Conveying system

Abstract

To provide a conveyance system capable of detecting a connection configuration of a driving device even when information on the connection configuration of the driving device is not prepared in advance by a user.SOLUTION: The transport system includes a driving device, and the driving device is daisy-chain connected to the main circuit power source line EP3 so that an internal circuit of the driving device is connected in parallel from the converter C23 to be managed, the high-order controller 40 is daisy-chain connected to a control detection signal line L2 that transmits signals to and from the high-order controller 40, and the high-order controller 40 controls the converter C23 to supply power from the main circuit power source to the driving device, receives a power source voltage value detected by the driving device to identify a connected driving device that is a driving device connected to the converter C23, and transmits and receives signals to and from the connected driving device to identify a connection order of the connected driving device and detect a connection configuration of the connected driving device.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present disclosure relates to a conveyance system equipped with a linear motor. [Background technology]

[0002] In factory automated production lines for assembling industrial products, production lines for packaging food, and the like, conveying systems are used to transport work objects (such as workpieces) placed on movable carts between multiple stations within or between production lines.

[0003] In recent years, a common type of conveyance system is one in which the conveyance line is divided into multiple control zones, a control device is placed in each control zone, and a mover travels between the control zones. One form of this conveyance system is the moving magnet linear motor.

[0004] A moving magnet linear motor has a magnet arranged in the mover and a coil arranged in the stator, and is therefore suitable for transport with a long stroke compared to a moving coil linear motor, which is connected to a carriage by electric wires. When such a moving magnet linear motor requires a drive stroke that is long compared to the size of the mover, multiple coils corresponding to the stroke length are required.

[0005] One of the technologies to which this moving magnet linear motor is applied is a technology in which multiple linear track modules, each equipped with a stator having a coil and drive equipment, are lined up in succession to transport multiple carriages on the same track over a long stroke.

[0006] In conveyance systems that use this technology, converters are connected to the motor drive power supply, and as many drive devices as possible are connected to one converter. However, because user usage patterns are not unique, product specifications are determined based on the worst case scenario. In other words, the product specifications limit the number of drive devices that can be connected to one converter. This can result in product specifications that are over-specified for many users, resulting in an unnecessarily large number of converters. Therefore, it is desirable to connect drive devices appropriately and reduce the number of converters.

[0007] The peripheral device of the programmable controller in Patent Document 1 displays the connection configuration of the network communication path as image graphic information, and when the user selects an image name from the image graphic information, the programmable controller corresponding to the selected image name is set as the connection destination of the peripheral device. [Prior art documents] [Patent documents]

[0008] [Patent Document 1] Patent No. 3587099 Summary of the Invention [Problem to be solved by the invention]

[0009] However, the technique of Patent Document 1 has a problem in that if the information on the connection configuration of the movable machine is not prepared in advance by the user, the connection configuration of the movable machine cannot be detected.

[0010] The present disclosure has been made in consideration of the above, and aims to obtain a conveying system that can detect the connection configuration of a driving device even if the user has not prepared information on the connection configuration of the driving device in advance. [Means for solving the problem]

[0011] To solve the above-mentioned problems and achieve the object, the conveyance system of the present disclosure includes at least one mover, multiple stators arranged on a path along which the mover moves, multiple driving devices that drive the stators, and a host controller that controls the driving devices. The driving devices are daisy-chained to a main circuit power supply line that transmits power from a main circuit power supply, which is a power source used to drive the stators, so that the internal circuits of the driving devices are connected in parallel from the converter to be managed, and are also daisy-chained from the host controller to a signal line that transmits signals to the host controller. The host controller controls the converter to supply power from the main circuit power supply to the driving devices, identifies connected driving devices that are connected to the converter by receiving a power supply voltage value detected by the driving device from the driving device connected to the converter, and transmits and receives signals to and from the connected driving devices to identify the connection order of the connected driving devices and detect the connection configuration of the connected driving devices. [Effects of the Invention]

[0012] The transport system according to the present disclosure has the advantage of being able to detect the connection configuration of the drive equipment even when the information on the connection configuration of the drive equipment has not been prepared in advance by the user. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 1 is a diagram showing a schematic configuration of a transport system according to a first embodiment; [Figure 2] FIG. 1 is a diagram illustrating a configuration example of a transport system according to a first embodiment. [Figure 3] 1 is a flowchart showing a processing procedure of a process executed by a transport system according to a first embodiment; [Figure 4] FIG. 1 is a diagram illustrating a configuration example of a driving device included in a transport system according to a first embodiment. [Figure 5] 10 is a flowchart showing a processing procedure for a host controller to identify the connection order of movable machines according to the first embodiment; [Figure 6]FIG. 1 is a diagram for explaining the correspondence between a regenerative circuit operated by a host controller according to the first embodiment and a current detection circuit for detecting a current value. [Figure 7] FIG. 10 is a diagram showing another example of the configuration of the driving device included in the transport system according to the first embodiment; [Figure 8] FIG. 10 is a diagram showing a configuration example of a driving device included in a transport system according to a second embodiment; [Figure 9] 10 is a flowchart showing a processing procedure for a host controller to identify the connection order of movable machines according to the second embodiment; [Figure 10] FIG. 10 is a diagram for explaining a wiring state before the conveyance system according to the third embodiment detects the wiring state. [Figure 11] FIG. 10 is a diagram for explaining a wiring state after the wiring state is changed in the conveyance system according to the third embodiment. [Figure 12] FIG. 10 is a diagram illustrating a configuration example of a learning device included in a transportation system according to a fourth embodiment. [Figure 13] 10 is a flowchart showing a procedure of a learning process executed by a learning device according to a fourth embodiment; [Figure 14] FIG. 10 is a diagram illustrating a configuration example of an inference device included in a transportation system according to a fourth embodiment. [Figure 15] 10 is a flowchart showing the procedure of an inference process executed by an inference device according to a fourth embodiment; [Figure 16] FIG. 10 is a diagram showing a configuration example of a processing circuit provided in a host controller according to the first to fourth embodiments when the processing circuit is realized by a processor and a memory. [Figure 17] FIG. 10 is a diagram showing an example of a processing circuit in a case where the processing circuit provided in the upper controller according to the first to fourth embodiments is configured with dedicated hardware. DETAILED DESCRIPTION OF THE INVENTION

[0014] A transport system according to an embodiment of the present disclosure will be described in detail below with reference to the drawings.

[0015] Embodiment 1 Fig. 1 is a diagram showing a schematic configuration of a conveyance system according to embodiment 1. Fig. 1 shows a configuration example of a conveyance system 10, which is an example of a conveyance system in which moving magnet type linear motors are arranged in a track shape.

[0016] The transfer system 10 is a system that moves the mover 11 along a transfer path by a plurality of moving devices Dn. The transfer system 10 of the first embodiment detects the connection configuration of the moving devices Dn.

[0017] The conveyance system 10 includes a control device 200, a driving device Dn, at least one mover 11, and a plurality of linear track modules 105. The linear track module 105 includes a stator 12, a guide rail 13, and a guide module 14, which are arranged on a path along which the mover 11 moves.

[0018] In the transport system 10, a magnet (not shown) is arranged on a carriage that is a mover 11 of a moving magnet type linear motor, and a coil (not shown) is arranged on a stator 12.

[0019] In addition, in the conveyance system 10, the guide rail 13, which is a mechanical component for moving the mover 11 smoothly and without rattle in the direction of the rail, and the stator 12 are fixed to a guide module 14 for use.

[0020] By connecting a plurality of linear track modules 105, each of which combines a guide rail 13, a stator 12, and a guide module 14, it is possible to construct a conveyance system 10 having various routes.

[0021] The driving device Dn drives the stator 12 by supplying power to the coil of the stator 12 to move the mover 11. The driving device Dn is arranged, for example, in the track together with the linear track module 105.

[0022] The driving device Dn may be configured as an integral part of the linear track module 105. Alternatively, the driving device Dn may be arranged completely separated from the linear track module 105. Alternatively, the driving device Dn may be arranged in the control device 200 arranged at a position away from the linear track module 105.

[0023] The control device 200 is, for example, a control panel. The control device 200 generates power from a power source (main circuit power source described later) for driving the mover 11 and sends it to the moving machine Dn. The control device 200 is also connected to the moving machine Dn and controls the moving machine Dn. As a result, the moving machine Dn supplies power to the coil of the stator 12, and the mover 11 moves on the guide rail 13. In the first embodiment, the control device 200 detects the connection configuration of the moving machine Dn by transmitting and receiving signals to and from the moving machine Dn.

[0024] Fig. 2 is a diagram illustrating a configuration example of the conveyance system according to the first embodiment. Fig. 2 illustrates a connection configuration example of the driving devices whose connection configuration is detected in the conveyance system 10, and a configuration example of the control device 200. In Fig. 2, the mover 11 and the linear track module 105 are not illustrated.

[0025] The conveyance system 10 receives power (a control circuit power supply and a main circuit power supply, which will be described later) from an AC power supply 1, which is a commercial power source. The conveyance system 10 includes a control device 200 and moving machines Dn, and the control device 200 detects the connection configuration of the moving machines Dn. While FIG. 2 shows a case where there are eleven moving machines Dn, namely, moving machines D1 to D11, the number of moving machines Dn may be ten or less, or twelve or more.

[0026] The control device 200 includes a plurality of control devices, a plurality of converters to be managed, and a host controller 40. While FIG. 2 illustrates a case in which the control device 200 includes three control devices 31 to 33, the number of control devices may be two or less, or four or more. While FIG. 2 illustrates a case in which the control device 200 includes three converters C21 to C23, the number of converters may be two or less, or four or more. Because the converters are connected one-to-one to the control devices, the number of converters and the number of control devices are the same in the transport system 10. The transport system 10 manages the converters C21 to C23 to be managed by detecting the connection configuration of the driving devices connected to the converters C21 to C23.

[0027] Control devices 31 to 33 are connected to an AC power supply 1, which is a driving power supply for a motor. Control device 31 is connected to converter C21, control device 32 is connected to converter C22, and control device 33 is connected to converter C23. A plurality of driving devices are daisy-chained from converters C21 to C23, respectively.

[0028] The upper controller 40 is capable of communicating with the control devices 31 to 33 and the driving devices D1 to D11, and controls the control devices 31 to 33 and the driving devices D1 to D11. The upper controller 40 controls the control devices 31 to 33 to control the converters C21 to C23, and drives the driving devices D1 to D11 by controlling the converters C21 to C23.

[0029] In the conveyance system 10, the upper controller 40 controls the control devices 31 to 33, causing the control devices 31 to 33 to control the converters C21 to C23. As a result, the converters C21 to C23 convert the main circuit power supply to drive the stator 12 and move the mover 11, and supply the converted main circuit power supply to the drive devices D1 to D11. Note that in the conveyance system 10, supplying power (control circuit power supply or main circuit power supply) means supplying power from a power source.

[0030] The control device 200 and the moving devices D1 to D11 are connected by a cable. The cable connecting the control device 200 and the moving devices D1 to D11 is the cable of the control detection signal line L2. That is, the upper controller 40 is connected to the moving devices D1 to D11 by the control detection signal line L2.

