Collision prevention control system and method

Abstract

To provide a collision prevention control system which can reduce a calculation load of a centralized controller.SOLUTION: A collision prevention control system includes a controller 9, and a plurality of module controllers 24 for controlling drive circuits 22 of a plurality of modules. The module controller 24 of the module where a slider exists transmits slider information including at least an identification ID and a current position of the slider, to the controller 9. The controller 9 transmits the slider information to the plurality of module controllers 24. The module controller 24 of the module where a slider which is an object to be controlled exits controls the slider which is the object to be controlled so as to prevent collision with an adjacent slider.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to a collision prevention control system and method for use in a transport device in which a plurality of sliders move along a transport path having a plurality of modules. [Background technology]

[0002] A transport device has been developed in which multiple sliders move along a transport path. The transport path is composed of multiple modules. The module is provided with multiple coils that serve as stators of a linear motor, and a drive circuit that controls the power supplied to the multiple coils. The slider is provided with a permanent magnet that serves as the mover of the linear motor. When the power supplied to the multiple coils is controlled by the drive circuit and a moving magnetic field is generated in the multiple coils, the slider moves along the transport path.

[0003] This type of conveying device has the advantage of being more flexible than conventional belt conveyors. For example, unlike conventional belt conveyors, it is not necessary to move multiple sliders all at once; instead, multiple sliders can be moved and positioned individually. Also, by appropriately rearranging the modules, it is possible to create an appropriate conveying path depending on the application. For this reason, this type of conveying device is used in a variety of applications (manufacturing, processing, packaging, etc.).

[0004] A typical transport path is closed, and a slider repeatedly moves along the closed transport path. A number of actuators are arranged near the transport path to work in cooperation with the slider. For example, when the slider stops in front of a product supply actuator, the actuator supplies a product to the slider. Next, when the slider stops in front of another actuator, the other actuator processes, assembles, etc. the product on the slider. Next, when the slider stops in front of a product removal actuator, the actuator removes the product from the slider. The above cycle is then repeated.

[0005] In a conveying device in which multiple sliders move along a conveying path, it is important to prevent collisions between the sliders. For example, when the front slider in the moving direction stops, the rear slider must also stop to prevent a collision.

[0006] A conventional collision prevention control method is to stop the rear slider when the inter-slider distance between the front slider and the rear slider is equal to or less than a preset threshold value (see Patent Document 1). [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Patent Publication No. 2022-184755 Summary of the Invention [Problem to be solved by the invention]

[0008] However, in the conventional collision prevention control method, the calculations and controls for preventing collisions of the sliders are performed by a centralized controller, which poses the problem that the calculation load of the centralized controller increases as the number of sliders increases.

[0009] The present invention has been made in consideration of the above problems, and an object of the present invention is to provide a collision prevention control system and method capable of reducing the calculation load of a centralized controller. [Means for solving the problem]

[0010] In order to solve the above problems, one aspect of the present invention is a collision prevention control system used in a conveying device in which a plurality of sliders move along a conveying path having a plurality of modules, the collision prevention control system comprising a controller and a plurality of module controllers that control drive circuits of the plurality of modules, wherein a module controller of a module in which the slider is present transmits slider information including at least an identification ID and a current position of the slider to the controller, the controller transmits the slider information to the plurality of module controllers, and the module controller of a module in which a slider to be controlled is present controls the slider to be controlled to prevent collision with an adjacent slider.

