 20 in the transport system 1 is described with reference to Fig. 7 and Fig. 8 described.

[0089] The control unit 30 executes a respective program stored in memory 3009 with a respective processor of the control unit 30 in order to perform the functions of the position command generator 33, the position generator 34, the position controllers 35A to 35C and the current command generator 36.

[0090] In step S701, shown in Fig. 7. The position command generator 33 of the control controller 30 generates the position command value for each of the three motion bodies 20A, 20B, and 20C contained in the transport system 1. The position command generator 33 then outputs the generated position command value for each of the motion bodies 20A, 20B, and 20C to the communication master station 31 of the control controller 30.

[0091] In step S702, the position generator 34 of the control unit 30 generates the position information for each of the motion bodies 20A, 20B, and 20C, which indicates the positions of the motion bodies 20A, 20B, and 20C on the transport route, based on the measuring device detection information contained in the control data received by the transport path units 10A to 10H using the communication frames R2A to R2H. The position generator 34 then outputs the generated position information for each of the motion bodies 20A, 20B, and 20C to the communication master station 31 of the control unit 30.

[0092] In step S703, the communication master station 31 of the control controller 30 performs the first communication, transmitting the referenced position command value and position information about each of the motion bodies 20A, 20B, and 20C to the communication substation 32. Specifically, the communication master station 31 transmits the position command value and position information about motion body 20A to the communication substation 32A using communication frame T1A, which includes a header, a footer, and a payload; transmits the position command value and position information about motion body 20B to the communication substation 32B using communication frame T1B; and transmits the position command value and position information about motion body 20C to the communication substation 32C using communication frame T1C.

[0093] In step S704, the position controllers 35A, 35B, and 35C of the control controller 30 generate the drive command value for the motion body 20A, 20B, and 20C, respectively, based on the position command value and position information about the motion body 20A, 20B, and 20C, which are received by the communication substation 32A, 32B, and 32C. The position controllers 35A, 35B, and 35C then output the generated drive command value for the motion body 20A, 20B, and 20C to the communication substation 32A, 32B, and 32C, respectively.Specifically, position controller 35A receives the position command value and position information about the motion body 20A from communication substation 32A, which is connected via the internal bus. Based on this position command value and position information, it generates the drive command value for motion body 20A and outputs this drive command value to communication substation 32A. Similarly, position controllers 35B and 35C generate the drive command values ​​for motion body 20B and 20C, respectively, and output these values ​​to communication substations 32B and 32C, which are connected via the internal bus.

[0094] In step S705, the communication substations 32A, 32B, and 32C of the control controller 30 perform the second communication, transmitting the drive command values ​​of the motion bodies 20A, 20B, and 20C to the communication master station 31. Specifically, communication substation 32A transmits the drive command value of motion body 20A to the communication master station 31 using communication frame R1A, which includes a header, a footer, and a payload. Similarly, communication substations 32B and 32C transmit the drive command value of motion body 20B and the drive command value of motion body 20C, respectively, to the communication master station 31 using communication frames R1B and R1C.

[0095] In step S706, the current command generator 36 of the control unit 30 generates the current command values ​​for the transport path units 10A to 10H based on the position information about the motion bodies 20A, 20B, and 20C, which is generated by the position generator 34, and the drive command values ​​of the motion bodies 20A, 20B, and 20C, which are received by the communication master station 31. It should be noted that the position information about the motion bodies 20A, 20B, and 20C can be read from and retrieved from a memory contained in the control unit 30. The current command generator 36 obtains the drive command value of motion body 20A, the drive command value of motion body 20B, and the drive command value of motion body 20C from the communication master station 31, which is connected via the internal bus.

[0096] The current command generator 36 then obtains the position information about the moving body 20A, the position information about the moving body 20B and the position information about the moving body 20C from the memory of the control unit 30. The current command generator 36 generates current command values ​​for the transport path units 10A to 10H based on the drive commands and the position information about the moving bodies 20A, 20B and 20C and outputs the current command values ​​to the communication master station 31.

[0097] In particular, the current command generator produces 36 current command values ​​for the transport path units 10A to 10H as a single control target. For the transport path units 10A to 10H in the Fig. In the transport system 1 shown, if, for example, the moving body 20A is arranged at the transport path unit 10A, the moving body 20B is arranged via the transport path units 10C and 10D, and the moving body 20C is arranged via the transport path units 10E and 10F, the current command generator 36 generates, as the current command value of the transport path unit 10A, a current command value which specifies the magnitude of the current to be supplied to the coil 121A, which is contained in the multiple drive elements 12A of the transport path unit 10A, based on the drive command value and the position information about the moving body 20A, and generates, as the current command values ​​of the other transport path units 10, apart from the transport path unit 10A, current command values ​​which set the magnitude of the current to be supplied to the coils 121, which are contained in the multiple drive elements 12 of the other transport path units 10, to 0 (zero). set.Likewise, the current command generator 36 generates current command values ​​for the transport units 10C and 10D, which specify the strength of the current to be supplied to the coils 121C and 121D contained in the multiple drive elements 12C and 12D of the transport path units 10C and 10D, based on the drive command value and the position information about the moving body 20B, and generates current command values ​​for the remaining transport path units 10, apart from the transport path units 10C and 10D, which set the strength of the current to be supplied to the coils 121 contained in the multiple drive elements 12 of the remaining transport path units 10 to 0 (zero).Likewise, the current command generator 36 generates, as the current command values ​​of the transport units 10E and 10F, a current command value which specifies the strength of the current to be supplied to the coils 121E and 121F, which are contained in the multiple drive elements 12E and 12F of the transport path units 10E and 10F, based on the drive command value and the position information about the moving body 20C, and generates, as the current command values ​​of the remaining transport path units 10, apart from the transport path units 10E and 10F, a current command value which sets the strength of the current to be supplied to the coils 121, which are contained in the multiple drive elements 12 of the remaining transport path units 10, to 0 (zero).Then the current command generator 36 combines all the current command values ​​that were generated based on the drive command values ​​and the position information about the moving bodies 20A, 20B and 20C, and generates a current command value that specifies the strength of the current to be supplied to the coil 121 contained in each drive element 12, as the current command value of the transport path units 10A, 10C, 10D, 10E and 10F, and generates a current command value that sets the strength of the current to be supplied to the coil 121 contained in each drive element 12 to 0 (zero), as the current command values ​​of the transport path units 10B, 10G and 10H, thereby generating the current command values ​​of all transport path units 10 on the transport route of the transport system 1.

[0098] In step S707, the communication master station 31 of the control controller 30 performs the third communication, transmitting the current command value of each of the transport path units 10A to 10H to the transport path communication substation 11. Specifically, the communication master station 31 transmits the current command value of transport path unit 10A to the transport path communication substation 11A using the communication frame T2A, which includes a header, a footer, and a payload. Likewise, the communication master station 31 transmits the current command values ​​of transport path units 10B to 10H to the transport path communication substations 11B to 11H using the communication frames T2B to T2H.

[0099] In step S801, which is in Fig. As shown in Figure 8, each current controller 124 of the transport unit 10 calculates a control signal for controlling the operation of the inverter circuit 122 based on the current command value received by the transport communication substation 11 and the current value RA detected by the current sensor 123 of the transport unit 10, and outputs the calculated control signal to the inverter circuit 122. Specifically, the current controller 124A, which is contained in the respective drive element 12A of the transport unit 10A, receives the current value RA, detected by the current sensor 123 of the drive element 12A containing the current controller 124A, via the internal bus and derives a command value from the current command value that specifies the current to be supplied to the coil 121A of the drive element 12A containing the current controller 124A.Each current controller 124 calculates a control signal to control the operation of the inverter circuit 122 based on the command value, which specifies the current magnitude, and the current value RA, and outputs the control signal to the inverter circuit 122A of the drive element 12A, in which the current controller 124 is contained. Similarly, the current controllers 124B to 124H of the transport units 10B to 10H also output control signals to the inverter circuits 122B to 122H of the drive elements 12B to 12H, in which the current controllers 124B to 124H are contained.

[0100] In step S802, each inverter circuit 122 of the transport unit 10 receives the control signal output by the current controller 124 via the internal bus and operates to supply the necessary current to the coil 121. Specifically, the inverter circuit 122A, which is contained in each drive element 12A of the transport unit 10A, receives the control signal output by the current controller 124A via the internal bus and operates to supply the necessary current from the power supply unit 40 to the coil 121A based on this control signal. This means that each inverter circuit 122A converts the current from the power supply unit 40 according to the current magnitude specified by the current command value contained in the control data transmitted by the control controller 30, and either supplies power to the coil 121A or not.Similarly, the inverter circuits 122B to 122H of the transport path units 10B to 10H operate to supply the coils 121B to 121H with a necessary current from the power supply unit 40 based on the control signal.

[0101] As soon as the coil 121 of the transport path unit 10 in transport system 1 is energized or de-energized according to the current command value in step S802, an electromagnetic field is generated in the energized coil 121. The moving body 20 receives a driving force through an interaction between the electromagnetic field generated by the coil 121 and the magnetic field generated by the mover magnet group 22 and moves along the transport route configured by the transport path unit 10.

[0102] In step S803, the measuring device 13 of each transport unit 10 detects the moving body 20 using the position sensor 131 contained within the measuring device 13 and outputs a detection signal. As described above, if the position sensor 131 is a Hall effect sensor, it outputs the waveform signal of the sine wave and the cosine wave as a detection signal as soon as the moving body 20 passes the Hall effect sensor. Furthermore, the Hall effect sensor, when the moving body 20 does not pass through, outputs the absence of a waveform signal as a detection signal. This means that all measuring devices 13 of the transport units 10 output detection signals from all position sensors 131 contained within the measuring devices 13.In particular, the measuring device 13A of the transport unit 10A outputs as a detection signal the waveform signal of the sine wave and the cosine wave from the position sensor 131, which is passed by the moving body 20, of the several position sensors 131A contained in the measuring device 13A and outputs as a detection signal the absence of a waveform signal (for example “0 (zero)”) from the position sensor 131A, which is not passed by the moving body 20.Similarly, for the measuring devices 13B to 13H of the transport units 10B to 10H, the waveform signal of the sine wave and the cosine wave is output as a detection signal from the position sensors 131B to 131H, which are passed by the moving body 20, of the several position sensors 131B to 131H contained in the measuring devices 13B to 13H, and the absence of a waveform signal is output as a detection signal from the position sensors 131B to 131H, which are not passed by the moving body 20.

[0103] In step S804, the position calculator 14 of the respective transport path unit 10 receives the detection signals via the internal bus, calculates a measuring device detection information based on the detection signals, and outputs the measuring device detection information to the transport path communication substation 11. The position calculator 14 calculates as measuring device detection information the relative position of the moving body 20 with respect to the position sensors 131 of the measuring device 13, based on the detection signals of all position sensors 131 output by the measuring device 13 of the transport path unit 10, in which the position calculator 14 is contained.In particular, the position calculator 14A of the transport unit 10A calculates the relative position of the moving body 20 with respect to the position sensors 131A of the measuring device 13A as measuring device detection information, based on the detection signals of all position sensors 131 output by the measuring device 13A. If the moving body 20 has not passed the transport unit 10A, the position calculator 14A calculates information indicating that the moving body 20 has not passed any of the position sensors 131A as measuring device detection information, specifying the relative position of the moving body 20 with respect to the position sensor 131 of the measuring device 13A. In such a case, for example, information indicating 0 (zero) or information about a freely chosen word can be used as the measuring device information.The position calculator 14A outputs the calculated measuring device detection information to the transport path communication substation 11A. In addition, the position calculators 14B to 14H of the corresponding transport path units 10B to 10H similarly calculate measuring device detection information based on the detection signals output by the position sensors 131B to 131H, which are contained in the measuring devices 13B to 13H of the transport path units 10B to 10H, in which the position calculators 14B to 14H are contained, and output the measuring device detection information to the transport path communication substations 11B to 11H.

[0104] In step S805, the transport path communication substation 11 of the respective transport path unit 10 performs the sixth communication, transmitting the acquired measuring device detection information to the communication master station 31. Specifically, the transport path communication substation 11A transmits the measuring device detection information, which is calculated by the position calculator 14A of the transport path unit 10A, to the communication master station 31 of the control controller 30 using the communication frame R2A, which includes a header, a footer, and a payload.Likewise, the transport path communication substations 11B to 11H of the transport path units 10B to 10H sequentially transmit the measuring device detection information, which is calculated by the position calculators 14B to 14H of the transport path units 10B to 10H, to the communication master station 31 of the control controller 30 using the communication frames R2B to R2H.

[0105] As described above, in the transport system 1 according to the first embodiment, the position controller 35 is provided in the control controller 30, and the position controller 35 of the control controller 30 is assigned to all moving bodies 20 that move in the transport system 1. Furthermore, the position controller 35 is connected to the communication substation 32. The communication master station 31 of the control controller 30 is configured to transmit and receive generation data to and from the communication substation 32. Accordingly, the current command generator 36 of the control controller 30 can generate a current command value to exert the driving force on all moving bodies 20 in the transport system 1 based on the generation data and can generate current command values ​​for all transport path units 10.Therefore, in the transport system 1 according to the first embodiment, because the current command values ​​for all transport path units 10 can be generated by the current command generator 36, even if the moving body 20, which moves in the transport system 1, is located at the boundary between the transport path units 10, the movement of the moving body 20 can be controlled with high accuracy, and an increase in the cost of the electrical circuits, such as the inverter circuit 122 contained in a single drive element, can be reduced or prevented.

[0106] Furthermore, according to the first embodiment, as described above, the transport system 1 is configured such that the position controller 35 is provided in the control controller 30, all moving bodies 20 within the transport system 1 are assigned to the position controller 35, and the current command values ​​for all transport path units 10 can be generated by the current command generator 36. Accordingly, according to the first embodiment, the transport system 1 does not need to include the position controller 35 in each of the transport path units 10, and the number of position controllers 35 can be at most equal to or less than the number of moving bodies 20. Therefore, it is possible to reduce or prevent an increase in the size and cost of the control system, the control controller 30, and the transport path units 10.Because the moving body 20 is always assigned to a predetermined position control 35, processing the assignment of the moving body 20 to a control during the operation of the transport system 1 is unnecessary. Therefore, according to the first embodiment, the transport system 1 can prevent the control of the moving body 20 of the transport system 1 from being stopped without increasing the size and cost of the control system. Second embodiment.

[0107] A transport system according to the second embodiment of the present disclosure is described. It should be noted that components identical to those of the first embodiment are designated by the same reference numerals and their detailed description has been omitted. Configurations that differ from those of the first embodiment are described in detail below.

[0108] Fig. Figure 9 is a schematic diagram showing an exemplary configuration of the transport system according to the second embodiment of the present disclosure. As in Fig. As shown in Figure 9, the transport system 1W, like the first embodiment, comprises the multiple transport path units 10A to 10H, which form a transport route for the multiple motion bodies 20A to 20C, and the power supply unit 40, which supplies power to the transport path units 10A to 10H. It should be noted that, according to the second embodiment, the transport system 1W comprises a control controller 30W instead of the control controller 30, which controls the operation of the multiple motion bodies 20A to 20C. In contrast to the control controller 30, the control controller 30W comprises a position command controller 301 and a drive controller 302. This means that the position command controller 301 and the drive controller 302 are configured as separate housings, and these controllers operate as the control controller 30W.

[0109] As in Fig. As shown in Figure 9, the position command controller 301 comprises the communication master station 31, the position command generator 33, the position generator 34, and the current command generator 36. The position command generator 33, the position generator 34, and the current command generator 36 are connected to the communication master station 31 via an internal bus within the position command controller 301. The communication master station 31, the position command generator 33, the position generator 34, and the current command generator 36 have functions identical to those in the first embodiment described above. This means that the position command generator 33 generates a position command value for the moving body 20, the position generator 34 generates position information about the moving body 20, and the current command generator 36 generates a current command value for the transport path unit 10.The position command value of the moving body 20 and the position information about the moving body 20 are examples of generation data, and the current command value of the transport path unit 10 is an example of control data.

[0110] The drive controller 302 comprises the communication substation 32 and the position controller 35. The position controller 35 is connected to the communication substation 32 via an internal bus within the drive controller 302. The communication substation 32 and the position controller 35 have functions identical to those in the first embodiment described above, and the position controller 35 generates a drive command value for the moving body 20. The drive command value of the moving body 20 is an example of generated data.

[0111] The drive controller 302 is a controller that generates a drive command value for the moving body 20 using the position controller 35, based on the position command value of the moving body 20, which is generated by the position command generator 33, and the position information about the moving body 20, which is generated by the position generator 34. In the second embodiment, the drive controller 302 comprises three drive controllers 302A, 302B and 302C, as shown in Fig. 9 is shown.

[0112] The drive controller 302A comprises the communication substation 32A and the position controller 35A; the drive controller 302B comprises the communication substation 32B and the position controller 35B; and the drive controller 302C comprises the communication substation 32C and the position controller 35C. The drive controllers 302A, 302B, and 302C, the communication substations 32A, 32B, and 32C, and the position controllers 35A, 35B, and 35C can simply be referred to as the drive controller 302, the communication substation 32, and the position controller 35, respectively, when it is not necessary to distinguish between them. The position controller 35 of the drive controller 302 is assigned to the motion body 20, which is provided at the transport system 1W, and is configured to generate a drive command value for the assigned motion body 20.

[0113] The second embodiment describes an example of a configuration in which the transport system 1W comprises the three motion bodies 20A, 20B, and 20C, and a single position controller 35 is assigned to a single motion body 20. Specifically, position controller 35A is assigned to generate a drive command value for motion body 20A, position controller 35B is assigned to generate a drive command value for motion body 20B, and position controller 35C is assigned to generate a drive command value for motion body 20C. Then, position controller 35A outputs the generated drive command value for motion body 20A to communication substation 32A, position controller 35B outputs the generated drive command value for motion body 20B to communication substation 32B, and position controller 35C outputs the generated drive command value for motion body 20C to communication substation 32C.This means that the drive control 302 is a control which generates a drive command value of the moving body 20, which is assigned to the position control 35 contained in the drive control 302.

[0114] It should be noted that the number of motion bodies 20 to be assigned to the position control 35 of the drive control 302 can be freely determined, and an assignment can be made that is equal to the assignment of motion bodies 20 to the position controls 35 described in the first embodiment described above. This means that the drive controls 302 can be provided in the entire transport system 1W at most as many times as the number of motion bodies 20 provided in the transport system 1W.

[0115] Furthermore, the number of communication substations 32 and position controllers 35 contained in a single drive controller 302 can be freely configured and determined during the hardware design of the drive controller 302. For example, a single drive controller 302 can contain a single communication substation 32 and multiple position controllers 35, and each of the multiple position controllers 35 can be connected via an internal bus. Alternatively, multiple communication substations 32 and multiple position controllers 35 can be contained in a single drive controller 302, and the communication substation 32 and the position controller 35 can be connected via an internal bus.Even with such a configuration, the drive control 302 for the entire transport system 1W can be provided at most as often as the number of moving bodies provided in the transport system 1W 20.

[0116] A connection between the communication master station 31 of the position command controller 301, the communication substation 32 of the drive controller 302, and the transport path communication substation 11 of the transport path unit 10 in the control controller 30W according to the second embodiment is now described. In the transport system 1W of the second embodiment, the position command controller 301 and the drive controller 302, which together form the control controller 30W, are connected via a third communication line 80. The drive controllers 302 are connected to each other via a drive controller communication line 90. The control controller 30W and the transport path unit 10 are connected via the first communication line 50.