[0031] The AC power supply 1 and the driving devices D1 to D11 are connected by running cables. The cables connecting the AC power supply 1 and the driving devices D1 to D11 are the cables of the control circuit power supply lines EX. That is, the AC power supply 1 is connected to the driving devices D1 to D11 by the control circuit power supply lines EX.

[0032] Furthermore, the upper controller 40 is connected to the control devices 31 to 33 by a control signal line L1. The control signal line L1 is a signal line for transmitting signals (control device control signals) for the upper controller 40 to control the control devices 31 to 33.

[0033] When identifying the moving devices connected to the converters C21 to C23, the upper controller 40 transmits control signals for turning on the power of the converters C21 to C23 to the control devices 31 to 33 in order. That is, the upper controller 40 executes the process for identifying the moving devices connected to the plurality of converters C21 to C23 in order for each converter.

[0034] When the control devices 31 to 33 receive a control device control signal for powering on the converters C21 to C23, they power on the converters C21 to C23. When the converters C21 to C23 are powered on, the driving devices connected to the powered-on converters can detect the power supply voltage value via the control detection signal line L2. The driving devices that have detected the power supply voltage value transmit this power supply voltage value to the upper controller 40, allowing the upper controller 40 to recognize the driving devices (connected driving devices) connected to the powered-on converters.

[0035] The control detection signal line L2 is a signal line for transmitting signals between the upper controller 40 and the movable devices D1 to D11. The upper controller 40 uses the control detection signal line L2 to transmit control signals such as operation commands (power-on signals) to the movable devices D1 to D11. In addition, the movable devices D1 to D11 use the control detection signal line L2 to transmit response signals (detection signals, which will be described later) to the upper controller 40.

[0036] The control signals are signals that the upper controller 40 uses to control the moving devices D1 to D11. The control signals that the upper controller 40 sends to the moving devices D1 to D11 when detecting the connection order of the moving devices D1 to D11 are operation commands. The operation commands are signals that the upper controller 40 uses to turn on the main circuit power of the moving devices D1 to D11.

[0037] When the driving devices D1 to D11 receive an operation command, they turn on their main circuit power supplies. Regardless of whether or not the driving devices D1 to D11 have turned on their main circuit power supplies, they detect the current value of the main circuit power supplies and transmit the detection results as detection signals to the upper controller 40. The detection signals contain information identifying the driving devices that transmitted the detection signals. This allows the upper controller 40, upon receiving a detection signal, to determine which driving device transmitted the detection signal.

[0038] The movable devices D1 to D11 use the control detection signal line L2 to transmit detection signals to the upper controller 40. The detection signals are signals indicating that a current value has been detected (received), and include information about the current value.

[0039] Driving devices D1 to D11 are connected to the AC power supply 1 via a control circuit power line EX. Also, to the AC power supply 1, a control device 31 is connected via a main circuit power line EP1, a control device 32 is connected via a main circuit power line EP2, and a control device 33 is connected via a main circuit power line EP3.

[0040] The control circuit power supply line EX and the main circuit power supply lines EP1 to EP3 are power supply lines for transmitting (transmitting) the power (control circuit power supply and main circuit power supply) supplied from the AC power supply 1. The power supplied from the AC power supply 1 is used by the driving devices D1 to D11 to drive and control the linear motors (linear track modules 105).

[0041] The driving devices D1 to D11 are daisy-chained to the AC power supply 1 via the control circuit power line EX in the order of driving devices D11, D10, D9, D8, D7, D6, D5, D4, D3, D2, D1. In this manner, the driving devices D1 to D11 are daisy-chained to the AC power supply 1. Each driving device D1 to D11 on the control circuit power line EX controls the linear motor using power (control circuit power) from the AC power supply 1 sent via the control circuit power line EX as power.

[0042] The control device 31, the converter C21, and the drives D1 to D4 are connected to the main circuit power line EP1. Specifically, the control device 31 is connected to the converter C21 by the main circuit power line EP1, and the drives D1 to D4 are daisy-chained to the converter C21 by the main circuit power line EP1 in the order of D1, D2, D3, and D4 so that the internal circuits (such as the regenerative resistor 101 described later) of the drives D1 to D4 are connected in parallel. That is, the drive D1 is connected to the drive D2 by the main circuit power line EP1, the drive D2 is connected to the drive D3 by the main circuit power line EP1, and the drive D3 is connected to the drive D4 by the main circuit power line EP1. The drive D1 to D4 are connected in parallel to the converter C21. The connection configuration between the converter C21 and the drives D1 to D4 will be described later.

[0043] In this way, the driving devices D1 to D4 are connected in a daisy chain to the converter C21. Each of the driving devices D1 to D4 on the main circuit power supply line EP1 drives a linear motor using the power of the main circuit power supply sent from the converter C21 via the main circuit power supply line EP1.

[0044] Also, the main circuit power supply line EP2 is connected to the control device 32, the converter C22, and the drives D5 to D8. Specifically, the control device 32 is connected to the converter C22 by the main circuit power supply line EP2, and the drives D5 to D8 are daisy-chained to the converter C22 by the main circuit power supply line EP2 in the order of drives D8, D7, D6, D5. That is, the drive D7 is connected to the drive D8 by the main circuit power supply line EP2, the drive D6 is connected to the drive D7 by the main circuit power supply line EP2, and the drive D5 is connected to the drive D6 by the main circuit power supply line EP2. The drive D5 to D8 are connected in parallel to the converter C22. The connection configuration between the converter C22 and the drives D5 to D8 will be described later.

[0045] In this way, the driving devices D5 to D8 are connected in a daisy chain to the converter C22. Each of the driving devices D5 to D8 on the main circuit power supply line EP2 drives a linear motor using the power of the main circuit power supply from the converter C22 sent via the main circuit power supply line EP2.

[0046] Also, the main circuit power supply line EP3 is connected to the control device 33, the converter C23, and the drives D9 to D11. Specifically, the control device 33 is connected to the converter C23 by the main circuit power supply line EP3, and the drives D9 to D11 are daisy-chained to the converter C23 in the order of D9, D10, and D11 by the main circuit power supply line EP3. That is, the drive device D9 is connected to the drive device D10 by the main circuit power supply line EP3, and the drive device D10 is connected to the drive device D11 by the main circuit power supply line EP3. The drive devices D9 to D11 are connected in parallel to the converter C23. The connection configuration between the converter C23 and the drives D9 to D11 will be described later.

[0047] In this way, the driving devices D9 to D11 are connected in a daisy chain to the converter C23. Each of the driving devices D9 to D11 on the main circuit power supply line EP3 drives a linear motor using the power of the main circuit power supply from the converter C23 sent via the main circuit power supply line EP3.

[0048] The driving devices D1 to D11 are connected to the upper controller 40 via a control detection signal line L2. The driving devices D1 to D11 are daisy-chain connected to the upper controller 40 by the control detection signal line L2 in the order of driving devices D11, D10, D9, D8, D7, D6, D5, D4, D3, D2, D1.

[0049] For example, when the first moving machine D1 sends a signal (such as a detection signal) to the upper controller 40 via the control detection signal line L2, the signal is sent to the upper controller 40 via the second moving machine D2, the third moving machine D3, ..., the eleventh moving machine D11.

[0050] Furthermore, when the upper controller 40 sends a signal (a control signal such as an operation command) to the first moving machine D1 via the control detection signal line L2, the signal is sent to the first moving machine D1 via the 11th moving machine D11, the 10th moving machine D10, ..., the second moving machine D2.

[0051] Thus, in the conveyance system 10, the driving devices D1 to D11 are connected in a daisy chain to allow for user convenience in wiring. While the control detection signal line L2, control circuit power line EX, and main circuit power lines EP1 to EP3 may be connected in any manner within the conveyance system 10, limitations are placed on the connection of the driving devices to the main circuit power lines EP1 to EP3. That is, the number of driving devices that can be connected to the main circuit power lines EP1 to EP3 depends on the allowable capacity of the converters C21 to C23. Therefore, the number of devices that can be connected in a single daisy chain to the main circuit power lines EP1 to EP3 is limited compared to the control circuit power line EX and control detection signal line L2. Due to these limitations, the number of driving devices connected to the main circuit power lines EP1 to EP3 among the control detection signal line L2, control circuit power line EX, and main circuit power lines EP1 to EP3 is set to be less than a specific number, and the control detection signal line L2 and control circuit power line EX are connected in a single daisy chain.

[0052] Further, driving devices D1 to D11 are connected to the AC power supply 1 via a control circuit power line EX. The driving devices D1 to D11 are daisy-chain connected to the AC power supply 1 by the control circuit power line EX in the order of driving devices D11, D10, D9, D8, D7, D6, D5, D4, D3, D2, D1.

[0053] The driving devices D1 to D11 perform various controls using the power of the control circuit power supply, which is the power source received from the control circuit power supply line EX. The driving devices D1 to D4 supply power to their coils using the power of the main circuit power supply, which is the power source received from the main circuit power supply line EP1. The driving devices D5 to D8 supply power to their coils using the power of the main circuit power supply, which is the power source received from the main circuit power supply line EP2. The driving devices D9 to D11 supply power to their coils using the power of the main circuit power supply, which is the power source received from the main circuit power supply line EP3.

[0054] When the host controller 40 determines the connection order of the movable devices D1 to D11 and detects the connection configuration, it transmits and receives signals to and from the movable devices connected to each converter. That is, the host controller 40 executes the process of determining the connection order of the movable devices connected to the converters C21 to C23 and detecting the connection configuration of the movable devices for each converter in turn.

[0055] Next, a description will be given of a procedure of processing executed by the transport system 10. Fig. 3 is a flowchart showing a procedure of processing executed by the transport system according to the first embodiment.

[0056] In the conveying system 10, as shown in FIG. 2, after the AC power supply 1, the control devices 31 to 33, the converters C21 to C23, the driving devices D1 to D11, and the upper controller 40 are connected, the upper controller 40 detects the connection configuration in the conveying system 10.

[0057] Specifically, the upper controller 40 controls the control devices to supply main circuit power from the AC power source 1 to the converter connected to the control devices (step S10). The upper controller 40 first controls a first control device (one of the control devices 31 to 33) to supply main circuit power from the AC power source 1 to a converter (one of the converters C21 to C23) connected to the first control device. For example, the upper controller 40 first controls the control device 31 to supply main circuit power from the AC power source 1 to the converter C21 connected to the control device 31. The converter C21 converts the power of the main circuit power source and outputs the converted power of the main circuit power source to the driving devices D1 to D4. This supplies power to the driving devices D1 to D4.

[0058] The driving devices connected to the converters detect the power supply voltage value and send the detection results as detection signals via the control detection signal line L2 to the upper controller 40. For example, when the main circuit power supply to the converter C21 is turned on, the driving devices D1 to D4 connected to the converter C21 detect the power supply voltage value and send the detection results as detection signals to the upper controller 40 via the control detection signal line L2.

[0059] As a result, the upper controller 40 acquires the power supply voltage value detected by the driving device connected to the converter (step S20). The upper controller 40 acquires the power supply voltage value detected by, for example, the driving devices D1 to D4 connected to the converter C21. In this case, the main circuit power is not supplied to the driving devices other than the driving devices D1 to D4 (here, the driving devices D5 to D11), so the detected power supply voltage value is 0 (no input).

