Path formation device, path setting device, drive device, path formation method and storage medium

Abstract

To provide a path formation device capable of reducing an operation load applied to a user in a path of a driven object.SOLUTION: A path management device 4 comprises: a path element storage part 40 which stores multiple path elements having a different shape, the multiple path elements being continuously connected for forming a path of a driven object; an operation detection part 41 for detecting movement operation performed by a user U from an existing path element which is displayed on an operation screen D on which the user U can perform operation; a path element selection part 45 for selecting one path element out of the multiple path elements stored in the path element storage part 40, by considering continuity between a movement locus on the operation screen D of the movement operation with the existing path element; and a path element automatic arrangement part 46 for arranging on the operation screen D, the one path element so as to be continuously connected to the existing path element.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a drive device and the like. [Background technology]

[0002] Patent Document 1 discloses a linear transport system that drives a mover along a circular track. Such a circular track can be designed by a user placing and combining linear track elements and curved track elements as image objects on an operation screen. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-99385 A Summary of the Invention [Problem to be solved by the invention]

[0004] In conventional orbit design, the user selects each orbital element they want to place, and then moves them to the desired position using selection and movement operations such as drag-and-drop. In this way, the user had to perform operations such as drag-and-drop for all orbital elements they wanted to place. Therefore, when the orbit to be designed is long or has a complex shape, the user's operational burden increases and the time required for orbit design increases.

[0005] The present disclosure has been made in consideration of these circumstances, and aims to provide a path forming device etc. that can reduce the operational burden on a user regarding the path of a driven object. [Means for solving the problem]

[0006] In order to solve the above problems, a route formation device according to one aspect of the present disclosure includes an operation detection unit that detects a user's movement operation on an operation screen, and an automatic route element arrangement unit that arranges route elements that are continuously connected to existing route elements, taking into consideration a movement trajectory based on the movement operation and the continuity between the existing route elements displayed on the operation screen, and forms a route for a driven object.

[0007] In this aspect, in response to a movement operation by the user, a new route element is arranged so as to be continuously connected to the existing route element. Since the selection of the new route element is performed automatically, the user does not need to perform an explicit selection operation. Therefore, according to this aspect, the operational burden on the user in designing a route for a driven object can be reduced.

[0008] Another aspect of the present disclosure is a route setting device that includes a route display unit that displays a route for a driven object formed by continuously connecting a plurality of route elements on an operation screen that can be operated by a user, an operation detection unit that detects a selection operation by the user on the route, an area selection unit that collectively selects any route area including a plurality of consecutive route elements on the route in response to the selection operation, and a setting information input unit that inputs setting information for the route area selected by the area selection unit in response to an input operation by the user.

[0009] In this aspect, a route area including a plurality of route elements can be selected in a lump in response to a selection operation by the user, and setting information for the route area can be input in a lump in response to the selection operation, thereby reducing the operational burden on the user in setting a route for a driven object.

[0010] Yet another aspect of the present disclosure is a driving device including: an operation detection unit that detects a user's movement operation on an operation screen; an automatic route element arrangement unit that arranges route elements that are continuously connected to existing route elements displayed on the operation screen in consideration of a movement trajectory based on the movement operation and continuity between the existing route elements and the existing route elements displayed on the operation screen, thereby forming a route for a driven object; and a driving unit that drives the driven object on the route formed by the automatic route element arrangement unit.

[0011] Yet another aspect of the present disclosure is a route formation method, which executes the steps of: detecting a movement operation of a user on an operation screen; and, taking into consideration the continuity between a movement trajectory based on the movement operation and an existing route element displayed on the operation screen, arranging route elements that are continuously connected to the existing route element, thereby forming a route for a driven object.

[0012] Yet another aspect of the present disclosure is a storage medium that stores a route formation program that causes a computer to execute the following operations: detecting a movement operation of a user on an operation screen; and, taking into consideration the continuity between a movement trajectory based on the movement operation and an existing route element displayed on the operation screen, arranging route elements that are continuously connected to the existing route element, thereby forming a route for a driven object.

[0013] Any combination of the above components, or any conversion of these components into a method, device, system, recording medium, computer program, or the like, is also encompassed by the present disclosure. Effect of the Invention

[0014] According to the present disclosure, it is possible to reduce the operational burden on the user regarding the path of the driven object. [Brief description of the drawings]

[0015] [Figure 1] FIG. 1 is a perspective view showing an overall structure of a linear transport system. [Diagram 2] FIG. 2 is a functional block diagram of a route management device of the linear transport system. [Diagram 3] 3A and 3B show schematic examples of route elements stored in a route element storage unit. [Figure 4] 13A and 13B show schematic diagrams of a path creation area in which a mover path can be created by combining various path elements. [Diagram 5] An example of creating a path for the mover is shown. [Figure 6] 13 shows an example of adjusting the direction of a starting route element. [Figure 7]An example of creating a path for the mover is shown. [Figure 8] An example of creating a path for the mover is shown. [Figure 9] 13 illustrates a schematic concept of the processing executed by an entrance / exit point detection unit and a route element selection unit. [Figure 10] An example of creating a path for the mover is shown. [Figure 11] An example of creating a path for the mover is shown. [Figure 12] An example of creating a path for the mover is shown. [Figure 13] An example of creating a path for the mover is shown. [Figure 14] An example of processing for the path of the mover is shown. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] In the following, a form for carrying out the present disclosure (hereinafter, also referred to as an embodiment) will be described in detail with reference to the drawings. In the description and / or drawings, identical or equivalent components, members, processes, etc. will be given the same reference numerals, and duplicated descriptions will be omitted. The scale and shape of each part shown in the drawings are set for convenience in order to simplify the description, and are not to be interpreted as being limiting unless otherwise specified. The embodiment is an example, and does not limit the scope of the present disclosure in any way. All features and their combinations presented in the embodiment are not necessarily essential to the present disclosure. The embodiment is presented for convenience, decomposed into components for each function and / or each functional group that realizes it. However, one component in the embodiment may actually be realized by a combination of multiple components as separate entities, and multiple components in the embodiment may actually be realized by one component as an integrated entity.