[0011] Another aspect of the present invention is a collision prevention control method used in a conveying device in which a plurality of sliders move along a conveying path having a plurality of modules, the conveying device comprising a controller and a plurality of module controllers that control drive circuits of the plurality of modules, the module controller of the module in which the slider is present transmits slider information including at least identification information and position information of the slider to the controller, the controller transmits the slider information to the plurality of module controllers, and the module controller of the module in which the slider to be controlled is present controls the slider to be controlled to prevent collision with an adjacent slider. Effect of the Invention

[0012] According to the present invention, the control for preventing collisions is distributed to the module controllers of the modules in which the sliders to be controlled are located, thereby reducing the calculation load on the controllers and the centralized controller. Also, if a module controller receives slider information from other module controllers in distant locations via multiple module controllers, it takes time to receive the slider information. By having a module controller receive slider information from other module controllers via the controller, the time it takes to receive the slider information can be shortened. [Brief description of the drawings]

[0013] [Figure 1] 1 is a schematic diagram of a transport device according to an embodiment of the present invention; [Diagram 2] FIG. [Diagram 3] FIG. 2 is a perspective view showing the internal structure of the module. [Figure 4] FIG. [Diagram 5] FIG. 4 is a perspective view showing a scale of the slider. [Figure 6] FIG. 1 is a configuration diagram of a collision prevention control system. [Figure 7] 4 is a flowchart of the operation of the controller. [Figure 8] 4 is a flowchart of the operation of the module controller. [Figure 9] FIG. 13 is a diagram illustrating an interference region. [Figure 10] FIG. 13 is a diagram for explaining the operation of the module controller (operation pattern (1)). [Figure 11] FIG. 13 is a diagram for explaining the operation of the module controller (operation pattern (2)). [Figure 12] FIG. 13 is a diagram for explaining the operation of the module controller (operation pattern (3)). [Figure 13] FIG. 13 is a diagram for explaining the operation of the module controller (operation pattern (4)). [Figure 14] FIG. 13 is a diagram for explaining the operation of the module controller (operation pattern (5)). [Figure 15] FIG. 13 is a diagram for explaining the operation of the module controller (operation pattern (6)). DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, a collision prevention control system and method according to an embodiment of the present invention will be described with reference to the accompanying drawings. However, the collision prevention control system and method according to the present invention can be embodied in various forms and are not limited to the embodiments described herein. The present embodiment is provided with the intention of enabling a person skilled in the art to fully understand the invention by fully disclosing the specification. (Transportation device)

[0015] 1 is a schematic diagram of a conveying apparatus 1 according to an embodiment of the present invention. The conveying apparatus 1 includes a conveying path 2 having a plurality of modules 3. Each module 3 is linear and connected end to end. A plurality of actuators 5 that perform work are disposed near the conveying path 2. The positions of the modules 3 facing the actuators 5 are identified by unique position numbers A, B, C, and D.

[0016] To form a closed conveying path 2, the conveying path 2 is provided with a belt conveyor 6 and a mounting / dismounting module 7. The belt conveyor 6 moves the sliders 4 in the opposite direction to the module 3. The mounting / dismounting module 7 transfers the sliders 4 between the module 3 and the belt conveyor 6. The conveying path 2 may be arranged in a vertical plane and the sliders 4 may be circulated vertically, or the conveying path 2 may be arranged in a horizontal plane and the sliders 4 may be circulated horizontally.

[0017] The transport device 1 is controlled by a centralized controller 8. The centralized controller 8 is a general-purpose PLC (Programmable Logic Controller), a personal computer, or the like. The centralized controller 8 includes a processor, a memory, and a communication interface. The memory includes a ROM and a RAM.

[0018] For example, the centralized controller 8 generates a target position command to move the slider 4 to position number A and sends it to the controller 9. When the slider 4 reaches point A, the module controller of the module 3 sends a signal to the centralized controller 8 via the controller 9 that the slider 4 has reached position number A. Upon receiving this signal, the centralized controller 8 sends a command to start work to the actuator controller 10. When the work of the actuator 5 is finished, the centralized controller 8 moves the slider 4 to position number B. When the work of all the actuators 5 is finished, the centralized controller 8 moves the slider 4 to the attachment / detachment module 7 and the belt conveyor 6.

[0019] The actuator 5 is controlled by an actuator controller 10. The actuator controller 10 is a PLC, a personal computer, etc. The actuator controller 10 includes a processor, a memory, and a communication interface.

