conveyor system

Abstract

A conveyor system (1) comprises a plurality of conveyor bodies, a conveyor path (10) along which the plurality of conveyor bodies move, and a controller (13) that assigns identification information to each of the plurality of conveyor bodies to manage the plurality of conveyor bodies and controls each of the plurality of conveyor bodies. A reference point (15) is set on the conveyor path (10) as a reference for a position in a forward direction, which is a direction in which each of the plurality of conveyor bodies moves.The controller (13) assigns first identification information as an initial situation of the identification information to a first conveyor body, which is one of the plurality of conveyor bodies and is closest to the reference point (15) in the forward direction, and assigns second identification information, which is the identification information following the first identification information, to each of second conveyor bodies, which are other than the first conveyor body among the plurality of conveyor bodies, in an order of arrangement of the second conveyor bodies in the forward direction or a reverse direction opposite to the forward direction.

Description

Area

[0001] The present disclosure relates to a conveyor system that conveys an object. background

[0002] A production line implementing factory automation, such as a production line for assembling an industrial product or a production line for packaging a food product, generally uses a conveyor system that conveys a workpiece. In the conveyor system, equipment for each of a plurality of processes is installed along a path, and each of a plurality of carriers moving along the path is individually controlled to achieve effects such as reducing the area required for equipment installation, reducing cycle time, and increasing flexibility in equipment design. One type of conveyor system is a so-called linear moving magnet motor.This linear motor comprises a magnet and coils, wherein the magnet is arranged on the carrier which serves as a moving element, and wherein the coils are arranged on a stator which forms a conveying path.

[0003] The conveyor system, equipped with an individual carrier identification function that allows a conveyor system user to identify each of the multiple carriers, can identify the carrier and assign it a unique operation or role. In this case, a highly functional and highly flexible production line can be created.

[0004] Patent Literature 1 discloses a conveyor system in which, among a plurality of conveyor bodies, a specific conveyor body is detected by a detection unit, and identification information is assigned to the plurality of conveyor bodies, respectively, with respect to the specific conveyor body detected as a reference. The specific conveyor body includes a protrusion that is absent from the conveyor bodies of the plurality of conveyor bodies other than the specific conveyor body. When the protrusion is detected, the specific conveyor body is identified. Alternatively, a magnet is attached to the specific conveyor body, and the specific conveyor body is identified based on a detection result of the magnitude of a magnetic field. In this case, among the plurality of conveyor bodies, each of the conveyor bodies other than the specific conveyor body does not include a magnet similar to the magnet attached to the specific conveyor body. Citation listPatent literature

[0005] Patent Literature 1: Disclosure of Japanese Patent Application No. 2021-160842 Overview of the inventionProblem to be solved by the invention

[0006] In the conveyor system disclosed in Patent Literature 1, the conveyor body, which is one of the plurality of conveyor bodies provided with the protrusion or the magnet, which are structures serving as an identification feature, must be prepared separately from the conveyor body not provided with such a structure as the specific conveyor body. Furthermore, in the conveyor system disclosed in Patent Literature 1, the detection unit that detects the structure must be installed. As described above, with the provision of the structure, a plurality of conveyor body types must be prepared to distinguish the conveyor bodies. Therefore, the conveyor system disclosed in Patent Literature 1 has a problem in that the configuration of the system becomes complicated and the manufacturing cost increases.

[0007] The present disclosure has been made in view of the above, and an object thereof is to provide a conveyor system capable of identifying each of the plurality of conveyor bodies with a simple configuration. Means of solving the problem

[0008] To solve the above problem and achieve the objective, a conveyor system according to the present disclosure includes a plurality of conveyor bodies, a conveyor path along which the plurality of conveyor bodies move, and a controller that assigns identification information to each of the plurality of conveyor bodies to manage the plurality of conveyor bodies and controls each of the plurality of conveyor bodies. A reference point is set on the conveyor path as a reference for a position in a forward direction, which is a direction in which each of the plurality of conveyor bodies moves.The controller assigns first identification information as an initial situation of the identification information to a first conveyor body, which is one of the plurality of conveyor bodies and is closest to the reference point in the forward direction, and assigns second identification information, which is the identification information following the first identification information, to each second conveyor body, which is one of the plurality of conveyor bodies other than the first conveyor body, in order of arrangement of the second conveyor bodies in the forward direction or a reverse direction opposite to the forward direction. Effects of the invention

[0009] The conveyor system according to the present disclosure has an effect that each of the plurality of conveyor bodies can be identified with a simple configuration. Short description of the drawings Fig. 1 is a diagram showing an exemplary configuration of a conveyor system according to a first embodiment. Fig. 2 is a diagram showing an example of a guide rail and a position detecting unit included in the conveyor system according to the first embodiment. Fig. 3 is a diagram showing an exemplary configuration of a conveyor system according to a second embodiment. Fig. 4 is a diagram showing an exemplary configuration of a conveyor system according to a third embodiment. Fig. 5 is a diagram showing an exemplary configuration of a conveyor system according to a fourth embodiment. Fig. 6 is a diagram showing an exemplary configuration of a conveyor system according to a fifth embodiment. Fig. 7 is a diagram showing an exemplary configuration of a learning device included in the conveyance system according to the fifth embodiment. Fig. 8 is a diagram for explaining data preprocessing in a preprocessing unit included in the learning apparatus according to the fifth embodiment. Fig. 9 is a diagram showing an exemplary configuration of a neural network used for learning in the learning apparatus according to the fifth embodiment. Fig. 10 is a flowchart showing a flow of learning processing by the learning apparatus according to the fifth embodiment. Fig. 11 is a diagram showing an exemplary configuration of a lifetime estimating device included in the conveyor system according to the fifth embodiment. Fig. 12 is a flowchart showing a flow of inference processing by the lifetime estimation apparatus according to the fifth embodiment. Fig. 13 is a diagram showing an exemplary configuration of a control circuit according to the first to fifth embodiments. Fig. 14 is a diagram showing an exemplary configuration of a dedicated hardware circuit according to the first to fifth embodiments. Description of embodiments

[0010] In the following, a conveyor system according to embodiments will be described in detail with reference to the drawings. First embodiment.

[0011] Fig. 1 is a diagram showing an exemplary configuration of a conveyor system 1A according to a first embodiment. The conveyor system 1A is a system used to convey an object. In the first embodiment, the conveyor system 1A conveys the object by moving a conveyor body supporting the object.

[0012] The conveyor system 1A includes a plurality of carriers 11a to 11f, a conveyor path 10, which is a path along which the plurality of carriers 11a to 11f move, and a controller 13. Each of the plurality of carriers 11a to 11f is the conveyor body. In the following description, a carrier 11 refers to each of the carriers 11a to 11f, without distinguishing between them.

[0013] The conveying path 10 includes a plurality of conveying path units 12a to 12n. The plurality of conveying path units 12a to 12n are coupled together to form the single conveying path 10. The plurality of conveying path units 12a to 12n move the carriers 11a to 11f by imparting thrust to the carriers 11a to 11f. In the following description, a conveying path unit 12 refers to each of the conveying path units 12a to 12n, without distinguishing between them.

[0014] The one in the Fig. The conveyor path 10 shown in Figure 1 is a ring-shaped path. This means that the Fig. 1 is a closed path. The conveyor path 10 of the conveyor system 1A may be an open path. This means that the conveyor path 10 of the conveyor system 1A may be a path with a starting point and an end point that are spaced apart from each other.