[0117] As in Fig. As shown in Figure 9, the communication master station 31 of the position command controller 301 is connected to the communication substation 32A of the drive controller 302A, specifically via the third communication line 80. The communication substation 32A of the drive controller 302A is connected to the communication substation 32B of the drive controller 302B via the drive controller communication line 90. The communication substation 32B of the drive controller 302B is connected to the communication substation 32C of the drive controller 302C via the drive controller communication line 90. Accordingly, the position command controller 301 and the drive controller 302 can communicate with each other to form the control controller 30W.The communication master station 31 of the position command controller 301 and the communication substations 32A, 32B, and 32C of the drive controllers 302A, 302B, and 302C are connected by a line network. Generation data, which includes various command values ​​and information for generating control data, can be transmitted and received between the communication master station 31 and the communication substation 32. Using such a line network allows serial communication to be used for transmitting and receiving generation data between the communication master station 31 and the communication substation 32, thus reducing or preventing the need for additional communication lines. Furthermore, the communication substation 32C of the drive controller 302C is connected to the transport path communication substation 11A of the transport path unit 10A via the first communication line 50.Accordingly, the control unit 30W and the transport unit 10 form a communication network which enables communication with each other.

[0118] In the configuration in which the communication master station 31 and the communication substation 32, as in Fig. As shown in Figure 9, communication master station 31, connected by a network of lines, transmits and receives generation data to and from communication substation 32A via the third communication line 80, which connects communication master station 31 and communication substation 32A. Communication master station 31 also transmits and receives generation data to and from communication substation 32B via the third communication line 80, which connects communication master station 31 and communication substation 32A, and via the drive control communication line 90, which connects communication substation 32A and communication substation 32B. In other words, communication substation 32B transmits and receives data with communication master station 31 via communication substation 32A.Communication master station 31 transmits and receives generation data to and from communication substation 32C via the third communication line 80, which connects communication master station 31 and communication substation 32A, communication substation 32A, the drive control communication line 90, which connects communication substation 32A and communication substation 32B, communication substation 32B, and the drive control communication line 90, which connects communication substation 32B and communication substation 32C. In other words, communication substation 32C transmits and receives data with communication master station 31 via communication substation 32A and communication substation 32B. Even in this configuration, it can be said that communication master station 31 transmits and receives generation data to and from communication substations 32A, 32B, and 32C.In addition, the communication master station 31 is configured to include two channels: a transmission channel and a reception channel.

[0119] As in Fig. As shown in Figure 9, communication substation 32C is connected to communication substation 32B and is connected to the first communication line 50, which is connected to the transport path unit 10. Specifically, communication substation 32C, which is contained in the drive controller 302C, and transport path communication substation 11, which is contained in the transport path unit 10, are connected via the first communication line 50, thus forming a communication network for transmitting and receiving control data between the control controller 30W and the transport path unit 10. This means that communication substation 32 and transport path communication substation 11 are connected by a network of lines, and control data can be transmitted and received between communication master station 31 and transport path communication substation 11 via communication substation 32.

[0120] It should be noted that the control unit 30W does not need to connect the communication substation 32C of the drive control unit 302C and the first communication line 50, but only needs to be capable of forming a communication network for transmitting and receiving control data between the control unit 30W and the transport path unit 10. For example, the control unit 30W can form a communication network for transmitting and receiving control data between the control unit 30W and the transport path unit 10 by connecting the communication master station 31 of the position command control unit 301 and the transport path communication substation 11, which is provided in the transport path unit 10, via the first communication line 50.

[0121] In the configuration in which the communication master station 31 and the communication substation 32, as in Fig. As shown in Figure 9, which are connected by a network of lines, the communication master station 31 also transmits and receives control data to and from the transport route communication substation 11 of the transport route unit 10 via the third communication line 80, which connects the communication master station 31 and the communication substation 32A, the communication substation 32A, the drive control communication line 90, which connects the communication substation 32A and the communication substation 32B, the communication substation 32B, the drive control communication line 90, which connects the communication substation 32B and the communication substation 32C, the communication substation 32C and the first communication line 50. In other words, the communication master station 31 performs a transmission and reception with the transport route communication substation 11 of the transport route unit 10 via the first communication line 50.Even in such a configuration, it can be said that the control unit 30W transmits and receives control data to and from the transport path communication substation 11 of the transport path unit 10. By using such a line network, serial communication can be used for the transmission and reception of control data between the communication master station 31 and the transport path communication substation 11, and the need for additional communication lines can be reduced or prevented.

[0122] The communication master station 31 of the position command controller 301 according to the second embodiment is configured to transmit generation data to the communication substation 32, identical to the first embodiment described above. The communication master station 31 of the position command controller 301 is configured to transmit control data to the transport path communication substation 11, identical to the first embodiment described above. Furthermore, the communication master station 31 of the position command controller 301 is configured to receive generation data from the multiple communication substations 32. The communication master station 31 of the position command controller 301 is configured to receive control data from the multiple transport path communication substations 11.Furthermore, the communication control in the communication master station 31 of the position command control 301 performs communication control using the transmission channel, the receive channel, and the communication frame, which is identical to the first embodiment described above. This means that the control unit 30W according to the second embodiment functions identically to the control unit 30 described above.

[0123] Fig. Figure 10 is a diagram showing an exemplary hardware configuration of the control unit according to the second embodiment. The hardware of the control unit 30W is divided into the position command control 301 and the drive control 302. The position command control 301 comprises the first communication interface (first communication SS) 3001, which functions as the communication master station 31, the first processor 3005, which functions as the position command generator 33, the position generator 34, and the current command generator 36, and the memory 3009, which reads and writes various data used for a given calculation in the first processor 3005.The drive controller 302A comprises the second communication interface (second communication SS) 3002, which functions as the communication substation 32A, the second processor 3006, which functions as the position controller 35A, and a memory 3009A, which reads and writes various data used for calculations in the second processor 3006. The drive controller 302B comprises the third communication interface (third communication SS) 3003, which functions as the communication substation 32B, the third processor 3007, which functions as the position calculator 35B, and a memory 3009B, which reads and writes various data used for calculations in the third processor 3007.The drive control 302C includes the fourth communication interface (fourth communication substation) 3004, which functions as the communication substation 32C, the fourth processor 3008, which functions as the position control 35C, and a memory 3009C, which reads and writes various data that are used for a respective calculation in the fourth processor 3008.

[0124] Because the first processor 3005 to the fourth processor 3008 are identical to those in the first embodiment described above, their description is omitted. The memory units 3009 and 3009A to 3009C comprise a non-volatile memory, which stores calculation programs and the like that executed by the first processor 3005 to the fourth processor 3008, and a volatile memory, which serves as working memory during a given calculation in the first processor 3005 to the fourth processor 3008.

[0125] In the hardware configuration of the position command control 301 in Fig. Processor 10 functions as position instruction generator 33, position generator 34, and current instruction generator 36, as shown by the first processor 3005 as an example. However, the hardware configuration can include multiple processors, such as one processor functioning as position instruction generator 33, one processor functioning as position generator 34, and one processor functioning as current instruction generator 36.

[0126] The control unit 30W and the transport path unit 10 according to the second embodiment operate in the same way as described in relation to Fig. 7 and Fig. 8 in the first embodiment described above, and control of the moving body 20 in the transport system 1W is carried out, so a specific description of it is omitted.

[0127] As described above, in the transport system 1W according to the second embodiment, as in the transport system 1 according to the first embodiment described above, even if the moving body 20, which moves in the transport system 1W, is arranged at the boundary between the transport path units 10, the movement of the moving body 20 can be controlled with high accuracy and an increase in the cost of the electrical circuits, such as the inverter circuit 122, which is contained in a single drive element, can be reduced or prevented.Similar to the transport system 1 according to the first embodiment described above, the transport system 1W according to the second embodiment does not need to include the position controller 35 in each of the transport path units 10, and the number of drive controllers 302, which include the position controllers 35, can be at most equal to or less than the number of moving bodies 20, thus preventing an increase in the size and cost of the control system of the control controller 30W and the transport path unit 10. Furthermore, because the moving body 20 is always assigned to a predetermined position controller 35, the transport system 1W does not need to process the assignment of a controller to the moving body 20 during operation.Therefore, according to the second embodiment, the transport system 1W can prevent the control of the moving body 20 of the transport system 1W from stopping without increasing the size and cost of the control system.

[0128] Furthermore, in the transport system 1W according to the second embodiment, the position command controller 301 and the drive controller 302 form the control controller 30W. The drive controller 302 is configured to generate a drive command value for the associated motion body 20. Therefore, the control controller 30W is divided into the two controllers consisting of the position command controller 301 and the drive controller 302, so that the control load of a single controller can be reduced and the control delay of the control controller 30W can be prevented.

[0129] Furthermore, the control unit 30W is divided into the position command control 301 and the drive control 302. The drive control 302 and the position command control 301 are connected via the third communication line 80, and the drive controls 302 are connected via the drive control communication line 90, allowing the number of drive controls 302 to be easily changed. Therefore, even if the number of moving bodies 20 along the transport route of transport system 1W changes, the control system configuration of transport system 1W can be easily modified by simply changing the number of drive controls 302. For example, if the number of moving bodies 20 along the transport route of transport system 1W increases, transport system 1W can easily change its control system configuration by increasing the number of drive controls 302 of the control unit 30W.Furthermore, if the number of moving bodies 20 on the transport route of transport system 1W decreases, transport system 1W can change the control system configuration by reducing the number of drive controllers 302 of the control controller 30W. This means that, according to the second embodiment, transport system 1W can provide a transport system that simplifies system expansion and modification. Third embodiment.

[0130] A transport system according to the third embodiment of the present disclosure is described. It should be noted that components identical to those of the first and second embodiments are designated by the same reference numerals and their detailed descriptions have been omitted. Configurations that differ from those of the first and second embodiments are described in detail below.

[0131] Fig. Figure 11 is a schematic diagram showing an exemplary configuration of the transport system according to the third embodiment of the present disclosure. As in Fig. As shown in Figure 11, the transport system 1X, like the first embodiment, comprises the multiple transport path units 10A to 10H, which form a transport route for the multiple motion bodies 20A to 20C, and the power supply unit 40, which supplies power to the transport path units 10A to 10H. It should be noted that, according to the third embodiment, the transport system 1X comprises a control unit 30X instead of the control unit 30 or 30W, which controls the operation of the multiple motion bodies 20A to 20C. The control unit 30X comprises a position command control 301X, the drive control 302, and a path control 303. This means that the position command control 301X, the drive control 302, and the path control 303 are configured as separate enclosures, and these control units operate as the control unit 30X, which performs multi-master communication control.

[0132] As in Fig. As shown in Figure 11, the position command controller 301X comprises a first communication master station 31-1 and the position command generator 33. The position command generator 33 is connected to the first communication master station 31-1 via an internal bus in the position command controller 301X. The position command generator 33 has a function identical to that described in the first embodiment above and generates a position command value for the moving body 20. The position command value of the moving body 20 is an example of generation data.

[0133] The drive controller 302 comprises the communication substation 32 and the position controller 35, as in the second embodiment described above. The position controller 35 is connected to the communication substation 32 via an internal bus within the drive controller 302. The drive controller 302 has a function identical to that described in the second embodiment above.

[0134] In the third embodiment, the drive control 302 comprises the three drive controls 302A, 302B and 302C, as shown in Fig. Figure 11 shows that the drive controller 302A comprises the communication substation 32A and the position controller 35A, the drive controller 302B comprises the communication substation 32B and the position controller 35B, and the drive controller 302C comprises the communication substation 32C and the position controller 35C. The drive controllers 302A, 302B, and 302C, the communication substations 32A, 32B, and 32C, and the position controllers 35A, 35B, and 35C can simply be referred to as the drive controller 302, the communication substation 32, and the position controller 35, respectively, when it is not necessary to distinguish between them. The position controller 35 of the drive controller 302 is assigned to the motion body 20, which is provided in the transport system 1X, and is configured to generate a drive command value for the assigned motion body 20. The drive command value of the moving body 20 is an example of generation data.

[0135] Similar to the second embodiment, the third embodiment describes an example of a form in which the transport system 1X comprises the three motion bodies 20A, 20B, and 20C, and a single position controller 35 is assigned to a single motion body 20. It should be noted that the number of motion bodies 20 to be assigned to the position controller 35 of the drive controller 302 can be freely determined, as in the second embodiment described above. The number of communication substations 32 and position controllers 35 contained in a single drive controller 302 can also be freely configured, as in the second embodiment described above.

[0136] The path controller 303 comprises a second communication master station 31-2, the position generator 34, and the current command generator 36. The position generator 34 and the current command generator 36 are connected to the second communication master station 31-2 via an internal bus within the path controller 303. The position generator 34 and the current command generator 36 have functions identical to those in the first embodiment described above: the position generator 34 generates position information about the moving body 20, and the current command generator 36 generates a current command value for the transport path unit 10. The position information about the moving body 20 is an example of generation data, and the current command value of the transport path unit 10 is an example of control data.

[0137] As described above, in the control unit 30X according to the third embodiment, the communication master station 31, which is described in the first embodiment, is divided into two parts: the first communication master station 31-1 and the second communication master station 31-2, and the first communication master station 31-1 and the second communication master station 31-2 operate identically to the communication master station 31.

[0138] A connection between the first communication master station 31-1 of the position command controller 301X, the communication substation 32 of the drive controller 302, the second communication master station 31-2 of the path controller 303, and the transport path communication substation 11 of the transport path unit 10 in the control controller 30X according to the third embodiment is now described. In the transport system 1X of the third embodiment, the position command controller 301X and the drive controller 302, which form the control controller 30X, are connected via the third communication line 80. The drive controllers 302 are connected to each other via the drive controller communication line 90. The drive controller 302 and the path controller 303 are connected via a fourth communication line 100. The control controller 30X and the transport path unit 10 are connected via the first communication line 50.

[0139] As in Fig. As shown in Figure 11, the first communication master station 31-1 of the position command controller 301X is connected to the communication substation 32A of the drive controller 302A via the third communication line 80. The communication substation 32A of the drive controller 302A is connected to the communication substation 32B of the drive controller 302B via the drive controller communication line 90. The communication substation 32B of the drive controller 302B is connected to the communication substation 32C of the drive controller 302C via the drive controller communication line 90. Furthermore, the communication substation 32C of the drive controller 302C is connected to the second communication master station 31-2 of the path controller 303 via the fourth communication line 100. Accordingly, the position command controller 301X, the drive controller 302, and the path controller 303 can communicate with each other to form the control controller 30X.The first communication master station 31-1 of the position command controller 301X, the communication substations 32A, 32B, and 32C of the drive controllers 302A, 302B, and 302C, and the second communication master station 31-2 of the path controller 303 are connected by a network of lines. Generation data, which includes various command values ​​and information for generating control data, can be transmitted and received between the first communication master station 31-1, the communication substation 32, and the second communication master station 31-2. By using such a network of lines, serial communication can be used for the transmission and reception of generation data between the first and second communication master stations 31-1 and 31-2 and the communication substation 32, thus reducing or preventing the need for additional communication lines.Furthermore, the second communication master station 31-2 of the railway control system 303 is connected to the transport route communication substation 11A of the transport route unit 10A via the first communication line 50. Accordingly, the control unit 30X and the transport route unit 10 form a communication network that enables communication between them.

[0140] In the configuration in which the first communication master station 31-1 and the communication substation 32, as in Fig. As shown in Figure 11, the first communication master station 31-1, connected by a network of lines, transmits and receives generation data to and from the communication substation 32A via the third communication line 80, which connects the first communication master station 31-1 and the communication substation 32A. The first communication master station 31-1 transmits and receives generation data to and from the communication substation 32B via the third communication line 80, which connects the first communication master station 31-1 and the communication substation 32A, as well as via the drive control communication line 90, which connects the communication substation 32A and the communication substation 32B. In other words, the communication substation 32B performs transmission and reception with the first communication master station 31-1 via the communication substation 32A.The first communication master station 31-1 transmits and receives generation data to and from the communication substation 32C via the third communication line 80, which connects the first communication master station 31-1 and the communication substation 32A, the communication substation 32A, the drive control communication line 90, which connects the communication substation 32A and the communication substation 32B, the communication substation 32B and the drive control communication line 90, which connects the communication substation 32B and the communication substation 32C. In other words, the communication substation 32C performs transmission and reception with the first communication master station 31-1 via the communication substation 32A and the communication substation 32B.Even in such a configuration, it can be said that the first communication master station 31-1 transmits and receives generation data to and from the communication substations 32A, 32B, and 32C. Furthermore, the first communication master station 31-1 is configured to have two channels: a transmission channel and a reception channel.

[0141] In the configuration in which the second communication master station 31-2 and the communication substation 32, as in Fig. As shown in Figure 11, the second communication master station 31-2, which is connected by a network of lines, also transmits and receives generation data to and from the communication substation 32C via a fourth communication line 100, which connects the second communication master station 31-2 and the communication substation 32C. The second communication master station 31-2 transmits and receives generation data to and from the communication substation 32B via the fourth communication line 100, which connects the second communication master station 31-2 and the communication substation 32C, the communication substation 32C, and the drive control communication line 90, which connects the communication substation 32C and the communication substation 32B. In other words, the communication substation 32B performs transmission and reception with the second communication master station 31-2 via the communication substation 32C.The second communication master station 31-2 transmits and receives generation data to and from the communication substation 32A via the fourth communication line 100, which connects the second communication master station 31-2 and the communication substation 32C, the communication substation 32C, the drive control communication line 90, which connects the communication substation 32C and the communication substation 32B, the communication substation 32B and the drive control communication line 90, which connects the communication substation 32B and the communication substation 32A. In other words, the communication substation 32A performs transmission and reception with the second communication master station 31-2 via the communication substation 32C and the communication substation 32B.Even in such a configuration, it can be said that the second communication master station 31-2 transmits and receives generation data to and from the communication substations 32A, 32B, and 32C. Furthermore, the second communication master station 31-2 is configured to have two channels: a transmission channel and a reception channel.

[0142] As in Fig. As shown in Figure 11, the second communication master station 31-2 is connected to the communication substation 32C and is connected to the first communication line 50, which is connected to the transport route unit 10. Specifically, the second communication master station 31-2, which is contained in the railway control unit 303, and the transport route communication substation 11, which is contained in the transport route unit 10, are connected via the first communication line 50, thereby forming a communication network for transmitting and receiving control data between the control controller 30X and the transport route unit 10. This means that the communication substation 32 and the transport route communication substation 11 are connected by a network of lines, and control data can be transmitted and received between the second communication master station 31-2 and the transport route communication substation 11.Even in such a configuration, the control unit 30X transmits and receives control data to and from the transport path communication substation 11 of the transport path unit 10. By using a line network, serial communication can be used for the transmission and reception of control data between the second communication master station 31-2 and the transport path communication substation 11, thus reducing or preventing the need for additional communication lines.