[0060] The upper controller 40 acquires a power supply voltage value from the driving device connected to the converter whose main circuit power supply has been turned on, thereby identifying the driving device connected to the converter whose power supply has been turned on (step S30). For example, when the upper controller 40 turns on the main circuit power supply to the converter C21 and acquires a power supply voltage value from the driving devices D1 to D4, the upper controller 40 determines that the driving devices D1 to D4 are connected to the converter C21.

[0061] The upper controller 40 identifies the connection order of the driving devices that are daisy-chained to the converter that has had its main circuit power turned on (step S40). The upper controller 40 identifies the connection order of the driving devices and detects the connection configuration by transmitting and receiving signals between the driving devices that are daisy-chained to the converter that has had its main circuit power turned on. A specific example of a method for identifying the connection order of the driving devices that are daisy-chained will be described later.

[0062] The upper controller 40 determines whether the connection order of the driving devices has been specified for all converters (step S50). If the connection order of the driving devices has not been specified for any converter (step S50, No), the upper controller 40 controls the next control device to turn on the main circuit power from the AC power source 1 to the converter connected to this control device (step S60). The next control device here is a control device to which the main circuit power from the AC power source 1 has not been turned on. By turning on the main circuit power from the AC power source 1 to the converter connected to the next control device, power is supplied to the driving devices connected to the converter to which the main circuit power has been turned on.

[0063] Thereafter, the upper controller 40 repeats the processes of steps S20 to S50. For example, the upper controller 40 controls the control device 32 to supply main circuit power from the AC power source 1 to the converter C22 connected to the control device 32.

[0064] As a result, the upper controller 40 acquires the power supply voltage values ​​detected by the moving devices D5 to D8 connected to the converter C22 (step S20). Also, the upper controller 40 acquires the power supply voltage values ​​from the moving devices D5 to D8 connected to the powered-on converter C22, thereby identifying the moving devices D5 to D8 connected to the powered-on converter C22 (step S30).

[0065] The upper controller 40 determines the connection order of the moving devices D5 to D8 that are daisy-chain connected to the powered-on converter C22 (step S40). The upper controller 40 determines whether the connection order of the moving devices has been determined for all converters (step S50).

[0066] The upper controller 40 repeats the process of step S60 and steps S20 to S50 until the connection order of the driving devices is specified for all converters.

[0067] When the upper controller 40 determines that the connection order of the driving devices has been specified for all converters (step S50, Yes), it generates connection information (step S70) and ends the process of detecting the connection configuration in the conveyance system 10.

[0068] The connection information is information indicating the connection configuration (connection order) of the movable devices D1 to D11 with respect to the converters C21 to C23. The upper controller 40 here generates the connection information indicating the connection configuration of the movable devices D1 to D11 shown in Fig. 2. That is, the connection information generated by the upper controller 40 includes the following three pieces of information:

[0069] The first information included in the connection information is information indicating that the drives D1 to D4 are daisy-chain connected to the converter C21 in the order of drive D1, drive D2, drive D3, and drive D4.

[0070] The second information included in the connection information is information indicating that drives D5 to D8 are daisy-chain connected to converter C22 in the order of drive D8, drive D7, drive D6, drive D5.

[0071] The third information included in the connection information is information indicating that drives D9 to D11 are daisy-chain connected to converter C23 in the order of drive D9, drive D10, drive D11.

[0072] In this way, in the conveyance system 10, the upper controller 40 controls the control devices 31-33 to turn on the main circuit power supply to one of the converters C21-23 to which the driving devices D1-D11 are connected. When the main circuit power supply is turned on, the driving device to which the main circuit power supply is turned on detects that the main circuit power supply has been turned on using a circuit that detects the power of the main circuit power supply (a voltage detection circuit 102 described later). A detection signal corresponding to this detection result is sent by the driving device to the upper controller 40 via the control detection signal line L2. This allows the upper controller 40 to identify the driving device connected to the converter that has turned on the main circuit power supply.

[0073] Fig. 4 is a diagram illustrating an example of the configuration of a driving device included in the conveyance system according to the first embodiment. Fig. 4 illustrates the configuration of driving devices D9 to D11, and driving devices D1 to D8 also have the same configuration. Fig. 4 illustrates the configuration of driving devices D9 to D11 as well as the connection configuration of driving devices D9 to D11.

[0074] The driving devices D9 to D11 are connected to a control detection signal line L2 for transmitting and receiving control signals (such as operation commands) and detection signals, and to a main circuit power supply line EP3 for receiving main circuit power from the AC power supply 1. Note that the control circuit power supply line EX is not shown in FIG.

[0075] The control detection signal line L2 is connected to the upper controller 40, and the main circuit power supply line EP3 is connected to the converter C23. In Fig. 4, the path of the current corresponding to the power (main circuit power supply) from the AC power supply 1 is shown by a dashed line.

[0076] Driving devices D9 to D11 are connected in parallel to converter C23. Driving devices D9 to D11 are connected to the P (plus) side and N (minus) side of main circuit power supply line EP3. The P side is the plug side, and the N side is the ground side. Of the main circuit power supply lines EP3 shown in FIG. 4, the main circuit power supply line EP3 shown on the upper side is the P side, and the main circuit power supply line EP3 shown on the lower side is the N side.

[0077] The control detection signal line L2 is a communication line for two-way communication. The control detection signal line L2 extending to the driving device D9 side is connected to the driving device D8 (not shown in FIG. 4). The control detection signal line L2 extending to the driving device D11 side is connected to the upper controller 40.

[0078] Each of the driving devices D9 to D11 includes a regenerative resistor 101, a voltage detection circuit 102, an MPU (Micro Processing Unit) 103 which is an example of a control unit, a regenerative switch circuit 104, and a current detection circuit 100.

[0079] Of the circuits included in the driving devices D9 to D11, the regenerative resistor 101, the voltage detection circuit 102, the MPU 103, and the regenerative switch circuit 104 are internal circuits connected in parallel from the converter C23. That is, in the transport system 10 of the first embodiment, the driving devices D9 to D11 are daisy-chain connected from the converter C23 so that the internal circuits (the regenerative resistor 101, the voltage detection circuit 102, the MPU 103, and the regenerative switch circuit 104) of the driving devices D9 to D11 are connected in parallel. Note that the current detection circuit 100 is not an internal circuit connected in parallel from the converter C23.

[0080] Since the driving devices D9 to D11 have the same configuration, only the configuration of the driving device D9 will be described here. The driving device D9 is connected to the main circuit power line EP3 at connection points 110 to 112 and the current detection circuit 100. The driving device D9 is also connected to the control detection signal line L2 at connection point 113.

[0081] One end of the regenerative resistor 101 is connected to a connection point 110 on the P side, and the other end is connected to one end of the regenerative switch circuit 104. One end of the voltage detection circuit 102 is connected to a connection point 111 on the P side, and the other end is connected to the MPU 103. The voltage detection circuit 102 detects a voltage value corresponding to the main circuit power supply and sends the detected voltage value to the MPU 103.

[0082] The moving device D11 closest to the upper controller 40 in the daisy chain connection may not have the connection point 111. That is, in the moving device D11, the main circuit power supply line EP3 may be directly connected to the voltage detection circuit 102.

[0083] The MPU 103 is connected to the P-side connection point 113 , the voltage detection circuit 102 , the regeneration switch circuit 104 , and the current detection circuit 100 .

[0084] The regenerative switch circuit 104 is connected to the regenerative resistor 101 and a connection point 112 on the N side. The regenerative switch circuit 104 is a switch circuit for driving the load of the regenerative resistor 101. The regenerative switch circuit 104 is turned on or off in accordance with a signal sent from the MPU 103. When the regenerative switch circuit 104 is turned on, the regenerative resistor 101 and the connection point 112 are connected, and when the regenerative switch circuit 104 is turned off, the connection between the regenerative resistor 101 and the connection point 112 is cut off.

[0085] In the transportation system 10, when the regenerative switch circuit 104 of one of the driving devices is turned on, the converter and one or more current detection circuits 100 are connected in series.

[0086] The current sent from converter C23 passes through connection points 110 and 111 of driving device D9, connection points 110 and 111 of driving device D10, connection points 110 and 111 of driving device D11, connection point 112 of driving device D11, connection point 112 of driving device D10, and connection point 112 of driving device D9, and returns to converter C23.

[0087] The current detection circuit 100 is disposed on the main circuit power supply line EP3 in the driving device D9 and detects the current value of the current flowing through the main circuit power supply line EP3. That is, the current detection circuit 100 detects the current flowing on the path through which the main circuit power is supplied.

[0088] 4 shows a case where the current detection circuit 100 is connected on the main circuit power supply line EP3 in a stage preceding the N side of the regenerative switch circuit 104 (between connection point 112 and converter C23). That is, in FIG. 4, the current detection circuit 100 is connected on the main circuit power supply line EP3 downstream of connection point 112 of the regenerative switch circuit 104 (toward converter C23). The current detection circuit 100 sends the detected current value to the MPU 103.

[0089] The regenerative resistor 101 may be arranged outside the driving device D9. When the regenerative resistor 101 is arranged inside the driving device D9, the regenerative resistor 101 is an internal regenerative resistor, and when the regenerative resistor 101 is arranged outside the driving device D9, the regenerative resistor 101 is an external regenerative resistor. Furthermore, the current detection circuit 100 may be arranged outside the driving device D9.

[0090] Next, a description will be given of the processing procedure for the upper controller 40 to identify the connection order of the daisy-chained movable devices. Fig. 5 is a flowchart showing the processing procedure for the upper controller according to the first embodiment to identify the connection order of the movable devices.

[0091] The upper controller 40 transmits an operation command, which is a command (power-on signal) for operating the regenerative switch circuit 104, to the driving equipment identified by the process described in Fig. 3. The upper controller 40 transmits the operation command to each driving equipment daisy-chained to the converter via the control detection signal line L2.

[0092] The upper controller 40 designates an arbitrary target converter (any of the converters C21 to C23) as a specific target for the connection order (step S110). The upper controller 40 selects, for example, one converter C23 as the next target converter.

[0093] The upper controller 40 transmits an operation command to all the moving devices connected to the target converter in order. First, the upper controller 40 designates any moving device among the moving devices connected to the target converter, and transmits an operation command to the designated moving device (first designated moving device) (step S120). For example, if the target converter is converter C23, the upper controller 40 transmits an operation command, which is a power-on signal to power on one moving device (e.g., moving device D9) connected to converter C23.

[0094] The MPU 103 of the driving device that has received the operation command controls the regenerative switch circuit 104 to operate the regenerative switch circuit 104. For example, when the driving device D9 connected to the converter C23 receives the operation command, the MPU 103 of the driving device D9 operates and turns on the regenerative switch circuit 104. As a result, a current flows through the main circuit power line EP3 via the regenerative resistor 101 of the driving device D9.

[0095] When the current detection circuit 100 of each of the moving devices D9 to D11 connected to the converter C23 detects a current value other than zero, it sends the current value to the MPU 103. Each MPU 103 sends the current value detected by the current detection circuit 100 to the upper controller 40.

[0096] In this way, in the conveying system 10, when a specific driving device is operated, the current value of the current flowing in the main circuit power line EP3 is detected by all current detection circuits 100 that are capable of detecting current values, and is transmitted to the upper controller 40 via the control detection signal line L2.