[0015] The one in the Fig. The conveying path 10 shown in Figure 1 is an oval path comprising straight paths and curved paths. The conveying path units 12a, 12b, 12g, 12h, 12i, and 12n each represent a straight conveying path unit 12 that forms the straight path. The conveying path units 12c, 12d, 12e, 12f, 12j, 12k, 12i, and 12m each represent a curved conveying path unit 12 that forms the curved path and change a movement direction of the conveying body. The conveying path 10 may also include only the conveying path units 12 that form the curved path, without including the conveying path units 12 that form the straight path. The conveyor path 10, in which the starting point and the end point are separated from each other, can also comprise only the conveyor path units 12 forming the straight path. The conveyor path 10 can have any desired overall shape.

[0016] The conveyor system 1A according to the first embodiment includes a linear motor with a moving magnet. The supports 11 each include a permanent magnet 17, which forms a moving element. The conveyor path units 12 each include a plurality of coils and a plurality of inverters. The inverter includes a switching element and supplies the coil with power converted by switching the switching element. When the coil is energized, it interacts with a magnetic field generated by the permanent magnet 17 to generate thrust to move the conveyor body. The coils and inverters are not shown.

[0017] The controller 13 is connected to the conveying path units 12 via a data communication line 14. The data communication line 14 includes a line connecting the controller 13 and the conveying path unit 12a, which is one of the plurality of conveying path units 12, and lines connecting the adjacent conveying path units 12. Note that the conveying system 1A may include a plurality of data communication lines 14, and the conveying path units 12 and the controller 13 may be directly connected by the data communication line 14.

[0018] The controller 13 outputs a drive command to each of the conveying path units 12 via the data communication line 14. The drive command includes a command value of the current flowing through each of the coils in the conveying path unit 12. Each of the conveying path units 12 controls the current flowing through each of the coils in accordance with the command value included in a coil drive command. The controller 13 outputs the drive command to each of the conveying path units 12, thereby individually controlling each of the plurality of carriers 11.

[0019] The direction of movement of the carriers 11 is clockwise in the Fig. 1 or a counterclockwise direction in the Fig. 1. The counterclockwise direction in the Fig. 1 is defined as a forward direction and the clockwise direction in the Fig. 1 is defined as a reverse direction. A Fig. The arrow 16 shown in Figure 1 indicates the forward direction. The controller 13 can individually control each of the carriers 11 to move it in the forward direction and to move it in the reverse direction. Furthermore, the controller 13 can individually control each of the carriers 11 with respect to the position at which the carrier 11 is stopped, the speed of the carrier 11, or the like. It should be noted that here, the counterclockwise direction in the Fig. 1 is defined as the forward direction, but the clockwise direction in the Fig. 1 could be defined as the forward direction. Any direction can be defined as the forward direction.

[0020] In the Fig. In the example shown in Figure 1, the conveyor system 1A comprises six carriers 11 and fourteen conveyor path units 12. The conveyor system 1A may comprise any number of carriers 11. The conveyor system 1A need only comprise a plurality of carriers 11. Furthermore, the conveyor path 10 may be formed by any number of conveyor path units 12.

[0021] Fig. Fig. 2 is a diagram showing an example of a guide rail 18 and a position detection unit 19 included in the conveyor system 1A according to the first embodiment. The guide rail 18 is installed on a side surface of the conveyor path 10, which guides the movement of each of the carriers 11. The carriers 11 are each attached to the side surface of the conveyor path 10 via the guide rail 18. The carriers 11 move along the side surface of the conveyor path 10 along the guide rail 18 and stop at the side surface of the conveyor path 10. Fig. 2 shows three of the six beams 11 that are in the Fig. 1, and omits the illustration of the other three supports 11. In the above description, the supports 11 are attached to the side surfaces of the conveying path 10, but could also be attached to an upper surface or a lower surface of the conveying path 10.

[0022] The position detection unit 19 detects the position of each of the plurality of carriers 11 on the conveying path 10. The position detection unit 19 is mounted on the upper surface of the conveying path 10. The position detection unit 19 is, for example, a linear encoder comprising a plurality of position sensors. Each position sensor is a sensor that detects a magnetic field, such as a Hall sensor or a magnetoresistance sensor. The position sensors each detect the magnetic field of the permanent magnet 17 included in the carrier 11. The carrier 11 may include the permanent magnet 17, which forms the moving element of the linear motor, and a permanent magnet for the linear encoder. The position sensors may each detect a magnetic field of the permanent magnet for the linear encoder included in the carrier 11.

[0023] The controller 13 obtains a detection result from the position detection unit 19. The controller 13 controls each of the carriers 11 while checking the position of each of the carriers 11 based on a detection result from the position detection unit 19. Note that the position detection unit 19 only needs to be capable of detecting the position of each of the plurality of carriers 11 and is not limited to the linear encoder. Furthermore, in the above description, the position detection unit 19 is mounted on the upper surface of the conveying path 10, but it may be mounted on a portion other than the upper surface of the conveying path 10.

[0024] On the conveying path 10, a reference point 15 is set as a reference for a position in the forward direction, which is one of the directions in which each of the plurality of carriers 11 is moved. In the Fig. In the example shown in Figure 1, the reference point 15 is set at a boundary between the conveying path unit 12a and the conveying path unit 12n. Note that the reference point 15 does not necessarily have to be located at a boundary between the conveying path unit 12a and the conveying path unit 12n. The reference point 15 can be set at any position along the conveying path 10.

[0025] Next, processing for assigning identification information to each of the plurality of carriers 11 will be described. For example, the conveyor system 1A is started when the operation of a production line is started and stopped when the operation of the production line is stopped. Upon starting the conveyor system 1A, the controller 13 executes processing for assigning the identification information to each of the plurality of carriers 11. The controller 13 assigns the identification information to each of the plurality of carriers 11 to manage the plurality of carriers 11 and controls each of the plurality of carriers 11. Consequently, during operation of the conveyor system 1A, each of the carriers 11 moving along the conveying path 10 is assigned a unique piece of identification information.The conveyor system 1A controls each of the plurality of carriers 11 individually upon identifying each of the plurality of carriers 11 based on the identification information. Note that managing the plurality of carriers 11 specifically involves assigning each of the carriers 11 on the conveyor path 10 to an operating pattern designated by a user. The operating pattern is a pattern of a type of movement of the carrier 11.

[0026] When the conveyor system 1A shuts down and stops operating, the association between each of the plurality of carriers 11 and the identification information is lost. Upon restarting after stopping operation, the conveyor system 1A again executes the processing for assigning the identification information to each of the plurality of carriers 11.

[0027] The controller 13 assigns first identification information, which is an initial situation of the identification information, to a first conveyor body, which is one of the plurality of conveyor bodies and is closest to the reference point 15 in the forward direction. In addition, the controller 13 assigns second identification information, which is the identification information following the first identification information in the order of arrangement of the second conveyor bodies in the forward direction, to all second conveyor bodies, which are conveyor bodies other than the first conveyor body, among the plurality of conveyor bodies.

[0028] If the conveyor body 1A is in a position Fig. 1, the first conveyor body, which is the carrier 11 closest to the reference point 15 in the forward direction indicated by the arrow 16, is the carrier 11a. In addition, each of the carriers 11b, 11c, 11d, 11e, and 11f, which are the carriers 11 other than the carrier 11a, is the second conveyor body.

[0029] In the first embodiment, the identification information is a number. The first identification information is a predetermined number. The second identification information is numbers that follow the number of the first identification information in ascending or descending order. Here, the first identification information is set to the predetermined number "N." The second identification information is numbers that follow "N" in ascending order and are set to "N+1," "N+2," and so on. Here, "N" is an integer. By setting the numbers that follow the number of the first identification information in ascending or descending order as the second identification information, the conveyor system 1A can assign to each of the carriers 11 the identification information indicating the order of arrangement of the plurality of carriers 11 in the moving direction of the carriers 11.