[0017] 1 is a perspective view showing the overall structure of a linear conveyance system 1, which is one embodiment of a driving device according to the present disclosure. The linear conveyance system 1 includes a stator 2 that constitutes a circular rail, track, path, or the like, and a plurality of driven objects or movers 3A, 3B, 3C, and 3D (hereinafter collectively referred to as driven objects 3 or movers 3) that are driven relative to the stator 2 and can move along the rail. An electromagnet or coil provided on the stator 2 and a permanent magnet provided on the mover 3 face each other, forming a linear motor as a drive unit or actuator along the circular rail.

[0018] The rail formed by the stator 2 is not limited to a ring shape and may have any shape. For example, the rail may be straight or curved, one rail may branch into multiple rails, or multiple rails may merge into one rail. The installation direction of the rail formed by the stator 2 is also arbitrary. In the example of FIG. 1, the rail is disposed in a horizontal plane, but the rail may be disposed in a vertical plane, or in a plane or curved surface with any inclination angle.

[0019] The stator 2 has a rail surface 21 with the horizontal direction as the normal direction. The rail surface 21 as a track surface extends in a band shape along the direction in which the rail is formed, and when a ring-shaped rail is formed as in the example of FIG. 1, it becomes an endless band shape with both virtual ends connected. In the rail surface 21 capable of forming a rail of any shape in this way, a plurality of drive modules (not shown) equipped with electromagnets are embedded or arranged continuously or periodically along the rail. The electromagnets in the drive modules generate a magnetic field that exerts a propulsive force or thrust along the rail on the permanent magnet of the mover 3 and / or the electromagnet itself. Specifically, when a drive current such as a three-phase AC current is applied to these numerous electromagnets, a moving magnetic field is generated that linearly drives the mover 3 equipped with a permanent magnet in a desired tangential direction along the rail.

[0020] In the example of Fig. 1, the normal direction of the rail surface 21 that forms the annular rail in a horizontal plane is horizontal, but the normal direction of the rail surface 21 may be vertical or any other direction. As will be described later, the rail surface 21 may be provided not only on the outer peripheral surface of the rail as shown in Fig. 1, but also on the inner peripheral surface of the rail. Such rail surface 21 as the outer peripheral and / or inner peripheral surface of the rail has a drive module as the drive unit described above directly below the surface, and functions as a track surface that actually drives the mover 3.

[0021] In the stator 2, magnetic sensors (not shown) are embedded continuously or periodically as position detection units capable of measuring the position of a magnetic scale (not shown) as a positioning target or positioning scale attached to the mover 3 in the positioning unit 22 provided on the upper or lower surface perpendicular to the rail surface 21. A magnetic sensor that measures a magnetic scale formed by a striped magnetic pattern or magnetic graduations at a constant pitch generally has multiple magnetic detection heads. By shifting the interval between the multiple magnetic detection heads with respect to the pitch or period of the magnetic pattern of the magnetic scale, the magnetic sensor can measure the position of the magnetic scale with high accuracy. In a typical magnetic sensor provided with two magnetic detection heads, for example, the interval between the two magnetic detection heads is shifted by 1 / 4 pitch with respect to the magnetic pattern of the magnetic scale (they are out of phase with each other by 90 degrees).

[0022] Conversely, a magnetic sensor may be provided on the mover 3 and a magnetic scale may be provided on the stator 2. Furthermore, by differentiating the position of the mover 3 measured by the positioning unit 22 with respect to time, the speed of the mover 3 can be detected, and by differentiating the speed with respect to time, the acceleration of the mover 3 can be detected. Conversely, a magnetic sensor may be provided on the mover 3 and a magnetic scale may be provided on the stator 2.

[0023] The position detection unit provided on the stator 2 and / or the mover 3 and the target or scale to be positioned on the mover 3 are not limited to the magnetic type as described above, and may be optical or other type. In the case of the optical type, an optical scale formed of stripes or scales with a fixed pitch is attached to the mover 3 (or the stator 2), and an optical sensor capable of optically reading the stripes of the optical scale is provided on the stator 2 (or the mover 3). In the magnetic and optical types, the position detection unit measures the target (magnetic scale or optical scale) without contact, so that the risk of the position detection unit breaking down when the object being transported by the mover 3 is scattered and enters the positioning location (the upper surface of the stator 2) can be reduced. However, in the optical type, if the optical scale is covered by the object being transported, such as liquid or powder, that enters the positioning location, the positioning accuracy deteriorates. Therefore, if the object being transported has negligible magnetism, it is preferable to use the magnetic type, which does not deteriorate the positioning accuracy even if it enters the positioning location.

[0024] The mover 3 comprises a mover body 31 facing the rail surface 21 of the stator 2, a positioned part 32 that extends horizontally from the top of the mover body 31 and faces the positioning part 22 of the stator 2, and a transport part 33 that extends horizontally from the mover body 31 on the opposite side to the positioned part 32 (the side farther from the stator 2) and on which a transported object is placed or fixed. The mover body 31 comprises one or more permanent magnets (not shown) that face multiple electromagnets embedded in the rail surface 21 of the stator 2 along the rail. The moving magnetic field generated by the electromagnets of the stator 2 applies a linear power or propulsion force in the tangential direction of the rail to the permanent magnets and / or the electromagnets themselves of the mover 3, so that the mover 3 is linearly driven along the rail surface 21 relative to the stator 2.

[0025] In the positioned portion 32 of the mover 3, a magnetic scale or an optical scale as a positioning target or a positioning scale is provided so as to face a position detection unit (magnetic sensor or optical sensor) provided in the positioning portion 22 of the stator 2. In the example of Fig. 1 in which the position detection unit is provided on the upper surface of the stator 2, a positioning target such as a magnetic scale is attached to the lower surface of the positioned portion 32 of the mover 3. When the positioning portion 22 and the positioned portion 32 are magnetic, it is preferable that the rail surface 21 and the positioning portion 22 are formed on different surfaces or at separate locations in the stator 2, and that the mover body 31 and the positioned portion 32 are formed on different surfaces or at separate locations in the mover 3, so that the magnetic field between the electromagnets on the rail surface 21 and the permanent magnets in the mover body 31 does not affect the magnetic positioning of the positioning portion 22 and the positioned portion 32.

[0026] FIG. 1 illustrates four movers 3A, 3B, 3C, and 3D as an example, but it is conceivable that, for example, in a linear transport system 1 that transports a large number of transport objects, more than 1,000 movers 3 may be required.