[0097] As a result, all of the moving machines D9 to D11 connected to the target converter (here, converter C23) that have detected current values ​​transmit the detected current values ​​via control detection signal line L2 to host controller 40. Host controller 40 receives the current values ​​from all of the moving machines that have detected current values ​​(step S130).

[0098] The upper controller 40 determines whether or not an operation command has been sent to all the moving machines connected to the target converter (step S140). If there is any moving machine connected to the target converter to which an operation command has not been sent (step S140, No), the upper controller 40 sends an operation command to the next arbitrary moving machine connected to the target converter to which an operation command has not been sent (step S150). That is, the upper controller 40 designates an undesignated moving machine (second designated moving machine) from the moving machines connected to the target converter.

[0099] For example, if the target converter is converter C23, the host controller 40 transmits an operation command to the moving machine D10 connected to converter C23. After that, the processes of steps S130 and S140 are repeated. In this way, the host controller 40 executes the processes of steps S130 and S140 for all moving machines determined to be connected to the target converter in the process of step S30 in FIG. 3.

[0100] For example, when the target converter is converter C23 and host controller 40 sends an operation command to driving device D10, MPU 103 of driving device D10 operates regenerative switch circuit 104 to turn it on. As a result, current flows through main circuit power line EP3 via regenerative resistor 101 of driving device D10. Of driving devices D9 to D11 connected to converter C23, current detection circuits 100 of driving devices D10 and D9 detect current values ​​and send the detected current values ​​to MPU 103.

[0101] The upper controller 40 repeats the processes of steps S150, S130, and S140 until it has transmitted operation commands to all of the moving machines connected to the target converter. In this way, the upper controller 40 repeats the process of designating an undesignated moving machine from among the moving machines, the process of transmitting an operation command to power on the designated moving machine, and the process of receiving a current value from a moving machine that has detected a current among the moving machines, until it has designated all of the moving machines.

[0102] When an operation command is sent to all the driving devices connected to the target converter (step S140, Yes), the upper controller 40 determines the connection order of the driving devices connected to the target converter based on the driving devices from which the current value was received (step S160).

[0103] The upper controller 40 determines whether the connection order of the movable devices has been specified for all converters (step S170). If there is a converter for which the connection order has not been specified (step S170, No), the upper controller 40 designates the next target converter as the target for specifying the connection order (step S180). The upper controller 40 selects, for example, one converter C22 as the next target converter.

[0104] Thereafter, the processes of steps S120 to S170 are repeated for the next target converter. When the connection order of the driving devices has been determined for all converters (step S170, Yes), the upper controller 40 ends the process of determining the connection order of the driving devices.

[0105] Here, a specific example of processing in which the host controller 40 identifies the connection order of the driving devices connected to the target converter based on the driving devices for which the current values ​​have been received will be described.

[0106] Here, a case will be described in which the driving devices D9 to D11 are daisy-chained in the configuration shown in Fig. 4. In this case, when the upper controller 40 sends an operation command to the driving device D9, the regenerative switch circuit 104 of the driving device D9 operates. As a result, the current flowing on the main circuit power line EP3 from the AC power supply 1 flows to the AC power supply 1 via the connection point 110, the regenerative resistor 101, the regenerative switch circuit 104, the connection point 112, and the current detection circuit 100 in the driving device D9. In this case, in the transport system 10, only the current detection circuit 100 of the driving device D9 detects a current value corresponding to the load of the current detection circuit 100 of the driving device D9. Then, the upper controller 40 receives the current value only from the driving device D9.

[0107] Furthermore, when the upper controller 40 transmits an operation command to the driving device D10, the regenerative switch circuit 104 of the driving device D10 operates. As a result, the current flowing on the main circuit power line EP3 from the AC power supply 1 flows to the AC power supply 1 via the connection point 110, the regenerative resistor 101, the regenerative switch circuit 104, the connection point 112, and the current detection circuit 100 in the driving device D10. In this case, in the transport system 10, the current detection circuit 100 of the driving device D10 and the current detection circuit 100 of the driving device D9 detect a current value corresponding to the load of the current detection circuit 100 of the driving device D10. Then, the upper controller 40 receives the current values ​​from the driving devices D9 and D10.

[0108] 6 is a diagram for explaining the correspondence relationship between the regenerative circuit operated by the upper controller according to the first embodiment and the current detection circuit that detects the current value. The regenerative circuit is a circuit including a regenerative resistor 101, a regenerative switch circuit 104, and an MPU 103.

[0109] 6, when the upper controller 40 operates the regenerative switch circuit 104 of the driving device D9, the current detection circuit 100 of the driving device D9 detects a current value, but the current detection circuits 100 of the driving devices D10 and D11 do not detect a current value. In other words, when the regenerative switch circuit 104 of the driving device D9 operates, a current is detected in the driving device D9, but a current is not detected in the driving devices D10 and D11.

[0110] Similarly, when the upper controller 40 operates the regenerative switch circuit 104 of the driving device D10, the current detection circuits 100 of the driving devices D9 and D10 detect a current value, but the current detection circuit 100 of the driving device D11 does not detect a current value. In other words, when the regenerative switch circuit 104 of the driving device D10 operates, current is detected in the driving devices D9 and D10, but not in the driving device D11.

[0111] Similarly, when the upper controller 40 activates the regenerative switch circuit 104 of the driving device D11, the current detection circuits 100 of the driving devices D9, D10, and D11 detect the current values. That is, when the regenerative switch circuit 104 of the driving device D11 activates, current is detected in the driving devices D9, D10, and D11.

[0112] The host controller 40 determines the connection order of the driving devices connected to the target converter based on the correspondence between the operated regenerative circuits and the current detection circuits 100 that detect the current values.

[0113] 6, the upper controller 40 can determine that, of the moving machines D9, D10, and D11, the moving machine D9 is connected to the most upstream stage (the converter C23 side). The upper controller 40 can also determine that the moving machine D10 is connected to the downstream stage (the upper controller 40 side) of the moving machine D9, and that the moving machine D11 is connected to the downstream stage of the moving machine D10. Based on these determination results, the upper controller 40 determines the connection order of the moving machines D9, D10, and D11 connected to the converter C23.

[0114] The conveyance system 10 does not require any user settings to detect the connection configuration of the drive devices, and does not require any additional circuitry to detect the connection configuration of the drive devices. The conveyance system 10 can detect the connection configuration of the drive devices by using a circuit or the like used to drive the drive devices.

[0115] In the conveying system 10, it is desirable to arrange the moving machines in an orderly manner, taking into consideration voltage drop in the cables, radiation of noise and the like from the cables, reduction of the total cable length, reduction of the system cost, etc. That is, in the conveying system 10, it is desirable that adjacent moving machines are connected to each other by a cable. In the first embodiment, the conveying system 10 detects the connection configuration of the moving machines, so that the user can easily determine whether the moving machines are connected properly.

[0116] The current detection circuit 100 may be disposed downstream of the driving device. Fig. 7 is a diagram showing another example of the configuration of the driving device included in the transportation system according to the first embodiment. Of the components in Fig. 7, components that achieve the same functions as those of driving devices D9 to D11 shown in Fig. 4 are given the same reference numerals, and redundant description will be omitted. Fig. 7 shows the configuration of driving devices D9A to D11A as another example of the configuration of driving devices D9 to D11, but driving devices D1 to D8 may also have the same configuration as driving devices D9A to D11A.

[0117] Like the driving devices D9 to D11, the driving devices D9A to D11A each have a regenerative resistor 101, a voltage detection circuit 102, an MPU 103, a regenerative switch circuit 104, and a current detection circuit 100.

[0118] As with the driving devices D9 to D11, among the circuits included in the driving devices D9A to D11A, the regenerative resistor 101, the voltage detection circuit 102, the MPU 103, and the regenerative switch circuit 104 are internal circuits connected in parallel to the converter C23.

[0119] Since the moving machines D9A to D11A have the same configuration, the configuration of the moving machine D9A will be described here. The moving machine D9A has the same components as the moving machine D9.

[0120] 7 shows a case where the current detection circuit 100 is connected on the main circuit power line EP3 to the rear stage of the N side of the regenerative switch circuit 104 (between the connection point 112 and the driving device D10A). That is, in FIG. 7, the current detection circuit 100 is connected on the main circuit power line EP3 upstream of the connection point 112 of the regenerative switch circuit 104 (toward the driving device D10A).

[0121] The current detection circuit 100 of the driving device D9A is arranged on the main circuit power supply line EP3 and is connected to the MPU 103. As shown in Fig. 7, the current detection circuit 100 can detect the current value even when it is arranged in the subsequent stage of the N side of the regenerative circuit.

[0122] Furthermore, although the case where the current detection circuit 100 is arranged on the N side has been described in FIGS. 4 and 7, the current detection circuit 100 may be arranged on the P side.

[0123] Furthermore, although FIG. 7 shows a case where the current detection circuit 100 is also arranged in the moving device D11A, which is the farthest connected device from the converter C23, the current detection circuit 100 does not necessarily have to be arranged in the moving device D11A.

[0124] When the current detection circuit 100 is placed at the rear of the N side of the regenerative circuit, as in the driving devices D9A to D11A, the correspondence between the regenerative circuit operated by the upper controller 40 and the current detection circuit that detects the current value is different from the correspondence described in Figure 6.

[0125] The following describes the correspondence between the regenerative circuit and the current detection circuit that detects the current value when current detection circuit 100 is arranged in the downstream of the N side of the regenerative circuit. For example, when host controller 40 operates regenerative switch circuit 104 of driving device D9A, current detection circuits 100 of driving devices D9A to D11A do not detect the current value.

[0126] Furthermore, when the upper controller 40 operates the regenerative switch circuit 104 of the driving device D10A, the current detection circuit 100 of the driving device D9A detects a current value, but the current detection circuits 100 of the driving devices D10A and D11A do not detect a current value.

[0127] Furthermore, when the upper controller 40 operates the regenerative switch circuit 104 of the driving device D11A, the current detection circuits 100 of the driving devices D9A and D10A detect the current value, but the current detection circuit 100 of the driving device D11A does not detect the current value.

[0128] The correspondence relationship between the regenerative circuit and the current detection circuit that detects the current value when the current detection circuit 100 is arranged on the P side is the same as the correspondence relationship when the current detection circuit 100 is arranged on the N side. That is, when the current detection circuit 100 is arranged on the P side in the upstream stage of the regenerative circuit (on the converter C23 side), the same correspondence relationship as that shown in Fig. 6 is derived. Also, when the current detection circuit 100 is arranged on the P side in the downstream stage of the regenerative circuit (on the driving device D10 side), the same correspondence relationship as that when the current detection circuit 100 is arranged on the N side in the downstream stage of the regenerative circuit is derived.

[0129] In this way, the current detection circuit 100 can be arranged either upstream or downstream of the regenerative circuit, allowing for a highly flexible circuit configuration for the transportation system 10. Furthermore, the current detection circuit 100 can be arranged either on the P-side or N-side of the main circuit power supply lines EP1 to EP3, allowing for a highly flexible circuit configuration for the transportation system 10. For example, by arranging the current detection circuit 100 on the P-side of the main circuit power supply lines EP1 to EP3, the reference voltage can be made common to each drive circuit. Furthermore, by arranging the current detection circuit 100 on the N-side of the main circuit power supply lines EP1 to EP3, the current detection circuit 100 does not need to be insulated, allowing for simplification of the current detection circuit 100. Thus, the connection position of the current detection circuit 100 can be selected according to the design policy.