[0020] The centralized controller 8 and the controllers 9 are connected by a communication link 12 such as DeviceNet, EtherCAT, or EtherNET / IP. The centralized controller 8 and the actuator controllers 10 are also connected by a communication link 13. The controller 9 and the module controllers of the modules 3 are connected by a communication line 14 capable of synchronous communication such as RS485 or I2C.

[0021] The controller 9 executes the configuration software 11 when the transport device 1 is started up. As a result, the memory 36 (see FIG. 6) of the controller 9 stores machine coordinates (movement coordinates) corresponding to the unique position numbers A, B, C, and D. The memory 36 of the controller 9 also stores the speed, acceleration, jerk, etc., when the module controller of the module 3 creates the motion profile (speed curve) of the slider 4. (Module)

[0022] As shown in FIG. 2, the module 3 includes a stator 20 having a plurality of coils 21. As shown in FIG. 4, a plurality of (four in this embodiment) stators 20 are provided for one module 3. FIG. 2 shows one stator 20. Each stator 20 includes a plurality of (two in this embodiment) sets of U, V, and W-phase coils 21. Power is supplied to the stator 20 by a drive circuit 22. A power line (not shown) is connected to the drive circuit 22. The drive circuit 22 is a power converter such as a PWM inverter. The drive circuit 22 is controlled by a module controller 24. A plurality of (four in this embodiment) drive circuits 22 are provided for one module controller 24. The drive circuit 22 is disposed on a driver board 23 shown in FIG. 3. The module controller 24 is also disposed on the driver board 23 shown in FIG. 3.

[0023] 3, the module 3 includes a linear guide 25 that smoothly guides the linear movement of the slider 4. A rail 26 of the linear guide 25 is attached to a base 28 of the module 3. A carriage 27 of the linear guide 25 is attached to the slider 4.

[0024] The module 3 is provided with sensors 29 for detecting the identification ID and the current position of the slider 4. The sensors 29 are Hall sensors, magnetic resistance sensors, etc. The sensors 29 are disposed on a sensor board 30. The sensors 29 are provided corresponding to the respective stators 20. In this embodiment, four sensors 29 are provided.

[0025] The slider 4 includes a driving permanent magnet 31 that serves as a mover of a linear motor. As shown in Fig. 5, the slider 4 includes a scale 32 that is parallel to the driving permanent magnet 31. The sensor 29 detects the magnetic field of the scale 32 to detect the identification ID and current position of the slider 4. (Collision Prevention Control System)

[0026] 6 shows a configuration diagram of a collision prevention control system. The collision prevention control system includes a controller 9 and a plurality of module controllers 24. The controller 9 is a computer such as a personal computer. The controller 9 includes a processor 35, a memory 36, and a communication interface 37. The memory 36 includes a ROM and a RAM. The processor 35 executes a program stored in the memory 36. The controller 9 may be a microcomputer or an electric circuit such as an FPGA (Field Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit).

[0027] The centralized controller 8 and the controllers 9 are connected by the above-mentioned communication link 12. The controller 9 and the module controllers 24 are connected by a communication line 14 such as RS485, I2C, etc. Adjacent module controllers 24 are also connected by a communication line 15 such as RS485, I2C, etc.

[0028] The controller 9 converts the target position command (position number A, B, C, D) of the slider 4 received from the centralized controller 8 into a target position command (movement coordinates) and transmits the target position command of the slider 4 to all the module controllers 24.

[0029] The module controller 24 is a microcomputer. The module controller 24 includes a processor 38, a memory 39, a communication interface 40, and an interface circuit 41. The module controller 24 may be a computer such as a personal computer, or may be an electric circuit such as an FPGA or an ASIC.

[0030] The module controller 24 receives a target position command (movement coordinates) for the slider 4 from the controller 9. The module controller 24 of the module 3 in which the slider 4 exists creates a motion profile (speed curve, etc.) of the slider 4 based on this target position command, generates a movement command (position command and speed command, or position command), and controls the drive circuit 22. When the slider 4 transfers from the stator 20 to another stator 20, the module controller 24 switches the drive circuit 22. When the slider 4 transfers from a module 3 to another module 3, the module controller 24 of the other module 3 takes over the motion profile and controls the drive circuit 22 of the other module 3.