[0027] FIG. 2 is a functional block diagram of the route management device 4 as a route formation device and / or route setting device of the linear transport system 1 according to this embodiment. The route management device 4 includes a route element storage unit 40, an operation detection unit 41, a route display unit 42, a starting point route element arrangement unit 43, a starting point route element direction adjustment unit 44, a route element selection unit 45, a route element automatic arrangement unit 46, an entrance / exit point detection unit 47, an area selection unit 48, and a setting information input unit 49. As long as the route management device 4 can achieve at least a part of the actions and / or effects described below, some of these functional blocks may be omitted. These functional blocks may be realized by the cooperation of hardware resources such as a central processing unit, memory, input device, output device, and peripheral devices connected to the computer, and software executed using them. Regardless of the type of computer or the installation location, each of the above functional blocks may be realized by the hardware resources of a single computer, or by combining hardware resources distributed among multiple computers.

[0028] The route formation device according to this embodiment is configured, for example, by all or part of a route element storage unit 40, an operation detection unit 41, a route display unit 42, a starting point route element arrangement unit 43, a starting point route element direction adjustment unit 44, a route element selection unit 45, an automatic route element arrangement unit 46, an entrance / exit point detection unit 47, an area selection unit 48, and a setting information input unit 49. The route setting device according to this embodiment is configured, for example, by all or part of the operation detection unit 41, the route display unit 42, the area selection unit 48, and the setting information input unit 49.

[0029] The path management device 4 is a device that supports a user U who forms and sets a path of the mover 3 corresponding to the above-mentioned rail of the linear transport system 1 through a display D (hereinafter, also referred to as an operation screen D) as an operation screen. While visually checking various pieces of information related to the path displayed on the display D, the user U performs various operations related to the formation and setting of the path through an operation detection unit 41 described later.

[0030] The operation detection unit 41 detects various operations, described later, performed by the user U on the operation screen D. The operation detection unit 41 may be configured, for example, by a touch panel or a touch screen capable of detecting a contact operation or a touch operation performed by the user U on the operation screen D. In addition, the operation detection unit 41 may be configured by any input device or pointing device of a computer (not shown) to which the display D or monitor is connected, which is capable of designating any operation position on the operation screen D.

[0031] Details will be described later, but the route display unit 42 displays, on an operation screen D that the user U can operate, a route creation area in which the user U can create a route for the movable element 3, the route or route elements that the user U is creating in the route creation area, the route that the user U has created in the route creation area, etc.

[0032] In the path creation area displayed on the operation screen D, a path for the mover 3 is created in response to various operations by the user U, which will be described later. Specifically, path elements of various different shapes and / or configurations stored in the path element storage unit 40 are combined or continuously connected in response to operations by the user U, thereby creating the path for the mover 3.

[0033] FIG. 3 shows an example of route elements stored in the route element storage unit 40. Each route element is an image object that can be arranged one by one in a unit area UR constituting a route creation area in the operation screen D, as described later. Each strip-shaped route element is a schematic representation of a stator 2 as a track in FIG. 1 divided into each track element or each track unit of a predetermined size or length, viewed from above (in the direction in which the positioning unit 22 in FIG. 1 faces forward). As shown by a thick solid line in FIG. 3, one edge of each strip-shaped route element in the width direction is set as a track line R corresponding to the rail surface 21 in FIG. 1.

[0034] The numerous route elements stored in the route element storage unit 40 are roughly classified into straight route elements and curved route elements.

[0035] In the illustrated example, the straight-line path elements include an outer circumferential straight-line path element OS and an inner circumferential straight-line path element IS. The outer circumferential straight-line path element OS is a path element that extends in a straight line from one vertex of the unit area UR to an adjacent vertex, and its outer circumferential edge is set as a trajectory line R. The inner circumferential straight-line path element IS is a path element that extends in a straight line from one vertex of the unit area UR to an adjacent vertex, and its inner circumferential edge is set as a trajectory line R.

[0036] In the illustrated example, the curved route elements include outer peripheral left curved route elements OLC1, OLC2, outer peripheral right curved route elements ORC1, ORC2, inner peripheral left curved route elements ILC1, ILC2, and inner peripheral right curved route elements IRC1, IRC2.

[0037] The outer periphery left curved path element OLC1 as the first curved path element is a path element that extends in a curved manner from one vertex of the unit area UR to a diagonal vertex, and is an outer periphery track path element whose outer periphery edge is set as a track line R. The angle between the directions of both ends of this outer periphery left curved path element OLC1 is, for example, 90 degrees. The outer periphery left curved path element OLC2 as the second curved path element is a path element that extends in a curved manner from one vertex of the unit area UR to the midpoint between the adjacent vertex and the diagonal vertex, and is an outer periphery track path element whose outer periphery edge is set as a track line R. The angle between the directions of both ends of this outer periphery left curved path element OLC1 is, for example, 45 degrees. In this way, the outer periphery left curved path element OLC1 as the first curved path element and the outer periphery left curved path element OLC2 as the second curved path element have different curvatures or bending angles.

[0038] The outer periphery right curved path element ORC1 as the first curved path element is a path element that extends in a curved manner from one vertex of the unit area UR to a diagonal vertex, and is an outer periphery track path element whose outer periphery edge is set as a track line R. The angle between the directions of both ends of this outer periphery right curved path element ORC1 is, for example, 90 degrees. The outer periphery right curved path element ORC2 as the second curved path element is a path element that extends in a curved manner from one vertex of the unit area UR to the midpoint between the adjacent vertex and the diagonal vertex, and is an outer periphery track path element whose outer periphery edge is set as a track line R. The angle between the directions of both ends of this outer periphery right curved path element ORC1 is, for example, 45 degrees. In this way, the outer periphery right curved path element ORC1 as the first curved path element and the outer periphery right curved path element ORC2 as the second curved path element have different curvatures or bending angles.

[0039] The outer periphery left curved path element OLC1 and the outer periphery right curved path element ORC1 are line-symmetrical with respect to the symmetrical axis of the unit area UR in the up-down direction in FIG. 3. In this embodiment, for one of the curved path elements having such a line-symmetrical relationship (for example, the outer periphery left curved path element OLC1), the word "left" is used for convenience, and for the other (for example, the outer periphery right curved path element ORC1), the word "right" is used for convenience. Here, "left" and "right" only mean that they are line-symmetrical with each other. In addition, when the bending angle is 90 degrees as in the outer periphery left curved path element OLC1 and the outer periphery right curved path element ORC1, since both are point-symmetrical, they will match if rotated around the center of the unit area UR. As will be described later, the automatic path element arrangement unit 46 arranges each path element after appropriately rotating it, so there is no substantial difference between the outer periphery left curved path element OLC1 and the outer periphery right curved path element ORC1, which are point-symmetrical with each other, and only one of them may be stored in the path element storage unit 40.