[0130] In this way, the upper controller 40 can simultaneously determine the driving devices daisy-chained to each converter for a plurality of converters. Furthermore, the upper controller 40 can easily detect the connection configuration of the driving devices connected to the main circuit power supply lines EP1 to EP3 even when any main circuit power supply is connected in the conveyance system 10. This allows the user to change the connection of the driving devices to the main circuit power supply lines EP1 to EP3 as needed, and enables the conveyance system 10 to be operated with an appropriate connection configuration.

[0131] Furthermore, since the upper controller 40 can accurately detect the connection configuration of the driving equipment, the user can adjust the connection configuration appropriately if the driving equipment is incorrectly wired, thereby enabling advance protection against abnormalities such as overload.

[0132] In the first embodiment, the case where the upper controller 40 sequentially controls the control devices 31 to 33 to sequentially select the target converters has been described, but the upper controller 40 may simultaneously select multiple converters C21 to C23 as target converters. In this case, converters C21 to C23 that can output any voltage are used.

[0133] The upper controller 40 simultaneously transmits commands to the first through Nth (N is a natural number) converters to output different voltages, and receives different power supply voltage values ​​from the first through Nth converters. The upper controller 40 simultaneously transmits, for example, an output command for a first voltage value to converter C21, an output command for a second voltage value to converter C22, and an output command for a third voltage value to converter C23 to the control devices 31 through 33. For example, if converter C21 is the first converter, then converter C22 or converter C23 is the second converter, and the converter that is not the second converter out of converters C22 and C23 is the third converter. In this way, the control devices 31 through 33 simultaneously transmit commands (output commands for voltage values) to the converters C21 through C23 to output different voltages.

[0134] For example, when the upper controller 40 instructs the converter C21 to output a voltage of 100 V, the driving devices D1 to D4 connected to the converter C21 detect a voltage of 100 V as the main circuit power supply. In this case, the driving devices D1 to D4 transmit a voltage value of 100 V to the upper controller 40.

[0135] Furthermore, when the upper controller 40 instructs the converter C22 to output a voltage of 150 V, the driving devices D5 to D8 connected to the converter C22 detect 150 V as the main circuit power supply. In this case, the driving devices D5 to D8 transmit the voltage value of 150 V to the upper controller 40.

[0136] Furthermore, when upper level controller 40 instructs converter C23 to output a voltage of 170 V, driving devices D9 to D11 connected to converter C23 detect 170 V as the main circuit power supply. In this case, driving devices D9 to D11 transmit a voltage value of 170 V to upper level controller 40.

[0137] The upper controller 40 determines that the moving machines D1 to D4 that have transmitted a voltage value of 100V are connected to the converter C21. Similarly, the upper controller 40 determines that the moving machines D5 to D8 that have transmitted a voltage value of 150V are connected to the converter C22, and determines that the moving machines D9 to D11 that have transmitted a voltage value of 170V are connected to the converter C23.

[0138] In this way, the upper controller 40 can simultaneously designate multiple converters C21 to C23 as target converters and execute the process of detecting the connection configuration for each of the converters C21 to C23 in parallel, making it possible to detect the connection configuration in a short time.

[0139] In this way, the host controller 40 of the first embodiment controls the converter to supply power from the main circuit power supply to the driving equipment, and identifies the driving equipment connected to the converter by receiving a power supply voltage value detected by the driving equipment from the driving equipment connected to the converter. The host controller 40 also identifies the connection order of the connected driving equipment and detects the connection configuration of the connected driving equipment by transmitting and receiving signals (power-on signals and current values ​​in the first embodiment) to and from the driving equipment. This allows the conveyance system 10 to detect the connection configuration of the driving equipment even if the user has not prepared information on the connection configuration of the driving equipment in advance.

[0140] Furthermore, by causing each converter to output a different voltage value, the upper controller 40 can simultaneously identify the driving devices daisy-chained to each converter for the plurality of converters.

[0141] Embodiment 2 Next, a second embodiment will be described with reference to Figures 8 and 9. In the second embodiment, the host controller 40 detects a connection configuration of a driving device that does not include a regenerative circuit.

[0142] Fig. 8 is a diagram showing a configuration example of a driving device included in a conveyance system according to the second embodiment. Of the components in Fig. 8, components that achieve the same functions as those of driving devices D9 to D11 shown in Fig. 4 are given the same reference numerals, and duplicated explanations will be omitted. Fig. 8 shows the configuration of driving devices D9B to D11B as another configuration example of driving devices D9 to D11, but driving devices D1 to D8 may also have the same configuration as driving devices D9B to D11B.

[0143] The driving device D9B is disposed at the position of the driving device D9, the driving device D10B is disposed at the position of the driving device D10, and the driving device D11B is disposed at the position of the driving device D11.

[0144] Like the driving devices D9-D11, the driving devices D9B-D11B are connected to a control detection signal line L2 and a main circuit power supply line EP3. The control detection signal line L2 is connected to the upper controller 40, and the main circuit power supply line EP3 is connected to the converter C23. In Fig. 8, the path of the notification command signal output from the driving device is indicated by a dashed line.

[0145] Driving devices D9B-D11B are connected in parallel to converter C23. Driving devices D9B-D11B are connected to the N-side and P-side of main circuit power supply line EP3. Of the main circuit power supply lines EP3 shown in Fig. 8, the main circuit power supply line EP3 shown on the upper side is the P-side, and the main circuit power supply line EP3 shown on the lower side is the N-side.

[0146] Each of the driving devices D9B to D11B does not include a regenerative circuit, but includes a voltage detection circuit 102 and an MPU 103. Of the circuits included in the driving devices D9B to D11B, the voltage detection circuit 102 and the MPU 103 are internal circuits connected in parallel from the converter C23. That is, in the conveyance system 10 of the second embodiment, the driving devices D9B to D11B are daisy-chain connected such that the internal circuits (the voltage detection circuit 102 and the MPU 103) of the driving devices D9B to D11B are connected in parallel from the converter C23.

[0147] Since the driving devices D9B to D11B have the same configuration, only the configuration of the driving device D9B will be described here. Driving device D9B is connected to main circuit power line EP3 at connection point 114. Driving device D9B is also connected to control detection signal line L2 at connection point 113. One end of voltage detection circuit 102 is connected to connection point 114 on the P side, and the other end is connected to MPU 103. MPU 103 is connected to connection point 113 on the P side.

[0148] In the movable devices D9B to D11B, the MPUs 103 are connected to one another by a notification line LA. Specifically, the MPUs 103 of the movable device D9B and the MPUs 103 of the movable device D10B are connected to one another by a notification line LA, and the MPUs 103 of the movable device D10B and the MPUs 103 of the movable device D11B are connected to one another by a notification line LA.

[0149] In the second embodiment, similarly to the first embodiment, the upper controller 40 sequentially controls the controlled devices 31 to 33 to sequentially power on the converters C21 to C23. As a result, the upper controller 40 determines the moving device connected to each of the converters C21 to C23, similarly to the first embodiment.

[0150] The upper controller 40 detects the connection configuration of the moving machine for each of the converters C21 to C23. In this case, the upper controller 40 sequentially designates the target converters to be detected for the connection configuration, and sequentially designates the moving machines connected to the designated target converters and transmits notification command signals to them.

[0151] The notification command signal is a signal that causes the moving machine that has received the notification command signal to transmit a detection signal (reception notification signal) that indicates that the notification command signal has been received, and to transfer the notification command signal. In this way, the detection signal of the second embodiment is a signal that indicates that the notification command signal has been received. The notification command signal of the second embodiment is a first signal, and the detection signal of the second embodiment is a second signal.

[0152] When the MPU 103 of each moving device in the transport system 10 detects that it has received a notification command signal from the upper controller 40, it transmits a detection signal to the upper controller 40 via the control detection signal line L2, and transmits a notification command signal to the MPU 103 of the moving device connected to the upper controller 40 via the notification line LA. In other words, when the MPU 103 of each moving device receives a notification command signal, it transmits the notification command signal to the MPU 103 of the moving device connected to the upper controller 40, out of the one or two MPUs 103 connected.

[0153] For example, from the viewpoint of the moving machine D9, the moving machine D10 is the first upper moving machine connected closer to the upper controller 40 than the moving machine D9 itself, and the moving machine D11 is the second upper moving machine. Also, from the viewpoint of the moving machine D10, the moving machine D11 is the first upper moving machine connected closer to the upper controller 40 than the moving machine D10 itself.

[0154] In the conveyance system 10, transmission and reception (transfer) of notification command signals between MPUs 103 is repeated until there are no more MPUs 103 connected to the host controller 40. The host controller 40 continues to wait for a detection signal until no detection signal is sent. When a specific time has elapsed since receiving the detection signal, the host controller 40 sends a notification command signal to the next moving device. The next moving device is a moving device that is connected to the target converter and has not sent a detection signal to the host controller 40.

[0155] The notification command signal transmitted from the upper controller 40 is transmitted to the moving machine via the control detection signal line L2. Also, the notification command signal transmitted from the moving machine is transmitted to the upper controller 40 via the control detection signal line L2. In this way, signals transmitted and received between the upper controller 40 and the moving machine are transmitted and received using the control detection signal line L2.

[0156] Furthermore, the notification command signal transmitted from the moving machine is transmitted to the moving machine on the host controller 40 side via the notification line LA. In this way, signals transmitted and received between moving machines are transmitted and received using the notification line LA.

[0157] In the transport system 10, such transmission and reception of notification command signals and detection signals between the upper controller 40 and the MPUs 103, and transmission and reception of notification command signals between the MPUs 103 are repeated.

[0158] Next, a process procedure for the upper controller 40 to identify the connection order of the daisy-chained driving devices will be described. Fig. 9 is a flowchart showing the process procedure for the upper controller according to the second embodiment to identify the connection order of the driving devices. Here, a process for the upper controller 40 to identify the connection order of the driving devices for one target converter will be described.

[0159] Note that the process by which the upper controller 40 determines the connection order of the driving devices to the converter C23 and the process by which the upper controller 40 determines the connection order of the driving devices to the converters C21 and C22 are similar processes, so here we will explain the process by which the upper controller 40 determines the connection order of the driving devices to the converter C23.

[0160] The upper controller 40 identifies the movable devices D9 to D11 connected to the converter C23 by the process described in Fig. 3. The upper controller 40 designates an arbitrary movable device from among the movable devices D9 to D11 connected to the converter C23 for which the connection order is to be identified (step S210).

[0161] The upper controller 40 transmits a notification command signal to the MPU 103 of the designated movable machine. For example, when the upper controller 40 transmits a notification command signal to the MPU 103 of the movable machine D10B, the MPU 103 of the movable machine D10B receives the notification command signal.

