Manufacturing Systems and Programs

Abstract

To provide a technology to automate a manufacturing method for a processing object considered to be suitable by individual artisans.SOLUTION: In a manufacturing system, a first stirring device includes a stirring unit that stirs a processing object by using a motor, a torque acquisition unit that acquires a manufacturing-time torque value which is a torque value just before a stirring speed of the motor is changed and acts on a rotation shaft of the motor, a manufacturing information transmission unit that transmits manufacturing information including the stirring speed of the motor and the manufacturing-time torque value acquired by the torgue acquisition unit to a manufacturing support device. The manufacturing support device includes a manufacturing information acquisition unit that acquires the manufacturing information, a derivation unit that derives control information for controlling a second stirring device on the basis of the manufacturing information acquired by the manufacturing information acquisition unit, and a provision unit that provides the control information derived by the derivation unit for the second stirring device.SELECTED DRAWING: Figure 9

Description

[Technical field]

[0001] The present invention relates to a manufacturing system and a program. [Background technology]

[0002] Conventionally, various techniques for stirring objects to be processed have been proposed. For example, Patent Document 1 discloses a technique for producing whipped cream. The technique disclosed in Patent Document 1 discloses a technique for outputting a rotation stop signal to an electric motor when an inflection point of an increase characteristic curve of rotation torque is detected using a torque measurement signal that measures the rotation torque applied from the electric motor to a stirrer. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-20760 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, the optimal timing to stop stirring varies depending on the craftsman, with some whipped cream craftsmen considering the timing before the inflection point being the optimal timing to stop stirring.

[0005] As described above, the method of manufacturing whipped cream varies from craftsman to craftsman, and therefore the technology disclosed in Patent Document 1, which uniformly uses an inflection point, is not suitable for automating the manufacturing method that each craftsman considers optimal. This problem occurs not only in whipped cream, but also in the case of stirring an object to be processed.

[0006] In view of the above circumstances, an object of the present invention is to provide a technique for automating a manufacturing method for an object to be processed that is considered optimal by each craftsman. [Means for solving the problem]

[0007] The present invention has the following aspects. [1] A manufacturing system including a first mixing device, a second mixing device, and a manufacturing support device, wherein the first mixing device includes a mixing unit that mixes an object to be processed using a motor, a torque acquisition unit that acquires a torque value at the time of manufacturing acting on a rotating shaft of the motor, and a manufacturing information transmission unit that transmits manufacturing information to the manufacturing support device, the manufacturing information including the mixing speed of the motor and the torque value at the time of manufacturing acquired by the torque acquisition unit, and the manufacturing support device includes a manufacturing information acquisition unit that acquires the manufacturing information, a derivation unit that derives control information for controlling the second mixing device based on the manufacturing information acquired by the manufacturing information acquisition unit, and a provision unit that provides the control information derived by the derivation unit to the second mixing device.

[0008] [2] The manufacturing system described in [1], wherein the derivation unit derives a control torque value for controlling the second stirring device, and the control information is information for controlling the second stirring device to stir at the stirring speed included in the manufacturing information until the control torque value is reached.

[0009] [3] The first stirring device includes a hardness acquisition unit that acquires a hardness value of the object to be processed, the manufacturing information includes a hardness value acquired by the hardness acquisition unit, The manufacturing system described in [2], wherein the derivation unit uses the hardness value and the torque value at the time of manufacture to generate relationship information indicating the relationship between the hardness value and the torque value at the time of manufacture, and derives a torque value that results in a desired hardness value as the control torque value from the generated relationship information.

[0010] [4] The second mixing device is a manufacturing system described in [2] or [3], which includes another mixing unit that mixes the material to be processed using a motor, another torque acquisition unit that acquires a manufacturing torque value acting on the rotating shaft of the motor, a control information acquisition unit that acquires the control information, and a control information execution unit that controls the other mixing unit in accordance with the control information acquired by the control information acquisition unit.

[0011] [5] A manufacturing system as described in any one of [2] to [4], wherein the first mixing device is provided with another control information acquisition unit that acquires the control information transmitted by the first mixing device itself via the manufacturing information transmission unit, and another control information execution unit that controls the mixing device in accordance with the control information acquired by the other control information acquisition unit and the torque value acquired by the torque acquisition unit.