[0143] The first communication master station 31-1 of the position command controller 301X and the second communication master station 31-2 of the path controller 303 according to the third embodiment are configured to transmit generation data to the communication substation 32. For example, the first communication master station 31-1 and the second communication master station 31-2 are configured to specify a desired communication substation 32 as the communication destination for the multiple communication substations 32A to 32C and to transmit the generation data to the specified communication substation 32.Furthermore, the multiple communication substations 32A to 32C are configured to define a desired first communication master station 31-1 and a desired second communication master station 31-2 as communication destinations with respect to the first communication master station 31-1 of the position command control 301X and the second communication master station 31-2 of the path control 303, and to transmit and receive generation data to and from the defined first communication master station 31-1 and second communication master station 31-2. Furthermore, the second communication master station 31-2 of the path control 303 is configured to transmit control data to the transport route communication substation 11.For example, the second communication master station 31-2 is configured to specify a desired transport path communication substation 11 as the communication destination for the multiple transport path communication substations 11A to 11H and to transmit control data to the specified desired transport path communication substation 11. The second communication master station 31-2 of the railway control system 303 is configured to receive control data from the multiple transport path communication substations 11. Furthermore, the communication control in the first communication master station 31-1 of the position command control system 301X and the second communication master station 31-2 of the railway control system 303 performs the communication control using the transmission channel, the receive channel, and the communication frame, which is identical to the first and second embodiments described above.This means that in the control unit 30X the communication master station is divided into the first communication master station 31-1 of the position command control 301X and the second communication master station 31-2 of the path control 303, but the first communication master station 31-1 and the second communication master station 31-2 implement the same functions as the communication master station 31, which are described in the first and second embodiments.

[0144] Fig. Figure 12 is a diagram showing an exemplary hardware configuration of the control unit according to the third embodiment. The hardware of the control unit 30X is divided into the position command control 301X, the drive control 302, and the path control 303. The position command control 301X comprises a fifth communication interface (fifth communication SS) 3001-1, which functions as the first communication master station 31-1, a fifth processor 3005-1, which functions as the position command generator 33, and a memory 3009-1, which reads and writes various data used for a given calculation in the fifth processor 3005-1.The drive controller 302A comprises the second communication interface (second communication SS) 3002, which functions as the communication substation 32A, the second processor 3006, which functions as the position controller 35A, and a memory 3009A, which reads and writes various data used for calculations in the second processor 3006. The drive controller 302B comprises the third communication interface (third communication SS) 3003, which functions as the communication substation 32B, the third processor 3007, which functions as the position controller 35B, and the memory 3009B, which reads and writes various data used for calculations in the third processor 3007.The drive control unit 302C comprises the fourth communication interface (fourth communication SS) 3004, which functions as the communication substation 32C, the fourth processor 3008, which functions as the position controller 35C, and a memory 3009C, which reads and writes various data used for calculations in the fourth processor 3008. The path control unit 303 comprises a sixth communication interface (sixth communication SS) 3001-2, which functions as the second communication master station 31-2, a sixth processor 3005-2, which functions as the position generator 34 and the current command generator 36, and a memory 3009-2, which reads and writes various data used for calculations in the sixth processor 3005-2.

[0145] Because the second processor 3006 to the fourth processor 3008 are identical to those in the first embodiment described above, their description is omitted. Because the memory units 3009A to 3009C are identical to those in the second embodiment described above, their description is omitted. The fifth processor 3005-1 is a processor that can calculate a position instruction value as the position instruction generator 33, and, for example, a microprocessor, a microcontroller, a microcomputer, a CPU, a DSP, or the like can be used. The sixth processor 3005-2 is a processor that can calculate position information and a current instruction value of the transport path unit 10, and, for example, a microprocessor, a microcontroller, a microcomputer, a CPU, a DSP, or the like can be used.Memory 3009-1 comprises non-volatile memory, which stores calculation programs and the like that executed by the fifth processor 3005-1, and volatile memory, which serves as working memory in the fifth processor 3005-1 during each calculation. Memory 3009-2 comprises non-volatile memory, which stores calculation programs and the like that executed by the sixth processor 3005-2, and volatile memory, which serves as working memory in the sixth processor 3005-2 during each calculation.

[0146] In the hardware configuration of the railway control system 303 in Fig. Processor 12, which functions as both the position generator 34 and the current instruction generator 36, is shown as the sixth processor 3005-2 as an example. However, the hardware configuration can include multiple processors, such as one processor functioning as the position generator 34 and another functioning as the current instruction generator 36.

[0147] Fig. Figure 13 is a flowchart showing an example of the operation of the control controller according to the third embodiment of the present disclosure. The operation of the control controller 30X is described with reference to Fig. 13 described.

[0148] In step S1301, shown in Fig. 13. The position command generator 33 of the position command controller 301X, which forms the control controller 30X, generates the position command value for each of the three motion bodies 20A, 20B and 20C contained in the transport system 1X. Then the position command generator 33 outputs the generated position command value of each of the motion bodies 20A, 20B and 20C to the first communication master station 31-1 of the position command controller 301X.

[0149] In step S1302, the position generator 34 of the path controller 303 of the control controller 30X generates the position information for each of the motion bodies 20A, 20B, and 20C, which indicates the positions of the motion bodies 20A, 20B, and 20C on the transport route, based on the measuring device detection information contained in the control data received by the transport path units 10A to 10H using the communication frames R2A to R2H. The position generator 34 then outputs the generated position information for each of the motion bodies 20A, 20B, and 20C to the second communication master station 31-2 of the path controller 303.

[0150] In step S1303, the first communication master station 31-1 performs the first communication of transmitting the referenced position command value of each of the moving bodies 20A, 20B, and 20C to the communication substation 32. The second communication master station 31-2 performs the first communication of transmitting the referenced position information about each of the moving bodies 20A, 20B, and 20C to the communication substation 32. Specifically, the first communication master station 31-1 transmits the position command value of moving body 20A to the communication substation 32A using communication frame T1A, transmits the position command value of moving body 20B to the communication substation 32B using communication frame T1B, and transmits the position command value of moving body 20C to the communication substation 32C using communication frame T1C.On the other hand, the second communication master station 31-2 transmits the position information about the moving body 20A to the communication substation 32A using the communication frame T1A, transmits the position information about the moving body 20B to the communication substation 32B using the communication frame T1B, and transmits the position information about the moving body 20C to the communication substation 32C using the communication frame T1C.

[0151] In step S1304, the position controllers 35A, 35B, and 35C of the drive controllers 302A, 302B, and 302C, respectively, generate the drive command values ​​for the motion bodies 20A, 20B, and 20C, respectively, based on the position command values ​​and position information about the motion bodies 20A, 20B, and 20C, which are received by the communication substations 32A, 32B, and 32C. The position controllers 35A, 35B, and 35C then output the generated drive command values ​​for the motion bodies 20A, 20B, and 20C to the communication substations 32A, 32B, and 32C, respectively.Specifically, position controller 35A receives the position command value and position information about the motion body 20A from communication substation 32A, which is connected via the internal bus. Based on this position command value and position information, it generates the drive command value for motion body 20A and outputs this drive command value to communication substation 32A. Similarly, position controllers 35B and 35C generate the drive command values ​​for motion body 20B and 20C, respectively, and output these drive command values ​​to communication substations 32B and 32C, which are connected via the internal bus.

[0152] In step S1305, the communication substations 32A, 32B, and 32C of the drive controllers 302A, 302B, and 302C perform the second communication, transmitting the drive command values ​​of the motion bodies 20A, 20B, and 20C to the second communication master station 31-2. Specifically, communication substation 32A transmits the drive command value of motion body 20A to the second communication master station 31-2 using communication frame R1A, which includes a header, a footer, and a payload. Furthermore, communication substations 32B and 32C transmit the drive command value of motion body 20B and the drive command value of motion body 20C, respectively, to the second communication master station 31-2 using communication frames R1B and R1C, respectively.

[0153] In step S1306, the current command generator 36 of the path controller 303 generates the current command values ​​for the transport path units 10A to 10H based on the position information about the motion bodies 20A, 20B, and 20C, which is generated by the position generator 34, and the drive command values ​​of the motion bodies 20A, 20B, and 20C, which are received by the second communication master station 31-2. It should be noted that the position information about the motion bodies 20A, 20B, and 20C can be read from and retrieved from a memory located in the path controller 303. The current command generator 36 obtains the drive command value of motion body 20A, the drive command value of motion body 20B, and the drive command value of motion body 20C from the second communication master station 31-2, which is connected via the internal bus.The current command generator 36 then obtains the position information for the moving body 20A, the position information for the moving body 20B, and the position information for the moving body 20C from the memory of the path controller 303. Based on the drive command values ​​and the position information for the moving bodies 20A, 20B, and 20C, the current command generator 36 generates current command values ​​for the transport path units 10A to 10H and outputs the current command values ​​to the second communication master station 31-2. Because the generation of the current command values ​​by the current command generator 36 is carried out as in the first embodiment, a detailed description of this process is omitted.

[0154] In step S1307, the second communication master station 31-2 of the railway control system 303 performs the third communication, transmitting the current command value of each of the transport path units 10A to 10H to the transport path communication substation 11. Specifically, the second communication master station 31-2 transmits the current command value of transport path unit 10A to the transport path communication substation 11A using communication frame T2A, which includes a header, a footer, and a payload. Likewise, the second communication master station 31-2 transmits the current command values ​​of transport path units 10B to 10H to the transport path communication substations 11B to 11H using communication frames T2B to T2H.

[0155] The transport unit 10 according to the third embodiment operates in the same way as the operating modes of steps S801 to S804, which refer to Fig. 8 in the first embodiment described above, and controls the moving body 20 in the transport system 1X. The transport path unit 10 according to the third embodiment performs a different operating mode in step S805, which is described below.

[0156] Fig. Figure 14 is a flowchart showing an example of the operation of the transport path unit according to the third embodiment. The transport path unit 10 according to the third embodiment operates in the same way as in steps S801 to S804 and then performs step S1405, which is described in Fig. Figure 14 shows that in step S1405, the transport path communication substation 11 of the respective transport path unit 10 performs the sixth communication, transmitting the acquired measuring device detection information to the second communication master station 31-2. Specifically, the transport path communication substation 11A transmits the measuring device detection information, calculated by the position calculator 14A of the transport path unit 10A, to the second communication master station 31-2, which is contained in the control controller 30X, using the communication frame R2A, which includes a header, a footer, and a payload.Likewise, the transport path communication substations 11B to 11H of the transport path units 10B to 10H sequentially transmit the measuring device detection information, which is calculated by the position calculators 14B to 14H of the transport path units 10B to 10H, to the second communication master station 31-2 of the control controller 30X using the communication frames R2B to R2H.

[0157] As described above, the control unit 30X according to the third embodiment is configured to function in the same way as the control units 30 and 30W, by configuring the first communication master station 31-1 and the second communication master station 31-2 to function in the same way as the communication master station 31 described above. As in the first and second embodiments described above, even if the moving body 20, which moves in the transport system 1X, is located at the boundary between the transport path units 10, the movement of the moving body 20 can be controlled with high accuracy, and an increase in the cost of the electrical circuits, such as the inverter circuit 122 contained in a single drive element, can be reduced or prevented.Furthermore, according to the third embodiment, the transport system 1X does not need to include the position controller 35 in each of the transport path units 10, and the number of drive controllers 302, which include the position controllers 35, can be at most equal to or less than the number of motion bodies 20. This makes it possible to reduce or prevent an increase in the size and cost of the control system of the control controller 30X and the transport path unit 10. Because the motion body 20 is always assigned to a predetermined position controller 35, the transport system 1X does not need to process the assignment of a controller to the motion body 20 during operation. Therefore, according to the third embodiment, the transport system 1X can prevent the control of the motion body 20 of the transport system 1X from stopping without increasing the size and cost of the control system.

[0158] Furthermore, in the transport system 1X according to the third embodiment, the position command controller 301X, the drive controller 302, and the path controller 303 form the control controller 30X. The position command controller 301X is configured to generate a position command value for the motion body 20, which moves along the transport route of the transport system 1X. The drive controller 302 is configured to generate a drive command value for the associated motion body 20. The path controller 303 is configured to generate position information about the motion body 20, which moves along the transport route of the transport system 1X, and current command values ​​for all transport path units 10 that form the transport route of the transport system 1X.Therefore, the 30X control system is divided into three controls: the 301X position command control, the 302 drive control, and the 303 path control, so that the control load of a single control can be reduced and the control delay of the 30X control system can be reduced or prevented.

[0159] Furthermore, the control unit 30X connects the position command control 301X and the drive control 302 via the third communication line 80 and connects the path control 303 and the drive control 304 via the fourth communication line 100. Therefore, the control unit 30X can extend the communication bandwidth by separating the communication lines for transmitting and receiving the generation data and can shorten the communication cycle between the position command control 301X and the drive control 302 and the communication cycle between the path control 303 and the drive control 302. Therefore, the control unit 30X can prevent control delay and improve the control performance of the motion body 20.

[0160] Furthermore, in the control unit 30X, the drive control 302 and the position command control 301X are connected via the third communication line 80, and the drive control units 302 are connected via the drive control communication line 90, so that the number of drive control units 302 can be easily changed as in the second embodiment described above. Therefore, even if the number of moving bodies 20 on the transport route of the transport system 1X is changed, the control system configuration of the transport system 1X can be easily changed by changing the number of drive control units 302. This means that, according to the third embodiment, the transport system 1X can provide a transport system that simplifies system expansion and modification. Fourth embodiment.

[0161] A transport system according to the fourth embodiment of the present disclosure is described. It should be noted that components identical to those of the first and third embodiments are drawn with the same reference numerals and their detailed descriptions are omitted. Configurations that differ from those of the first to third embodiments are described in detail below.

[0162] Fig. Figure 15 is a schematic diagram showing an exemplary configuration of the transport system according to the fourth embodiment of the present disclosure. As in Fig. As shown in Figure 15, the transport system 1Y, like the first embodiment, comprises the multiple transport path units 10A to 10H, which form a transport route for the multiple motion bodies 20A to 20C, and the power supply unit 40, which supplies power to the transport path units 10A to 10H. It should be noted that, according to the fourth embodiment, the transport system 1Y comprises a control unit 30Y instead of the control unit 30, 30W, or 30X, which controls the operation of the multiple motion bodies 20A to 20C. The control unit 30Y comprises the position command control 301X, a drive control 302Y, and a path control 303Y. This means that the position command control 301X, the drive control 302Y, and the path control 303Y are configured as separate housings, and these controls operate as the control unit 30Y.

[0163] As in Fig. As shown in Figure 15, the position command controller 301X comprises the first communication master station 31-1 and the position command generator 33, as in the third embodiment described above. The position command generator 33 is connected to the first communication master station 31-1 via an internal bus in the position command controller 301X. The position command generator 33 has a function identical to that described in the first embodiment above and generates a position command value for the moving body 20. The position command value of the moving body 20 is an example of generation data.

[0164] The drive controller 302Y comprises a first communication substation 32-1, a second communication substation 32-2, and the position controller 35. The position controller 35 is connected to the first communication substation 32-1 and the second communication substation 32-2 via an internal bus within the drive controller 302Y. The position controller 35 has a function identical to that described in the first embodiment above. In the drive controller 302Y according to the fourth embodiment, the communication substation 32, described in the third embodiment, is divided into two parts: the first communication substation 32-1 and the second communication substation 32-2. The first communication substation 32-1 and the second communication substation 32-2 operate identically to the communication substation 32.

[0165] In the fourth embodiment, the drive controller 302Y comprises three drive controllers 302YA, 302YB and 302YC, as shown in Fig. Figure 15 shows the following: The drive controller 302YA comprises a first communication substation 32-1A, a second communication substation 32-2A, and the position controller 35A. The drive controller 302YB comprises a first communication substation 32-1B, a second communication substation 32-2B, and the position controller 35B. The drive controller 302YC comprises a first communication substation 32-1C, a second communication substation 32-2C, and the position controller 35C. The drive controllers 302YA, 302YB and 302YC, the first communication substations 32-1A, 32-1B and 32-1C, the second communication substations 32-2A, 32-2B and 32-2C and the position controllers 35A, 35B and 35C can simply be referred to as the drive controller 302Y, the first communication substation 32-1, the second communication substation 32-2 and the position controller 35 respectively, if it is not necessary to distinguish between them.The position control 35 of the drive control 302Y is assigned to the motion body 20, which is provided in the transport system 1Y, and is configured to generate a drive command value for the assigned motion body 20. The drive command value of the motion body 20 is an example of generated data.

[0166] Similar to the first to third embodiments described above, the fourth embodiment describes an example of a form in which the transport system 1Y comprises the three motion bodies 20A, 20B, and 20C, and a single position controller 35 is assigned to a single motion body 20. It should be noted that, as in the first to third embodiments described above, the number of motion bodies 20 to which the position controller 35 is assigned to the drive controller 302Y can be freely determined.

[0167] The path controller 303Y comprises a third communication master station 31-3, a fourth communication master station 31-4, the position generator 34, and the current command generator 36. The position generator 34 and the current command generator 36 are connected to the third communication master station 31-3 and the fourth communication master station 31-4, respectively, via an internal bus within the path controller 303Y. The position generator 34 and the current command generator 36 have functions identical to those in the first embodiment described above: the position generator 34 generates position information about the moving body 20, and the current command generator 36 generates a current command value for the transport path unit 10. The position information about the moving body 20 is an example of generation data, and the current command value of the transport path unit 10 is an example of control data.

[0168] In the railway control system 303Y according to the fourth embodiment, the second communication master station 31-2, which is described in the third embodiment, is divided into two parts: the third communication master station 31-3 and the fourth communication master station 31-4. The third communication master station 31-3 and the fourth communication master station 31-4 operate identically to the second communication master station 31-2. Furthermore, in the control system 30Y according to the fourth embodiment, the communication master station 31, which is described in the first embodiment, is divided into three parts: the first communication master station 31-1, the third communication master station 31-3, and the fourth communication master station 31-4. The first communication master station 31-1, the third communication master station 31-3, and the fourth communication master station 31-4 operate identically to the communication master station 31.

[0169] A connection between the first communication master station 31-1 of the position command controller 301X and the first communication substation 32-1 of the drive controller 302Y, a connection between the third communication master station 31-3 of the path controller 303Y and the second communication substation 32-2 of the drive controller 302Y, and a connection between the fourth communication master station 31-4 of the path controller 303Y and the transport path communication substation 11 of the transport path unit 10 in the control controller 30Y according to the fourth embodiment are now described. In the transport system 1Y of the fourth embodiment, the position command controller 301X and the drive controller 302Y, which together form the control controller 30Y, are connected via the third communication line 80. The drive controllers 302Y are connected to each other via a first drive controller communication line 91 and a second drive controller communication line 92.The drive control unit 302Y and the track control unit 303Y are connected via the fourth communication line 100. The control unit 30Y and the transport track unit 10 are connected via the first communication line 50.

[0170] In particular, as in Fig. As shown in Figure 15, the first communication master station 31-1 of the position command controller 301X is connected to the first communication substation 32-1A of the drive controller 302YA via the third communication line 80. The first communication substation 32-1A of the drive controller 302YA is connected to the first communication substation 32-1B of the drive controller 302YB via the first drive controller communication line 91. Furthermore, the first communication substation 32-1B of the drive controller 302YB is connected to the first communication substation 32-1C of the drive controller 302YC via the first drive controller communication line 91. Finally, the third communication master station 31-3 of the path controller 303Y is connected to the second communication substation 32-2A of the drive controller 302YC via the fourth communication line 100.The second communication substation 32-2A of the drive controller 302YC is connected to the second communication substation 32-2B of the drive controller 302YB via the second drive controller communication line 92. The second communication substation 32-2B of the drive controller 302YB is connected to the second communication substation 32-2C of the drive controller 302YA via the second drive controller communication line 92. Accordingly, the position command controller 301X, the drive controller 302Y, and the path controller 303Y can communicate with each other to form the control controller 30Y.