[0162] In this case, the MPU 103 of the moving device D10B transmits a detection signal and a notification command signal (step S220). That is, the MPU 103 of the moving device D10B transmits a detection signal indicating that it has received the notification command signal to the upper controller 40 via the control detection signal line L2, and transmits the notification command signal to the MPU 103 of the moving device D11B connected to the upper controller 40 via the notification line LA. The upper controller 40 receives the detection signal from the MPU 103 of the moving device D10B. Furthermore, the MPU 103 of the moving device D11B receives the notification command signal from the MPU 103 of the moving device D10B.

[0163] In the conveyance system 10, if any of the driving machines connected to the target converter has received a notification command signal (Yes in step S230), the MPU 103 of the driving machine that received the notification command signal transmits a detection signal and a notification command signal (step S240). In this case, since the MPU 103 of the driving machine D11B has received the notification command signal, the MPU 103 of the driving machine D11B transmits a detection signal to the upper controller 40. As a result, the upper controller 40 receives the detection signal from the MPU 103 of the driving machine D11B.

[0164] Furthermore, if there is a moving machine connected to the upper controller 40 side with respect to the moving machine that has received the notification command signal, the MPU 103 of the moving machine that has received the notification command signal transmits the notification command signal to the moving machine on the upper controller 40 side. For example, if there is a moving machine D12B (not shown) connected to the upper controller 40 side with respect to the moving machine D11B that has received the notification command signal, the MPU 103 of the moving machine D11B transmits the notification command signal to the MPU 103 of the moving machine D12B. In the second embodiment, since there is no moving machine D12B, the MPU 103 of the moving machine D11B does not transmit the notification command signal to any MPU 103.

[0165] In the conveyance system 10, the processes of steps S230 and S240 are repeated until there are no more moving machines that receive the notification command signal. As a result, the upper controller 40 receives detection signals from the moving machine that first transmitted the notification command signal and all moving machines that are connected to the upper controller 40 side of the moving machine that first transmitted the notification command signal.

[0166] If no moving machine has received the notification command signal (step S230, No), the upper controller 40 determines whether or not all moving machines connected to the target converter have been detected (step S250). That is, the upper controller 40 determines whether or not detection signals have been received from all moving machines D9B to D11B connected to the target converter, converter C23.

[0167] If the upper controller 40 has not detected all the moving machines connected to the target converter (step S250, No), it designates any moving machine that has not been detected from among the moving machines connected to the target converter (step S260). That is, the upper controller 40 designates any moving machine that has not transmitted a detection signal from among the moving machines connected to the target converter. Here, the upper controller 40 designates moving machine D9 that has not transmitted a detection signal from among moving machines D9 to D11 connected to converter C23, the target converter.

[0168] In this way, when the host controller 40 stops receiving the detection signal, it designates another moving machine that has not transmitted a detection signal from among the moving machines connected to the target converter designated as the connection configuration detection target, and transmits a notification command signal to the designated moving machine.

[0169] Thereafter, a notification command signal and a detection signal are transmitted and received in the conveyance system 10. That is, in the conveyance system 10, the upper controller 40 repeats the processes of steps S220 to S250 until it detects all of the driving devices connected to the target converter.

[0170] The upper controller 40 repeats the process of sending a notification command signal to another driving device that has not sent a detection signal, and the process of sending and receiving notification command signals and detection signals in the conveying system 10, so that the upper controller 40 receives detection signals from all driving devices.

[0171] When the upper controller 40 detects all the driving devices connected to the target converter (step S250, Yes), it determines the connection order of the driving devices connected to the target converter based on the order in which the detection signals were received (step S270).

[0172] The host controller 40 detects the connection order for the moving machines connected to the target converter designated as the target for connection configuration detection. That is, even if the host controller 40 receives a detection signal from a moving machine connected to a converter not designated as the target for connection configuration detection, the host controller 40 does not include this moving machine in the setting of the connection order.

[0173] For example, if the target converter is converter C22, the host controller 40 does not include the moving devices D9B to D11B in the setting of the connection order even if it receives a detection signal from the moving devices D9B to D11B connected to converter C23. In this case, the host controller 40 sets the connection order to the moving devices D5B to D8B connected to converter C22, which is the target converter.

[0174] The upper controller 40 executes the process described in Fig. 5 and the process described in Fig. 9 for all converters. That is, the upper controller 40 designates the converters included in the conveyance system 10 as target converters in order, and executes the process described in Fig. 5 and the process described in Fig. 9 for each target converter. In this way, the upper controller 40 can detect the connection order of all driving devices in the conveyance system 10.

[0175] The converters C21 to C23 may be selected as target converters in any order, that is, the upper controller 40 may select the converters C21 to C23 as target converters in any order.

[0176] According to the second embodiment, notification command signals are sent and received between the driving devices, and the driving devices that receive the notification command signals send detection signals to the upper controller 40. Therefore, the conveying system 10 can detect the connection configuration of the driving devices even for driving devices that do not have regenerative circuits.

[0177] Embodiment 3 Next, a third embodiment will be described with reference to Figures 10 and 11. In the third embodiment, for a transportation system that does not know the wiring state, the transportation system detects the wiring state and then the user changes the wiring.

[0178] If random connections between drive devices are allowed in a conveyance system, various constraints make it difficult to guarantee the product quality of the conveyance system. For this reason, in conveyance systems where the wiring status of the main circuit power supply cannot be determined, a daisy chain connection of consecutive linear track modules 105 (drive devices) is recommended. In addition, the number of drive devices that can be connected to one converter is also a uniform number. A daisy chain connection of consecutive linear track modules 105 is a wiring connection between adjacent linear track modules 105.

[0179] Fig. 10 is a diagram for explaining the wiring state before the conveying system according to the third embodiment detects the wiring state. Note that Fig. 10 does not illustrate the linear track module 105 included in the conveying system 151 according to the third embodiment. Fig. 10 also illustrates the converter of the control device 200 included in the conveying system 151, but does not illustrate the control device and the upper controller 40.

[0180] Figure 10 shows the connection configuration of a conveying system 151 in which a daisy chain connection of consecutive linear track modules 105 is recommended, and a uniform four-unit number of driving devices is recommended as the number of driving devices to be daisy chained to one converter.

[0181] The conveying system 151 of the third embodiment has the same function as the conveying system 10 of the first and second embodiments. That is, like the conveying system 10, the conveying system 151 has the function of detecting the connection order of the driving devices daisy-chained to the converter.

[0182] The transfer system 151 of the third embodiment includes driving machines 400-403, 500-503, 600-602, and 700-703. The transfer system 151 also includes converters 300-303.

[0183] In conveyance system 151 in a state where the wiring state is not known, moving devices 400 to 403 are connected in a daisy chain, and moving devices 500 to 503 are also connected in a daisy chain. In conveyance system 151 in a state where the wiring state is not known, moving devices 600 to 602 are connected in a daisy chain, and moving devices 700 to 703 are also connected in a daisy chain.

[0184] In the third embodiment, it is assumed that the allowable load (for example, wattage) of each of the converters 300 to 303 is 400. Also, in the third embodiment, it is assumed that the load (for example, wattage) of each moving device is as follows: Load: 100 Drive equipment: 400-403, 602, 702, 703 Load: 80 Drive equipment 700, 701 Load: 50 Drive equipment: 500-503 Load: 20 Drive equipment 600, 601

[0185] As shown in FIG. 10, in the transport system 151, the driving device 400 among the driving devices 400 to 403 connected in a daisy chain is connected to the converter 300 by a connection wiring (cable) 4.

[0186] In addition, in the transport system 151, the driving device 500 among the driving devices 500 to 503 connected in a daisy chain is connected to the converter 301 by a connection wire 5.

[0187] In the transport system 151, the driving device 600 among the driving devices 600 to 602 connected in a daisy chain is connected to the converter 302 by a connection wire 6.

[0188] In the transport system 151, the driving device 700 among the driving devices 700 to 703 connected in a daisy chain is connected to the converter 303 by a connection wire 7.

[0189] In this way, when the wiring status is not understood, the recommended four or fewer driving devices are daisy-chained to each converter 300 to 303. For example, driving devices 400 to 403 with a total load of 400 are connected to converter 300 with an allowable load of 400, and driving devices 500 to 503 with a total load of 200 are connected to converter 301 with an allowable load of 400. Furthermore, driving devices 600 to 602 with a total load of 140 are connected to converter 302 with an allowable load of 400, and driving devices 700 to 703 with a total load of 360 are connected to converter 303 with an allowable load of 400.

[0190] In this way, four or less moving machines are connected to each of the converters 300 to 303, but the total loads of the moving machines connected to the converters 300 to 303 are different. In other words, if there is a difference in the loads of the moving machines, there will be a difference in the total loads of four or less moving machines.

[0191] For example, although the allowable load (maximum load) of converters 300 to 303 is 400, the total load of driving devices 600 to 602 connected to converter 302 is 140, which means that the load factor, which is the ratio of the actual load to the allowable load, is smaller than that of the other converters 300, 301, and 303.

[0192] The host controller 40 identifies the connection configuration of the driving devices as shown in FIG. 10 and displays the connection configuration on a display device (not shown) or the like, thereby providing the connection configuration to the user. This allows the user to determine whether the connection between the driving devices and the converters is appropriate based on the connection configuration displayed on the display device, and to change the connection between the driving devices and the converters as necessary. An appropriate connection between the driving devices and the converters is one in which the number of converters is small and the total length of the connecting wiring is short. To reduce the number of converters, it is necessary to increase the load factor calculated by dividing the converter's allowable load by the actual load.

[0193] Although an actual load exceeding the allowable load cannot be connected to converters 300 to 303, the number of connected driving devices to one converter may be five or more. Therefore, the user changes the connection of driving devices and converters so that the actual load is within the allowable load.

[0194] The conveying system 10 may re-specify the connection configuration of the driving device for the connection configuration of the conveying system (the conveying system 152 described later) after the connection has been changed by the user, and may re-display the connection configuration on a display device, etc. This allows the user to re-determine whether the connection of the driving device and the converter is appropriate based on the connection configuration displayed on the display device, and to re-change the connection of the driving device and the converter as necessary.

[0195] The host controller 40 may use a wiring tool that calculates wiring between devices to calculate the connections between the moving devices and the connections between the moving devices and the converter. The host controller 40 calculates the optimized connections between the devices by calculating the connections between the devices using the wiring tool. For example, when calculating the optimized connections between the devices, the host controller 40 may calculate connection wiring such that the actual load connected to one converter is equal to or less than the allowable load but approaches the allowable load.

[0196] Furthermore, when calculating the connections between the optimized devices, the upper controller 40 may calculate the connection wiring so as to minimize the number of converters. In other words, the upper controller 40 may calculate the connection wiring so as to give priority to converters with large allowable loads.

[0197] Furthermore, when calculating the connections between the optimized devices, the host controller 40 may calculate connection wiring that equalizes the load or load factor of each converter. Furthermore, when calculating the connections between the optimized devices, the host controller 40 may calculate connection wiring that makes the total length of the cables connecting the driving devices and the cables connecting the driving devices and the converters shorter than the current length.

[0198] Furthermore, when calculating the connections between the optimized devices, the upper controller 40 may calculate the connection wiring based on the connection order of the identified movable devices. In this case, the upper controller 40 calculates the connection wiring so as to maintain the connection order of the identified movable devices for connection points where the connection order does not need to be changed, while changing the connection positions of the other movable devices.