[0012] [6] A program for causing a first mixing device to function as a first computer and for causing the manufacturing support device to function as a second computer in a manufacturing system including a first mixing device, a second mixing device, and a manufacturing support device, the program causing the first computer to function as a torque acquisition unit that acquires a torque value at the time of manufacturing acting on a rotating shaft of a motor in a mixing unit that mixes an object to be processed using the motor, and a manufacturing information transmission unit that transmits manufacturing information including the mixing speed of the motor and the torque value at the time of manufacturing acquired by the torque acquisition unit to the manufacturing support device, and causing the second computer to function as a manufacturing information acquisition unit that acquires the manufacturing information, a derivation unit that derives control information for controlling the second mixing device based on the manufacturing information acquired by the manufacturing information acquisition unit, and a providing unit that provides the control information derived by the derivation unit to the second mixing device. Effect of the Invention

[0013] According to the present invention, it is possible to provide a technique for automating a manufacturing method for an object to be processed that is considered optimal by each craftsman. [Brief description of the drawings]

[0014] [Figure 1]FIG. 2 is a system configuration diagram showing the system configuration of a whipped product manufacturing system. [Diagram 2] FIG. 1 is a diagram showing an example of the overall configuration of a stirring device. [Diagram 3] FIG. 2 is a diagram illustrating an example of a functional configuration of a control device. [Figure 4] FIG. 2 is a functional block diagram showing a functional configuration of the manufacturing support device. [Diagram 5] FIG. 11 is a diagram illustrating an example of manufacturing information. [Figure 6] FIG. 1 is a diagram illustrating an example of a PSN. [Figure 7] FIG. 4 is a sequence diagram showing a process flow of the mixing device and the manufacturing support device. [Figure 8] 11 is a diagram showing an example of overall control information stored in an overall control information storage unit; FIG. [Figure 9] FIG. 13 is a diagram showing a message format of a control information response. [Figure 10] 10 is a flowchart showing a process flow of the stirring device. [Figure 11] 10 is a flowchart showing a process flow of the manufacturing support device. [Figure 12] 10 is a flowchart showing a process flow of the stirring device. [Figure 13] 11 is a diagram showing an example of overall control information stored in an overall control information storage unit; FIG. [Figure 14] FIG. 13 is a diagram showing a message format of a control information response. [Figure 15] 10 is a flowchart showing a process flow of the stirring device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] Hereinafter, specific configuration examples of the present invention will be described with reference to the drawings. In the following embodiment, a configuration in which whipped cream is used as an example of an object to be treated will be described.

[0016] FIG. 1 is a system configuration diagram showing the system configuration of the manufacturing system 1. The manufacturing system 1 includes two or more stirring devices 100_1 to 100_n (n is an integer equal to or greater than 2) and a manufacturing support device 200. Hereinafter, when there is no particular distinction between the stirring devices 100_1 to 100_n, any one of the stirring devices will be expressed as a stirring device 100. The network 300 is configured with a LAN (Local Area Network) or a WAN (Wide Area Network). Any one of the stirring devices 100_1 to 100_n corresponds to a first stirring device, and another stirring device different from the first stirring device corresponds to a second stirring device.

[0017] 2 is a diagram showing an example of the overall configuration of the stirring device 100. The stirring device 100 includes a control device 110, a motor 131, a torque measuring device 132, a stirrer 140, and a container 141. The control device 110 controls the entire stirring device 100. The motor 131 rotates the stirrer 140 under the control of the control device 110. The torque measuring device 132 measures the torque value acting on the rotating shaft of the motor 131. The stirrer 140 stirs the cream 142 in the container 141.

[0018] FIG. 3 is a diagram showing an example of a functional configuration of the control device 110 of the mixing device 100. The control device 110 includes a central processing unit (CPU), a memory, an auxiliary storage device, and the like, which are connected by a bus, and functions as a device including a communication unit 111, an input unit 112, an individual control information storage unit 151, and a control unit 120 by executing a manufacturing program. All or part of the functions of the communication unit 111, the individual control information storage unit 151, and the control unit 120 may be realized using hardware such as an application specific integrated circuit (ASIC), a programmable logic device (PLD), or a field programmable gate array (FPGA). The mixing device 100 may also be controlled using a programmable logic controller (PLC). The manufacturing program may be recorded in a computer-readable recording medium. The computer-readable recording medium is, for example, a portable medium such as a flexible disk, a magneto-optical disk, a ROM, or a CD-ROM, or a storage device such as a hard disk built into a computer system. The manufacturing program may be transmitted via an electric communication line.