[0031] The module controller 24 includes an interface circuit 41. The interface circuit 41 processes an output signal of a sensor 29 that detects the current position of the slider 4 so that the output signal can be feedback-controlled. The interface circuit 41 also processes an output signal of a current sensor 42 that detects the current of the stator 20 so that the output signal can be feedback-controlled.

[0032] The processor 38 of the module controller 24 performs position control, speed control, and current control of the slider 4. That is, the processor 38 generates a speed command based on the deviation between the position command of the movement command and the current position detected by the sensor 29. Then, the processor 38 generates a current command based on the deviation between the speed command and the current speed detected by the sensor 29. Then, the processor 38 generates a voltage command based on the deviation between the current command and the current current detected by the current sensor 42. The drive circuit 22 converts DC power to AC power using a switching element based on the voltage command generated by the processor 38, and supplies the AC power to the stator 20. (Collision prevention control method)

[0033] 7 shows a flowchart of the operation of the controller 9. When the controller 9 receives a target position command (position number A, B, C, D) from the centralized controller 8 (S1), the controller 9 converts the target position command (position number A, B, C, D) into a target position command (movement coordinates) and transmits the target position command (movement coordinates) to all the module controllers 24 (S2). The controller 9 also transmits information such as velocity, acceleration, and jerk for creating a motion profile (velocity curve) of the slider 4 to all the module controllers 24.

[0034] Next, the controller 9 receives slider information from the module controller 24 of the module 3 in which the slider 4 exists (S3). The slider information includes the identification ID of the slider 4, the current position, the current speed, and the interference area.

[0035] The identification ID is a number for identifying the slider 4. The current position is the current position of the slider 4 detected by the sensor 29. The current speed is the current speed of the slider 4 detected by the sensor 29. The interference area is, in other words, an area into which other sliders 4 are prohibited from entering. As shown in FIG. 9, the interference area is the distance until the slider 4 decelerates and stops. The interference area is defined by the positive side safe stop position Xcw in the traveling direction of the slider 4 and the negative side safe stop position Xccw in the opposite direction.

[0036] As shown in FIG. 9, when the slider 4 moves in the cw direction on the movement coordinate system, the plus side safe stop position Xcw is determined as shown in Equation 1. (Formula 1) Plus side interference area Xcw = scan time travel distance (mm) + deceleration stop distance (mm) + slider size (+) (mm) + margin (mm)

[0037] The scan time travel distance is the distance that the slider 4 travels during a position update period of the controller 9. The scan time travel distance is determined as in Equation 2. (Formula 2) Scan time travel distance (mm) = number of sliders × αμs × speed (mm / s) Here, α is the time from when the controller 9 inquires of one of the module controllers 24 about slider information until when one of the module controllers 24 responds to the controller 9 about the slider information.

[0038] The deceleration stopping distance is the distance when the slider 4 immediately decelerates to a stop. The deceleration stopping distance is determined as shown in Equation 3. (Formula 3) Deceleration stop distance (mm) = (Deceleration (mm / s) 2 )×0.5+Speed(mm / s))×Speed(mm / s) / Deceleration(mm / s) 2 ) For the deceleration in Equation 3, an emergency stop deceleration that is greater than the deceleration used to create the motion profile (speed curve) is used.

[0039] As shown in Figure 9, the slider size (+) (mm) is the length from the center of the slider 4 to the end of the slider 4 in the moving direction. The slider size (+) uses the longer of the slider 4 or the pallet 16. A margin may or may not be provided.

[0040] The negative safe stop position Xccw is set to 0 when the slider 4 moves in the cw direction or when the slider 4 is at rest.

[0041] When the slider 4 moves in the ccw direction on the movement coordinate system, the negative side safe stop position Xccw is set in the same manner as in Equation 1. The positive side safe stop position Xcw is set to, for example, 0 when the slider 4 moves in the ccw direction or when the slider 4 is stopped.