[0030] In the processing for assigning the identification information to each of the plurality of carriers 11, the conveyor system 1A first detects the position of each of the carriers 11 through the position detecting unit 19. In a case where the position detecting unit 19 is the linear encoder described above, the position detecting unit 19 sends information indicating, for each position sensor, whether or not the carrier 11 is detected by the linear encoder to the controller 13. The controller 13 obtains the position of each of the plurality of carriers 11 based on the information from the position detecting unit 19. Note that the conveyor system 1A may detect the position of each of the carriers 11 by a method other than the above-described method.For example, the position detection unit 19 may obtain the position of each of the carriers 11 based on a result of detection by each position sensor and send position information indicating the position of each of the carriers 11 to the controller 13.

[0031] The controller 13 compares the position of each of the carriers 11 detected by the position detection unit 19 with the reference point 15, thereby identifying the carrier 11 that is the first conveying body. That is, the controller 13 identifies the carrier 11 that is the first conveying body based on the result of the detection by the position detection unit 19. When the conveying system 1A is in the position shown in the Fig. 1, the controller 13 identifies the carrier 11a on the conveying path unit 12b as the first conveying body. The controller 13 assigns "N" as the first identification information to the carrier 11a as the first conveying body. As described above, the controller 13 identifies the first conveying body and assigns the first identification information to the first conveying body.

[0032] Next, the controller 13 assigns the second identification information, which are numbers following "N" in the arrangement order of the carriers 11b to 11f in ascending order, to the carriers 11b to 11f, which are the second conveying bodies. That is, "N+1", "N+2", "N+3", "N+4", and "N+5" are assigned to the carrier 11b, the carrier 11c, the carrier 11d, the carrier 11e, and the carrier 11f, respectively. Thus, the controller 13 assigns "N+1" to the carrier 11b as the second identification information. The controller 13 assigns "N+2" to the carrier 11c as the second identification information. The controller 13 assigns "N+3" to the carrier 11d as the second identification information. The controller 13 assigns "N+4" to the carrier 11e as the second identification information. The controller 13 assigns “N+5” to the carrier 11f as the second identification information.

[0033] The controller 13 thus assigns the first identification information to the first conveyor body and assigns the second identification information to the second conveyor bodies in the order of arrangement of the second conveyor bodies in the forward direction. Note that in a case where the second identification information is numbers following "N" in descending order, the second conveyor bodies are assigned numbers such as "N-1", "N-2", and so on in the order of arrangement of the second conveyor bodies in the forward direction. Note that whether the second identification information is the numbers following in ascending order or the numbers following in descending order is the same every time the conveyor system 1A is started.

[0034] When the controller 13 assigns the second identification information, which is the identification information following the first identification information, to each of the second conveyor bodies, which are conveyor bodies other than the first conveyor body among the plurality of conveyor bodies, the controller 13 assigns the second identification information in the order of arrangement of the second conveyor bodies in the reverse direction, which is opposite to the forward direction. The controller 13 can be set in advance whether the second identification information is assigned to each of the second conveyor bodies in the order of arrangement of the second conveyor bodies in the forward direction or in the order of arrangement of the second conveyor bodies in the reverse direction.

[0035] The one in the Fig. The conveying path 10 shown in FIG. 1 is a closed path and has no branches. On such a conveying path 10, the arrangement order of the plurality of carriers 11 is not changed during continued operation of the conveying system 1A. Accordingly, the identification information assigned to each of the carriers 11 upon startup of the conveying system 1A can accurately identify each of the carriers 11 moving along the conveying path 10.

[0036] According to the first embodiment, in the conveyor system 1A, the reference point 15 is set on the conveyor path 10, and the first conveyor body, which is one of the plurality of carriers 11 and is closest to the reference point 15 in the forward direction, is assigned the first identification information, which is the initial situation of the identification information. The conveyor system 1A assigns to each of the second conveyor bodies, which are conveyor bodies other than the first conveyor body among the plurality of carriers 11, the second identification information, which is the identification information following the first identification information in an order of arrangement of the second conveyor bodies in the forward direction or the reverse direction.Consequently, the conveyor system 1A can assign the unique piece of identification information to each of the plurality of carriers 11 and identify each of the plurality of carriers 11 based on the identification information. The conveyor system 1A can identify each of the plurality of carriers 11 without separately preparing the carrier 11 provided with a structure as a characteristic for identification and the carrier 11 without this structure. Furthermore, the conveyor system 1A according to the first embodiment does not require the installation of a detection unit for identifying the carriers 11, and the detection unit is different from the position detection unit 19 that performs position detection for controlling the carriers 11.

[0037] The conveyor system 1A therefore has the effect of allowing each of the plurality of conveyor bodies to be identified with the simple configuration. Since the conveyor system 1A can have the simple configuration, it is possible to prevent an increase in the manufacturing cost of the conveyor system 1A. Second embodiment.

[0038] In the first embodiment, the first identification information assigned to the first conveyor body is the predetermined number. A second embodiment will be described below, in which any number can be set as the first identification information.

[0039] Fig. Fig. 3 is a diagram showing an exemplary configuration of a conveyor system 1B according to the second embodiment. The conveyor system 1B includes, in addition to configurations similar to those of the Fig. 1, an input device 21. In the second embodiment, the components identical to those in the above first embodiment are designated by the same reference numerals as those assigned to the components in the first embodiment, and a configuration different from that of the first embodiment will be mainly described.

[0040] The input device 21 is connected to the controller 13. A number to be set as the first identification information is input into the input device 21. The input device 21 is a device for input by a user of the conveyor system 1B. The input device 21 includes, for example, a keyboard, a mouse, a keypad, a touch panel, or the like. The input device 21 sends the input number to the controller 13. The controller 13 receives the number sent from the input device 21 and sets the received number as the first identification information.

[0041] The user inputs an arbitrary integer (for example, a desired integer) into the input device 21. Here, it is assumed that the number input into the input device 21 is "M." Similar to the first embodiment, the controller 13 identifies the carrier 11, which is the first conveying body. The controller 13 assigns "M" to the identified carrier 11 as the first identification information. The controller 13 thus assigns "M" to the carrier 11, which is the first conveying body, as the first identification information.

[0042] Next, the controller 13 assigns the second identification information to each of the carriers 11 that are the second conveying bodies. In the second embodiment, the second identification information is numbers that follow the number set as the first identification information in ascending or descending order. Here, the second identification information is numbers that follow "M" in ascending order and are set to "M+1", "M+2", and so on. The controller 13 assigns the carriers 11 that are the second conveying bodies the numbers that follow "M" in ascending order in the arrangement order of the carriers 11 that are the second conveying bodies.

[0043] The controller 13 thus assigns the first identification information, which is an arbitrary number, to the first conveyor body and the second identification information to each of the second conveyor bodies in the order of arrangement of the second conveyor bodies in the forward direction or the reverse direction. Note that, for example, it is assumed that the conveyor system 1B includes six units of the carriers 11, and the numbers "1", "2", "3", "4", "5", and "6" are assigned to the corresponding ones of the carriers 11. In a case where the number input to the input device 21 is "5", the ascending order from "5" corresponds to the numbers in the order "6", "1", "2", "3", and "4". That is, in the case of the ascending order, the number following the largest number of the plurality of numbers is the smallest number of the plurality of numbers.

[0044] In a case where the second identification information is numbers following "M" in descending order, the second conveyor bodies are assigned numbers such as "M-1," "M-2," and so on in the order of arrangement of the second conveyor bodies in the forward direction or the reverse direction. Note that the number following the smallest number of the plurality of numbers is the largest number of the plurality of numbers.