[0171] Furthermore, the first communication master station 31-1 of the position command control 301X and the first communication substations 32-1A, 32-1B and 32-1C of the drive controls 302YA, 302YB and 302YC are connected by a line network, and generation data, which includes various command values ​​and information for generating control data, can be transmitted and received between the first communication master station 31-1 and the first communication substations 32-1A, 32-1B and 32-1C. Furthermore, the third communication master station 31-3 of the railway control system 303Y and the second communication substations 32-2A, 32-2B and 32-2C of the drive control systems 302YA, 302YB and 302YC are connected by a network of lines, and generation data, which includes various command values ​​and information for generating control data, can be transmitted and received between the third communication master station 31-3 and the second communication substations 32-2A, 32-2B and 32-2C.By using such a line network, serial communication can be used for the transmission and reception of generation data between the first and third communication master stations 31-1 and 31-3 and the first and second communication substations 32-1 and 32-2, thus reducing or preventing the need for additional communication lines. Furthermore, the fourth communication master station 31-4 of the railway control system 303Y is connected to the transport route communication substation 11A of the transport route unit 10A via the first communication line 50. Accordingly, the control system 30Y and the transport route unit 10A form a communication network that enables communication between them.

[0172] In the configuration in which the first communication master station 31-1 and the first communication substation 32-1, as in Fig. As shown in Figure 15, connected by a network of lines, the first communication master station 31-1 performs transmission and reception with the first communication substation 32-1 via the following communication route. The first communication master station 31-1 transmits and receives generation data to and from the first communication substation 32-1A via the third communication line 80, which connects the first communication master station 31-1 and the first communication substation 32-1A. The first communication master station 31-1 transmits and receives generation data to and from the first communication substation 32-1B via the third communication line 80, which connects the first communication master station 31-1 and the first communication substation 32-1A, the first communication substation 32-1A and the first drive control communication line 91, which connects the first communication substation 32-1A and the first communication substation 32-1B.In other words, the first communication substation 32-1B performs transmission and reception with the first communication master station 31-1 via the first communication substation 32-1A. The first communication master station 31-1 transmits and receives generation data to and from the first communication substation 32-1C via the third communication line 80, which connects the first communication master station 31-1 and the first communication substation 32-1A, the first communication substation 32-1A, the first drive control communication line 91, which connects the first communication substation 32-1A and the first communication substation 32-1B, the first communication substation 32-1B and the first drive control communication line 91, which connects the first communication substation 32-1B and the first communication substation 32-1C.In other words, the first communication substation 32-1C transmits and receives data with the first communication master station 31-1 via the first communication substation 32-1A and the first communication substation 32-1B. Even in this configuration, the first communication master station 31-1 transmits and receives generation data to and from the first communication substations 32-1A, 32-1B, and 32-1C. Furthermore, the first communication master station 31-1 is configured to have two channels: a transmit channel and a receive channel.

[0173] Furthermore: In the configuration in which the third communication master station 31-3 and the second communication substation 32-2, as in Fig. As shown in Figure 15, which are connected by a network of lines, the third communication master station 31-3 also performs transmission and reception with the second communication substation 32-2 via the following communication route. The third communication master station 31-3 transmits and receives generation data to and from the second communication substation 32-2C via the fourth communication line 100, which connects the third communication master station 31-3 and the second communication substation 32-2C.The third communication master station 31-3 transmits and receives generation data to and from the second communication substation 32-2B via the fourth communication line 100, which connects the third communication master station 31-3 and the second communication substation 32-2C, and the second drive control communication line 92, which connects the second communication substation 32-2C and the second communication substation 32-2B. In other words, the second communication substation 32-2B performs transmission and reception with the third communication master station 31-3 via the second communication substation 32-2C.The third communication master station 31-3 transmits and receives generation data to and from the second communication substation 32-2A via the fourth communication line 100, which connects the third communication master station 31-3 and the second communication substation 32-2C, the second communication substation 32-2C, the second drive control communication line 92, which connects the second communication substation 32-2C and the second communication substation 32-2B, the second communication substation 32-2B and the second drive control communication line 92, which connects the second communication substation 32-2B and the second communication substation 32-2A. In other words, the second communication substation 32-2A transmits and receives data with the third communication master station 31-3 via the second communication substation 32-2C and the second communication substation 32-2B.Even in such a configuration, it can be said that the third communication master station 31-3 transmits and receives generation data to and from the second communication substations 32-2A, 32-2B, and 32-2C. Furthermore, the third communication master station 31-3 is configured to have two channels: a transmission channel and a reception channel.

[0174] As in Fig. As shown in Figure 15, the fourth communication master station 31-4 is connected to the first communication line 50, which is connected to the transport route unit 10. Specifically, the fourth communication master station 31-4, which is contained in the railway control unit 303Y, and the transport route communication substation 11, which is contained in the transport route unit 10, are connected via the first communication line 50, thus forming a communication network for transmitting and receiving control data between the control unit 303Y and the transport route unit 10. This means that the fourth communication master station 31-4 and the transport route communication substation 11 are connected by a network of lines, and control data can be transmitted and received between the fourth communication master station 31-4 and the transport route communication substation 11.Even in such a configuration, it can be said that the control unit 30Y transmits and receives control data to and from the transport path communication substation 11 of the transport path unit 10. By using a line network, serial communication can be used for the transmission and reception of control data between the fourth communication master station 31-4 and the transport path communication substation 11, thus preventing an increase in the number of communication lines.

[0175] The first communication master station 31-1 of the position command controller 301X according to the fourth embodiment is configured to transmit generation data to the first communication substation 32-1. For example, the first communication master station 31-1 is configured to designate a desired first communication substation 32-1 as a communication destination for the multiple first communication substations 32-1A to 32-1C and to transmit the generation data to the designated first communication substation 32-1. The third communication master station 31-3 of the path controller 303Y is configured to transmit generation data to the second communication substation 32-2.For example, the third communication master station 31-3 is configured to designate a desired second communication substation 32-2 as a communication destination for the multiple second communication substations 32-2A to 32-2C and to transmit the generation data to the designated second communication substation 32-2. Furthermore, the multiple second communication substations 32-2A to 32-2C are configured to transmit generation data to the third communication master station 31-3 of the railway control system 303Y. Additionally, the fourth communication master station 31-4 of the railway control system 303Y is configured to transmit control data to the transport route communication substation 11. For example, the fourth communication master station 31-4 is configured to transmit control data to a desired transport route communication substation 11 for the multiple transport route communication substations 11A to 11H.The fourth communication master station 31-4 of the railway control system 303Y is configured to receive control data from the multiple transport route communication substations 11.

[0176] This means that in the control system 30Y, the communication master station is divided into the first communication master station 31-1 of the position command control 301X and the third communication master station 31-3 and the fourth communication master station 31-4 of the path control 303Y. However, the first communication master station 31-1, the third communication master station 31-3, and the fourth communication master station 31-4 implement the same functions as the communication master station 31 described in the first and second embodiments. Hereinafter, the communication master station comprising the first communication master station 31-1, the third communication master station 31-3, and the fourth communication master station 31-4 may be referred to as the communication master station 31Y.In the control unit 30Y, the communication substation is divided into the first communication substation 32-1 and the second communication substation 32-2 of the drive control unit 302Y. However, the first communication substation 32-1 and the second communication substation 32-2 implement the same functions as the communication substation 32, which is described in the first to third embodiments. Hereinafter, the communication substation comprising the first communication substation 32-1 and the second communication substation 32-2 may be referred to as the communication substation 32Y.

[0177] Fig. Figure 16 is a diagram showing an example of communication control in the communication master station according to the fourth embodiment. Communication control of the communication master station relating to transmission and reception with communication substation 32Y, performed by the communication master station 31Y, and transmission and reception with transport path communication substation 11, which is contained in the transport path unit 10, performed by the communication master station 31Y, is shown with reference to Fig. 16 described in detail.

[0178] Communication master station 31Y is configured to transmit generation data to communication substation 32Y. For example, communication master station 31Y is configured to designate a desired communication substation 32Y as a communication destination for multiple communication substations 32Y and to transmit the generation data to the selected communication substation 32Y. Communication master station 31Y is also configured to transmit control data to transport path communication substation 11. For example, communication master station 31Y is configured to designate a desired transport path communication substation 11 as a communication destination for multiple transport path communication substations 11A to 11H and to transmit control data to the designated transport path communication substation 11.The communication master station 31Y is configured to receive generation data from the multiple communication substations 32Y. The communication master station 31Y is configured to receive control data from the multiple transport path communication substations 11.

[0179] As in Fig. As shown in Figure 16(A), the first communication master station 31-1, which forms communication master station 31Y, transmits generation data, comprising a command value and information for generating control data, to the first communication substation 32-1 using a transmission channel SC-1. The third communication master station 31-3, which forms communication master station 31Y, transmits and receives generation data, comprising various command values ​​and information for generating control data, to and from the second communication substation 32-2 using a transmission channel SC-3 and a receive channel RC-3. The fourth communication master station 31-4, which forms communication master station 31Y, transmits and receives control data to and from the transport path communication substation 11 using a transmission channel SC-4 and a receive channel RC-4.The first communication master station 31-1 performs communication control by transmitting generation data, comprising a command value and information for generating control data, to the first communication substation 32-1 using a communication frame at an interval of once every two predetermined constant communication cycles CTn (n is a natural number). This means that the communication cycle of the communication performed by the first communication master station 31-1 is set to the communication cycle 2CTn.Furthermore, the third communication master station 31-3 performs communication control such that it transmits and receives generation data, comprising a command value and information for generating control data, to and from the second communication substation 32-2 using a communication frame at an interval of once per predetermined constant communication cycle CTn. The fourth communication master station 31-4 performs communication control such that it transmits and receives control data to and from the transport path communication substation 11 using a communication frame at an interval of once per predetermined constant communication cycle CTn.

[0180] As in Fig. As shown in Figure 16(A), the first communication master station 31-1 performs, in particular, the first communication of specifying the first communication substation 32-1 as the communication destination and transmitting a communication frame TY1A to the first communication substation 32-1A using transmission channel SC-1 within the communication cycle 2CT1. Furthermore, the first communication master station 31-1 performs the first communication of specifying the first communication substation 32-1B as the communication destination and transmitting a communication frame TY1B to the first communication substation 32-1B, and performs the first communication of specifying the first communication substation 32-1C and transmitting a communication frame TY1C to the first communication substation 32-1C.As in the first embodiment described above, if the first communication master station 31-1 performs the first communication and it is not necessary to specify the first communication substations 32-1A to 32-1C, then the first communication master station 31-1 does not need to specify the first communication substations 32-1A to 32-1C. The first communication master station 31-1 transmits the communication frames at an interval of once per communication cycle 2CTn and therefore, when communication cycle 2CT2 starts, it transmits the communication frames TY1A to TY1C within communication cycle 2CT2.

[0181] Furthermore, for the third communication master station 31-3, the first communication of setting the second communication substation 32-2A as the communication destination and transmitting a communication frame TY2A to the second communication substation 32-2A using transmission channel SC-3 within the communication cycle CT1 is carried out. The third communication master station 31-3 carries out the first communication of setting the second communication substation 32-2B and transmitting a communication frame TY2B to the second communication substation 32-2B, and carries out the first communication of setting the second communication substation 32-2C and transmitting a communication frame TY2C to the second communication substation 32-2C.As in the first embodiment described above, if the third communication master station 31-3 performs the first communication and it is not necessary to specify the second communication substations 32-2A to 32-2C, then the third communication master station 31-3 does not need to specify the second communication substations 32-2A to 32-2C. The third communication master station 31-3 transmits the communication frames at an interval of once per communication cycle CTn and therefore, when communication cycle CT2 starts, it transmits the communication frames TY2A to TY2C within communication cycle CT2.

[0182] Within the CT1 communication cycle using the RC-3 receive channel, the third communication master station 31-3 receives a communication frame RY2A from the second communication substation 32-2A, receives a communication frame RY2B from the second communication substation 32-2B, and receives a communication frame RY2C from the second communication substation 32-2C. In other words, the second communication substation 32-2A performs the second communication of transmitting communication frame R1A to the third communication master station 31-3, the second communication substation 32-2B performs the second communication of transmitting communication frame R1B to the third communication master station 31-3, and the second communication substation 32-2C performs the second communication of transmitting communication frame R1C to the third communication master station 31-3.The third communication master station 31-3 receives the communication frames at an interval of once per communication cycle CTn and therefore, when the communication cycle CT2 starts, receives the communication frames RY2A to RY2C within the communication cycle CT2.

[0183] The fourth communication master station 31-4 performs the third communication of specifying transport path communication substation 11A as the communication destination and transmitting a communication frame TY3A to the specified transport path communication substation 11A using transmission channel SC-4 within communication cycle CT1. The fourth communication master station 31-4 performs the third communication of specifying transport path communication substation 11B and transmitting a communication frame TY3B to transport path communication substation 11B, and similarly performs the third communication of specifying transport path communication substations 11C to 11H and transmitting communication frames TY3C to TY3H to transport path communication substations 11C to 11H.As in the first embodiment described above, when the fourth communication master station 31-4 performs the third communication, if it is not necessary to define the transport path communication substations 11A to 11H, the fourth communication master station 31-4 does not need to define the transport path communication substations 11A to 11H. The fourth communication master station 31-4 transmits the communication frames at an interval of once per communication cycle CTn and therefore, when communication cycle CT2 starts, transmits the communication frames TY3A to TY3H within communication cycle CT2.

[0184] Furthermore, the fourth communication master station 31-4 receives a communication frame RY3A from transport path communication substation 11A, transmits a communication frame RY3B from transport path communication substation 11B, and likewise receives communication frames RY3C to RY3H from transport path communication substations 11C to 11H using receive channel RC-4 within communication cycle CT1. In other words, transport path communication substation 11A performs the sixth communication of transmitting communication frame R2A to communication master station 31, transport path communication substation 11B performs the sixth communication of transmitting communication frame R2B to communication master station 31, and likewise transport path communication substations 11C to 11H perform the sixth communication of transmitting communication frames R2C to R2H to communication master station 31.The fourth communication master station 31-4 receives the communication frames at an interval of once per communication cycle CTn and therefore, when the communication cycle CT2 starts, receives the communication frames RY3A to RY3H within the communication cycle CT2.

[0185] The communication master station 31Y performs a control to divide each communication cycle CTn into time slots and transmit each communication frame in a time-divided manner.

[0186] As in Fig. As shown in Figure 16(B), the communication frame TY1A, which is transmitted from the communication master station 31-1 to the first communication substation 32-1A, comprises a header, a footer, and a payload. Communication frame TY1A is used to transmit the generation data to the first communication substation 32-1A. The header of communication frame TY1A contains identification information (destination address, etc.) for the first communication substation 32-1A, and the first communication substation 32-1A is identified by this information. The payload comprises a position command value for the moving body 20A. The footer contains frame verification sequence data and similar information to confirm that the communication frame was correctly received at the receiving destination. Communication frames TY1B and TY1C are used to transmit the generation data to the first communication substations 32-1B and 32-1C, respectively.The communication frames TY1B and TY1C contain a header specifying the first communication substations 32-1B and 32-1C (destination address, etc.). The information in the header identifies these first communication substations. The payload comprises position command values ​​for the motion bodies 20B and 20C. Frame verification sequence data and similar information are contained in the footer. Accordingly, the communication master station 31Y can specify a desired communication substation 32Y as the communication destination and transmit the generation data to that specified substation.

[0187] As in Fig. As shown in Figure 16(C), the communication frame TY2A, which is transmitted from the third communication master station 31-3 to the second communication substation 32-2A, comprises a header, a footer, and a payload. Communication frame TY2A is used to specify the second communication substation 32-2A and to transmit the generation data to it. The header of communication frame TY2A contains specification information (destination address, etc.) for the second communication substation 32-2A, and the second communication substation 32-2A is specified by this information. Communication frame TY2A includes position information about the moving body 20A as the payload. The footer contains frame verification sequence data and the like to confirm that the communication frame was correctly received at the receiving destination. Communication frames TY2B and TY2A are also included.TY2C are communication frames for transmitting generation data to the second communication substations 32-2B and 32-2C, respectively. The communication frames TY2B and TY2C contain designation information about the second communication substations 32-2B and 32-2C, respectively, as a header and include position information about the moving bodies 20B and 20C, respectively, as the payload. Frame verification sequence data and similar information are contained in the footer. Accordingly, the communication master station 31Y can designate a desired communication substation 32Y and transmit the generation data to the designated communication substation 32Y.

[0188] Next up: As in Fig. As shown in Figure 16(D), the communication frame TY3A, which is transmitted by the fourth communication master station 31-4 to the transport path communication substation 11A, comprises a header, a footer, and a payload. Communication frame TY3A is used to specify the transport path communication substation 11A and to transmit control data to it. The header of communication frame TY3A contains specification information (destination address, etc.) for the transport path communication substation 11A, and the transport path communication substation 11A is specified by this information. The payload includes current command values ​​for controlling the power supply or lack thereof for all coils 121A contained in the transport path unit 10A, which comprises the transport path communication substation 11A.The footer contains frame verification sequence data and similar information to confirm that the communication frame was correctly received at the receiving destination. Communication frames TY3B to TY3H are used to transmit current command values ​​for controlling the power supply or lack thereof for all coils 121B to 121H, which are contained in the transport path units 10B to 10H, which in turn contain the transport path communication substations 11B to 11H. Communication frames TY3B to TY3H contain a header specifying the transport path communication substations 11B to 11H, and the transport path units 10B to 10H are defined by this information in the header.The payload includes current command values ​​for controlling the power supply or lack thereof for all coils 121B to 121H contained in the transport path units 10B to 10H, which in turn contain the transport path communication substations 11B to 11H. Frame verification sequence data and the like are included in the footer. Accordingly, the communication master station 31Y can specify a desired transport path communication substation 11 and transmit the control data to that specified transport path communication substation 11.

[0189] As in Fig. As shown in Figure 16(E), the communication frame RY2A, which is received by the third communication master station 31-3 from the second communication substation 32-2A, comprises a header, a footer, and a payload. The communication frame RY2A is used to transmit the generation data from the second communication substation 32-2A. The communication frame RY2A contains a header containing specification information (destination address, etc.) for the third communication master station 31-3 and a drive command value for the moving body 20A as its payload. The footer contains frame verification sequence data and similar information to confirm that the communication frame was correctly received at the receiving destination.Communication frames RY2B and RY2C are used to transmit generation data from the second communication substations 32-2B and 32-2C. They contain configuration information about the third communication master station 31-3 as a header and include drive command values ​​for the moving bodies 20B and 20C as payloads. Frame verification sequence data and similar information are contained in the footer. Accordingly, each of the communication substations 32Y can transmit generation data to the communication master station 31Y, and the communication master station 31Y can receive generation data from any of the multiple communication substations 32Y.

[0190] Next up: As in Fig. As shown in Figure 16(F), the communication frame RY3A, which is received by the fourth communication master station 31-2 from the transport path communication substation 11A, comprises a header, a footer, and a payload. The communication frame RY3A is a communication frame for transmitting control data from the transport path communication substation 11A. It contains a header containing specification information (destination address, etc.) from the fourth communication master station 31-4, and its payload includes measuring device detection information. This information specifies the relative positions of the moving body 20A with respect to all position sensors 131A and is output by the position calculator 14A, which is contained in the transport path unit 10A, which in turn contains the transport path communication substation 11A. The footer contains frame verification sequence data and the like to confirm that the communication frame was correctly received at the receiving destination.Communication frames RY3B to RY3H are communication frames for transmitting, from the transport path communication substations 11B to 11H, the measuring device detection information, which is output by the position calculators 14B to 14H, contained in the transport path units 10B to 10H, which contain the transport path communication substations 11B to 11H. These frames contain a header specifying the fourth communication master station 31-4 and include the measuring device detection information calculated by position calculator 14B to 14H as payloads. Frame verification sequence data and the like are contained in the footer.Accordingly, each of the transport path communication substations 11 can transmit the control data to the communication master station 31Y, and the communication master station 31Y can receive the control data from the multiple transport path communication substations 11.