[0040] The outer periphery left curved route element OLC2 and the outer periphery right curved route element ORC2 are line symmetric with respect to the symmetry axis of the unit area UR in the up-down direction in Fig. 3. Here, when the bending angle is not 90 degrees as in the outer periphery left curved route element OLC2 and the outer periphery right curved route element ORC2, they are not point symmetric and therefore do not match even when rotated around the center of the unit area UR. For this reason, unlike the outer periphery left curved route element OLC1 and the outer periphery right curved route element ORC1, one of which may be omitted, it is preferable that both the outer periphery left curved route element OLC2 and the outer periphery right curved route element ORC2 are stored in the route element storage unit 40.

[0041] The inner left curved path element ILC1 as the first curved path element is a path element that extends in a curved manner from one vertex of the unit area UR to a diagonal vertex, and is an inner orbital path element whose inner edge is set as a track line R. The angle between the directions of both ends of this inner left curved path element ILC1 is, for example, 90 degrees. The inner left curved path element ILC2 as the second curved path element is a path element that extends in a curved manner from one vertex of the unit area UR to the midpoint between the adjacent vertex and the diagonal vertex, and is an inner orbital path element whose inner edge is set as a track line R. The angle between the directions of both ends of this inner left curved path element ILC1 is, for example, 45 degrees. In this way, the inner left curved path element ILC1 as the first curved path element and the inner left curved path element ILC2 as the second curved path element have different curvatures or bending angles.

[0042] The inner right curved path element IRC1 as the first curved path element is a path element that extends in a curved manner from one vertex of the unit area UR to a diagonal vertex, and is an inner circumferential orbital path element whose inner edge is set as a track line R. The angle between the directions of both ends of this inner right curved path element IRC1 is, for example, 90 degrees. The inner right curved path element IRC2 as the second curved path element is a path element that extends in a curved manner from one vertex of the unit area UR to the midpoint between the adjacent vertex and the diagonal vertex, and is an inner circumferential orbital path element whose inner edge is set as a track line R. The angle between the directions of both ends of this inner right curved path element IRC1 is, for example, 45 degrees. In this way, the inner right curved path element IRC1 as the first curved path element and the inner right curved path element IRC2 as the second curved path element have different curvatures or bending angles.

[0043] The inner left curved route element ILC1 and the inner right curved route element IRC1 are line symmetric with respect to the symmetry axis of the unit area UR in the up-down direction in Fig. 3. When the bending angle is 90 degrees, as in the inner left curved route element ILC1 and the inner right curved route element IRC1, they are point symmetric and therefore will match if rotated about the center of the unit area UR. As will be described later, the route element automatic arrangement unit 46 arranges each route element after appropriately rotating it, so there is no substantial difference between the inner left curved route element ILC1 and the inner right curved route element IRC1, which are point symmetric with each other, and only one of them may be stored in the route element storage unit 40.

[0044] The inner left curved route element ILC2 and the inner right curved route element IRC2 are line symmetric with respect to the symmetry axis of the unit area UR in the up-down direction in Fig. 3. Here, when the bending angle is not 90 degrees as in the case of the inner left curved route element ILC2 and the inner right curved route element IRC2, they are not point symmetric and therefore do not match even when rotated around the center of the unit area UR. For this reason, unlike the inner left curved route element ILC1 and the inner right curved route element IRC1, one of which may be omitted, it is preferable that both the inner left curved route element ILC2 and the inner right curved route element IRC2 are stored in the route element storage unit 40.

[0045] FIG. 4 is a schematic diagram showing a path creation area A displayed on an operation screen D, in which a path for the mover 3 can be created by combining path elements of various shapes and / or configurations as exemplified in FIG. 3. In the example of FIG. 4 showing an initial state or a path creation start state, path elements and paths have not yet been placed in the path creation area A. As shown in FIG. 4, the path creation area A is divided into a plurality of unit areas UR, each of which can accommodate one path element. In the example of FIG. 4, a large rectangular path creation area A is divided into small rectangular unit areas UR in a lattice pattern, but the shape of the path creation area A and / or each unit area UR is not limited to a rectangular shape, and the position and direction of each unit area UR are not limited to a lattice pattern.

[0046] For example, when only the straight-line route elements OS and IS and the 90-degree bent curved route elements OLC1, ORC1, ILC1, and IRC1 are used to generate a route among the route elements shown in FIG. 3, a rectangular and lattice-like unit area UR as shown in FIG. 4 is sufficient. On the other hand, when the 45-degree bent curved route elements OLC2, ORC2, ILC2, and IRC2 are used among the route elements shown in FIG. 3, one end (the upper end in FIG. 3) does not end at the apex of the unit area UR. In this case, the route elements cannot be continuously connected in the lattice-like arrangement of the unit area UR as shown in FIG. 4. Therefore, when irregular route elements such as the 45-degree bent curved route elements OLC2, ORC2, ILC2, and IRC2 are arranged, the position and / or direction of the adjacent unit area UR is automatically adjusted so that the next route element that is continuously connected to it can be accommodated.

[0047] In this way, the arrangement and shape of the unit area UR are not limited to the fixed ones as shown in FIG. 4, but may be dynamically changed according to the route elements arranged in sequence as described later. In the example of FIG. 4, all the rectangular and lattice-shaped unit areas UR are shown by dotted lines, but the actual route creation area A or operation screen D may not display any unit area UR at all, or only some unit areas UR related to the current or next operation may be displayed. For example, in the example of FIG. 4, the unit area SR of the current operation target selected by the user U is shown by solid lines, but only this operation target area SR may be displayed in the route creation area A, or in addition to the operation target area SR, only the unit areas UR adjacent thereto (for example, above, below, left, right in FIG. 4) may be displayed in the route creation area A.