[0045] For example, among the plurality of carriers 11, the user can visually identify the carrier 11 closest to the reference point 15 in the forward direction, that is, the carrier 11 that is the first conveyor body at startup. The user determines the number assigned to the carrier 11 in the previous operation of the conveyor system 1B and inputs the same number as the determined number to the input device 21. Consequently, the conveyor system 1B can assign the same identification information to each of the plurality of carriers 11 as that assigned in the previous operation of the conveyor system 1B. In this case, even in a case where the carrier 11 that is the first conveyor body is changed every time the conveyor system 1B is started, the conveyor system 1B can assign the same identification information to each of the plurality of carriers 11 in each operation.

[0046] Alternatively, in a case where the carriers 11 of different types are included in the plurality of carriers 11 and the carriers 11 of each type are arranged in a predetermined pattern, the number to be input for each type can be determined in advance. The user inputs the number corresponding to the type of carrier 11 that is the first conveying body into the input device 21. The conveying system 1B can read in any number and accordingly assign the number of the carrier 11 with a high degree of freedom.

[0047] According to the second embodiment, the conveyor system 1B reads the number set as the first identification information at the input device 21, thereby being able to assign the numbers to the carriers 11 with a high degree of freedom. Third embodiment.

[0048] As one aspect of the second embodiment, an example was described in which the user recognizes the carrier 11, which is the first conveying body, and inputs the same identification information as that assigned to the carrier 11 in the previous operation, thereby assigning the same identification information to each of the plurality of carriers 11 in each operation. A third embodiment will describe an example in which the same identification information as that assigned to the first conveying body in the previous operation is automatically assigned to the first conveying body.

[0049] Fig. Fig. 4 is a diagram showing an exemplary configuration of a conveyor system 1C according to a third embodiment. The conveyor system 1C includes, in addition to the configurations similar to those of the Fig. 1, a reading device 22. In the third embodiment, components identical to those in the first or second embodiment are described by the same reference numerals as those assigned to such components in the first and second embodiments, and a configuration different from that in the first and second embodiments will be mainly described.

[0050] In the third embodiment, each of the plurality of carriers 11 is provided with an individual identifier 26 that is unique to each of the carriers 11. The controller 13 stores the identification information assigned to each of the plurality of carriers 11 in association with the individual identifier 26. When starting the conveyor system 1C, the controller 13 assigns the identification information associated with the individual identifier 26 of the first conveyor body to the first conveyor body as the first identification information.

[0051] The unique identifier 26 is, for example, an identifier such as a barcode or a two-dimensional code, an RFID tag (RFID: radio frequency identification), or the like. In the case where the unique identifier 26 is the barcode or the two-dimensional code, the reading device 22 is an optical device, such as an optical reading device or a camera. In the case where the unique identifier 26 is the RFID tag, the reading device 22 is an RFID reading device.

[0052] The reading device 22 is connected to the controller 13. The reading device 22 reads the individual identifier 26 with which the first conveyor body is provided and sends the read individual identifier 26 to the controller 13. Consequently, the controller 13 receives the read individual identifier 26.

[0053] In the Fig. In the example shown in Figure 4, it is assumed that the reading device 22 is the optical reading device. The optical reading device receives an identifier by emitting light and reading reflected light. Fig. 4, light emitted by the reading device 22 is represented by a dashed line. The reading device 22 reads the individual identifier 26 of the carrier 11, which has entered a detection range of the reading device 22. The detection range is an area in which the reading device 22 can read the individual identifier 26 and substantially corresponds to an area irradiated with the light from the reading device 22. In the Fig. 4, the reading device 22 is arranged such that it faces the side surface of the conveyor path 10 and radiates the light towards the side surface of the conveyor path 10. In the example shown in the Fig. In the example shown in Figure 4, the individual identifier 26 is provided on a surface of the carrier 11 which is opposite a surface thereof which faces the side surface of the conveying path 10.

[0054] In the Fig. 4, the reference point 15 is a position within the conveyor path unit 12b. Furthermore, the reading device 22 faces the conveyor path unit 12b. Accordingly, in the example shown in Fig. In the example shown in Figure 4, the reference point 15 is set in accordance with the position of the reading device 22.

[0055] The conveyor system 1C stores an identification information table in which the individual identifier 26 and the identification information are associated with each other. Fig. In the example shown in Figure 4, the identification information table is stored in a memory 23 within the controller 13. The memory 23 is a non-volatile memory. The individual identifier 26 is, for example, a number unique to each of the carriers 11. A number that is the identification information may be the same as the number that is the individual identifier 26 or may be different from the number that is the individual identifier 26.

[0056] In the processing for assigning the identification information to each of the plurality of carriers 11, the conveyor system 1C first detects each of the carriers 11 through the position detection unit 19. In a case where the first conveying body, which is the carrier 11 closest to the reference point 15 in the forward direction, is within the detection range of the reading device 22, the reading device 22 reads the individual ID 26 of the carrier 11. In a case where the carrier 11 closest to the reference point 15 in the forward direction is outside the detection range of the reading device 22, the controller 13 controls the carriers 11 to move in the forward direction until the carrier 11 reaches the detection range of the reading device 22. The reading device 22 reads the individual ID 26 of the carrier 11 that has reached the detection range of the reading device 22.

[0057] If the reading device 22 is positioned away from the reference point 15 and the second conveyor body is located between the first conveyor body closest to the reference point 15 and the reading device 22, the reading device 22 may mistakenly read the individual identifier 26 of the second conveyor body. In the third embodiment, the reference point 15 is set in correspondence with the reading device 22, so it is possible to prevent the reading device 22 from reading the individual identifier 26 of the second conveyor body.

[0058] The controller 13 obtains the individual identifier 26 of the carrier 11 that is the first conveying body, and then reads from the identification information table the identification information associated with the individual identifier identical to the read individual identifier 26. The controller 13 assigns the read identification information to the carrier 11 that is the first conveying body. Thereafter, similarly to the case of the first embodiment, the controller 13 assigns the identification information following in ascending order the identification information assigned to the carrier 11 that is the first conveying body, or the identification information following in descending order the identification information assigned to the carrier 11 that is the first conveying body, to each of the carriers 11 that are the second conveying bodies.

[0059] The controller 13 therefore assigns the first identification information to the first conveyor body and assigns the second identification information to each of the second conveyor bodies. Consequently, the controller 13 can assign the same identification information to each of the plurality of carriers 11 during each operation.

[0060] In the above description, the individual identifier 26 is provided on one surface of the carrier 11, but the individual identifier 26 may also be provided on any of two or more surfaces of the carrier 11. For example, the individual identifier 26 is provided on at least two surfaces selected from a top surface, the side surface, and a bottom surface of the carrier 11. Providing the individual identifier 26 on multiple surfaces allows for a higher degree of freedom in the position and orientation of the reading device 22 when the reading device 22 is ready to read the individual identifier 26.

[0061] In the above description, the memory 23 within the controller 13 stores the identification information table, but the identification information table may also be stored in a non-volatile memory that is an external storage device of the controller 13. In this case, the controller 13 obtains the identification information associated with the individual identifier 26, which is identical to the individual identifier 26 read by the reading device 22, from the identification information table stored in the external memory.

[0062] According to the third embodiment, the conveyor system 1C stores the identification information assigned to each of the plurality of conveyor bodies in association with the individual identifier 26. When the conveyor system 1C is started, the conveyor system 1C assigns the identification information associated with the individual identifier 26 of the first conveyor body to the first conveyor body as the first identification information. The conveyor system 1C automatically assigns the same identification information to the first conveyor body as that assigned to the first conveyor body in the previous operation. Consequently, the conveyor system 1C can automatically assign the same identification information to each of the plurality of carriers 11 in each operation.In the conveyor system 1C in which the conveyor body is provided with the individual identifier 26, all of the conveyor bodies in the conveyor system 1C are provided with the individual identifier, so it is not necessary to separately prepare the carriers 11 with different configurations. Consequently, the conveyor system 1C can have a simple configuration, preventing an increase in the manufacturing cost of the conveyor system 1C. Fourth embodiment.