[0191] In the transport system 1Y disclosed in the fourth embodiment, the communication master station 31Y comprises the first communication master station 31-1, the third communication master station 31-3, and the fourth communication master station 31-4, and the communication substation 32Y comprises the first communication substation 32-1 and the second communication substation 32-2. Furthermore, the communication master station 31Y is subject to a communication controller as described above. Accordingly, the first communication substation 32-1 and the first communication master station 31-1 form a single master communication controller, the second communication substation 32-2 and the third communication master station 31-3 form a single master communication controller, and the transport path communication substation 11 and the fourth communication master station 31-4 form a single master communication controller.In the transport system 1Y disclosed in the fourth embodiment, the complexity of the communication control can be reduced because the communication of generation data and control data can be configured by a single master communication controller. Because the transport system 1Y is a single master communication controller, the communication control between, for example, the first communication master station 31-1 and the first communication substation 32-1, the communication control between the third communication master station 31-3 and the second communication substation 32-2, and the communication control between the fourth communication master station 31-4 and the transport path communication substation 11 can be configured independently, and each communication cycle can be easily modified.Therefore, the transport system 1Y can prevent a deterioration in the control performance of the moving body 20 due to the influence of processing with a long computation time in a computation processing in the control controller 30Y or the transport path unit 10.

[0192] In Fig. 16(A) The first communication master station 31-1, which performs the first communication of transmitting the position command value of the moving body 20, transmits one communication frame once per communication cycle 2CTn, which is twice the communication cycle CTn. The third communication master station 31-3, which performs the second communication, and the fourth communication master station 31-4, which performs the third communication, each transmit one communication frame once per communication cycle CTn. This means that the communication cycle of the first communication of transmitting the position command value of the moving body 20 is different from and longer than the communication cycles of the second and third communications.Accordingly, the frequency of the transmission of position information via the moving body 20, the drive command value of the moving body 20 and the current command value of the transport path unit 10 is greater than that of the position command value of the moving body 20, and the motion control of the moving body 20 can be carried out more accurately.

[0193] Figure (16A) shows an example in which the first communication master station 31-1 transmits a communication frame once in the communication cycle 2CTn, and the third communication master station 31-3 and the fourth communication master station 31-4 transmit and receive a communication frame once per communication cycle CTn. However, it goes without saying that the communication control is not limited to such a communication control. For example, the same communication cycle can be used for all communication cycles in which the communication frames of the first communication master station 31-1, the third communication master station 31-3, and the fourth communication master station 31-4 are transmitted and received, or different communication cycles can be used for all channels.

[0194] Fig. Figure 17 is a diagram showing an exemplary hardware configuration of the control system according to the fourth embodiment. The hardware of the control system 30Y is divided into the position command controller 301X, the drive controller 302Y, and the path controller 303Y. The position command controller 301X comprises the fifth communication interface (fifth communication SS) 3001-1, which functions as the first communication master station 31-1, the fifth processor 3005-1, which functions as the position command generator 33, and the memory 3009-1, which reads and writes various data used for a given calculation in the fifth processor 3005-1.

[0195] The drive control 302YA includes a seventh communication interface (seventh communication SS) 3002-1, which functions as the first communication substation 32-1A, an eighth communication interface (eighth communication SS) 3002-2, which functions as the second communication substation 32-2A, the second processor 3006, which functions as the position control 35A, and the memory 3009A, which reads and writes various data that are used for a respective calculation in the second processor 3006.The drive control 302YB includes a ninth communication interface (ninth communication SS) 3003-1, which functions as the first communication substation 32-1B, a tenth communication interface (tenth communication SS) 3003-2, which functions as the second communication substation 32-2B, the third processor 3007, which functions as the position control 35B, and the memory 3009B, which reads and writes various data that are used for a respective calculation in the third processor 3007.The drive control 302YC includes an eleventh communication interface (eleventh communication SS) 3004-1, which functions as the first communication substation 32-1C, a twelfth communication interface (twelfth communication SS) 3004-2, which functions as the second communication substation 32-2C, the fourth processor 3008, which functions as the position control 35C, and the memory 3009C, which reads and writes various data that are used for a respective calculation in the fourth processor 3008.

[0196] The railway control system 303Y comprises a thirteenth communication interface (thirteenth communication SS) 3001-3, which functions as the third communication master station 31-3, a fourteenth communication interface (fourteenth communication SS) 3001-4, which functions as the fourth communication master station 31-4, the sixth processor 3005-2, which functions as the position generator 34 and the current command generator 36, and the memory 3009-2, which reads and writes various data used for a given operation in the sixth processor 3005-2.

[0197] Because the second processor 3006 through the fourth processor 3008 are identical to those in the first embodiment described above, their description is omitted. Because the memory modules 3009A through 3009C are identical to those in the second embodiment described above, their description is omitted. Because the fifth processor 3005-1 is identical to the one in the third embodiment described above, its description is omitted. Memory modules 3009-1 and 3009-2 are identical to those in the third embodiment described above; their description is omitted.

[0198] In the hardware configuration of the 303Y railway control system in Fig. Processor 17, shown as the sixth processor 3005-2, functions as both the position generator 34 and the current instruction generator 36. However, the hardware configuration can include multiple processors, for example, one processor functioning as the position generator 34 and another functioning as the current instruction generator 36.

[0199] Fig. Figure 18 is a flowchart showing an example of the operation of the control controller according to the fourth embodiment of the present disclosure. The operation of the control controller 30Y is described with reference to Fig. 18 described.

[0200] In step S1801, which is in Fig. As shown in Figure 18, the position command generator 33 of the position command controller 301X, which forms the control controller 30Y, generates the position command value of each of the three motion bodies 20A, 20B and 20C contained in the transport system 1Y. The position command generator 33 then outputs the generated position command values ​​of each of the motion bodies 20A, 20B and 20C to the first communication master station 31-1 of the position command controller 301X.

[0201] In step S1802, the position generator 34 of the path controller 303Y of the control controller 30Y generates the position information for each of the motion bodies 20A, 20B, and 20C, which indicates the positions of the motion bodies 20A, 20B, and 20C on the transport route, based on the measuring device detection information contained in the control data received by the transport path units 10A to 10H using the communication frames RY3A to RY3H. The position generator 34 then outputs the generated position information for each of the motion bodies 20A, 20B, and 20C to the third communication master station 31-3 of the path controller 303Y.

[0202] In step S1803, the first communication master station 31-1 performs the first communication of transmitting the referenced position command value of each of the moving bodies 20A, 20B, and 20C to the first communication substation 32-1. The third communication master station 31-3 performs the first communication of transmitting the referenced position information about each of the moving bodies 20A, 20B, and 20C to the second communication substation 32-2. Specifically, the first communication master station 31-1 transmits the position command value of moving body 20A to the first communication substation 32-1A using communication frame TY1A, transmits the position command value of moving body 20B to communication substation 32B using communication frame TY1B, and transmits the position command value of moving body 20C to communication substation 32C using communication frame TY1C.On the other hand, the third communication master station 31-3 transmits the position information about the moving body 20A to the second communication substation 32-2A using the communication frame TY2A, transmits the position information about the moving body 20B to the second communication substation 32-2B using the communication frame TY2B, and transmits the position information about the moving body 20C to the second communication substation 32-2C using the communication frame TY2C. The communication cycle of the first communication carried out by the first communication master station 31-1 can differ from the communication cycles of the second and third communications.

[0203] In step S1804, the position controllers 35A, 35B, and 35C of the drive controllers 302YA, 302YB, and 302YC, respectively, generate the drive command values ​​for the motion bodies 20A, 20B, and 20C, respectively, based on the position command values ​​of the motion bodies 20A, 20B, and 20C, which are received by the first communication substations 32-1A, 32-1B, and 32-1C, respectively, and the position information received by the second communication substations 32-2A, 32-2B, and 32-2C. The position controllers 35A, 35B, and 35C then output the generated drive command values ​​for the motion bodies 20A, 20B, and 20C to the second communication substations 32-2A, 32-2B, and 32-2C, respectively.Specifically, position controller 35A receives the position command value of the motion body 20A from the first communication substation 32-1A, which is connected via the internal bus, and receives the position information about the motion body 20A from the second communication substation 32-2A, which is also connected via the internal bus. Position controller 35A generates a drive command value for the motion body 20A based on the position command value and the position information about the motion body 20A and outputs the generated drive command value for the motion body 20A to the second communication substation 32-2A. Similarly, position controllers 35B and 35C generate a drive command value for the motion body 20B and a drive command value for the motion body 20C, respectively, and output the drive command values ​​to the second communication substations 32-2B and 32-2C, respectively, which are connected via the internal bus.

[0204] In step S1805, the second communication substations 32-2A, 32-2B, and 32-2C of the drive controllers 302YA, 302YB, and 302YC perform the second communication, transmitting the drive command values ​​of the motion bodies 20A, 20B, and 20C to the third communication master station 31-3. Specifically, communication substation 32A transmits the drive command value of motion body 20 to the third communication master station 31-3 using communication frame RY2A, which includes a header, a footer, and a payload. Furthermore, the second communication substations 32-2B and 32-2C transmit the drive command value of motion body 20B and the drive command value of motion body 20C to the third communication master station 31-3 using communication frames RY2B and RY2C, respectively.

[0205] In step S1806, the current command generator 36 of the path controller 303Y generates the current command values ​​for the transport path units 10A to 10H based on the position information about the motion bodies 20A, 20B, and 20C, which is generated by the position generator 34, and the drive command values ​​of the motion bodies 20A, 20B, and 20C, which are received by the third communication master station 31-3. It should be noted that the position information about the motion bodies 20A, 20B, and 20C can be read from and retrieved from a memory contained in the path controller 303Y. The current command generator 36 obtains the drive command value of motion body 20A, the drive command value of motion body 20B, and the drive command value of motion body 20C from the third communication master station 31-3, which is connected via the internal bus.The current command generator 36 then obtains the position information for the moving body 20A, the position information for the moving body 20B, and the position information for the moving body 20C from the memory of the path controller 303Y. Based on the drive command values ​​and the position information for the moving bodies 20A, 20B, and 20C, the current command generator 36 generates current command values ​​for the transport path units 10A to 10H and outputs the current command values ​​to the fourth communication master station 31-4. Because the generation of the current command values ​​by the current command generator 36 is carried out in the same way as in the first embodiment, a detailed description of this process is omitted.

[0206] In step S1807, the fourth communication master station 31-4 of the railway control system 303Y performs the third communication, transmitting the current command value of each of the transport path units 10A to 10H to the transport path communication substation 11. Specifically, the fourth communication master station 31-4 transmits the current command values ​​of transport path unit 10A to the transport path communication substation 11A using the communication frame TY3A, which includes a header, a footer, and a payload. Likewise, the fourth communication master station 31-4 transmits the current command values ​​of transport path units 10B to 10H to the transport path communication substations 11B to 11H using the communication frames TY3B to TY3H.

[0207] The transport unit 10 according to the fourth embodiment operates in the same way as the operating modes described in steps S801 to S804, which refer to Fig. 8 in the first embodiment described above, and controls the moving body 20 in the transport system 1Y. The transport path unit 10 according to the fourth embodiment performs a different operating mode in step S805, which is described below.

[0208] Fig. Figure 19 is a flowchart showing an example of the operation of the transport path unit according to the fourth embodiment. The transport path unit 10 according to the fourth embodiment operates in the same way as in steps S801 to S804 and then performs step S1905, which is described in Fig. Figure 19 shows that in step S1905, the transport path communication substation 11 of the respective transport path unit 10 performs the sixth communication, transmitting the acquired measuring device detection information to the fourth communication master station 31-4. Specifically, the transport path communication substation 11A transmits the measuring device detection information, calculated by the position calculator 14A of the transport path unit 10A, to the fourth communication master station 31-4, which is contained in the control controller 30Y, using the communication frame RY3A, which includes a header, a footer, and a payload.Likewise, the transport path communication substations 11B to 11H of the transport path units 10B to 10H sequentially transmit the measuring device detection information, which is calculated by the position calculators 14B to 14H of the transport path units 10B to 10H, to the fourth communication master station 31-4 of the control controller 30Y using the communication frames RY3B to RY3H.

[0209] As described above, the control unit 30Y according to the fourth embodiment is configured to function in the same way as the control units 30, 30W, and 30X, with the first communication master station 31-1, the third communication master station 31-3, and the fourth communication master station 31-4 functioning identically to the communication master station 31 described above. As in the first to third embodiments described above, even if the moving body 20, which moves in the transport system 1Y, is located at the boundary between the transport path units 10, the movement of the moving body 20 can be controlled with high accuracy, and an increase in the cost of electrical circuits, such as the inverter circuit 122 contained in a single drive element, can be avoided.Furthermore, according to the fourth embodiment, the transport system 1Y does not need to include the position controller 35 in each of the transport path units 10, and the number of drive controllers 302Y, which include the position controllers 35, can be at most equal to or less than the number of motion bodies 20, thus preventing an increase in the size and cost of the control system of the control controller 30Y and the transport path unit 10. Because the motion body 20 is always assigned to a predetermined position controller 35, the transport system 1Y also does not need to process the assignment of a controller to the motion body 20 during operation. Therefore, according to the fourth embodiment, the transport system 1Y can prevent the control of the motion body 20 of the transport system 1Y from stopping without increasing the size and cost of the control system.

[0210] Furthermore, in the transport system 1Y according to the fourth embodiment, the position command controller 301X, the drive controller 302Y, and the path controller 303Y form the control controller 30Y. The position command controller 301X is configured to generate a position command value for the motion body 20, which moves along the transport route of the transport system 1Y. The drive controller 302Y is configured to generate a drive command value for the associated motion body 20. The path controller 303Y is configured to generate position information about the motion body 20, which moves along the transport route of the transport system 1Y, and current command values ​​for all transport path units 10 that constitute the transport route of the transport system 1Y.Therefore, the control unit 30Y is divided into three controls: the position command control 301X, the drive control 302Y, and the path control 303Y, so that the control load of a single control unit can be reduced and the control delay of the control unit 30Y can be prevented.

[0211] Furthermore, the control unit 30Y connects the position command control 301X and the drive control 302Y via the third communication line 80 and connects the path control 303Y and the drive control 302Y via the fourth communication line 100. Therefore, the control unit 30Y can extend the communication bandwidth by separating the communication lines for transmitting and receiving the generation data and can shorten the communication cycle between the position command control 301X and the drive control 302Y and the communication cycle between the path control 303Y and the drive control 302Y. The control unit 30Y can therefore prevent control delay and improve the control performance of the motion body 20.

[0212] Furthermore, in the control unit 30Y, the drive control 302Y and the position command control 301X are connected via the third communication line 80, and the drive control units 302Y are connected via the first drive control communication line 91 and the second drive control communication line 92, so that the number of drive control units 302Y can be easily changed as in the second and third embodiments described above. Therefore, even if the number of moving bodies 20 on the transport route of the transport system 1Y is changed, the control system configuration of the transport system 1Y can be easily modified by changing the number of drive control units 302Y. This means that, according to the fourth embodiment, the transport system 1Y can provide a transport system that simplifies system expansion and modification.

[0213] In the transport system 1Y according to the fourth embodiment, as described above, the first communication substation 32-1 and the first communication master station 31-1 are a single master communication controller, the second communication substation 32-2 and the third communication master station 31-3 are a single master communication controller, and the transport path communication substation 11 and the fourth communication master station 31-4 are a single master communication controller.In the transport system 1Y according to the fourth embodiment, because the communication of generation data and control data can be configured by the single master communication controller, the complexity of the communication control can be reduced, as described above, each communication cycle can be easily changed, and a deterioration of the control performance of the moving body 20 due to the influence of processing with a long computation time in a computational processing unit in the control controller 30Y or the transport path unit 10 can be prevented. Fifth embodiment.

[0214] A transport system according to the fifth embodiment of the present disclosure is described. It should be noted that components identical to those of the first and fourth embodiments are designated by the same reference numerals and their detailed descriptions have been omitted. Configurations that differ from those of the first through fourth embodiments are described in detail below.

[0215] Fig. Figure 20 is a schematic diagram showing an exemplary configuration of the transport system according to the fifth embodiment of the present disclosure. As in Fig. As shown in Figure 20, the transport system 1Z, like the first embodiment, comprises the multiple transport path units 10A to 10H, which form a transport route for the multiple motion bodies 20A to 20C, and the power supply unit 40, which supplies power to the transport path units 10A to 10H. It should be noted that, according to the fifth embodiment, the transport system 1Z comprises a control unit 30Z instead of the control unit 30, 30W, 30X, or 30Y, which controls the operating modes of the multiple motion bodies 20A to 20C. Unlike the control unit 30, the control unit 30Z comprises a position command control 301Z and a drive control 302Z. This means that the position command control 301Z and the drive control 302Z are configured as separate enclosures, and these controls operate as the control unit 30Z.

[0216] As in Fig. As shown in Figure 20, the position command controller 301Z comprises the communication master station 31, the position command generator 33, and the position generator 34. The position command generator 33 and the position generator 34 are connected to the communication master station 31 via an internal bus within the position command controller 301Z. The communication master station 31, the position command generator 33, and the position generator 34 have functions identical to those in the first embodiment described above: the position command generator 33 generates a position command value for the moving body 20, and the position generator 34 generates position information about the moving body 20. The position command value of the moving body 20 and the position information about the moving body 20 are each examples of generated data.

[0217] The drive controller 302Z comprises the communication substation 32, the position controller 35, and a current command generator 36Z. The position controller 35 and the current command generator 36Z are connected to the communication substation 32 via an internal bus within the drive controller 302Z. The communication substation 32 and the position controller 35 have functions identical to those described in the first embodiment above, and the position controller 35 generates a drive command value for the motion body 20. In contrast to the command generator 36 described in the first embodiment, the current command generator 36Z is configured to generate a current command value for the transport unit 10, in which the motion body 20 is located. The drive command value of the motion body 20 is an example of generation data, and the current command value of the transport unit 10 is an example of control data.

[0218] The differences between the current command generator 36Z and the current command generator 36 described above are now described. The current command generator 36Z is configured as an arithmetic circuit that generates a current command value for the transport path unit 10, in which the moving body 20 of the transport system 1Z is located, based on the drive command value of the moving body 20 and the position information about the moving body 20. When the moving bodies 20A, 20B, and 20C are connected to the in Fig. The current command generator 36Z, in particular, generates current command values ​​for all coils 121A contained in the transport unit 10A, generates current command values ​​for all coils 121C and 121D contained in the transport units 10C and 10D, and generates current command values ​​for all coils 121E and 121F contained in the transport units 10E and 10F. Although the current command generator 36Z differs from the current command generator 36 with respect to a goal of current command value generation, the arithmetic expression described in the first embodiment can be used as the arithmetic expression for generating a current command value, and therefore the description of the calculation of the current command value is omitted.