[0019] The communication unit 111 is a network interface. The communication unit 111 communicates with the manufacturing support device 200 via the network 300. The input unit 112 is configured using an input device such as an operation button.

[0020] The individual control information storage unit 151 is configured using a storage device such as a magnetic hard disk device, a semiconductor storage device, etc. The individual control information storage unit 151 will be described later.

[0021] The control unit 120 controls the operation of each unit of the stirring device 100. The control unit 120 is executed by a device including a processor such as a CPU and a RAM. The control unit 120 executes a manufacturing program to function as a motor control unit 121, a torque acquisition unit 122, a hardness acquisition unit 123, a manufacturing information transmission unit 124, a control information acquisition unit 125, and a control information execution unit 126.

[0022] The motor control unit 121 controls the start and stop of rotation and the rotation speed (stirring speed) of the motor 131. The motor control unit 121, the motor 131, and the stirrer 140 constitute a stirrer. The torque acquisition unit 122 acquires a torque value measured by the torque measuring device 132. The hardness acquisition unit 123 acquires a hardness value input to the input unit 112. The manufacturing information transmission unit 124 transmits manufacturing information including the stirring speed of the motor 131 and the torque value at the time of manufacturing acquired by the torque acquisition unit 122 to the manufacturing support device 200. The manufacturing information transmission unit 124 also transmits the hardness value acquired by the hardness acquisition unit 123.

[0023] The control information acquiring unit 125 acquires control information from the manufacturing support device 200. The control information acquiring unit 125 stores the acquired control information in the individual control information storage unit 151. The control information executing unit 126 controls the stirring unit according to the control information and the torque value acquired by the torque acquiring unit 122.

[0024] 4 is a functional block diagram showing the functional configuration of manufacturing support device 200. Manufacturing support device 200 includes a CPU, a memory, an auxiliary storage device, and the like, which are connected via a bus, and functions as a device including a communication unit 210, an overall control information storage unit 241, and a control unit 220 by executing a manufacturing support program.

[0025] The communication unit 210 is a network interface. The communication unit 210 communicates with the mixing device 100 via the network 300. All or part of the functions of the communication unit 210 and the control unit 220 may be realized using hardware such as an ASIC, a PLD, or an FPGA. The manufacturing support program may be recorded in a computer-readable recording medium.

[0026] The control unit 220 controls the operation of each unit of the manufacturing support device 200. The control unit 220 is executed by a device including a processor such as a CPU and a RAM. The control unit 220 functions as a manufacturing information acquisition unit 221, a derivation unit 222, and a control information provision unit 223 by executing a manufacturing support program.

[0027] The manufacturing information acquisition unit 221 acquires the manufacturing information transmitted by the manufacturing information transmission unit 124. The derivation unit 222 derives control information for controlling the mixing device 100 based on the manufacturing information. The derivation unit 222 stores the derived control information in the overall control information storage unit 241. The control information provision unit 223 provides the derived control information to the mixing device 100.

[0028] FIG. 5 is a diagram showing an example of manufacturing information. FIG. 5 shows "elapsed time," "PSN" (program step number), "torque value," and "agitation speed." "Elapsed time" indicates the time that has elapsed since a predetermined timing (e.g., power-on). In FIGS. 5 and 13, X minutes, YZ seconds are expressed as X'YZ. "PSN" will be described later. "Torque value" indicates the torque value (N·m) acquired by the torque acquisition unit 122 at the timing shown in "elapsed time." "Agitation speed" indicates the actual agitation speed (rpm) of the motor 131 at the timing shown in "elapsed time." In the following description, units may be omitted for time, torque value, and agitation speed.

[0029] Prior to the description of FIG. 5, the PSN will be described with reference to FIG. 6. FIG. 6 is a diagram showing an example of the PSN. In FIG. 6, "PSN" is a number indicating the stirring state. In this embodiment, "PSN" is provided from 1 to 10. "PSN" 1 indicates waiting for stirring ON. Specifically, "1" indicates that the power is turned on and is waiting for input of a stirring start instruction. The stirring speed at that time is naturally 0. "2" indicates that the stirring speed is 180. "3" indicates that the stirring speed is 140. "4" indicates that the stirring speed is 160. From here on, "5" to "9" are each associated with a stirring speed. "10" indicates that a stirring stop instruction has been input. The stirring speed at that time is naturally 0. In the following description, PSNM indicates that the PSN is M. For example, PSN2 indicates that the PSN is 2.