[0063] The third embodiment described the example in which the same identification information as that assigned to the first conveyor body in the previous operation is automatically assigned to the first conveyor body. A fourth embodiment will describe another example in which the same identification information as that assigned to the first conveyor body in the previous operation is automatically assigned to the first conveyor body.

[0064] Fig. Fig. 5 is a diagram showing an exemplary configuration of a conveyor system 1D according to the fourth embodiment. The conveyor system 1D includes configurations similar to those of the Fig. 1. In the fourth embodiment, the components identical to those in the above first to third embodiments are denoted by the same reference numerals as those assigned to such components in the first to third embodiments, and a configuration different from those of the first to third embodiments will be mainly described.

[0065] In the fourth embodiment, the controller 13 periodically stores position information in association with the identification information in the memory 23, the position information indicating the position of each of the plurality of carriers 11 on the conveying path 10, the identification information being assigned to each of the plurality of carriers 11. When starting the conveying system 1D, the controller 13 obtains start position information indicating the position of each of the plurality of carriers 11 at start-up. The controller 13 reads from the memory 23 last known position information, which is the position information stored in the memory 23 and is a last known part of the position information before start-up. The controller 13 compares the last known position information with the start position information.Through the comparison, the controller 13 determines, for each of the plurality of carriers 11 at start-up, the carrier 11 whose position along the conveyor path 10, as indicated by the last known position information, is closest to the position indicated by the starting position information. The controller 13 assigns the identification information associated with the last known position information of the specific carrier 11 to each of the plurality of carriers 11 at start-up.

[0066] As an example, assume that the conveyor system 1D is restarted when an unexpected alarm interrupts the power supply to the conveyor system 1D. At the time of restart, the controller 13 acquires the starting position information of each of the plurality of carriers 11 through the position detection unit 19. The controller 13 reads the last known position information of each of the carriers 11 from the memory 23. Thereafter, the controller 13 compares the starting position information with the last known position information and assigns the identification information corresponding to the last known position information to the carrier 11 at the position closest to the position specified in the last known position information. The controller 13 assigns the identification information to each of the plurality of carriers 11.

[0067] In the third embodiment, the controller 13 controls the carrier 11 to move in the forward direction and assigns the identification information to each of the plurality of carriers 11 when the carrier 11 closest to the reference point 15 is outside the detection range of the reading device 22. On the other hand, in the fourth embodiment, the controller 13 can assign the identification information to each of the plurality of carriers 11 without controlling the carriers 11 to move. Accordingly, according to the fourth embodiment, it is possible to quickly and automatically assign the identification information to each of the plurality of carriers 11 at startup.

[0068] In the above description, the memory 23 within the controller 13 stores the position information and the identification information, but the conveyor system 1D may also store the position information and the identification information in a non-volatile memory which is an external device of the controller 13.

[0069] According to the fourth embodiment, the conveyor system 1D periodically stores the position information in association with the identification information. The conveyor system 1D determines, for each of the plurality of carriers 11, the carrier 11 whose position along the conveyor path 10, indicated by the last known position information, is closest to the position indicated by the start position information, and assigns the identification information associated with the last known position information of the specific carrier 11 to each of the plurality of carriers 11. Consequently, the conveyor system 1D can automatically assign the same identification information to each of the plurality of carriers 11 during each operation. Fifth embodiment.

[0070] A fifth embodiment will describe a method of estimating a remaining life of each of the plurality of carriers 11 and exchanging identification numbers between the carriers 11 based on the estimated remaining life. The fifth embodiment will also describe an example in which machine learning is applied to estimate the remaining life.

[0071] In the conveyor systems 1A to 1D according to the first to fourth embodiments, there is a case where the carriers 11 are moved in a manner that is different for each of the carriers 11, so that the load acting on the carriers 11 varies for each of the carriers 11. For example, the longer the total movement time of the carrier 11 becomes, the greater the load acting on the carrier 11 becomes. Furthermore, the more frequently the acceleration is changed or the longer a rapid change in acceleration occurs, the greater the load acting on the carrier 11 becomes.

[0072] When the load acting on the beams 11 is uneven, the remaining life of the beams 11 varies. The remaining life is a period until maintenance is performed on the beam 11. The maintenance includes a case where the beam 11 is repaired and a case where the beam 11 is replaced. The greater the deviation of the remaining life of the plurality of beams 11 in the conveyor systems 1A to 1D, the more frequently the conveyor systems 1A to 1D are stopped for maintenance of the beam 11, thereby hindering the operating efficiency of the conveyor systems 1A to 1D. To solve this problem, in the fifth embodiment, the remaining life of each of the plurality of beams 11 is estimated, and the identification numbers are exchanged so that the remaining lives of the beams 11 become uniform.

[0073] Fig. Fig. 6 is a diagram showing an exemplary configuration of a conveyor system 1E according to the fifth embodiment. The conveyor system 1E includes, in addition to the configurations similar to those of the Fig. 1, an estimation device 24, and a learning device 25. In the fifth embodiment, the components identical to those in the above first to fourth embodiments are denoted by the same reference numerals as those assigned to such components of the first to fourth embodiments, and a configuration different from the first to fourth embodiments will be mainly described.

[0074] The life estimator 24 is connected to the controller 13. The life estimator 24 estimates the remaining life for each of the plurality of carriers 11. The learning device 25 is connected to the life estimator 24. The learning device 25 learns a relationship between operating state data and operating history data and the remaining life. The operating state data and the operating history data will be described in detail later. The life estimator 24 estimates the remaining life based on a result of learning by the learning device 25.

[0075] The controller 13 exchanges the identification information assigned to each of the plurality of carriers 11 based on a result of estimating the remaining life for each of the plurality of carriers 11. The controller 13 performs adjustment to equalize the future remaining life of each of the plurality of carriers 11 by exchanging the identification information assigned to each of the plurality of carriers 11.

[0076] Fig. 7 is a diagram showing an exemplary configuration of the learning device 25 included in the conveying system 1E according to the fifth embodiment. The learning device 25 includes a preprocessing unit 31, a data acquisition unit 32, a model acquisition unit 33, and a trained model storage unit 34.

[0077] The preprocessing unit 31 performs preprocessing of data input to the learning device 25. The preprocessing unit 31 receives the operating state data of each of the plurality of carriers 11, the operating history data of each of the carriers 11, and the maintenance information of each of the carriers 11.

[0078] The operating state data is data indicating the type of movement of the carrier 11. The operating state data includes various data, such as the weight of a device attached to the carrier 11, the weight of a workpiece placed on the carrier 11, the frequency of acceleration, the frequency of deceleration, the thrust at the time of acceleration, the thrust at the time of deceleration, the speed of movement, the vibration frequency of the carrier 11, or the strength of the vibration of the carrier 11. The operating state data includes, for example, data obtained when the carrier 11 is actually moved. The data included in the operating state data only needs to be data related to the type of movement of the carrier 11 and is not limited to those exemplified here.

[0079] The operating state data may be a single numerical value, such as a numerical value indicating the weight of the workpiece, or time-series data. For example, the time-series data is a series of values ​​obtained by sampling a time-varying value over a certain period of time, and includes data on the speed of movement of the carrier 11, or the like.