[0048] As shown in FIG. 5, the start route element placement unit 43 places a start route element, which is the first route element in the route to be created, on the operation target area SR in the operation screen D and the route creation area A in response to a selection operation and / or placement operation of the operation target area SR by the user U detected by the operation detection unit 41. This start route element may be any route element stored in the route element storage unit 40. However, the start route element is preferably a straight route element, and in the example of FIG. 5, an outer periphery straight route element OS is placed on the operation target area SR as the start route element. The start route element may be an inner periphery straight route element IS, or may be a straight route element selected from the outer periphery straight route element OS and the inner periphery straight route element IS in response to a selection operation by the user U detected by the operation detection unit 41, or may be a curved route element selected in response to a selection operation by the user U detected by the operation detection unit 41.

[0049] As shown in Fig. 6, the start point route element direction adjustment unit 44 adjusts the direction of the start point route element on the operation target area SR in the operation screen D and the route creation area A in response to a direction adjustment operation by the user U detected by the operation detection unit 41. In the example of Fig. 6, the periphery straight route element OS is arranged in the operation target area SR as the start point route element as in the example of Fig. 5, and the periphery straight route element OS rotates by 90 degrees in response to one direction adjustment operation such as tapping or clicking by the user U on the periphery straight route element OS or the operation target area SR. In this way, the user U can arbitrarily adjust the direction of the start point route element arranged through the start point route element arrangement unit 43 through the start point route element direction adjustment unit 44.

[0050] The start route element placed and / or its direction adjusted in the operation target area SR by the start route element placement unit 43 and / or the start route element direction adjustment unit 44 as described above is displayed on the operation screen D and the route creation area A by the route display unit 42, as shown in Figure 5.

[0051] Following the above-described arrangement of the starting point route element, the user U performs a movement operation (whose movement trajectory is shown as M) from the starting point route element (the outer periphery straight route element OS in FIG. 7) as the (first) existing route element displayed on the operation screen D and the route creation area A, as shown in FIG. 7. This movement operation may be, for example, a touch operation or tap operation on the starting point route element or the operation target area SR on the operation screen D as a touch panel followed by a slide operation on the operation screen D, or a click operation or selection operation on the starting point route element or the operation target area SR on the operation screen D by a pointing device such as a mouse followed by a slide operation on the operation screen D. Such a movement operation or movement trajectory M by the user U is detected by the operation detection unit 41.

[0052] The route element selection unit 45 selects one of the multiple route elements stored in the route element storage unit 40, taking into consideration the continuity between the movement trajectory M on the operation screen D and the route creation area A in the movement operation detected by the operation detection unit 41 and the existing route elements. The route element automatic arrangement unit 46 arranges the one route element selected by the route element selection unit 45 on the operation screen D and the route creation area A so as to be continuously connected to the existing route element. Specifically, the route element automatic arrangement unit 46 arranges the one route element selected by the route element selection unit 45 in one unit area UR adjacent to the existing route element through which the movement trajectory M has passed.

[0053] In this way, the route elements successively arranged by the route element selection unit 45 and the route element automatic arrangement unit 46 are displayed on the operation screen D and the route creation area A by the route display unit 42, as shown in Fig. 8. Although detailed processing will be described later, a route along the movement trajectory M starting from the starting point route element (periphery straight route element OS) in Fig. 7 is automatically formed by the route element selection unit 45 and the route element automatic arrangement unit 46.

[0054] In the example of FIG. 8, in response to a rightward movement operation from a starting point path element, which is a periphery straight path element OS along the upper side of the unit area UR, the same periphery straight path element OS is automatically arranged continuously in the rightward direction. At this time, the path element selection unit 45 selects a new periphery straight path element OS (one path element) in consideration of the continuity between the rightward movement trajectory M in FIG. 7 and the existing periphery straight path element OS. Here, the "continuity" between path elements means the continuity between their trajectory lines R. In the example of FIG. 8, a new periphery straight path element OS also having a trajectory line R on the outer periphery side is selected for an existing periphery straight path element OS having a trajectory line R on the outer periphery side, thereby ensuring the continuity of the trajectory lines R between adjacent periphery straight path elements OS. In addition, the path element automatic arrangement unit 46 arranges the periphery straight path element OS selected by the path element selection unit 45 in one unit area UR adjacent to the right through which the rightward movement trajectory M has passed.

[0055] In the example of FIG. 8, the outer periphery left curved path element OLC1 is then automatically placed in response to a downward movement operation from the outer periphery straight path element OS at the right end. At this time, the path element selection unit 45 selects a new outer periphery left curved path element OLC1 (one path element) in consideration of the continuity between the downward movement trajectory M in FIG. 7 and the existing outer periphery straight path element OS. In the example of FIG. 8, a new outer periphery left curved path element OLC1, also having a trajectory line R on the outer periphery side, is selected for the existing outer periphery straight path element OS, also having a trajectory line R on the outer periphery side, thereby ensuring the continuity of the trajectory line R between both path elements. In addition, the path element automatic placement unit 46 places the outer periphery left curved path element OLC1 selected by the path element selection unit 45 in one unit area UR adjacent to the right through which the downward movement trajectory M has passed.

[0056] In the example of FIG. 8, the periphery straight path element OS is automatically placed along the right side of the unit area UR in response to the downward movement operation from the periphery left curved path element OLC1. At this time, the path element selection unit 45 selects a new periphery straight path element OS (one path element) in consideration of the continuity between the downward movement trajectory M in FIG. 7 and the existing periphery left curved path element OLC1. In the example of FIG. 8, a new periphery straight path element OS, also having a trajectory line R on the outer periphery side, is selected for the existing periphery left curved path element OLC1, also having a trajectory line R on the outer periphery side, thereby ensuring the continuity of the trajectory line R between the two path elements. In addition, the path element automatic placement unit 46 places the periphery straight path element OS selected by the path element selection unit 45 in one unit area UR adjacent to the bottom where the downward movement trajectory M has passed. Note that the new periphery straight path element OS is automatically adjusted or rotated in an appropriate direction (upper right direction in FIG. 6) so as to be continuously connected to the existing periphery left curved path element OLC1 before being placed.

[0057] The route element selection unit 45 may use the entrance / exit point detection unit 47 to select one of the multiple route elements stored in the route element storage unit 40. FIG. 9 shows a schematic concept of the processing executed by the entrance / exit point detection unit 47 and the route element selection unit 45. In the example of this figure, various movement trajectories M of various movement operations that may be performed on the existing periphery straight route element OS placed in the operation target area (or the operation-completed area) SR are shown by multiple arrows in a schematic and exemplary manner. In response to each such movement operation, an appropriate route element is automatically selected in (one) unit area UR-L or UR-R adjacent to the operation target area SR.