[0219] The drive controller 302Z is ​​a controller that generates a drive command value for the moving body 20 based on the position command value of the moving body 20 and the position information about the moving body 20, and generates a current command value for the transport path unit 10, in which the moving body 20 is arranged on the transport route of the transport system 1Z, based on the drive command value of the moving body 20 and the position information about the moving body 20. In the fourth embodiment, the drive controller 302Z comprises three drive controllers 302ZA, 302ZB and 302ZC, as shown in Fig. 20 is shown.

[0220] The drive control 302ZA includes the communication substation 32A, the position control 35A and a current command generator 36ZA, the drive control 302ZB includes the communication substation 32B, the position control 35B and a current command generator 36ZB, and the drive control 302ZC includes the communication substation 32C, the position control 35C and a current command generator 36ZC. The drive controllers 302ZA, 302ZB and 302ZC, the communication substations 32A, 32B and 32C, the position controllers 35A, 35B and 35C and the current command generators 36ZA, 36ZB and 36ZC can simply be referred to as the drive controller 302Z, the communication substation 32, the position controller 35 and the current command generator 36Z if it is not necessary to distinguish between them.The position controller 35 of the drive controller 302Z is ​​assigned to the motion body 20, which is provided in the transport system 1Z, and is configured to generate a drive command value for the assigned motion body 20. The current command generator 36Z is configured to generate the current command value based on the drive command value generated by the position controller 35, which is contained in the drive controller 302Z, which includes the current command generator 36Z, and the position information about the motion body 20 to which the position controller 35 is assigned.

[0221] The fifth embodiment describes an example of a form in which the transport system 1Z comprises the three motion bodies 20A, 20B, and 20C, and a single position controller 35 is assigned to a single motion body 20. Specifically, the position controller 35A is assigned to generate a drive command value for the motion body 20A, the position controller 35B is assigned to generate a drive command value for the motion body 20B, and the position controller 35C is assigned to generate a drive command value for the motion body 20C. Furthermore, the current command generator 36ZA generates a current command value for the transport path unit 10, in which the motion body 20A is arranged in the transport system 1Z, based on the drive command value of the motion body 20A and the position information about the motion body 20A.The current command generator 36ZB generates a current command value for the transport path unit 10, in which the moving body 20B is located in the transport system 1Z, based on the drive command value of the moving body 20B and the position information about the moving body 20B. The current command generator 36ZC generates a current command value for the transport path unit 10, in which the moving body 20C is located in the transport system 1Z, based on the drive command value of the moving body 20C and the position information about the moving body 20C. The current command generator 36ZA then outputs the generated current command value to the communication substation 32A, the current command generator 36ZB outputs the generated current command value to the communication substation 32B, and the current command generator 36ZC outputs the generated current command value to the communication substation 32C.

[0222] This means that the drive control 302Z is ​​a control which generates a drive command value of the motion body 20, which is assigned to the position control 35, which is contained in the drive control 302Z, and generates a current command value of the transport path unit 10, in which the motion body 20 is arranged in the transport system 1Z, based on the drive command value generated by the position control 35 and the position information about the motion body 20, which is assigned to the position control.

[0223] It should be noted that the number of moving bodies 20, which is to be assigned to the position control 35 of the drive control 302Z, can be freely determined and set before the transport system 1Z is operated. As in Fig. As shown in Figure 20, in a case where the transport system 1Z comprises the three motion bodies 20A, 20B, and 20C, all three motion bodies 20A, 20B, and 20C can, for example, be assigned to a single position controller 35. In this case, the control controller 30Z only needs to comprise a single drive controller 302Z.Furthermore, for example, in a case where the transport system 1Z comprises nine motion bodies, the control controller 30Z can comprise nine drive controllers 302Z and assign a single motion body of the position controller 35 to a single drive controller 302Z in order to assign the nine motion bodies to the position controllers 35 of the nine drive controllers 302Z, it can comprise three drive controllers 302Z and assign three motion bodies of the position controller 35 to a single drive controller 302Z in order to assign the new motion bodies to the position controllers 35 of the three drive controllers 302Z, or it can comprise a single drive controller 302Z and assign nine motion bodies of the position controller 35 to a single drive controller 302Z in order to assign the nine motion bodies of the position controller 35 to a single drive controller 302Z.This means that the drive control 302Z can be provided in the entire transport system 1Z at most as often as the number of motion bodies 20 provided in the transport system 1Z.

[0224] Furthermore, the number of communication substations 32 and position controllers 35 contained in a single drive controller 302Z can be freely configured and determined during the hardware design of the drive controller 302Z. For example, a single communication substation 32 and multiple position controllers 35 can be contained in a single drive controller 302Z, and a single communication substation 32 and each of the multiple position controllers 35 can be connected via an internal bus. Alternatively, multiple communication substations 32 and multiple position controllers 35 can be contained in a single drive controller 302Z, and the communication substation 32 and the position controller 35 can be connected via an internal bus, as can the communication substations 32.Even with such a configuration, the drive control 302Z can be provided in the entire transport system 1Z at most as often as the number of motion bodies 20 provided in the transport system 1Z.

[0225] A connection between the communication master station 31 of the position command controller 301Z, the communication substation 32 of the drive controller 302Z, and the transport path communication substation 11 of the transport path unit 10 in the control controller 30Z according to the fifth embodiment is now described. In the transport system 1Z of the fifth embodiment, the position command controller 301Z and the drive controller 302Z, which together form the control controller 30Z, are connected via the third communication line 80. The drive controllers 302Z are connected to each other via the drive controller communication line 90. The control controller 30Z and the transport path unit 10 are connected via the first communication line 50.

[0226] As in Fig. As shown in Figure 20, the communication master station 31 of the position command controller 301Z is connected to the communication substation 32A of the drive controller 302ZA via the third communication line 80. The communication substation 32A of the drive controller 302ZA is connected to the communication substation 32B of the drive controller 302ZB via the drive controller communication line 90. The communication substation 32B of the drive controller 302ZB is connected to the communication substation 32C of the drive controller 302ZC via the drive controller communication line 90. Accordingly, the position command controller 301Z and the drive controller 302Z can communicate with each other to form the control controller 30Z.The communication master station 31 of the position command controller 301Z and the communication substations 32A, 32B, and 32C of the drive controllers 302ZA, 302ZB, and 302ZC are connected by a network of lines. Generation and control data, which includes various command values ​​and information for generating control data, can be transmitted and received between the communication master station 31 and the communication substation 32. Using such a network allows serial communication to be used for transmitting and receiving generation data between the communication master station 31 and the communication substation 32, thus preventing an increase in the number of communication lines. Furthermore, the communication substation 32C of the drive controller 302ZC is connected to the transport path communication substation 11A of the transport path unit 10A via the first communication line 50.Accordingly, the control unit 30Z and the transport unit 10 form a communication network which enables communication with each other.

[0227] In the configuration in which the communication master station 31 and the communication substation 32, as in Fig. As shown in Figure 20, communication master station 31, connected by a network of lines, transmits and receives generation and control data to and from communication substation 32 via the third communication line 80, which connects communication master station 31 and communication substation 32A. Communication master station 31 also transmits and receives generation and control data to and from communication substation 32B via the third communication line 80, which connects communication master station 31 and communication substation 32A, as well as via the drive control communication line 90, which connects communication substation 32A and communication substation 32B. In other words, communication substation 32B transmits and receives data with communication master station 31 via communication substation 32A.Communication master station 31 transmits and receives generation and control data to and from communication substation 32C via the third communication line 80, which connects communication master station 31 and communication substation 32A, communication substation 32A, drive control communication line 90, which connects communication substation 32A and communication substation 32B, communication substation 32B, and drive control communication line 90, which connects communication substation 32B and communication substation 32C. In other words, communication substation 32C performs transmission and reception with communication master station 31 via communication substation 32A and communication substation 32B.Even in such a configuration, it can be said that the communication master station 31 transmits and receives generation data to and from the communication substations 32A, 32B, and 32C. Furthermore, the communication master station 31 is configured to include two channels: a transmission channel and a reception channel.

[0228] As in Fig. As shown in Figure 20, communication substation 32C is connected to communication substation 32B and is connected to the first communication line 50, which is connected to the transport path unit 10. Specifically, communication substation 32C, which is contained in the drive controller 302ZC, and transport path communication substation 11, which is contained in the transport path unit 10, are connected via the first communication line 50, thus forming a communication network for transmitting and receiving control data between the control controller 30Z and the transport path unit 10. This means that communication substation 32 and transport path communication substation 11 are connected by a network of lines, and control data can be transmitted and received between communication master station 31 and transport path communication substation 11 via communication substation 32.

[0229] It should be noted that the control unit 30Z does not need to connect the communication substation 32C of the drive control unit 302ZC and the first communication line 50, and only needs to be capable of establishing a communication network for transmitting and receiving control data between the control unit 30Z and the transport path unit 10. For example, the control unit 30Z can establish a communication network for transmitting and receiving control data between the control unit 30Z and the transport path unit 10 by connecting the communication master station 31 of the position command control unit 301Z and the transport path communication substation 11, which is provided in the transport path unit 10, via the first communication line 50.

[0230] In the configuration in which the communication master station 31 and the communication substation 32, as in Fig. As shown in Figure 20, which are connected by a network of lines, the communication master station 31 also transmits and receives control data to and from the transport route communication substation 11 of the transport route unit 10 via the third communication line 80, which connects the communication master station 31 and the communication substation 32A, the communication substation 32A, the drive control communication line 90, which connects the communication substation 32A and the communication substation 32B, the communication substation 32B, the drive control communication line 90, which connects the communication substation 32B and the communication substation 32C, the communication substation 32C and the first communication line 50. In other words, the communication master station 31 performs a transmission and reception with the transport route communication substation 11 of the transport route unit 10 via the first communication line 50.Even in such a configuration, it can be said that the control unit 30Z transmits and receives control data to and from the transport path communication substation 11 of the transport path unit 10. By using such a line network, serial communication can be used for the transmission and reception of control data between the communication master station 31 and the transport path communication substation 11, thus preventing an increase in the number of communication lines.

[0231] The communication master station 31 of the position command controller 301Z according to the fifth embodiment is configured to transmit generation data to the communication substation 32 in the same manner as in the first embodiment described above. The communication master station 31 of the position command controller 301Z is configured to transmit control data to the transport path communication substation 11. Furthermore, the communication master station 31 of the position command controller 301Z is configured to receive control data from the multiple communication substations 32. The communication master station 31 of the position command controller 301Z is configured to receive control data from the multiple transport path communication substations 11.Furthermore, the communication control in the communication master station 31 of the position command control 301Z performs communication control using the transmission channel, the receive channel, and the communication frame identical to the first embodiment described above. This means that the control controller 30Z according to the fifth embodiment functions identically to the control controller 30 described above.

[0232] Fig. Figure 21 is a diagram showing an exemplary hardware configuration of the control unit according to the fifth embodiment. The hardware of the control unit 30Z is divided into the position command control 301Z and the drive control 302Z. The position command control 301Z comprises the first communication interface (first communication SS) 3001, which functions as the communication master station 31, a seventh processor 3005-3, which functions as the position command generator 33 and the position generator 34, and a memory 3009-3, which reads and writes various data used for a given calculation in the seventh processor 3005-3.The 302ZA drive controller comprises the second communication interface (second communication substation) 3002, which functions as the communication substation 32A, an eighth processor 3006-1, which functions as the position controller 35A and the current command generator 36ZA, and a memory 3009-4A, which reads and writes various data used for calculations in the eighth processor 3006-1. The 302ZB drive controller comprises the third communication interface (third communication substation) 3003, which functions as the communication substation 32B, a ninth processor 3007-1, which functions as the position controller 35B and the current command generator 36ZB, and a memory 3009-4B, which reads and writes various data used for calculations in the ninth processor 3007-1.The drive control 302ZC includes the fourth communication interface (fourth communication substation) 3004, which functions as the communication substation 32C, a tenth processor 3008-1, which functions as the position control 35C and the current command generator 36ZC, and a memory 3009-4C, which reads and writes various data which are used for a respective calculation in the tenth processor 3008-1.

[0233] The seventh processor, 3005-3, is a processor that can calculate a position command value as the position command generator 33 and generate position information as the position generator 34. For example, a microprocessor, microcontroller, microcomputer, CPU, DSP, or the like can be used. The eighth processor, 3006-1, through the tenth processor, 3008-1, are processors that can calculate a drive command value as the position controller 35 and a current command value as the current command generator 36. For example, a microprocessor, microcontroller, microcomputer, CPU, DSP, or the like can be used.

[0234] Memory 3009-3 comprises non-volatile memory, which stores calculation programs and the like that executed by the seventh processor 3005-3, and volatile memory, which serves as working memory in the seventh processor 3005-3 during every calculation. Memory 3009-4A comprises non-volatile memory, which stores calculation programs and the like that executed by the eighth processor 3006-1, and volatile memory, which serves as working memory in the eighth processor 3006-1 during every calculation. Memory 3009-4B comprises non-volatile memory, which stores calculation programs and the like that executed by the ninth processor 3007-1, and volatile memory, which serves as working memory in the ninth processor 3007-1 during every calculation.The 3009-4C memory comprises a non-volatile memory, which stores calculation programs and the like, which are executed by the tenth processor 3008-1, and a volatile memory, which serves as working memory in the tenth processor 3008-1 during every calculation.

[0235] In the hardware configuration of the 301Z position command controller in Fig. Processor 21, shown as the seventh processor 3005-3, functions as both position command generator 33 and position generator 34. However, the hardware configuration can include multiple processors, for example, one processor functioning as position command generator 33 and another functioning as position generator 34. In the hardware configuration of the 302Z drive controller, the processor functioning as both position controller 35 and current command generator 36 is shown as a single processor (for example, the eighth processor 3006-1). However, multiple processors can be provided, for example, one processor functioning as position controller 35 and another functioning as current command generator 36.

[0236] Fig. Figure 22 is a flowchart showing an example of the operation of the control controller according to the fifth embodiment of the present disclosure. The operation of the control controller 30Z is described with reference to Fig. 22 written.

[0237] In step S2201, shown in Fig. 22, the position command generator 33 of the position command controller 301Z, which forms the control controller 30Z, generates the position command value for each of the three motion bodies 20A, 20B and 20C contained in the transport system 1Z. Then the position command generator 33 outputs the generated position command value of each of the motion bodies 20A, 20B and 20C to the communication master station 31 of the position command controller 301Z.

[0238] In step S2202, the position generator 34 of the position command controller 301Z generates the position information for each of the motion bodies 20A, 20B and 20C, which indicates the positions of the motion bodies 20A, 20B and 20C on the transport route, based on the measuring device detection information contained in the control data, which is provided by the transport path units 10A to 10H using the in Fig. The 5 communication frames R2A to R2H shown are received. Then the position generator 34 outputs the generated position information for each of the moving bodies 20A, 20B and 20C to the communication master station 31 of the position command controller 301Z.

[0239] In step S2203, the communication master station 31 of the position command controller 301Z performs the first communication, transmitting the referenced position command value and position information about each of the motion bodies 20A, 20B, and 20C to the communication substation 32. Specifically, the communication master station 31 transmits the position command value and position information about motion body 20A to the communication substation 32A using the method described in Fig. The 5 communication frames T1A, shown, transmits the position command value and position information via the moving body 20B to the communication substation 32B using the communication frame T1B and transmits the position command value and position information via the moving body 20C to the communication substation 32C using the communication frame T1C.

[0240] In step S2204, the position controllers 35A, 35B, and 35C of the drive controllers 302ZA, 302ZB, and 302ZC, respectively, generate the drive command values ​​for the motion bodies 20A, 20B, and 20C, respectively, based on the position command values ​​and position information about the motion bodies 20A, 20B, and 20C, which are received by the communication substations 32A, 32B, and 32C, respectively. Specifically, the position controller 35A receives the position command value and position information about the motion body 20A from the communication substation 32A, which is connected via the internal bus, and generates the drive command value for the motion body 20A based on this position command value and position information. Similarly, the position controllers 35B and 35C generate the drive command value of the moving body 20B and the drive command value of the moving body 20C, respectively.

[0241] In step S2205, the current command generators 36ZA, 36ZB and 36ZC of the drive controllers 302ZA, 302ZB and 302ZC generate current command values ​​of the transport path units 10A, 10C, 10D, 10E and 10F, in which the motion bodies 20A, 20B and 20C are arranged, based on the position information about the motion bodies 20A, 20B and 20C, which is received by the communication substations 32A, 32B and 32C, and the drive command values ​​of the motion bodies 20A, 20B and 20C, which are generated by the position controllers 35A, 35B and 35C. The position information about the motion bodies 20A, 20B and 20C and the drive command values ​​of the motion bodies 20A, 20B and 20C can be read from and obtained from memories contained in the drive controllers 302ZA, 302ZB and 302ZC.

[0242] In particular, the current command generator 36ZA obtains the position information about the moving body 20A and the drive command value of the moving body 20A from the memory of the drive controller 302ZA and generates current command values ​​for all coils 121A contained in the transport unit 10A in which the moving body 20A is located, based on the position information and the drive command value of the moving body 20A. Likewise, the current command generator 36ZB generates the current command values ​​for the transport units 10C and 10D in which the moving body 20B is located, based on the position information and the drive command value of the moving body 20B, and the current command generator 36ZC generates the current command values ​​for the transport units 10E and 10F in which the moving body 20C is located, based on the position information and the drive command value of the moving body 20C.Then the current command generators 36ZA, 36ZB and 36ZC output the generated current command value of the transport path unit 10 via the internal bus to the communication substations 32A, 32B and 32C, to which the current command generators 36ZA, 36ZB and 36ZC are connected.

[0243] In step S2206, the communication substations 32A, 32B, and 32C of the drive controllers 302ZA, 302ZB, and 302ZC perform the fourth communication, transmitting the current command values ​​obtained by the respective transport units 10A, 10C, 10D, 10E, and 10F to the communication master station 31. Specifically, communication substation 32A uses the [missing information - likely a protocol or method] in [missing information - likely a protocol or method]. Fig. The communication frame R1A shown, which includes a header, a footer, and a payload, transmits the current command value of the transport path unit 10A, contained in the payload, to the communication master station 31. Likewise, the communication substation 32B transmits the current command values ​​of the transport path units 10C and 10D, contained in the payload, to the communication master station 31 using the communication frame R1B, and the communication substation 32C transmits the current command values ​​of the transport path units 10E and 10F, contained in the payload, to the communication master station 31 using the communication frame R1C.

[0244] In step S2207, the communication master station 31 of the position command controller 301Z performs the third communication, transmitting the current command value of each of the transport path units 10A, 10C, 10D, 10E, and 10F to the transport path communication substation 11. Specifically, the communication master station 31 transmits the current command value of transport path unit 10A to the transport path communication substation 11A using the Fig. 5 communication frames T2A shown. Likewise, the communication master station 31 transmits the current command values ​​of the respective transport path units 10C, 10D, 10E and 10F to the transport path communication substations 11C, 11D, 11E and 11F using the communication frames T2C, T2D, T2E and T2F.

[0245] The transport path unit 10 according to the fifth embodiment operates in the same way as the operating modes of steps S801 to S805, which refer to Fig. 8 as described in the first embodiment above, and controls the moving body 20 in the transport system 1Z.