[0199] By optimizing the connections between the driving devices and between the driving devices and converters, the number of converters can be reduced, and the system cost of the transport system 151 can be reduced.

[0200] Fig. 11 is a diagram for explaining the wiring state after the wiring state is changed in the transport system according to the third embodiment. Fig. 11 shows the wiring state of a transport system 152 after the wiring state is changed with respect to the transport system 151 in the wiring state shown in Fig. 10. The transport system 152 is a transport system whose connection configuration has been changed based on the connection configuration of the transport system 151 identified by the transport system 10.

[0201] 11, similarly to Fig. 10, the linear track module 105 provided in the conveying system 152 is not shown. Also, Fig. 11 shows the converter of the control device 200 provided in the conveying system 152, but does not show the control device and the upper controller 40.

[0202] 11, compared to FIG. 10, a connection wire is added to connect driving device 503 and driving device 602. This allows driving devices 500 to 503, 602 to be daisy-chained. As a result, driving devices 500 to 503, 602 with a total load of 300 are connected to converter 301 with an allowable load of 400.

[0203] 11, compared to FIG. 10, a connection wire is deleted to disconnect the driving device 601 from the driving device 602, and a connection wire is added to connect the driving device 601 to the driving device 700. As a result, the driving devices 600, 601, 700 to 703 are daisy-chain connected. Also, compared to FIG. 10, the connection wires 6 and 7 are deleted from FIG. 11, and a connection wire 8 is added. The connection wire 8 is a wire that connects the driving device 600 to the converter 303. As a result, in the transport system 152, the driving device 600, of the driving devices 600, 601, 700 to 703 that are daisy-chain connected, is connected to the converter 303 by the connection wire 8. As a result, the driving devices 600, 601, 700 to 703, which have a total load of 400, are connected to the converter 303, which has an allowable load of 400. Also, the converter 302 is deleted from the transport system 152.

[0204] Thus, according to embodiment 3, the connection configuration of the transport system 152 is changed based on the connection configuration of the transport system 151 identified by the transport system 151, resulting in an appropriate connection configuration that reduces system costs.

[0205] Embodiment 4 Next, a fourth embodiment will be described with reference to Figs. 12 to 15. In the fourth embodiment, connection information indicating the connection order of the driving machines is learned and inferred. Note that, although the following description will be given of a case in which the conveyance system 10 includes a learning device and an inference device, the conveyance systems 151 and 152 may also include a learning device and an inference device.

[0206] <Learning Phase> 12 is a diagram illustrating a configuration example of a learning device included in the transportation system according to the fourth embodiment. The learning device (machine learning device) 50 that performs machine learning on the transportation system 10 includes a data acquisition unit 51 and a model generation unit 52.

[0207] The learning device 50 may be arranged, for example, inside the control device 200 or outside the control device 200. The learning device 50 may be provided in the controller (control devices 31 to 33) of the transport system 10, or in a host controller 40 connected to the controller, or in a computer connected to at least one of the controller and the host controller 40.

[0208] The data acquisition unit 51 acquires, as learning data, connection information indicating the connection order of the driving devices D1 to D11 connected to the converters C21 to C23, operation pattern information indicating the operation pattern of the conveying system 10 when the conveying system 10 is operated in the connection state indicated by this connection information, and converter load information (hereinafter referred to as load information) which is information on the load of the converters C21 to C23 in this operation pattern information.

[0209] The driving pattern information acquired by the data acquisition unit 51 is information corresponding to the connection information acquired by the data acquisition unit 51, and the load information acquired by the data acquisition unit 51 is information corresponding to the driving pattern information acquired by the data acquisition unit 51.

[0210] The load information is information that indicates the load of the converters C21 to C23 themselves while the conveyance system 10 is operating, i.e., while the driving devices are operating. For example, the load information of the converter C21 is information that indicates the load of the converter C21 itself while the driving devices D1 to D4 connected to the converter C21 are operating.

[0211] The converters C21 to C23, for example, calculate load information while the driving equipment is in operation and output the load information to the host controller 40. As a result, the host controller 40 executes control based on the load information. The data acquisition unit 51 acquires the load information output by the converters C21 to C23 to the host controller 40. The data acquisition unit 51 may acquire the load information from the converters C21 to C23, or may acquire the load information from the host controller 40.

[0212] The connection information of the driving devices connected to the converters is information including the number of converters arranged in the conveyance system 10, the number of driving devices connected to each converter, and the connection order of the driving devices connected to each converter (hereinafter, this may be simply referred to as "connection information"). The operation pattern information when the conveyance system 10 is operated in the connection state indicated by this connection information is information about the operation pattern when moving the mover 11 in the conveyance system 10. The operation pattern information is information including, for example, the timing to accelerate and decelerate the mover 11 on the conveyance path (hereinafter, this may be simply referred to as "operation pattern information").

[0213] The load information in this operation pattern information is, for example, information including the power load on the converter to which the driving equipment is connected that accompanies the operation of the driving equipment when power is applied to the coil of the stator 12 at the acceleration timing of the mover 11 indicated in the operation pattern information (hereinafter, sometimes simply referred to as "load information").

[0214] The model generation unit 52 learns the connection state of the driving equipment that reduces the number of converters based on the learning data including the connection information, the operation pattern information, and the load information. That is, the model generation unit 52 generates a learned model for inferring the connection state of the driving equipment that reduces the number of converters from the connection information, the operation pattern information, and the load information of the conveyance system 10.

[0215] The learning algorithm used by the model generation unit 52 can be a known algorithm such as supervised learning, unsupervised learning, reinforcement learning, etc. As an example, a case where the model generation unit 52 applies reinforcement learning will be described.

[0216] In reinforcement learning, an agent (acting subject) in a certain environment observes the current state (environmental parameters) and decides on the action to take. The environment changes dynamically depending on the agent's actions, and the agent is given a reward according to the changes in the environment. The agent repeats this process and learns the course of action that will give the most reward through a series of actions. Q-learning and TD-learning are known as representative reinforcement learning methods. For example, in the case of Q-learning, the general update formula for the action value function Q(s, a) is expressed as the following equation (1).

[0217]

number

[0218] In equation (1), s t represents the state of the environment at time t, and a t represents the action at time t. Action at Therefore, the state is s t+1 Changes to r t+1 represents the reward that can be obtained depending on the change in state, γ represents the discount rate, and α represents the learning coefficient. Note that γ is in the range of 0<γ≦1, and α is in the range of 0<α≦1. t The operation pattern information and load information are t The model generation unit 52 generates the state s t Best Practices in a t Learn.

[0219] The update formula expressed by equation (1) increases the action value Q if the action value Q of the action a with the highest Q value at time t+1 is greater than the action value Q of the action a executed at time t, and decreases the action value Q if the opposite is true. In other words, the model generation unit 52 updates the action value function Q(s, a) so that the action value Q of the action a at time t approaches the best action value at time t+1. As a result, the best action value in a certain environment is propagated sequentially to the action values ​​in previous environments.

[0220] As described above, when generating a trained model by reinforcement learning, the model generation unit 52 includes a reward calculation unit 521 and a function update unit 522.

[0221] The reward calculation unit 521 calculates a reward based on the connection information, operation pattern information, and load information. The reward calculation unit 521 calculates a reward r based on an increase or decrease in the number of converters used in the transportation system 10. For example, if the number of converters used in the transportation system 10 decreases, the reward calculation unit 521 increases the reward r (for example, gives a reward of "1"), and on the other hand, if the number of converters used in the transportation system 10 increases, the reward calculation unit 521 decreases the reward r (for example, gives a reward of "-1").

[0222] The function update unit 522 updates the function for determining the connection state of the driving machine that reduces the number of converters in accordance with the reward calculated by the reward calculation unit 521, and outputs the updated function to the learned model storage unit 55. For example, in the case of Q-learning, the action value function Q(s t ,a t ) is used as a function to calculate the connection state of the driving equipment that reduces the number of converters.

[0223] The learning device 50 repeatedly executes the above-described learning. The learned model storage unit 55 stores the action-value function Q(s t ,a t ), i.e., stores the trained model.

[0224] Next, the learning process performed by the learning device 50 will be described with reference to Fig. 13. Fig. 13 is a flowchart showing the procedure of the learning process performed by the learning device according to the fourth embodiment.

[0225] The data acquisition unit 51 acquires connection information, operation pattern information, and load information as learning data (step S310).

[0226] The model generation unit 52 calculates the reward based on the connection information, operation pattern information, and load information (step S320). Specifically, the reward calculation unit 521 acquires the connection information, operation pattern information, and load information, and determines whether to increase the reward based on a predetermined increase or decrease in the number of converters used in the conveyance system 10 (step S330) or decrease the reward (step S340).

[0227] When the remuneration calculation unit 521 determines that the remuneration should be increased (step S320, decrease in the number of converters), it increases the remuneration in step S330. On the other hand, when the remuneration calculation unit 521 determines that the remuneration should be decreased (step S320, increase in the number of converters), it decreases the remuneration in step S340.

[0228] The function update unit 522 updates the action value function Q(s t ,a t ) is updated (step S350).

[0229] The learning device 50 repeatedly executes the above steps S310 to S350 to generate the action-value function Q(s t ,a t ) is stored as a trained model in the trained model storage unit 55.

[0230] The learning device 50 of embodiment 4 has been described as storing the learned model in a learned model memory unit 55 provided outside the learning device 50, but the learning device 50 may also have the learned model memory unit 55 provided inside the learning device 50.

[0231] <Utilization phase> 14 is a diagram illustrating a configuration example of an inference device included in the transportation system according to the fourth embodiment. The inference device 60 that executes inference regarding the transportation system 10 includes a data acquisition unit 61 and an inference unit 62.

[0232] The inference device 60 may be arranged, for example, inside the control device 200 or inside the upper controller 40, or may be arranged outside the control device 200 and the upper controller 40. The inference device 60 may also be provided in a transport controller (not shown) that controls transport in the transport system 10, or in a transport upper controller (not shown) connected to the transport controller, or in a computer connected to at least one of the transport controller or the transport upper controller.

[0233] The data acquisition unit 61 acquires driving pattern information and load information as inference data. The inference unit 62 uses the learned model to infer connection information indicating a connection state of driving equipment that reduces the number of converters. That is, the inference unit 62 inputs the driving pattern information and load information acquired by the data acquisition unit 61 into the learned model read from the learned model storage unit 55, thereby inferring connection information indicating a connection state of driving equipment that is suitable for the driving pattern information and load information.

[0234] In the fourth embodiment, a case has been described in which connection information for driving equipment that reduces the number of converters is output using a trained model learned by the model generation unit 52 of the conveying system 10. However, the inference device 60 may also acquire a trained model from another conveying system and output connection information for driving equipment that reduces the number of converters based on this trained model.

[0235] Next, a process in which the inference device 60 infers connection information of a movable machine will be described with reference to Fig. 15. Fig. 15 is a flowchart showing the procedure of the inference process executed by the inference device according to the fourth embodiment.

[0236] The data acquisition unit 61 acquires driving pattern information and load information as inference data (step S410).