[0042] 7 again, the controller 9 receives slider information from the module controller 24 of the module 3 in which the slider 4 exists (S3). Then, the controller 9 transmits the received slider information to all module controllers 24 (S4). As a result, all module controllers 24 share the slider information.

[0043] The slider information sent from the controller 9 to the module controller 24 is represented in the table format of Table 1, for example. [Table 1]

[0044] FIG. 8 shows a flowchart of the operation of the module controller 24. The module controller 24 of the module 3 in which the slider 4 to be controlled exists (hereinafter, simply referred to as the module controller 24) receives slider information from the controller 9 (S11). Next, the module controller 24 judges whether the slider 4 to be controlled, which is assumed to have moved to the target position, interferes with the interference area of ​​the adjacent slider 4 (the slider 4 ahead in the traveling direction) (S12). If there is no interference, the module controller 24 sets the target position A received from the controller 9 as the target position (S13), and creates a motion profile (speed curve) based on the target position A (S15). If there is interference, the module controller 24 changes the target position to a provisional target position A1 so as to avoid interference (S14), and creates a motion profile based on the provisional target position A1 (S15). Next, the module controller 24 generates a movement command (a position command and a speed command, or a position command) based on the motion profile, and controls the drive circuit 22 to feedback-control the slider 4 that is the object of control (S16).

[0045] The operations (S12) to (S15) of the module controller will be explained in detail below by dividing them into patterns. As shown in FIG. 10, the current position of the slider 4A to be controlled is A, and the current position of the adjacent slider 4B received from the controller 9 is B. The interference area 18(+) of the slider 4B is the plus side safe stop position Xcw received from the controller 9. The interference area 18(-) of the slider 4B is obtained from the minus side safe stop position Xccw and the slider size (-) received from the controller 9. The plus side safe stop position Xcw, the minus side safe stop position Xccw, and the slider size (+)(-) are stored in the memory 39 of the module controller 24. The symbol 19(+)(-) indicates the slider size (+)(-) of the slider 4A.

[0046] As shown in FIG. 10, it is assumed that the slider 4A to be controlled has moved to the target position A received from the controller 9. The slider 4 at the target position A is indicated by a dashed line. If the slider 4A does not interfere with the interference area 18 of the slider 4B even after moving to the target position A, the module controller 24 sets the target position to the target position A received from the controller 9. Then, as shown in FIG. 10, a motion profile (trapezoidal velocity curve 17) is created. Note that this velocity curve 17 means that in the process of the slider 4A moving, it gradually accelerates, then becomes a constant speed, then gradually decelerates, and stops at the target position A.

[0047] 11(a), when slider 4A, assumed to have moved to target position A, interferes with interference area 18 of adjacent slider 4B, the module controller 24 changes the target position from target position A received from the controller 9 to provisional target position A1 so as to avoid the interference. Then, based on provisional target position A1, the velocity curve 17 is changed to velocity curve 17-1, indicated by the dashed line in FIG. 11(a).

[0048] The velocity curve 17-1 is updated at a predetermined update period (for example, 1 ms). As shown in FIG. 11(b), after a predetermined time has elapsed, when the slider 4B moves to the current position B shown in FIG. 11(b), the slider 4A will no longer interfere with the slider 4B even if it moves to the target position A. At this time, the module controller 24 resets the target position to the target position A received from the controller 9, and returns the velocity curve 17-1 to the original velocity curve 17. As a result, in this case, the operation of the slider 4A is not affected by the slider 4B.

[0049] 12(a) and (b) show an example in which the slider 4B is stopped. As shown in FIG. 12(a), when the slider 4A, which is assumed to have moved to the target position A, interferes with the interference area 18 of the stopped slider 4B, the module controller 24 changes the target position A of the slider 4A to a provisional target position A1 so as to avoid the interference. Then, based on the provisional target position A1, the velocity curve 17 is changed to a velocity curve 17-1 shown by a dashed line in FIG. 12(a).