[0246] Because the current command value of the transport path unit 10, in which the moving body 20 is arranged, can be generated by the control controller 30Z, the movement of the moving body 20 can be controlled with high accuracy in the transport system 1Z according to the fifth embodiment, even if the moving body 20, which moves in the transport system 1Z, is arranged at the boundary between the transport path units 10, as described above.Even if the moving body 20, which moves in the transport system 1Z, is located at the boundary between the transport path units 10, the current command values ​​of the two transport path units 10, above which the moving body 20 is located, can also be generated in the transport system 1Z by the control controller 30Z, so that it is possible to avoid an increase in the costs of the electrical circuits, such as the inverter circuit 122 contained in a single drive element.Furthermore, according to the fifth embodiment, the transport system 1Z does not need to include the position controller 35 in each of the transport path units 10, and the number of drive controllers 302Z, which include the position controllers 35, can be at most equal to or less than the number of motion bodies 20, thus preventing an increase in the size and cost of the control system of the control controller 30Z and the transport path unit 10. Because the motion body 20 is always assigned to a predetermined position controller 35, the transport system 1Z also does not need to process the assignment of a control to the motion body 20 during operation. Therefore, according to the fifth embodiment, the transport system 1Z can prevent the control of the motion body 20 of the transport system 1Z from stopping without increasing the size and cost of the control system.

[0247] Furthermore, in the transport system 1Z according to the fifth embodiment, the position command controller 301Z and the drive controller 302Z form the control controller 30Z. The drive controller 302Z is ​​configured to generate the drive command value of the associated motion body 20 and the current command value of the transport path unit 10 in which the motion body 20 is located. Therefore, the control controller 30Z is divided into two controllers, the position command controller 301Z and the drive controller 302Z, so that the control load of a single controller can be reduced and the control delay of the control controller 30Z can be prevented. The control controller 30Z can reduce the control load of the position command controller 301Z by providing the current command generator 36Z in the drive controller 302Z.Because the control unit 30Z generates the drive command value and the current command value in the drive control unit 302Z, the number of communications of generation data and control data via the internal bus of the position command control unit 301Z can also be reduced, and the control load can be reduced as with the control unit 30Z.

[0248] Furthermore, the control unit 30Z is divided into the position command control 301Z and the drive control 302Z. The drive control 302Z and the position command control 301Z are connected via the third communication line 80, and the drive control units 302Z are connected via the drive control communication line 90, allowing the number of drive control units 302Z to be easily changed. Therefore, even if the number of moving bodies 20 along the transport route of transport system 1Z is changed, the control system configuration of transport system 1Z can be easily modified by changing the number of drive control units 302Z. This means that transport system 1Z can provide a transport system that simplifies system expansion and modification. Sixth embodiment.

[0249] A transport system according to the sixth embodiment of the present disclosure is described. Differences between the transport system of the sixth embodiment and the transport system 1 of the first embodiment are described below. It should be noted that components identical to those of the first embodiment are designated by the same reference numerals and their detailed description has been omitted.

[0250] Fig. Figure 23 is a schematic diagram showing an exemplary configuration of the transport system according to the sixth embodiment of the present disclosure. As in Fig. As shown in Figure 23, the transport system 1V comprises several transport path units 10-1A to 10-1H, which form a transport route for the several moving bodies 20A to 20C, a control unit 30V, which controls the operating modes of the several moving bodies 20A to 20C, and the power supply unit 40, which supplies energy to the transport path units 10-1A to 10-1H.

[0251] As in Fig. As shown in Figure 23, the control unit 30V comprises the communication master station 31, the communication substation 32, the position command generator 33, the position generator 34, and the position controller 35. The transport system 1V of the sixth embodiment differs from the first embodiment described above in that the control unit 30V does not include the current command generator 36, and each of the transport path units 10-1A to 10-1H includes the current command generator 36, as shown in Figure 23. Fig. 23 is shown. Although this is in Fig. As not shown in Figure 23, the power command generator 36 is connected to the transport path communication substation 11 via an internal bus in the transport path unit 10-1. Because the remaining configurations and connection states are the same as in the first embodiment described above, the description of the respective configuration and connection state is omitted.

[0252] The hardware of transport unit 10-1 functions as follows: Fig. The processor 1002 shown is the current instruction generator 36, in addition to the current controller 124 and the position calculator 14. The remaining configurations are the same as those shown in Fig. 3 are shown.

[0253] Fig. Figure 24 is a flowchart which shows an example of the operation of the control system according to the sixth embodiment of the present disclosure. Fig. Figure 25 is a flowchart showing an example of the operation of the transport unit according to the sixth embodiment of the present disclosure. A control of the moving body 20 in the transport system 1V is described with reference to Fig. 24 and Fig. 25 described.

[0254] The operating modes in steps S701 to S705, which are in Fig. 24 are identical to those in the first embodiment, which are shown with reference to Fig. 7 are described, and therefore their descriptions are omitted.

[0255] In step S2401, the communication master station 31 performs the fifth communication, transmitting the drive command value of each of the motion bodies 20A, 20B, and 20C, which is transmitted in step S705, and the position information about each of the motion bodies 20A, 20B, and 20C, which is generated in step S702, to the transport path communication substation 11. Specifically, using communication frame T2A, the communication master station 31 transmits the drive command value of motion body 20A and the position command value of motion body 20A to the transport path communication substation 11A of the transport path unit 10-1A, in which motion body 20A is located according to the position information about motion body 20A.Similarly, using communication frames T2C and T2D, the communication master station 31 transmits the drive command value of the moving body 20B and the position command value of the moving body 20B to the transport path communication substations 11C and 11D of the transport path units 10-1C and 10-1D, in which the moving body 20B is located according to the position information about the moving body 20B. Furthermore, using communication frames T2E and T2F, the communication master station 31 transmits the drive command value of the moving body 20C and the position command value of the moving body 20C to the transport path communication substations 11E and 11F of the transport path units 10-1E and 10-1F, in which the moving body 20C is located according to the position information about the moving body 20C.

[0256] In step S2501, shown in Fig. 25, the current command generator 36 of the transport path unit 10-1, which has received the drive command value of the moving body 20 and the position information about the moving body 20, generates the current command value of the transport path unit 10-1 based on the drive command value of the moving body 20 and the position information about the moving body 20.

[0257] In step S2502, each current controller 124 of the transport unit 10-1 calculates a control signal for controlling the operation of the inverter circuit 122 based on the current command value generated by the current command generator 36 and the current value RA detected by the current sensor 123 of the transport unit 10-1, and outputs the calculated control signal to the inverter circuit 122. Specifically, the current controller 124A, which is contained in each drive element 12A of the transport unit 10-1A, receives the current value RA, detected by the current sensor 123A of the drive element 12A containing the current controller 124A, via the internal bus and derives a command value from the current command value that specifies the current to be supplied to the coil 121A of the drive element 12A containing the current controller 124A.Each current controller 124 calculates a control signal to control the operating mode of the inverter circuit 122 based on the command value, which specifies the current magnitude, and the current value RA, and outputs the control signal to the inverter circuit 122A of the drive element 12A, in which the current controller 124 is contained. The transport path unit 10-1, which has received the drive command value of the moving body 20 and the position information about the moving body 20 and generated the current command value by the current command generator 36 in step S2501, performs step S2502 in the same way.

[0258] After step S2502, operating modes are introduced that are similar to those in steps S802 to S805, which relate to Fig. 8 are described, are the same, are carried out to control the moving body 20, and therefore their description is omitted.

[0259] As described above, the transport system 1V according to the sixth embodiment can control the movement of the moving body 20 with high accuracy, even at the boundary between adjacent transport path units 10-1, as in the first embodiment, and can prevent an increase in the cost of the electrical circuits contained in a single drive element 12. As in the first embodiment, the transport system 1V can also prevent the control of the moving body of the transport system from stopping without increasing the size and cost of the control system. Furthermore, the transport system 1V does not need to perform a calculation to generate the current command values ​​of all transport path units 10-1 by the control controller 30V, and instead performs a calculation to generate the current command value of each transport path unit 10-1 in a distributed manner within the respective transport path unit 10-1.Accordingly, the transport system 1V can prevent the control delay and improve the control performance of the moving body 20 by distributing the control load. Seventh embodiment.

[0260] A transport system according to the seventh embodiment of the present disclosure is described. Differences between the transport system of the seventh embodiment and the transport system 1 of the first embodiment are described below. It should be noted that components identical to those of the first embodiment are designated by the same reference numerals and their detailed description has been omitted.

[0261] Fig. Figure 26 is a schematic diagram showing an exemplary configuration of the transport system according to the seventh embodiment of the present disclosure. As in Fig. As shown in Figure 26, the transport system 1I, like the first embodiment, comprises the several transport path units 10A to 10H, which form a transport route for the several moving bodies 20A to 20C, the control unit 30I, which controls the operating modes of the several moving bodies 20A to 20C, and the energy supply unit 40, which supplies energy to the transport path units 10A to 10H.

[0262] As in Fig. As shown in Figure 26, the control unit 30I comprises the communication master station 31, the communication substation 32, the position command generator 33, the position generator 34, the position controller 35, and a current command generator 36I. In the transport system 1I of the seventh embodiment, the current command generator 36I, which is contained in the control unit 30I, differs from that in the first embodiment described above.

[0263] As in Fig. As shown in Figure 26, the current command generator 36I is connected to the communication master station 31 via an internal bus. The configurations and connection states of the communication master station 31, the communication substation 32, the position command generator 33, the position generator 34, and the position controller 35 are the same as in the first embodiment, and therefore their description is omitted.

[0264] Fig. Figure 27 is a diagram showing an exemplary configuration of the current command generator of the control unit according to the seventh embodiment. Similar to the first embodiment described above, the current command generator 36I comprises an arithmetic circuit that generates a current command value for the transport unit 10 based on the position information about the moving body 20, which is generated by the position generator 34, and the drive command value, which is generated by the position control unit 35. Furthermore, the current command generator 36I comprises a data reference unit 361I, which receives training data, a model generation unit 362I, which generates a learned model using the training data, and an inference unit 363I, which performs an inference using the learned model.

[0265] The data reference unit 361I receives as learning data a data set which includes the position information about the moving body 20, which is generated by the position generator 34, the drive command value of the moving body 20, which is generated by the position controller 35, and the current command value of the transport path unit 10, which is generated by the current command generator 36I itself. With regard to the data reference unit 361I, the communication master station 31 can also function as the data reference unit 3611.

[0266] The model generation unit 362I uses a data set which includes the position information about the moving body 20, the drive command value of the moving body 20 and the current command value of the transport path unit 10 as learning data and generates a learned model based on the learning data which infers the current command value of the transport path unit 10.

[0267] The learning algorithm used by the 362I model generation unit can be a well-known algorithm, such as supervised learning, unsupervised learning, or reinforcement learning. An example using reinforcement learning is described. In reinforcement learning, an agent (the subject of an action) observes the current state (environmental parameters) in an environment and determines the action to be taken. The environment changes dynamically based on the agent's behavior, and the agent receives a reward according to the change in the environment. The agent repeats this process to learn an action plan that maximizes the reward through a series of actions. Q-learning and TD-learning are well-known representative methods of reinforcement learning. For example, in the case of Q-learning, a general update expression for the action value function Q(s, a) is represented by Formula 1. Q(st,at)←Q(st,at)+α(rt+1+γmaxaQ(st+1,a)−Q(st,at))

[0268] In Formula 1, s represents t the state of the environment at time t, and a t represents the action a t at time t. The action changes the state to s. t+1 Furthermore, r represents t+1 The reward that can be gained due to the change in state, γ represents a discount rate, and α represents a learning coefficient. Note that γ is in the range 0 < γ ≤ 1 and α is in the range 0 < α ≤ 1. The current command value serves as the action a. t The position information and the drive command value serve as the state s t , and the best action a t in that state s t Learning takes place at time t.

[0269] The update expression represented by Formula 1 increases the action value Q 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 executed at time t, and decreases the action value Q otherwise. In other words, the action value function Q(s, a) is updated so that the action value Q of action a at time t is brought closer to the best action value at time t+1. This causes the best action value in a given environment to sequentially approach the action values ​​in the previous environments.

[0270] As described above, in the case where a learning model is generated by reinforcement learning, the model generation unit 362I comprises a reward calculation unit 362-1I and a function update unit 362-2I.

[0271] The reward calculation unit 362-1I calculates a reward based on the position information of the moving body 20, the drive command value of the moving body 20, and the current command value of the transport unit 10. The reward calculation unit 362-1I calculates the reward r based on a predetermined voltage threshold value, which is determined by the voltage applied to a specific coil 121 of the transport unit 10. Because the voltage threshold value varies depending on specifications, such as the permissible voltage of the coil 121, a desired threshold value can be defined by the user.For example, the reward r is increased if the voltage is equal to or less than the voltage threshold of the respective coil 121 (for example, a reward of "1" is given), and the reward r is reduced if the voltage exceeds the voltage threshold of the respective coil 121 (for example, a reward of "-1" is given).

[0272] The function update unit 362-2I updates the function for determining the current command value of the transport path unit 10 according to the reward calculated by the reward calculation unit 362-1I and outputs the updated function to the memory of the control unit 30I. For example, in the case of Q-learning, the action value function Q(s) t , a t ), which is expressed by formula 1, is used as a function to calculate the current command value of the transport path unit 10.

[0273] The above learning process is repeated. The memory of the control controller 30I stores the action value function Q(s). t , a t ), which is updated by the Function Update Unit 362-2I, i.e., the learned model.

[0274] Next, the learning process by the current command generator 36I will be described in relation to Fig. 28 described. Fig. Figure 28 is a flowchart relating to a learning process of the current command generator according to the seventh embodiment. It should be noted that the transport system 1I of the seventh embodiment comprises the three moving bodies 20A, 20B and 20C as the moving body 20, which moves along the transport route; however, the following description is detailed with reference to moving body 20A.

[0275] In step S2801, the data reference unit 361I receives as learning data a data set which includes the position information about the moving body 20A, which is generated by the position generator 34, the drive command value of the moving body 20A, which is generated by the position controller 35A, and the current command value of the transport path unit 10, which is generated by the current command generator 36I based on the position information and the drive command value of the moving body 20A.

[0276] In step S2802, the model generation unit 362I calculates a reward based on the training data. Specifically, the reward calculation unit 362-1I takes the position information about the moving body 20A, the drive command value of the moving body 20A, and the current command value of the transport path unit 10, which is generated based on the position information about the moving body 20A and the drive command value, and determines, based on a predetermined voltage threshold, whether the reward should be increased (step S2803) or whether the reward should be reduced (step S2804).

[0277] In response to a command to increase the reward, the reward calculation unit 362-1I increases the reward in step S2803. Conversely, in response to a command to decrease the reward, the reward calculation unit 362-1I decreases the reward in step S2804.

[0278] In step S2805, the function update unit 362-2I updates the action value function Q(s t , a t ), which is represented by Formula 1 and is stored in the memory of the control unit 30I, based on the reward calculated by the reward calculation unit 362-1I.

[0279] The current command generator 36I repeatedly executes the above steps S2801 to S2805 and stores the generated action value function Q(s). t , a t) as a learned model. Similarly, in step S2801, the current command generator 36I receives as learning data a data set which includes the position information about the moving body 20B, which is generated by the position generator 34, the drive command value of the moving body 20B, which is generated by the position controller 35B, and the current command value of the transport path unit 10, which is generated by the current command generator 36I based on the position information and the drive command value of the moving body 20B, executes steps S2802 to S2805 repeatedly and stores the generated action value function Q(s t , a t) as a learned model. Furthermore, in step S2801, the current command generator 36I receives as learning data a data set which includes the position information about the moving body 20C, which is generated by the position generator 34, the drive command value of the moving body 20C, which is generated by the position controller 35C, and the current command value of the transport path unit 10, which is generated by the current command generator 36I based on the position information and the drive command value of the moving body 20C, executes steps S2802 to S2805 repeatedly and stores the generated action value function Q(s t , a t ) as a learned model.

[0280] Although, according to the seventh embodiment, the current command generator 36I stores the learned model in the memory of the control controller 30I, the learned model can be stored in a storage device provided outside the control controller 30I. Although the data reference unit 361I and the model generation unit 362I have been described as being contained within the current command generator 36I, the data reference unit 361I and the model generation unit 362I can be provided outside the current command generator 36I. For example, the data reference unit 361I and the model generation unit 362I can be configured as a learning device comprising the data reference unit 361I and the model generation unit 362I, and the learning device can be provided within the control controller 30I so that the learning data can be obtained via the internal bus.Furthermore, the learning device, which comprises the data reference unit 361I and the model generation unit 362I, can be configured as a separate housing outside the control controller 30I, and the control controller 30I and the learning device can be communicatively connected via a communication line or the like, so that the learning data can be obtained.

[0281] Next, the inference unit 363I of the current command generator 36I is described. The inference unit 363I performs an inference using the learned model, which is generated by the model generation unit 362I described above. Specifically, the current command generator 36I obtains the position information about the moving body 20 and the drive command value of the moving body 20 from the data reference unit 361I. The inference unit 363I then uses the learned model to infer the current command value of the transport path unit 10. This means that a current command value suitable for the position information and the drive command value can be inferred by inputting the position information and the drive command value, which are obtained from the data reference unit 361I, into the learned model. Regarding the data reference unit 3611, the communication master station 31 can also function as the data reference unit 361I.

[0282] Next, processing for the current command generator 36I is performed to infer the current command value with reference to the Fig. 29 described. Fig. Figure 29 is a flowchart relating to a follow-up processing of the current command generator according to the seventh embodiment.

[0283] In step S2901, the data reference unit 361I obtains the position information about the motion body 20A, which is generated by the position generator 34, and the drive command value of the motion body 20A, which is generated by the position controller 35A.

[0284] In step S2902, the inference unit 363I inputs the position information about the moving body 20A and the drive command value of the moving body 20A into the learned model, which is stored in the memory of the control unit 30I, and receives the current command value of the transport path unit 10.

[0285] The transport system 1I of the seventh embodiment comprises the moving bodies 20B and 20C, in addition to the moving body 20A, as the moving bodies 20 that move along the transport route. After step S2902, the current command generator 36I repeats steps S2901 and S2902 according to the number of moving bodies 20. In particular, the data reference unit 361I executes step S2901 again to obtain the position information about moving body 20B, which is generated by the position generator 34, and the drive command value of moving body 20B, which is generated by the position controller 35B. Then, step S2902 is executed, and the inference unit 363I inputs the position information and the drive command value of moving body 20B into the learned model, which is stored in the memory of the control controller 30I, and receives the current command value of the transport route unit 10.Furthermore, the data reference unit 361I executes step S2901 again to obtain the position information about the motion body 20C, which is generated by the position generator 34, and the drive command value of the motion body 20C, which is generated by the position controller 35C. Then, step S2902 is executed, and the inference unit 363I inputs the position information and the drive command value of the motion body 20C into the learned model, which is stored in the memory of the control controller 30I, and receives the current command value from the transport path unit 10.

[0286] In step S2903, the current command generator 36I combines the current command values ​​of all transport route units 10, which were obtained by the inference unit 363I, to generate current command values ​​of all transport route units 10 in the transport route of the transport system 1I and outputs the generated current command values ​​of the transport route units 10 to the communication master station 31.

[0287] After step S2903, the control unit 30I performs the same operation as step S707, which relates to Fig. 7 in the first embodiment described above. The transport system 1I then performs steps S801 to S805, which are described in the first embodiment above with reference to Fig. 8 are described in order to control the moving body 20.