[0080] The operation history data is data indicating a history of the operation of the carrier 11. The operation history data includes various data, such as a total operating time of the carrier 11, a total distance of movement of the carrier 11, or a total number of carriers 11 passing a guide provided on the conveying path 10. The data included in the operation history data need only be data concerning the history of the movement of the carrier 11 and is not limited to those exemplified herein.

[0081] The operating state data or the operating history data are stored, for example, in a non-volatile memory in the controller 13. The non-volatile memory is not shown. The pre-processing unit 31 reads the operating state data or the operating history data from the non-volatile memory. The operating state data or the operating history data may be stored in a non-volatile memory, which is an external storage device of the controller 13.

[0082] The maintenance information is data indicating a history of the maintenance of the carrier 11. The maintenance information is recorded, for example, by a worker performing the maintenance. The maintenance information includes data on the date and time when the maintenance of the carrier 11 is performed, as well as information indicating the details of the maintenance.

[0083] Fig. 8 is a diagram for explaining data preprocessing in the data preprocessing unit 31 included in the learning device 25 according to the fifth embodiment. The preprocessing unit 31 collects the operating state data and the operating history data for a period preceding the date and time indicated in the maintenance information. The preprocessing unit 31 separates the period prior to the date and time indicated in the maintenance information into a plurality of time periods and classifies each of the collected operating state data and the collected operating history data into these time periods.

[0084] The horizontal axis, which in the Fig. 8 represents a time of remaining service life. Here, "t0" is a time at which maintenance is performed, that is, at which the carrier 11 reaches the end of its service life. In addition, "t4" is a time at which the carrier 11 was first used in the conveyor system 1E. In the time shown in the Fig. In the example shown in Figure 8, the preprocessing unit 31 separates the time period from "t4" to "t0" into four time periods T1 to T4, and classifies all of the collected operating state data and the collected operation history data as data into the time periods. The time period T1 corresponds to the time period from "t4" to "t3." The time period T2 corresponds to the time period from "t3" to "t2." The time period T3 corresponds to the time period from "t2" to "t1." The time period T4 corresponds to the time period from "t1" to "t0." The preprocessing unit 31 generates remaining life data corresponding to all of the classified data. The remaining life data is data indicating the remaining time until the carrier 11 reaches the end of its service life. The remaining life data is, for example, data indicating the classification of the time periods.The remaining life data generated by the preprocessing unit 31 indicates the remaining life obtained based on the actual life of the carrier 11.

[0085] The preprocessing unit 31 generates a data set, which is a set of state variables, and the remaining life data. The state variables include the operating state data and the operating history data. The data acquisition unit 32 acquires the learning data 35, which is the data set generated by the preprocessing unit 31. The learning data 35 is the data in which the operating state data, the operating history data, and the remaining life data are associated with each other. As just described, the data acquisition unit 32 acquires the learning data 35, which includes the operating state data, which is the data indicating the type of movement of the carrier 11, the operating history data, which is the data indicating the history of the operation of the carrier 11, and the remaining life data, which is the remaining life obtained based on the actual service life of the carrier 11.The data acquisition unit 32 outputs the acquired learning data 35 to the model generation unit 33.

[0086] Based on the learning data 35, the model generation unit 33 generates a trained model 36 for inferring the remaining service life from the operating condition data and the operating history data. The model generation unit 33 generates the trained model 36 by learning a relationship between the operating condition data, the operating history data, and the remaining service life data. The trained model 36 is stored in the trained model storage unit 34.

[0087] A learning algorithm used by the model generation unit 33 may be a known algorithm, such as supervised learning, unsupervised learning, or reinforcement learning. As an example, a case where a neural network is used will be described.

[0088] For example, the model generation unit 33 uses so-called supervised learning according to a neural network model to learn the relationship between the operating condition data, the operating history data, and the remaining life data. Here, supervised learning is a method that passes data sets with input and result to the learning device 25, learns characteristics in the learning data 35, and infers the result from the input.

[0089] The learning data 35 includes the input and an identifier that is the result corresponding to the input. The operating state data and the operating history data correspond to the input. The remaining lifetime data is training data and corresponds to the identifier. The neural network includes an input layer that includes a plurality of neurons, a hidden layer that is a middle layer that includes a plurality of neurons, and an output layer that includes a plurality of neurons. The middle layer can be one layer or two or more layers.

[0090] Fig. Fig. 9 is a diagram showing an exemplary configuration of the neural network used for learning in the learning device 25 according to the fifth embodiment. Fig. The neural network shown in Figure 9 is a three-layer neural network. The input layer includes neurons X1, X2, and X3. The middle layer includes neurons Y1 and Y2. The output layer includes neurons Z1, Z2, and Z3. Note that each layer can include any number of neurons. A plurality of values ​​input to the input layer are multiplied by weights w11, w12, w13, w14, w15, and w16, which are weights W1, and then input to the middle layer. A plurality of values ​​input to the middle layer are multiplied by weights w21, w22, w23, w24, w25, and w26, which are weights W2, and then output from the output layer. The output result output from the output layer changes according to the values ​​of the weights W1 and W2.

[0091] In the fifth embodiment, the neural network learns the remaining life by so-called supervised learning according to the learning data 35 acquired by the data acquisition unit 32. That is, the neural network learns the remaining life by adjusting the weights W1 and W2 so that when the operating state data and the operating history data are input to the input layer, the result output from the output layer is close to the remaining life data. The model generation unit 33 performs the learning as described above to generate the trained model 36 and outputs the trained model 36. The trained model storage 34 stores the trained model 36 output from the model generation unit 33. The model generation unit 33 can read the already generated trained model 36 from the trained model storage unit 34 and update the trained model 36 by relearning according to the learning data 35.

[0092] Next, learning processing by the learning device 25 will be described. Fig. 10 is a flowchart showing a flow of learning processing by the learning device 25 according to the fifth embodiment. In step S11, the learning device 25 acquires the learning data 35 including the operating state data, the operating history data, and the remaining life data from the preprocessing unit 31 and the data acquisition unit 32. For example, the learning device 25 acquires the operating state data, the operating history data, and the remaining life data simultaneously. The learning device 25 only needs to be able to acquire the learning data 35, which are the operating state data, the operating history data, and the remaining life data associated with each other, and can acquire the operating state data, the operating history data, and the remaining life data at different timings.

[0093] In step S12, the model generation unit 33 generates the trained model 36 by so-called supervised learning according to the learning data 35 acquired in step S11. In step S13, the trained model storage unit 34 stores the trained model 36 generated in step S12. After the above steps, the learning device 25 ends the learning processing according to the Fig. 10. The learning device 25 can update the trained model 36 through learning processing similar to that used to generate the trained model 36.

[0094] In the Fig. 6, the learning device 25 is a device external to the controller 13. The learning device 25 may be a device connectable to the controller 13 via a network. The learning device 25 may be a device in a cloud server. It should be noted that the learning device 25 may be a device built into the controller 13. In the example shown in Fig. In the example shown in Figure 7, the trained model storage unit 34 is incorporated into the learning device 25. The trained model storage unit 34 may be provided externally of the learning device 25.

[0095] The learning device 25 can learn the remaining service life according to data sets generated for a plurality of conveyor systems 1E. The learning device 25 can acquire the operating status data, the operating history data, and the maintenance information from a plurality of conveyor systems 1E used at the same location, or can acquire the operating status data, the operating history data, and the maintenance information from a plurality of conveyor systems 1E used at different locations. The operating status data, the operating history data, and the maintenance information can be collected from a plurality of conveyor systems 1E operating independently at a plurality of locations.After starting to collect the operating status data, operating history data, and maintenance information from the plurality of conveyor systems 1E, a new conveyor system 1E may be added to the targets from which the operating status data, operating history data, and maintenance information are collected. Furthermore, after starting to collect the operating status data, operating history data, and maintenance information from the plurality of conveyor systems 1E, some of the plurality of conveyor systems 1E may be excluded from the targets from which the operating status data, operating history data, and maintenance information are collected.