[0050] 12(b), the slider 4B remains stopped even after a predetermined time has elapsed. The module controller 24 continues to hold the provisional target position A1, and stops the slider 4A at the provisional target position A1.

[0051] 13(a) and (b) show an example in which the slider 4B is moving at a low speed. As shown in FIG. 13(a), when the slider 4A, which is assumed to have moved to the target position A, interferes with the interference area 18 of the slider 4B moving at a low speed, the module controller 24 changes the target position A to a provisional target position A1 so as to avoid the interference. Then, based on the provisional target position A1, the speed curve 17 is changed to a speed curve 17-1 shown by a dashed line in FIG. 13(a).

[0052] 13(b), when the slider 4A catches up with the slider 4B, the module controller 24 changes the provisional target position A1 to a new provisional target position A2 and generates a velocity curve 17-2. At this time, the slider 4A repeatedly accelerates and decelerates until it reaches the same speed as the slider 4B.

[0053] Figures 14(a) and (b) show an example of a slider 4B moving at high speed. As shown in Figure 14(a), when the slider 4A, which is assumed to have moved to the target position A, interferes with the interference area 18 of the slider 4B moving at high speed, the module controller 24 changes the target position A to a provisional target position A1 to avoid the interference. Then, based on the provisional target position A1, the velocity curve 17 is changed to a velocity curve 17-1 shown by a dashed line in Figure 14(a).

[0054] 14(b), after a predetermined time, when the slider 4B is separated from the slider 4A, the module controller 24 changes the provisional target position A1 to a new provisional target position A2 in accordance with the movement of the slider 4B, and generates a new velocity curve 17-2. The new velocity curve 17-2 becomes closer to the original velocity curve 17.

[0055] 15(a), (b), and (c) show an example in which slider 4A and slider 4B are moving facing each other. Slider 4A is controlled by the module controller 24 of the module 3 in which slider 4A is present. Slider 4B is controlled by the module controller 24 of the module 3 in which slider 4B is present. As shown in FIG. 15(a), at the start of the operation, slider 4A and slider 4B are separated. Slider 4A moves based on a speed curve 33, and slider 4B moves based on a speed curve 34. As shown in FIG. 15(a) and FIG. 15(b), neither slider 4A nor slider 4B decelerates until the interference region 18 of slider 4A and the interference region 18 of slider 4B overlap. As shown in FIG. 15(b) to (c), when the interference area 18 of the slider 4A and the interference area 18 of the slider 4B interfere with each other, the module controller 24 of the module 3 in which the slider 4A exists changes the target position A to a provisional target position A1 that avoids the interference, and changes the speed curve 33 to a speed curve 33-1 shown by a dashed line in FIG. 15(c) based on the provisional target position A1. Then, the slider 4A is decelerated and stopped at an emergency stop deceleration that is greater than the deceleration when the sliders 4A and 4B move in the same direction. Similarly, the module controller 24 of the module 3 in which the slider 4B exists changes the target position B to a provisional target position B1, changes the speed curve 34 to a speed curve 34-1, and decelerates and stops the slider 4B at the same emergency stop deceleration as the slider 4A. This makes it possible to prevent the sliders 4A and 4B from colliding with each other. When stopped, the slider 4A and the slider 4B are separated by a margin x 2. (effect)

[0056] The collision prevention control system and method of the present embodiment provide the following advantages.

[0057] Since the control for preventing collisions is distributed to the module controllers 24 of the modules 3 in which the sliders 4 to be controlled are located, it is possible to reduce the calculation load on the controller 9 and the centralized controller 8. Also, if a module controller 24 receives slider information from other module controllers 24 in distant locations via multiple module controllers 24, it takes time to receive the slider information. By having a module controller 24 receive slider information from other module controllers 24 via the controller 9, it is possible to shorten the time it takes to receive the slider information.

[0058] Since the slider information includes the identification ID of the slider 4, the current position, and the interference area, various controls for preventing collisions become possible.