[0237] The inference unit 62 acquires the trained model from the trained model storage unit 55 and inputs the driving pattern information and the load information to the acquired trained model (step S420). As a result, the inference unit 62 acquires connection information for the driving equipment that reduces the number of converters. The inference unit 62 outputs the connection information for the driving equipment that reduces the number of converters obtained from the trained model (step S430).

[0238] The user refers to the output connection information of the driving devices for which the number of converters is reduced, and performs wiring between the converters with the reduced number of converters and the driving devices in the transport system 10. This enables the transport system 10 to increase the operating efficiency (load factor) per converter, and to efficiently move the mover 11 with a reduced number of converters.

[0239] In the fourth embodiment, a case has been described in which reinforcement learning is applied to the learning algorithm used by the inference device 60, but the present invention is not limited to this. As for the learning algorithm, other than reinforcement learning, supervised learning, unsupervised learning, semi-supervised learning, or the like can also be applied.

[0240] Deep learning, which learns to extract feature quantities themselves, can also be used as the learning algorithm used in the model generation unit 52. The model generation unit 52 may also perform machine learning according to other known methods, such as neural networks, genetic programming, inductive logic programming, and support vector machines.

[0241] The learning device 50 and the inference device 60 may be devices separate from the transportation system 10, for example, connected to the transportation system 10 via a network. Alternatively, the learning device 50 and the inference device 60 may be built into the transportation system 10. Furthermore, the learning device 50 and the inference device 60 may exist on a cloud server.

[0242] The model generation unit 52 may also use learning data acquired from a plurality of conveyance systems to learn connection information for driving devices that reduces the number of converters and corresponds to the operation pattern information and load information. The model generation unit 52 may also use learning data collected from a plurality of conveyance systems used in the same area to learn connection information for driving devices that reduces the number of converters and corresponds to the operation pattern information and load information. The model generation unit 52 may also use learning data collected from a plurality of conveyance systems operating independently in different areas to learn connection information for driving devices that reduces the number of converters and corresponds to the operation pattern information and load information.

[0243] In addition, it is possible to add or remove transportation systems from which learning data is collected during the process. Furthermore, a learning device that has learned connection information for driving devices that reduces the number of converters for a certain transportation system may be applied to another transportation system, and the connection information for driving devices that reduces the number of converters for the other transportation system may be re-learned and updated.

[0244] In this way, the conveying system 10 of the fourth embodiment learns connection information in which the number of converters is reduced and which corresponds to the operation pattern information and the load information, based on the operation pattern information, the load information, and the connection information indicating the connection order of the driving devices. This enables the conveying system 10 to infer connection information in which the number of converters is reduced, based on the operation pattern information and the load information.

[0245] Therefore, even if the load on the converters is not uniform in a conveying system 10 that uses linear motors, the inference device 60 can infer connection information that reduces the number of converters, thereby providing the user with appropriate connection information that reduces system costs.

[0246] Next, the hardware configurations of the host controller 40, the learning device 50, and the inference device 60 will be described. Note that the host controller 40, the learning device 50, and the inference device 60 have similar hardware configurations, so only the hardware configuration of the host controller 40 will be described here. The host controller 40 is realized by a processing circuit. The processing circuit may be a processor and memory that executes a program stored in memory, or may be dedicated hardware.

[0247] FIG. 16 is a diagram illustrating an example of the configuration of a processing circuit provided in the upper controller according to the first to fourth embodiments, when the processing circuit is realized by a processor and a memory. The processing circuit 90 illustrated in FIG. 16 includes a processor 91 and a memory 92. When the processing circuit 90 includes the processor 91 and the memory 92, each function of the processing circuit 90 is realized by software, firmware, or a combination of software and firmware. The software or firmware is written as a connection configuration detection program that detects the connection configuration of the movable machine and is stored in the memory 92. In the processing circuit 90, each function is realized by the processor 91 reading and executing the connection configuration detection program stored in the memory 92. That is, the processing circuit 90 includes the memory 92 for storing the connection configuration detection program that results in the processing of the upper controller 40 being executed. This connection configuration detection program can also be said to be a program that causes the upper controller 40 to execute each function realized by the processing circuit 90. This connection configuration detection program may be provided by a computer-readable recording medium on which the connection configuration detection program is recorded, or by other means such as a communication medium.

[0248] The connection configuration detection program can also be said to be a program that causes the upper controller 40 to execute the processes of steps S10 to S70 in Fig. 3 and the processes of steps S110 to S180 in Fig. 5. The connection configuration detection program may also be a program that causes the upper controller 40 to execute the processes of steps S10 to S70 in Fig. 3 and the processes of steps S210 to S270 in Fig. 9. Here, the processor 91 is, for example, a central processing unit (CPU), a processing unit, an arithmetic unit, a microprocessor, a microcomputer, or a digital signal processor (DSP). The memory 92 is, for example, a non-volatile or volatile semiconductor memory such as random access memory (RAM), read only memory (ROM), flash memory, erasable programmable ROM (EPROM), or electrically EPROM (registered trademark), a magnetic disk, a flexible disk, an optical disk, a compact disk, a minidisk, or a digital versatile disk (DVD).

[0249] FIG. 17 is a diagram illustrating an example of a processing circuit provided in the upper controller according to the first to fourth embodiments, configured with dedicated hardware. The processing circuit 93 illustrated in FIG. 17 corresponds to, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. The processing circuit 93 may be partially realized with dedicated hardware and partially realized with software or firmware. In this way, the processing circuit 93 can realize each of the above-described functions by dedicated hardware, software, firmware, or a combination thereof.

[0250] The learning device 50 may have the hardware configuration shown in Fig. 16 or 17. In this case, the learning program used by the learning device 50 is a program that causes the learning device 50 to execute the processes of steps S310 to S350 in Fig. 13.

[0251] Furthermore, inference device 60 may have the hardware configuration shown in Fig. 16 or 17. In this case, the learning program used by inference device 60 is a program that causes inference device 60 to execute the processes of steps S410 to S430 in Fig. 15.

[0252] The configurations shown in the above embodiments are merely examples, and may be combined with other known technologies, or different embodiments may be combined with each other. It is also possible to omit or modify parts of the configurations as long as they do not deviate from the gist of the invention. [Explanation of symbols]

[0253] 1 AC power supply, 4-8 connection wiring, 10, 151, 152 conveyance system, 11 mover, 12 stator, 13 guide rail, 14 guide module, 31-33 control equipment, 40 upper controller, 50 learning device, 51, 61 data acquisition unit, 52 model generation unit, 55 learned model storage unit, 60 inference device, 62 inference unit, 90, 93 processing circuit, 91 processor, 92 memory, 100 current detection circuit, 101 regenerative resistor, 102 voltage detection circuit, 103 MPU, 104 regenerative switch circuit, 105 linear track module, 110-114 connection point, 200 control device, 300-303, C21-C23 Converter, 400~403, 500~503, 600~602, 700~703, D1~D11, D9A~D11A, D5B~D12B, Dn drive equipment, EP1~EP3 main circuit power line, EX control circuit power line, L1 control signal line, L2 control detection signal line, LA notification line.

Claims

1. At least one mover; a plurality of stators disposed on a path along which the mover moves; a plurality of driving devices that drive the stator; a host controller that controls the driving device; Equipped with The driving device is the driving devices are daisy-chained from a converter to be managed to a main circuit power supply line that transmits power from a main circuit power supply, which is a power source used when driving the stator, so that internal circuits of the driving devices are connected in parallel, and the upper controller is daisy-chained to a signal line that transmits signals to the upper controller, The upper controller By controlling the converter, power is supplied from the main circuit power supply to the driving device, a connected driving device that is a driving device connected to the converter is identified by receiving a power supply voltage value detected by the driving device from the driving device connected to the converter, and the connection order of the connected driving devices is identified by transmitting and receiving the signal to and from the connected driving devices, thereby detecting the connection configuration of the connected driving devices. A transport system characterized by:

2. The upper controller designating one of the connected drive devices as a designated drive device, transmitting a power-on signal to the designated drive device as the signal for turning on the power, receiving a current value from a connected drive device that detected a current among the connected drive devices, and determining the connection order of the connected drive devices based on the connected drive device that transmitted the current value; 2. The transport system according to claim 1.

3. The upper controller a process of further designating an undesignated connected drive device from among the connected drive devices as the designated drive device, a process of transmitting the power-on signal as the signal to the designated drive device, and a process of receiving the current value from a connected drive device that has detected the current among the connected drive devices are repeated until all the connected drive devices have been designated, and the connection order of the connected drive devices is determined based on the connected drive device that has transmitted the current value.

3. The transport system according to claim 2.

4. The driving device is a regenerative resistor connected to the main circuit power supply line; a regenerative switch circuit that is a switch circuit for driving the load of the regenerative resistor; a control unit that controls the regeneration switch circuit; and The control unit When the power-on signal is received, the regeneration switch circuit is turned on.

4. The transport system according to claim 2 or 3.

5. the upper controller executes a process for detecting a connection configuration of the connected drive device for each of the plurality of converters in turn; 5. A transport system according to claim 1, wherein the transport system comprises: a first transport unit;

6. The upper controller designating one of the connected movable devices as a designated movable device, and transmitting a first signal as the signal to the designated movable device; The designated driving device is When the first signal is received, the device transmits a second signal to the upper controller indicating that the first signal has been received, and, if there is a first upper-level driving device that is a driving device connected to the upper controller side of the device itself, transmits the first signal to the first upper-level driving device; the first upper level driving device transmits the second signal to the upper level controller upon receiving the first signal; The upper controller Identifying the connection order of the connected drive devices based on the second signal.

2. The transport system according to claim 1.

7. The first upper driving device includes: When the first signal is received, if there is a second higher-level driving device that is a driving device connected to the higher-level controller side than the own device, the first signal is transmitted to the second higher-level driving device; the second upper-level driving device, upon receiving the first signal, transmits the second signal to the upper-level controller; The upper controller Identifying the connection order of the connected drive devices based on the second signal.

7. The transport system according to claim 6.

8. The upper controller a process of further designating a connected movable device that has not transmitted the second signal from among the connected movable devices as the designated movable device, and a process of transmitting the first signal as the signal to the designated movable device are repeated until the second signals are received from all the movable devices, and the connection order of the connected movable devices is determined based on the second signal.

8. The transport system according to claim 6 or 7.

9. the upper controller simultaneously transmits commands to a first converter and a second converter among the converters to output different voltages, receives different power supply voltage values ​​from the first converter and the second converter, and identifies a connected drive device connected to the first converter and a connected drive device connected to the second converter based on the received power supply voltage values; 9. A transport system according to claim 1, wherein the transport system comprises: a first transport member;

10. the converter outputs load information indicating its own load during operation of the driving device to the upper controller; a data acquisition unit that acquires, as learning data, connection information indicating the connection order of the connected drive devices, driving pattern information that is information on a driving pattern when the drive devices are operated in a connection state indicated by the connection information, and the load information corresponding to the driving pattern information; a model generation unit that generates a trained model for inferring a connection state of the driving device that reduces the number of the converters, using the training data acquired by the data acquisition unit; and an inference unit that infers the connection information indicating a connection state of the driving device that reduces the number of the converters from the driving pattern information and the load information corresponding to the driving pattern information using the trained model; Further provided with 10. A transport system according to claim 1, wherein the transport system comprises:

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