[0288] If a learned model exists that has already been generated to infer the current command value of the transport path unit 10, the current command generator 36I can be configured to include the data reference unit 3611 and the inference unit 363I instead of the arithmetic circuit described in the first embodiment. Even in such a case, the current command value of the transport path unit 10 can be generated. In a case where the communication master station 31 also functions as the data reference unit 361I, the current command generator 36I need not include the data reference unit 361I. Although the data reference unit 361I and the inference unit 363I have been described as being contained within the current command generator 36I, they can also be provided outside of the current command generator 36I.For example, the data reference unit 361I and the follower unit 363I can be configured as a follower device comprising the data reference unit 361I and the follower unit 363I, and the follower device can be provided within the control unit 30I. Alternatively, the follower device comprising the data reference unit 361I and the follower unit 363I can be configured as a separate enclosure outside the control unit 30I, and the control unit 30I and the follower device can be communicatively connected via a communication line or the like.

[0289] As described above, the control unit 30I according to the seventh embodiment can generate a current command value, which is control data, through machine learning. This transport system 1I achieves the same effect as the transport system 1 according to the first embodiment described above and can search for an optimal current command value through machine learning. Modifications.

[0290] In the transport system described in the first to seventh embodiments above, the moving body 20 can be attached to the transport unit 10 via a guide rail (not shown). Alternatively, the moving body 20 can be placed on the transport unit 10 without being fastened by a guide rail or the like, and can be configured such that the moving body 20 moves on the transport unit 10 by an interaction between the magnet contained in the moving body 20 and the coil contained in the transport unit 10.

[0291] The transport system described in the first to seventh embodiments was described as a linear transport system of the moving magnet type, in which the moving body 20 comprises a magnet, the transport path unit 10 comprises a coil, and the magnet and the coil form a linear motor of the moving magnet type, such that the moving body 20 moves along the transport route formed by the transport path unit 10. However, the transport system of the present disclosure can be configured as a roller transport system, which, instead of the coil of the transport path unit 10, comprises a rotary motor and a roller rotated by the rotary motor. In particular, the roller transport system couples transport path units 10-2, which are arranged in Fig. Figure 30 shows how to form a transport route. Furthermore, a moving body 20-1, which moves along the transport route of the roller conveying transport system, need not include the moving magnet group 22, and, for example, a pallet on which the workpiece is placed or the workpiece itself can be used as the moving body.

[0292] As in Fig. As shown in Figure 30, the transport unit 10-2 comprises a rotary motor 121-1 instead of the coil 121 of the transport unit 10 described above. The transport unit 10-2 includes a roller (not shown) which is rotated by the rotary motor 121-1. The remaining configurations of the transport unit 10-2 are the same as those of the transport unit 10, and therefore their description is omitted. Each rotary motor 121-1 of the transport unit 10-2 is rotated by the supply of a current controlled by the current controller 124 and the inverter circuit 122, and the rotary motor 121-1 rotates to rotate the roller and move the moving body 20-1. The measuring device 13 (in Figure 30) Fig. (Figure 30 not shown) of the transport unit 10-2 need only include a sensor capable of detecting the moving body 20-1, and for example, an optical sensor can be used. In a case where the position detection magnet group 23 is provided in the moving body 20-1, the Hall sensor or the magnetic resistance sensor described above can be used. Because the control unit of the transport system can be configured identically to the control unit described in the first to seventh embodiments, its description is omitted. Even in such a transport system, the effect of the present disclosure can be achieved.

[0293] Furthermore, the transport system of the present disclosure can be configured as a belt transport system in which the rotary motors 121-1, which are contained in the transport path unit 10-2 described above, are arranged in a further interval and a belt is stretched over adjacent rollers to form a belt conveyor.

[0294] In the transport system described in the first, second, fifth, sixth, and seventh embodiments, it is described that the communication master station 31 performs the initial communication of transmitting the position command value and position information about each of the motion bodies 20A, 20B, and 20C to the communication substation 32 using communication frames T1A to T1C. Furthermore, it is described that the position controllers 35A, 35B, and 35C, when generating the drive command value of the motion body 20, calculate the position deviation based on the relative position command value of the motion body and the position information about the motion body.However, the communication master station 31 can perform the initial communication of obtaining and transmitting the position deviation of each of the motion bodies 20A, 20B, and 20C to the communication substation 32 using communication frames T1A to T1C. Then, the position controllers 35A, 35B, and 35C can generate the drive command value of the motion body 20 based on the obtained position deviation.

[0295] In particular, the position command generator 33, which is provided in the control unit of the transport system, generates a position command value for the moving body 20. The position generator 34 generates position information about the moving body 20. Furthermore, the control unit's processor generates a position deviation based on the position command value of the moving body 20 and the position information about the moving body 20, and outputs the position deviation to the communication master station 31. The communication master station 31 specifies a desired communication substation 32 using communication frames T1A to T1C and performs the initial communication of transmitting the obtained position deviation to the specified communication substation 32. The position controller 35 receives the position deviation from the communication substation 32 and generates a drive command value for the moving body 20.As in the embodiments above, if the communication master station 31 transmits the communication frames T1A, T1B, and T1C to the communication substations 32A to 32C, and if it is not necessary to define the communication substations 32A to 32C, then the communication master station 31 must not define the communication substations 32A to 32C. The control unit can be configured as a position deviation generator, which generates a position deviation based on the position command value of the moving body 20 and the position information about the moving body 20.

[0296] In such a transport system, the data size of the communication frame transmitted by the communication master station 31 in the first communication can be reduced, and the time required for the first communication can be shortened. Furthermore, such a transport system can reduce the computational load of the position control 35. Accordingly, the transport system can prevent control delay as a whole and can improve the control performance of the motion body 20.

[0297] In the transport system described in the third and fourth embodiments, the control system comprises the position command control, the drive control, and the path control. However, the control system described in the third and fourth embodiments is not limited to this form. For example, the control system can comprise a position command control in which the position command control and the drive control are integrated, and a path control. The control system can also comprise a path control in which the path control and the drive control are integrated, and a position command control. This means that the configuration of the drive control can be contained within another control system that forms the control system.

[0298] In the transport system described in the fifth embodiment, the control system comprises the position command control and the drive control. However, the control system described in the fifth embodiment is not limited to this form. For example, the position command control and the drive control can be integrated to form the control system, or the position command control, the drive control, and the path control can form the control system.

[0299] Furthermore, the control system of the transport system, which is described in the sixth and seventh embodiments, can comprise several control units, as in the second to fifth embodiments.

[0300] In the transport system described in the first to seventh embodiments above, another drive system 500 can be connected to the control unit 30 (30I, 30V, 30W, 30X, 30Y or 30Z), as shown in Fig.Figure 31 shows that the drive system 500, which is connected to the control unit 30 (30I, 30V, 30W, 30X, 30Y or 30Z), drives a drive device 501, which is contained in the drive system 500, based on the position command value generated by the position command generator 33 of the control unit 30 (30I, 30V, 30W, 30X, 30Y or 30Z). This drive system 500 is, for example, a drive system which includes a rotary motor as the drive device 501 and which includes a motor control device 502 which controls the rotary motor based on a position command value, is, for example, a drive system which includes a linear motor with a movable coil as the drive device 501 and which includes a motor control device 502 which controls the linear motor with a movable coil based on a position command value, or the like.

[0301] The motor control unit 502 and the drive unit 501, which are contained in the drive system 500, can be conventionally known motor control units and drive units, and positioning of the motor as the drive unit is carried out based on the position command value obtained by the motor control unit (at least one of which is determined by a rotational speed, a rotational angle, a torque, a movement speed, a movement distance, etc.). In the ...

Claims

[1] Transport system (1), comprising: several transport path units (10) which form a movement route on which several moving bodies (20), each comprising a magnet (22), move and which exert a driving force on the several moving bodies (20); a control unit (30) which controls the multiple transport path units (10), where the transport route units (10) each comprise: a coil (121); a transport route communication substation (11); a power control (124) which is connected to the transport path communication substation (11); and a position detector (13) which is connected to the transport path communication substation (11) and is configured to detect a position of the moving body (20) and output a position detection signal, the control control (30) comprises: a communication master station (31) which communicates with the transport path communication substation (11); at least one communication substation (32) which communicates with the communication master station (31); a position command generator (33) which is connected to the communication master station (31); a position generator (34) which is connected to the communication master station (31); a power command generator (36) which is connected to the communication master station (31); and a position control (35) which is connected to the communication substation (32) and is assigned to the several moving bodies (20), wherein the transport path communication substation (11) transmits the position detection signal of the position detector (13) to the communication master station (31), wherein the position generator (34) generates a moving body position information, which is position information for each of the several moving bodies (20), based on the position detection signal obtained from the communication master station (31), wherein the position command generator (33) generates a motion body position command value, which is a position command value for each of the multiple motion bodies (20), wherein the communication master station (31) transmits the moving body position command value and the moving body position information to the communication substation (32) or transmits a position deviation obtained from the moving body position command value and the moving body position information to the communication substation (32), wherein the position control (35) generates a motion body drive command value, which is a drive command value for each of the multiple motion bodies (20), based on the motion body position command value and the motion body position information obtained from the communication substation (32), or on the position deviation, wherein the communication substation (32) transmits the moving body drive command value to the communication master station (31), wherein the current command generator (36) generates a first current command value, which is a current command value of the several transport path units (10), based on the motion body drive command value obtained from the communication master station (31) and the motion body position information, wherein the communication master station (31) transmits the first current command value obtained from the current command generator (36) to the transport path communication substation (11), and wherein the current control (124) controls a current to be supplied to the coil (121) based on the first current command value obtained from the transport path communication substation (11). [2] Transport system according to claim 1, wherein the control unit (30W) comprises a position command unit (301) comprising the position command generator (33), the position generator (34), the current command generator (36) and the communication master station (31), and a drive unit (302) comprising the position control unit (35) and the at least one communication substation (32). [3] Transport system (1X) according to claim 1, wherein the control system (30X) comprises: a position command controller (301X) comprising the position command generator (33) and a first communication master station (31-1); a railway control system (303) comprising the position generator (34), the current command generator (36) and a second communication master station (31-2); and a drive control (302) comprising the position control (35) and at least one communication substation (32), wherein the transport path communication substation (11) transmits the position detection signal of the position detector (13) to the second communication master station (31-2), wherein the position generator (34) generates the moving body position information based on the position detection signal obtained from the second communication master station (31-2), wherein the position command generator (33) generates the moving body position command value, wherein the first communication master station (31-1) transmits the moving body position command value to the communication substation (32), wherein the second communication master station (31-2) transmits the moving body position information to the communication substation (32), wherein the position control (35) generates the motion body drive command value based on the motion body position command value and the motion body position information obtained from the communication substation (32), wherein the communication substation (32) transmits the moving body drive command value to the second communication master station (31-2), wherein the current command generator (36) generates the first current command value based on the moving body drive command value and the moving body position information obtained from the second communication master station (31-2), wherein the second communication master station (31-2) transmits the first current command value obtained from the current command generator (36) to the transport path communication substation (11), and wherein the current control (124) controls a current to be supplied to the coil (121) based on the first current command value obtained from the transport path communication substation (11). [4] Transport system (1Y) according to claim 3, wherein the second communication master station (31-2) comprises a third communication master station (31-3) and a fourth communication master station (31-4), which are interconnected, the communication substation (32) comprises a first communication substation (32-1) and a second communication substation (32-2), wherein the transport path communication substation (11) transmits the position detection signal of the position detector (13) to the fourth communication master station (31-4), wherein the position generator (34) generates the moving body position information based on the position detection signal obtained from the fourth communication master station (31-4), wherein the position command generator (33) generates the moving body position command value, wherein the first communication master station (31-1) transmits the moving body position command value to the first communication substation (32-1), wherein the third communication master station (31-3) transmits the moving body position information to the second communication substation (32-2), wherein the position control (35) generates the motion body drive command value based on the motion body position command value obtained from the first communication substation (32-1) and the motion body position information obtained from the second communication substation (32-2), wherein the second communication substation (32-2) transmits the moving body drive command value to the third communication master station (31-3), wherein the current command generator (36) generates the first current command value based on the moving body drive command value and the moving body position information obtained from the third communication master station (31-3), wherein the fourth communication master station (31-4) transmits the first current command value obtained from the current command generator (36) to the transport path communication substation (11), and wherein the current control (124) controls a current to be supplied to the coil (121) based on the first current command value obtained from the transport path communication substation (11). [5] Transport system (1Z), comprising: several transport path units (10A to 10H) which form a movement route on which several moving bodies (20), each comprising a magnet (22), move, and which exert a driving force on the several moving bodies (20); and a control unit (30Z) which controls the multiple transport path units (10A to 10H), where the transport route units (10A to 10H) each comprise: a coil (121); a transport route communication substation (11); a power control (124) which is connected to the transport path communication substation (11); and a position detector (13) which is connected to the transport path communication substation (11) and is configured to detect a position of the moving body (20) and output a position detection signal, the control control (30Z) includes: a communication master station (31) which communicates with the transport path communication substation (11); at least one communication substation (32) which communicates with the communication master station (31); a position command generator (33) which is connected to the communication master station (31); a position generator (34) which is connected to the communication master station (31); a power command generator (36) which is connected to the communication substation (32); and at least one position control (35) which is connected to the communication substation (32) and is assigned to the several moving bodies (20), the control control (30Z) includes: a position command controller (301Z) comprising the position command generator (33), the position generator (34) and the communication master station (31); and a drive control (302Z) which includes the position control (35), the current command generator (36Z) and the communication substation (32), wherein the transport path communication substation (11) transmits the position detection signal of the position detector (13) to the communication master station (31), wherein the position generator (34) generates a moving body position information, which is position information for each of the several moving bodies (20), based on the position detection signal obtained from the communication master station (31), wherein the position command generator (33) generates a motion body position command value, which is a position command value for each of the multiple motion bodies (20), wherein the communication master station (31) transmits the moving body position command value and the moving body position information to the communication substation (32) or transmits a position deviation obtained from the moving body position command value and the moving body position information to the communication substation (32), wherein the position control (35) generates a motion body drive command value, which is a drive command value for each of the multiple motion bodies (20), based on the motion body position command value and the motion body position information obtained from the communication substation (32), or on the position deviation, wherein the current command generator (36Z) generates a first current command value, which is a current command value of the several transport path units (10A to 10H), based on the moving body drive command value and the moving body position information obtained from the communication substation (32), wherein the communication substation (32) transmits the first current command value to the communication master station (31), wherein the communication master station (31) transmits the first current command value received from the communication substation (32) to the transport path communication substation (11), and wherein the current control (124) controls a current to be supplied to the coil (121) based on the first current command value obtained from the transport path communication substation (11). [6] Transport system (1V), comprising: several transport path units (10-1A to 10-1H) which form a movement route on which several moving bodies (20), each comprising a magnet (22), move and which exert a driving force on the several moving bodies (20); and a control unit (30V) which controls the multiple transport units (10-1A to 10-1H), where the transport route units (10-1A to 10-1H) each comprise: a coil (121); a transport route communication substation (11); a power command generator (36) which is connected to the transport path communication substation (11); a power control (124) which is connected to the transport path communication substation (11); and a position detector (13) which is connected to the transport path communication substation (11) and is configured to detect a position of the moving body (20) and output a position detection signal, the control unit (30V) includes: a communication master station (31) which communicates with the transport path communication substation (11); at least one communication substation (32) which communicates with the communication master station (31); a position command generator (33) which is connected to the communication master station (31); a position generator (34) which is connected to the communication master station (31); and at least one position control (35) which is connected to the communication substation (32) and is assigned to the several moving bodies (20), wherein the transport path communication substation (11) transmits the position detection signal of the position detector (13) to the communication master station (31), wherein the position generator (34) generates a moving body position information, which is position information for each of the several moving bodies (20), based on the position detection signal obtained from the communication master station (31), wherein the position command generator (33) generates a motion body position command value, which is a position command value for each of the multiple motion bodies (20), wherein the communication master station (31) transmits the moving body position command value and the moving body position information to the communication substation (32) or transmits a position deviation obtained from the moving body position command value and the moving body position information to the communication substation (32), wherein the position control (35) generates a motion body drive command value, which is a drive command value for each of the multiple motion bodies (20), based on the motion body position command value and the motion body position information obtained from the communication substation (32), or on the position deviation, wherein the communication substation (32) transmits the moving body drive command value to the communication master station (31), wherein the communication master station (31) transmits the moving body position information and the moving body drive command value, which is obtained from the communication substation (32), to the transport path communication substation (11), wherein the current command generator (36) generates a first current command value, which is a current command value of the several transport path units (10-1A to 10-1H), based on the moving body position information obtained from the transport path communication substation (11) and the moving body drive command value, and wherein the current control (124) controls a current to be supplied to the coil (121) based on the first current command value obtained from the current command generator (36). [7] Transport system (1I) according to claim 1, wherein the current command generator (36I) comprises: a data reference unit (3611) which receives learning data comprising: the moving body position information, the moving body drive command value, and the first current command value; and a model generation unit (362I) which, using the learning data, generates a learned model for inferring the first current command value from the moving body position information and the moving body drive command value. [8] Transport system (1I) according to claim 7, comprising: a follower unit (363I) which outputs the current command value of the transport path unit from the moving body position information and the moving body drive command value, which are obtained by the data reference unit (361I), using the learned model. [9] Transport system (1; 1I; 1V; 1W; 1X; 1Y; 1Z) according to claim 1, wherein a number of position controllers (35) is equal to or less than a number of moving bodies (20). [10] Transport system (1; 1I; 1V; 1W; 1X; 1Y; 1Z) according to claim 1, wherein the magnet (22) and the coil (121) form a linear motor of the moving magnet type. [11] Transport system (1; 1I; 1V; 1W; 1X; 1Y; 1Z) according to claim 1, wherein a connection between the communication master station (31), the communication substation (32) and the transport route communication substation (11) is a network of lines in which the communication master station (31) and the communication substation (32) are connected and the communication substation (32) and the transport route communication substation (11) are connected. [12] Transport system (1X) according to claim 3, wherein a connection between the first communication master station (31-1), the second communication master station (31-2), the communication substation (32) and the transport route communication substation (11) is a network of lines in which the first communication master station (31-1) and the communication substation (32) are connected, the communication substation (32) and the second communication master station (31-2) are connected, and the second communication master station (31-2) and the transport route communication substation (11) are connected. [13] Transport system (1Y) according to claim 4, wherein a connection between the first communication master station (31-1), the third communication master station (31-3), the fourth communication master station (31-4), the first communication substation (32-1), the second communication substation (32-2) and the transport route communication substation (11) is a line network in which the first communication master station (31-1) and the first communication substation (32-1) are connected, the third communication master station (31-3) and the second communication substation (32-2) are connected, and the fourth communication master station (31-4) and the transport route communication substation (11) are connected. [14] Transport system (1; 1I; 1V; 1W; 1X; 1Y; 1Z) according to claim 1, wherein a first transmission cycle, in which the communication master station (31) transmits the moving body position command value and the moving body position information to the communication substation (32), a second transmission cycle, in which the communication substation (32) transmits the moving body drive command value to the communication master station (31), and a third transmission cycle, in which the communication master station (31) transmits the first current command value to the transport path communication substation (11), are predetermined, and where the first communication cycle differs from the second communication cycle and the third communication cycle. [15] Transport system (1; 1I; 1V; 1W; 1X; 1Y; 1Z) according to claim 14, wherein the first communication cycle is longer than the second communication cycle and the third communication cycle. [16] Transport system (1; 1I; 1V; 1W; 1X; 1Y; 1Z) according to any one of claims 1 to 15, further comprising: a drive system which is connected to the control unit (30; 30I; 30V; 30W; 30X; 30Y; 30Z) and includes a motor control unit (502) which receives a position command value generated by the position command generator (33).

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