[0058] The entrance / exit point detection unit 47 may detect an entrance point ENT where each movement trajectory M, which is diagrammatically indicated by each arrow, enters the adjacent unit area UR-L or UR-R, and an exit point EXT where each movement trajectory M exits the unit area UR-L or UR-R. In the example of this figure, for convenience, all movement trajectories M have the same entrance point ENT, but the entrance point ENT may be different for each movement trajectory M. In addition, the entrance point ENT does not need to be in contact with the existing periphery straight line path element OS, and may be, for example, any point on the right side of the operation target area SR.

[0059] As will be understood from the following description, in order to appropriately select a new route element that is continuously connected to an existing periphery straight route element OS according to the movement trajectory M, information on the exit point EXT is more important than information on the entrance point ENT. For this reason, the route element selection unit 45 may select a new route element based on information on the exit point EXT without considering information on the entrance point ENT. Furthermore, when selecting an appropriate route element, the route element selection unit 45 may consider the shape and curvature of the movement trajectory M between the entrance point ENT and the exit point EXT in addition to or instead of information on the entrance point ENT and / or the exit point EXT.

[0060] The route element selection unit 45 may select a new route element to be placed in the adjacent unit area UR-L or UR-R, taking into consideration the relative positional relationship between the entrance point ENT and the exit point EXT detected by the entrance / exit point detection unit 47 and / or the position of the exit point EXT and the continuity with the existing route element (the outer perimeter straight route element OS in Figure 9).

[0061] For a movement trajectory M having an exit point EXT-S approximately to the right of an existing periphery straight path element OS in Figure 9, and / or a movement trajectory M in which the angular difference between the direction exiting the unit area UR-L or UR-R at the exit point EXT-S and the left-right direction in Figure 9 is close to 0 degrees, and / or a movement trajectory M in which the angular difference between the direction exiting the unit area UR-L or UR-R at the exit point EXT-S and the direction entering the unit area UR-L or UR-R at the entrance point ENT is close to 0 degrees, the path element selection unit 45 selects as a new path element a periphery straight path element OS, which is a straight-line path element having a trajectory line R on the outer periphery side that is continuously connectable to the existing periphery straight path element OS.

[0062] For the curved trajectory M that bends downward in FIG. 9 from the linear trajectory M, a new path element is placed in the left unit area UR-L, and for the curved trajectory M that bends upward in FIG. 9 from the linear trajectory M, a new path element is placed in the right unit area UR-R. Here, the left unit area UR-L is a unit area placed directly to the right of the operation target area SR, and along its upper side, a periphery straight path element OS according to the linear trajectory M having the above-mentioned exit point EXT-S is placed. On the other hand, the right unit area UR-R is a unit area placed in the upper right of the operation target area SR, and along its lower side, a periphery straight path element OS according to the linear trajectory M having the above-mentioned exit point EXT-S is placed.

[0063] For a movement trajectory M having an exit point EXT-LC2 near the midpoint on the right side of the left unit area UR-L, and / or a movement trajectory M in which the angular difference between the direction leaving the unit area UR-L at the exit point EXT-LC2 and the left / right direction in Figure 9 is approximately 45 degrees, and / or a movement trajectory M in which the angular difference between the direction leaving the unit area UR-L at the exit point EXT-LC2 and the direction entering the unit area UR-L at the entrance point ENT is approximately 45 degrees, the path element selection unit 45 selects as a new path element a peripheral left curved path element OLC2 which has a trajectory line R on the outer side that can be continuously connected to the existing peripheral straight path element OS and is a curved path element with a bending angle of 45 degrees.

[0064] For a movement trajectory M having an exit point EXT-LC1 near the bottom right vertex of the left unit area UR-L, and / or a movement trajectory M in which the angular difference between the direction leaving the unit area UR-L at the exit point EXT-LC1 and the left / right direction in Figure 9 is approximately 90 degrees, and / or a movement trajectory M in which the angular difference between the direction leaving the unit area UR-L at the exit point EXT-LC1 and the direction entering the unit area UR-L at the entrance point ENT is approximately 90 degrees, the path element selection unit 45 selects as a new path element a peripheral left curved path element OLC1 which has a trajectory line R on the outer side that can be continuously connected to the existing peripheral straight path element OS and is a curved path element with a bending angle of 90 degrees.

[0065] For a movement trajectory M having an exit point EXT-RC2 near the midpoint on the right side of the right-hand unit area UR-R, and / or a movement trajectory M in which the angular difference between the direction leaving the unit area UR-R at the exit point EXT-RC2 and the left-right direction in Figure 9 is approximately 45 degrees, and / or a movement trajectory M in which the angular difference between the direction leaving the unit area UR-R at the exit point EXT-RC2 and the direction entering the unit area UR-R at the entrance point ENT is approximately 45 degrees, the path element selection unit 45 selects an inner right curved path element IRC2 as a new path element, which is a curved path element having a trajectory line R on the inner side that can be continuously connected to the existing outer straight path element OS and has a bending angle of 45 degrees.

[0066] For a movement trajectory M having an exit point EXT-RC1 near the upper right vertex of the right unit area UR-R, and / or a movement trajectory M in which the angular difference between the direction leaving the unit area UR-R at the exit point EXT-RC1 and the left / right direction in Figure 9 is approximately 90 degrees, and / or a movement trajectory M in which the angular difference between the direction leaving the unit area UR-R at the exit point EXT-RC1 and the direction entering the unit area UR-R at the entrance point ENT is approximately 90 degrees, the path element selection unit 45 selects an inner right curved path element IRC1 as a new path element, which is a curved path element having a trajectory line R on the inner side that can be continuously connected to the existing outer straight path element OS and has a bending angle of 90 degrees.

[0067] 8, the user U performs a movement operation (whose movement trajectory is shown as M) from the outer periphery straight route element OS as the (latest) existing route element displayed on the operation screen D and the route creation area A, as shown in FIG. 10. Such a movement operation or movement trajectory M by the user U is detected by the operation detection unit 41.