[0096] The learning device 25 that has performed the learning for one or more conveyor systems 1E can perform the learning for another of the conveyor systems 1E. The learning device 25 that performs the learning for the other of the conveyor systems 1E can update the trained model 36 by performing relearning for the other of the conveyor systems 1E.

[0097] Fig. 11 is a diagram showing an exemplary configuration of the life estimation device 24 included in the conveyor system 1E according to the fifth embodiment. The life estimation device 24 functions as an inference device that infers the remaining life from the operating state data and the operating history data. The life estimation device 24 includes a data acquisition unit 41 and an inference unit 42.

[0098] The data acquisition unit 41 receives the operating state data and the operating history data for each of the plurality of carriers 11 included in the conveyor system 1E. The data acquisition unit 41 thus acquires the operating state data and the operating history data for each of the plurality of carriers 11. The data acquisition unit 41 outputs inference data 43, which is the acquired operating state data and operating history data, to the inference unit 42. The trained model 36 stored in the trained model storage unit 34 of the learning device 25 is input to the inference unit 42. The inference unit 42 inputs the operating state data and the operating history data to the trained model 36, thereby inferring the remaining service life of each of the plurality of carriers 11. The inference unit 42 outputs the remaining life data 44, which is a result of the inference of the remaining life, to the controller 13.

[0099] Fig. 12 is a flowchart showing a flow of inference processing by the lifetime estimation device 24 according to the fifth embodiment. In step S21, the lifetime estimation device 24 acquires the operating state data and the operating history data through the data acquisition unit 41.

[0100] In step S22, the inference unit 42 generates the remaining life data 44 by inputting the inference data 43 into the trained model 36. In step S23, the inference unit 42 outputs the remaining life data 44 generated in step S22. After the above steps, the life estimation device 24 ends the processing according to the Fig. 12 shown process.

[0101] In the Fig. In the example shown in Figure 6, the lifetime estimation device 24 is a device external to the controller 13. The lifetime estimation device 24 may be a device connectable to the controller 13 via a network. The lifetime estimation device 24 may be a device on a cloud server. Note that the lifetime estimation device 24 may be a device built into the controller 13.

[0102] The example in which the model generation unit 33 uses supervised learning as the learning algorithm has been described, but a learning method other than supervised learning may also be used as the learning algorithm. Reinforcement learning, unsupervised learning, partially supervised learning, or the like may be used as the learning algorithm. The model generation unit 33 may perform machine learning using a learning algorithm other than the neural network, such as deep learning, genetic programming, inductive logic programming, or a support vector machine.

[0103] The controller 13 obtains the remaining life data 44 for each of the plurality of carriers 11 from the life estimation device 24. The controller 13 uses the remaining life data 44 of the carriers 11 and exchanges the identification information assigned to the carriers 11 as appropriate. The controller 13 exchanges the identification information between the carriers 11 to exchange the operating patterns between the carriers 11.

[0104] Based on the result of estimating the remaining life for each of the plurality of carriers 11, the controller 13 exchanges, for example, the identification information of the carrier 11 having the shortest estimated remaining life among the plurality of carriers 11 with the identification information of the carrier 11 having the longest estimated remaining life among the plurality of carriers 11. By exchanging the identification information, a high-load operation pattern is applied to the carrier 11 having the longest remaining life among the plurality of carriers 11, and a light-load operation pattern is applied to the carrier 11 having the shortest remaining life among the plurality of carriers 11. By exchanging the operation patterns, the future remaining lives of the carriers 11 are equalized.The controller 13 therefore performs an adjustment to equalize the future remaining lifetimes of each of the plurality of carriers 11 by exchanging the identification information assigned to each of the plurality of carriers 11 based on the result of estimating the remaining lifetime for each of the plurality of carriers 11.

[0105] According to the fifth embodiment, the conveyor system 1E includes the learning device 25 and the life estimation device 24, which is the inference device, thereby capable of estimating the remaining life of the carriers 11. Furthermore, the conveyor system 1E performs adjustment to equalize the future remaining lives of each of the plurality of carriers 11 by exchanging the identification information based on the remaining life estimation result. Consequently, this can reduce the frequency of stopping the conveyor system 1E for maintenance of the carrier 11 and improve the operating efficiency of the conveyor system 1E.

[0106] Note that in the conveyor system 1E according to the fifth embodiment, the controller 13 may exchange the identification information assigned to each of the plurality of conveyor bodies based on the remaining life estimation result. For example, the controller 13 may be set to exchange the identification information of the carrier 11 having the shortest estimated remaining life among the plurality of carriers 11 with the identification information of the carrier 11 having the second shortest estimated remaining life among the plurality of carriers 11. That is, the conveyor system 1E performs adjustment to equalize the future remaining lives of the two carriers 11 having the shortest remaining lives among the plurality of carriers 11.Also, such a configuration can reduce the frequency of stopping the conveyor system 1E for maintenance of the carrier 11 and improve the operating efficiency of the conveyor system 1E.

[0107] In the conveyor system 1E according to the fifth embodiment, the life estimation device 24 has been described as the device that infers the remaining life by the inference unit 42 using the trained model 36. However, the life estimation device 24 is not limited to such a configuration. For example, the life estimation device 24 may be a device that stores a data table in which the operating state data, the operating history data, and the remaining life data are associated with each other, and outputs the remaining life by comparing it with the data table when the operating state data and / or the operating history data are input. The life estimation device 24 may output the remaining life even with such a configuration that does not use the trained model 36.

[0108] Next, hardware for implementing the controller 13 according to the first to fifth embodiments will be described. The controller 13 is implemented by a processing circuit. The processing circuit may be a circuit in which a processor executes software or may be a dedicated circuit.

[0109] In the case where the processing circuit is implemented by the software, the processing circuit is, for example, the one in the Fig. 13 shown control circuit 50. The Fig. 13 is a diagram showing an exemplary configuration of the control circuit 50 according to the first to fifth embodiments. The control circuit 50 includes an input unit 51, a processor 52, a memory 53, and an output unit 54. The input unit 51 is an interface circuit that receives data input from outside the control circuit 50 and transmits the data to the processor 52. The output unit 54 is an interface circuit that sends data from the processor 52 or the memory 53 outside the control circuit 50.

[0110] In the case where the processing circuitry contains the Fig. 13, the controller 13 is implemented by software, firmware, or a combination of software and firmware. The software or firmware is described as programs and stored in the memory 53. The processing circuit implements the functions of the controller 13 through the processor 52, which reads and executes the programs stored in the memory 53. That is, the processing circuit includes the memory 53 for storing the programs whose execution results in the execution of the processing of the controller 13. It can also be said that these programs cause a computer to execute operations and methods related to the controller 13.

[0111] The processor 52 is a central processing unit (CPU). The processor 52 may be a central processor, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, a processor, or a digital signal processor (DSP). The memory 53 corresponds, for example, to a non-volatile or volatile semiconductor memory such as a random access memory (RAM), a read-only memory (ROM), a flash memory, an erasable programmable read-only memory (EPROM), or an electrically erasable programmable read-only memory (EEPROM (registered trademark)), a magnetic memory, a floppy disk, an optical memory, a CD (compact disk), a mini disk, a DVD (digital versatile disk), or the like.

[0112] Fig. 13 is the example of the hardware in the case where the controller 13 is implemented by the processor 52 and the memory 53 intended for general-purpose use, but the controller 13 may be implemented by a dedicated hardware. Fig. 14 is a diagram showing an exemplary configuration of a dedicated hardware circuit 55 according to the first to fifth embodiments.