[0059] When the module controller 24 assumes that the slider 4 to be controlled has moved to the target position and interferes with the interference area of ​​an adjacent slider 4, it changes the target position of the slider 4 to be controlled to a provisional target position to avoid the interference, thereby eliminating the need to stop the slider 4 to be controlled unnecessarily and improving the throughput of the conveying device 1.

[0060] When the controlled slider 4 and the adjacent slider 4 move in directions facing each other, the controlled slider 4 is decelerated and stopped at an emergency stop deceleration that is greater than the deceleration when they move in the same direction, so that the collision of the two sliders 4 can be safely prevented.

[0061] Since the interference region includes the deceleration and stopping distance until the sliders 4 decelerate and stop, collision between the two sliders 4 when they move in directions facing each other can be safely prevented.

[0062] Since the interference region includes the scan time travel distance traveled by the sliders 4 during the position update period of the controller 9, collisions between the two sliders 4 moving in directions toward each other can be safely prevented.

[0063] Since the controller 9 transmits the target position command for the slider 4 received from the centralized controller 8 to the module controller 24, the calculation load of the centralized controller 8 can be reduced.

[0064] It should be noted that the present invention is not limited to the above-described embodiment, and can be embodied in other embodiments without departing from the spirit and scope of the present invention.

[0065] For example, a module controller of a module in which a slider to be controlled is present may calculate the distance between the slider to be controlled and an adjacent slider based on the slider's identification ID and current position information, and stop the slider to be controlled when this distance is equal to or less than a preset threshold value.

[0066] In the above embodiment, four drive circuits are provided for one module controller, but one drive circuit may be provided for one module controller.

[0067] In the above embodiment, the centralized controller and the controller are separated, but the centralized controller and the controller may be integrated and the functions of the controller may be incorporated in the centralized controller. [Explanation of symbols]

[0068] REFERENCE SIGNS LIST 1...conveyor device, 2...conveyor path, 3...module, 4...slider, 8...centralized controller, 9...controller, 22...drive circuit

Claims

1. A collision prevention control system for use in a conveying device in which a plurality of sliders move along a conveying path having a plurality of modules, comprising: A controller; a plurality of module controllers for controlling drive circuits of the plurality of modules; A module controller of a module in which the slider is present transmits slider information including at least an identification ID and a current position of the slider to the controller; the controller sending the slider information to the plurality of module controllers; A collision prevention control system in which a module controller of a module in which a slider to be controlled is present controls the slider to be controlled so as to prevent the slider from colliding with an adjacent slider.

2. 2. The collision prevention control system according to claim 1, wherein the slider information includes an identification ID, a current position and an interference area of ​​the slider.

3. 3. The collision prevention control system according to claim 2, wherein the module controller changes the target position of the slider to be controlled to a provisional target position so as to avoid interference when the slider to be controlled, assumed to have moved to the target position, interferes with the interference area of ​​an adjacent slider.

4. 3. The collision prevention control system according to claim 1, wherein, when the controlled slider and an adjacent slider move in directions toward each other, the module controller decelerates and stops the controlled slider at an emergency stop deceleration that is greater than a deceleration when the controlled slider and an adjacent slider move in the same direction.

5. 4. The collision prevention control system according to claim 2, wherein the interference region includes a deceleration / stop distance required for the slider to decelerate and stop.

6. 6. The collision prevention control system of claim 5, wherein the interference region includes a scan time travel distance traveled by the slider during a position update period of the controller.

7. 3. The collision prevention control system according to claim 1, wherein the controller transmits a target position command for the slider received from a centralized controller to the module controllers.

8. A collision prevention control method used in a conveying device in which a plurality of sliders move along a conveying path having a plurality of modules, comprising the steps of: the transport device includes a controller and a plurality of module controllers that control drive circuits of the plurality of modules; A module controller of a module in which the slider is present transmits slider information including at least identification information and position information of the slider to the controller; the controller sending the slider information to the plurality of module controllers; A collision prevention control method in which a module controller of a module in which a slider to be controlled exists controls the slider to be controlled so as to prevent the slider from colliding with an adjacent slider.

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