[0068] The route element selection unit 45 selects one of the multiple route elements stored in the route element storage unit 40, taking into consideration the continuity between the movement trajectory M on the operation screen D and the route creation area A in the movement operation detected by the operation detection unit 41 and the existing route elements. The route element automatic arrangement unit 46 arranges the one route element selected by the route element selection unit 45 on the operation screen D and the route creation area A so as to be continuously connected to the existing route element. Specifically, the route element automatic arrangement unit 46 arranges the one route element selected by the route element selection unit 45 in one unit area UR adjacent to the existing route element through which the movement trajectory M has passed.

[0069] In this way, the route elements successively arranged by the route element selection unit 45 and the route element automatic arrangement unit 46 are displayed on the operation screen D and the route creation area A by the route display unit 42, as shown in Fig. 11. Although detailed processing will be described later, a route along the movement trajectory M starting from the starting point route element (periphery straight route element OS) in Fig. 10 is automatically formed by the route element selection unit 45 and the route element automatic arrangement unit 46.

[0070] In the example of FIG. 11, the same periphery straight path element OS is automatically arranged continuously in the downward direction in response to a downward movement operation from a starting point path element, which is a periphery straight path element OS along the right side of the operation target region SR. At this time, the path element selection unit 45 selects a new periphery straight path element OS (one path element) in consideration of the continuity between the downward movement trajectory M in FIG. 10 and the existing periphery straight path element OS. In the example of FIG. 11, a new periphery straight path element OS also having a trajectory line R on the outer periphery side is selected for the existing periphery straight path element OS having a trajectory line R on the outer periphery side, thereby ensuring the continuity of the trajectory line R between adjacent periphery straight path elements OS. In addition, the path element automatic arrangement unit 46 arranges the periphery straight path element OS selected by the path element selection unit 45 in one unit region UR adjacent to the lower side through which the downward movement trajectory M has passed.

[0071] In the example of Fig. 11, an inner right curved path element IRC1 is then automatically placed in response to a rightward movement operation from the outer straight path element OS. At this time, the path element selection unit 45 selects a new inner right curved path element IRC1 (one path element) in consideration of the continuity between the rightward movement trajectory M in Fig. 10 and the existing outer straight path element OS. In the example of Fig. 11, a new inner right curved path element IRC1 whose trajectory line R is on the inner side of the unit area UR is selected for the existing outer straight path element OS whose trajectory line R is on the outer side of the unit area UR, thereby ensuring the continuity of the trajectory line R between the two path elements.

[0072] The route element automatic arrangement unit 46 also arranges the inner right curved route element IRC1 selected by the route element selection unit 45 in one unit area UR adjacent to and below where the rightward movement trajectory M has passed. Here, since the trajectory line R has transitioned from the outer periphery (the outer periphery straight route element OS) to the inner periphery (the inner right curved route element IRC1), a shift equivalent to the width of the route element has occurred in the lattice arrangement of the unit area UR. This relationship is the same as the relationship between the operation target area SR and the right unit area UR-R described above in FIG. 9.

[0073] In the example of FIG. 11, an inner straight path element IS is automatically placed along the lower side of the unit area UR in response to a rightward movement operation from the inner right curved path element IRC1. At this time, the path element selection unit 45 selects a new inner straight path element IS (one path element) in consideration of the continuity between the rightward movement trajectory M in FIG. 10 and the existing inner right curved path element IRC1. In the example of FIG. 11, a new inner straight path element IS, whose trajectory line R is also on the inner side, is selected for the existing inner right curved path element IRC1, whose trajectory line R is on the inner side, thereby ensuring the continuity of the trajectory line R between the two path elements. In addition, the path element automatic placement unit 46 places the inner straight path element IS selected by the path element selection unit 45 in one unit area UR adjacent to the right where the rightward movement trajectory M has passed.

[0074] Similarly, the automatic path element placement unit 46 subsequently forms a closed path for the movable element 3 as shown in FIG. 12 in response to the movement operation by the user U starting from the starting path element (the outer periphery straight path element OS in FIG. 7) and ending at the starting path element.

[0075] Although detailed description will be omitted, by the same processing as above, a route similar to the route in Fig. 12 with the outer periphery straight route element OS as the starting route element can be formed with the inner periphery straight route element IS as the starting route element as shown in Fig. 13. In the route in Fig. 12, the trajectory lines R are arranged continuously on the outer periphery side as a whole, whereas in the route in Fig. 13, the trajectory lines R are arranged continuously on the inner periphery side as a whole.

[0076] In Fig. 13, the same inner periphery straight path elements IS are continuously arranged from the starting point path element as the inner periphery straight path element IS along the upper side of the unit area UR (not shown) to the right, and an inner periphery left curved path element ILC1 is arranged at the 90 degree bend downward. Below that, inner periphery straight path elements IS are continuously arranged along the right side of the unit area UR (not shown), and an outer periphery right curved path element ORC1 is arranged at the 90 degree bend right. To the right of this outer periphery right curved path element ORC1, an outer periphery straight path element OS is continuously arranged along the bottom side of the unit area UR (not shown).

[0077] For the path of the mover 3 formed by the path forming device as described above, the operation detection unit 41, area selection unit 48, and setting information input unit 49 constituting the path setting device can execute the following processes. The operation detection unit 41 detects a selection operation and / or an input operation by the user U for the completed path as shown in FIG. 12 or FIG.

[0078] The area selection unit 48 collectively selects any route area including multiple continuous route elements arranged on the operation screen D by the starting point route element arrangement unit 43 and / or the route element automatic arrangement unit 46 in response to the selection operation detected by the operation detection unit 41. The user U can select any route area SA in the route creation area A by a selection operation on the operation screen D. As shown in FIG. 14, the route area SA may be an area of ​​any shape designated by a selection operation by the user U. In this case, typically multiple route elements included in the route area SA are selected collectively (schematically indicated by special hatching in FIG. 14). The route area SA or multiple route elements may be selected by a selection operation by the user U to trace or follow the route.

[0079] The setting information input unit 49 inputs setting information for the route area SA selected by the area selection unit 48 in response to an input operation detected by the operation detection unit 41. As shown in FIG. 14, the setting information input unit 49 may display a setting information input window SET for the route area SA selected by the area selection unit 48 (represented as "route area A" in FIG. 14) on the operation screen D. The user U can input various setting information into the setting information input window SET by performing an input operation on the operation screen D. Examples of setting information that can be input in the setting information input window SET include the name of the route area SA, the maximum number (maximum number of carriers) of movers 3 (carriers) that may exist simultaneously in the route area SA, the maximum speed (maximum carrier speed) of the movers 3 in the route area SA, the maximum current value of the linear motor as a drive unit in the route area SA, and the transport direction of the movers 3 allowed in the route area SA.