[0113] The dedicated hardware circuit 55 includes the input unit 51, the output unit 54, and a processing circuit 56. The processing circuit 56 is a single circuit, a complex circuit, a programmed processor, a parallel programmed processor, an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a circuit obtained by combining these. The functions of the controller 13 can be implemented individually or jointly by the processing circuit 56. Note that the controller 13 can be implemented by a combination of the control circuit 50 and the hardware circuit 55.

[0114] In a case where the learning device 25 is a device external to the controller 13, the learning device 25 is implemented by a processing circuit similar to the controller 13. The processing circuit implementing the learning device 25 is the one shown in the Fig. 13 shown control circuit 50 or the one shown in the Fig. Dedicated hardware circuit 55 shown in Figure 14.

[0115] In a case where the lifetime estimation device 24 is a device external to the controller 13, the lifetime estimation device 24 is implemented by a processing circuit similar to the controller 13. The processing circuit implementing the lifetime estimation device 24 is the one shown in Fig. 13 shown control circuit 50 or the one shown in the Fig. Dedicated hardware circuit 55 shown in Figure 14.

[0116] Specific ways of distributing or integrating the components in the conveyor systems 1A to 1E according to the first to fifth embodiments are not limited to those described in the first to fifth embodiments. All or some of the components of the conveyor systems 1A to 1E can be distributed or integrated into units of any size, functionally or physically.

[0117] The configurations shown in the above embodiments each illustrate an example of the content of the present disclosure. The configurations of the embodiments can be combined with other known techniques. The configurations of the embodiments can be combined with each other as appropriate. Some of the configurations of the embodiments may be omitted or modified without departing from the scope of the present disclosure. List of reference symbols 1A, 1B, 1C, 1D, 1E conveyor system; 10 funding path; 11, 11a, 11b, 11c, 11d, 11e, 11f carrier; 12, 12a, 12b, 12c, 12d, 12e, 12f, 12g, 12h, 12i, 12j, 12k, 121, 12m, 12n conveyor path unit; 13 Control; 14 data communication line; 15 reference point; 16 arrow; 17 permanent magnet; 18 guide rail; 19 Position detection unit; 21 input device; 22 reading device; 23, 53 storage; 24 Lifetime estimation device; 25 learning device; 26 individual identifiers; 31 Preprocessing unit; 32, 41 data reference unit; 33 Model generation unit; 34 Storage unit for trained models; 35 learning data; 36 trained models; 42 inference unit; 43 inference data; 44 Remaining life data; 50 control circuit; 51 input unit; 52 processor; 54 output unit; 55 hardware circuit; 56 processing circuit. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] JP 2021-160842

[0005]

Claims

[1] Conveyor system comprising: a variety of conveyor bodies; a conveying path along which the plurality of conveying bodies move; and a controller for assigning identification information to each of the plurality of conveyor bodies to manage the plurality of conveyor bodies, and for controlling each of the plurality of conveyor bodies, wherein a reference point is set on the conveying path as a reference for a position in a forward direction, which is a direction in which each of the plurality of conveying bodies moves, and wherein the controller assigns first identification information as an initial situation of the identification information to a first conveyor body, which is one of the plurality of conveyor bodies and is closest to the reference point in the forward direction, and assigns second identification information, which is the identification information following the first identification information in an order of arrangement of the second conveyor body in the forward direction or a reverse direction opposite to the forward direction, to each second conveyor body, which is one of the plurality of conveyor bodies other than the first conveyor body. [2] Conveyor system according to claim 1, comprising: a position detecting unit for detecting a position of each of the plurality of conveying bodies on the conveying path, wherein the controller determines the first conveyor body based on a result of detection by the position detection unit. [3] A conveyor system according to claim 1 or 2, wherein the conveyor path is a closed path without branching. [4] Conveyor system according to one of claims 1 to 3, wherein each of the plurality of conveyor bodies is provided with a permanent magnet, and wherein the conveying path comprises a coil for generating a thrust which moves the conveying bodies by interaction with a magnetic field generated by the permanent magnet. [5] Conveyor system according to one of claims 1 to 4, wherein the first identification information is a predetermined number, and wherein the second identification information is a number following the number that is the first identification information in ascending order or descending order. [6] Conveyor system according to one of claims 1 to 4, comprising: an input device on which a number is set as the first identification information, wherein the second identification information is a number following the number set as the first identification information in ascending order or descending order. [7] Conveyor system according to one of claims 1 to 4, wherein each of the plurality of conveyor bodies is provided with an individual identifier that is unique for each of the plurality of conveyor bodies, and the controller stores the identification information assigned to each of the plurality of conveyor bodies in association with the individual identifier, and, upon starting the conveyor system, assigns the identification information assigned to the individual identifier of the first conveyor body to the first conveyor body as the first identification information. [8] Conveyor system according to claim 7, comprising: a reading device for reading the individual identifier with which the first conveyor body is provided, wherein the controller obtains the individual identifier read by the reading device. [9] A conveyor system according to claim 8, wherein the reference point is set in accordance with a position of the reading device. [10] Conveyor system according to claim 8 or 9, wherein the individual identifier is provided on each of two or more surfaces of the conveyor body. [11] Conveyor system according to one of claims 1 to 4, wherein the controller stores position information indicating a position of each of the plurality of conveyor bodies on the conveyor path in association with the identification information assigned to each of the plurality of conveyor bodies in a memory, and wherein, upon starting the conveyor system, the controller compares start position information indicating a position of each of the plurality of conveyor bodies at start-up with the last known position information, which is the position information stored in the memory and a last known part of the position information before start-up, to determine the conveyor body whose position along the conveyor path indicated by the last known position information is closest to the position indicated by the start position information for each of the plurality of conveyor bodies, and assigns the identification information associated with the last known position information of the particular conveyor body to each of the plurality of conveyor bodies. [12] Conveyor system according to one of claims 1 to 4, comprising: a lifetime estimator for estimating a remaining lifetime for each of the plurality of conveyor bodies, wherein the remaining lifetime is a period until maintenance of the conveyor body is performed, wherein the controller exchanges the identification information assigned to each of the plurality of conveyor bodies based on a result of estimating the remaining life for each of the plurality of conveyor bodies. [13] The conveyor system according to claim 12, wherein the controller, based on the result of estimating the remaining life for each of the plurality of conveyor bodies, exchanges the identification information assigned to the conveyor body having the longest estimated remaining life among the plurality of conveyor bodies with the identification information assigned to the conveyor body having the shortest estimated remaining life among the plurality of conveyor bodies. [14] A conveyor system according to claim 12 or 13, comprising a learning device comprising: a data acquisition unit for acquiring learning data including operating state data, operating history data, and remaining life data, wherein the operating state data is data indicating a type of movement of the conveyor body, the operating history data is data indicating a history of the operation of the conveyor body, the remaining life data indicating the remaining life obtained based on a current life of the conveyor body; and a model generation unit for generating a trained model based on the learning data, wherein the trained model is to be used to infer the remaining lifetime from the operating condition data and the operating history data. [15] A conveyor system according to claim 12 or 13, wherein the lifetime estimation device comprises: a data acquisition unit for acquiring operating state data and operating history data for each of the plurality of conveyor bodies, wherein the operating state data is data indicating a type of movement of the conveyor body, wherein the operating history data is data indicating a history of the operation of the conveyor body; and an inference unit for inferring the remaining life of each of the plurality of conveying bodies by inputting the operating state data and the operating history data into a trained model to be used for inferring the remaining life from the operating state data and the operating history data.

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