[0080] The above-mentioned setting information does not need to be input for each route element, but can be input collectively for a route area SA including multiple route elements, so that the burden of input operations on the user U can be significantly reduced.

[0081] The linear motor as a drive unit drives the mover 3 on the path or track formed by the path forming device based on the setting information input by the setting information input unit 49 .

[0082] The present disclosure has been described above based on the embodiments. Various modifications are possible to the combinations of the components and processes in the exemplary embodiments, and it will be obvious to those skilled in the art that such modifications are included within the scope of the present disclosure.

[0083] In the embodiment, a linear conveying system is illustrated in which a mover is driven based on the magnetic force between a permanent magnet provided on the mover and an electromagnet provided on the stator, but the present disclosure is applicable to any drive device based on any principle other than magnetism (e.g., electricity or fluid).

[0084] The configuration, action, and function of each device and method described in the embodiments can be realized by hardware resources or software resources, or by the cooperation of hardware resources and software resources. For example, a processor, ROM, RAM, and various integrated circuits can be used as hardware resources. For example, programs such as an operating system and applications can be used as software resources. [Explanation of symbols]

[0085] 1 Linear transport system, 2 Stator, 3 Driven object (mover), 4 Route management device, 21 Rail surface, 40 Route element storage unit, 41 Operation detection unit, 42 Route display unit, 43 Starting point route element placement unit, 44 Starting point route element direction adjustment unit, 45 Route element selection unit, 46 Route element automatic placement unit, 47 Entrance / exit point detection unit, 48 Area selection unit, 49 Setting information input unit.

Claims

1. an operation detection unit that detects a movement operation by a user on an operation screen; a route element automatic arrangement unit that arranges route elements that are continuously connected to the existing route elements, taking into consideration the continuity between a movement trajectory based on the movement operation and the existing route elements displayed on the operation screen, and forms a route for a driven object; A path forming device comprising:

2. a path element storage unit that stores a plurality of path elements having different shapes, which are continuously connected to each other to form a path for the driven object; the operation detection unit detecting the movement operation from the existing route element displayed on the operation screen; a route element selection unit that selects one route element from the plurality of route elements stored in the route element storage unit, taking into consideration continuity between the movement trajectory and the existing route element; the route element automatic arrangement unit that arranges the one route element on the operation screen so as to be continuously connected to the existing route element; The path forming device according to claim 1 .

3. The path forming device according to claim 2 , wherein the plurality of path elements stored in the path element storage unit include straight path elements and curved path elements.

4. the operation screen is divided into a plurality of unit areas each capable of arranging one of the route elements, the route element automatic arrangement unit arranges the one route element in one unit area adjacent to the existing route element through which the movement trajectory has passed; The path forming device according to claim 3 .

5. an entrance / exit point detection unit that detects an entrance point where the movement trajectory enters the one unit area and an exit point where the movement trajectory exits the one unit area; the route element selection unit selects the one route element in consideration of a relative positional relationship between the entrance point and the exit point and continuity with the existing route element. The path forming device according to claim 4 .

6. The curved path element includes a first curved path element and a second curved path element having different curvatures from each other, the route element selection unit selects the one route element from among the straight route element, the first curved route element, and the second curved route element, taking into consideration a relative positional relationship between the entrance point and the exit point and continuity with the existing route element. The path forming device according to claim 5 .

7. the plurality of path elements are belt-shaped, and one edge in a width direction of the path elements is set as a track line corresponding to a track surface that actually drives the driven object, the route element selection unit selects the one route element in consideration of continuity between the movement trajectory and a trajectory line of the existing route element; the route element automatic arrangement unit arranges the one route element on the operation screen so that a trajectory line of the one route element is continuously connected to a trajectory line of the existing route element; 7. A path forming device according to claim 3.

8. The path forming device according to claim 7 , wherein the curved path elements include an inner circumferential orbit path element having an inner edge as the orbit line and an outer circumferential orbit path element having an outer edge as the orbit line.

9. A route formation device as described in any one of claims 3 to 6, further comprising a start route element placement unit that places a start route element that is to become the first existing route element on the route on the operation screen in response to a placement operation by the user detected by the operation detection unit.

10. the operation detection unit detects a selection operation by the user on a path of the driven object that has been formed; an area selection unit that collectively selects any route area including a plurality of continuous route elements arranged on the operation screen by the route element automatic arrangement unit in response to the selection operation; The path forming device according to any one of claims 2 to 6.

11. The route formation device according to claim 10 , further comprising a setting information input unit that inputs setting information for the route area selected by the area selection unit in response to an input operation by the user detected by the operation detection unit.

12. a path display unit that displays a path of the driven object formed by continuously connecting a plurality of path elements on an operation screen that can be operated by a user; an operation detection unit that detects a selection operation by the user on the route; an area selection unit that collectively selects any route area including a plurality of consecutive route elements on the route in response to the selection operation; a setting information input unit that inputs setting information for the route area selected by the area selection unit in response to an input operation by the user detected by the operation detection unit; A route setting device comprising:

13. an operation detection unit that detects a movement operation by a user on an operation screen; a route element automatic arrangement unit that arranges route elements that are continuously connected to the existing route elements, taking into consideration the continuity between a movement trajectory based on the movement operation and the existing route elements displayed on the operation screen, and forms a route for a driven object; a drive unit that drives the driven object on the path formed by the path element automatic arrangement unit; A drive unit comprising:

14. Detecting a movement operation by a user on an operation screen; forming a path for a driven object by arranging path elements that are continuously connected to the existing path elements, taking into consideration continuity between a movement trajectory based on the movement operation and the existing path elements displayed on the operation screen; A path formation method for performing the above.

15. Detecting a movement operation by a user on an operation screen; forming a path for a driven object by arranging path elements that are continuously connected to the existing path elements, taking into consideration continuity between a movement trajectory based on the movement operation and the existing path elements displayed on the operation screen; A storage medium storing a route formation program for causing a computer to execute the above.

Images