[0030] 6 indicates that the motor 131 is controlled to achieve the stirring speed, and does not indicate the actual stirring speed. For example, when the rotation starts, the rotation speed increases from 0, so it may differ from the actual stirring speed.

[0031] Returning to the explanation of Fig. 5, the production information shown in Fig. 5 indicates that from 1 second to 5 seconds elapsed time, the agitation ON wait is on, from 6 seconds to 2 minutes 14 seconds elapsed time, the agitation speed is controlled at 180, and from 2 minutes 15 seconds to 2 minutes 37 seconds elapsed time, the agitation speed is controlled at 160. It also indicates that an instruction to stop agitation was input at the timing when the elapsed time was 2 minutes 38 seconds. Thereafter, it indicates that the agitation speed becomes 0 at the timing when the elapsed time was 2 minutes 40 seconds.

[0032] From the manufacturing information in Figure 5, it can be deduced that PSN2 was controlled for approximately 128 seconds (from elapsed time 6 seconds to 2 minutes 14 seconds), and then PSN4 was controlled for approximately 22 seconds (from elapsed time 2 minutes 15 seconds to 2 minutes 37 seconds), and then a command to stop mixing was input.

[0033] Also, looking at the torque value, it can be derived that the torque value was controlled until it reached 0.09 in PSN2, then the torque value was controlled until it reached 0.09 in PSN4, and then an instruction to stop stirring was input.

[0034] In this way, the stirring speed, the torque value, and the elapsed time at a certain PSN (i.e., stirring speed) can be derived from the manufacturing information. Therefore, the manufacturing support device 200 derives control information from the stirring speed, the torque value, and the elapsed time controlled at a certain stirring speed based on the manufacturing information.

[0035] In this embodiment, in the first embodiment described below, control information for control using the stirring speed and torque value is described, and in the second embodiment described below, control information for control using the stirring speed, torque value, and elapsed time is described.

[0036] First, a process flow common to all the embodiments will be described. Fig. 7 is a sequence diagram showing the process flow of the mixing device 100 and the manufacturing support device 200. The sequence diagram shown in Fig. 7 shows the process flow of two mixing devices A and B and the manufacturing support device 200 as an example.

[0037] When the mixing device A acquires the manufacturing information (step S101), the mixing device A transmits the manufacturing information as a manufacturing information notification to the manufacturing support device 200 (step S102). In the manufacturing information notification, a device identifier ((A) in the case of FIG. 7) that uniquely identifies the mixing device A is also transmitted.

[0038] The manufacturing support device 200 acquires manufacturing information of the agitator A through the manufacturing information notification (A) (step S103), derives control information for controlling the agitator 100 to automate the manufacturing method of the agitator A (step S104), and records the control information of the agitator A (step S105).

[0039] The agitator B transmits a control information request (A) requesting control information of the agitator A to the manufacturing support device 200 (step S106). This step S106 is executed when an operation requesting control information is performed on the input unit 112 by an operator operating the agitator B. The control information request also transmits an apparatus identifier ((A) in the case of FIG. 7) for identifying which agitator 100 manufactured the control information for which the request was made. The manufacturing support device 200 provides the recorded control information of the agitator A to the agitator B as a control information response (step S107). This enables the agitator B to automate the manufacturing method using the agitator A.

[0040] Like the agitator B, the control information of the agitator A can be requested not only by other agitators but also by the control device A itself that transmitted the manufacturing information. In this case, similar to the case of the agitator B, the agitator A transmits a control information request (A) requesting the control information of the agitator A to the manufacturing support device 200 (step S108). This step S108 is executed when an operation requesting control information is performed on the input unit 112 by the operator operating the agitator A. The manufacturing support device 200 transmits the recorded control information of the agitator A to the agitator A as a control information response (step S109). This allows the agitator A to automate the manufacturing method of the agitator A.

[0041] As can be seen from the above sequence diagram, first, in mixing device A, for example, a craftsman makes whipped cream and transmits the production information at that time to the manufacturing support device 200. The manufacturing support device 200 derives control information and provides it to mixing device B, for example. This enables mixing device B to produce whipped cream using the craftsman's manufacturing method. Furthermore, even if a craftsman is not present at mixing device A, it is possible to produce whipped cream using the craftsman's manufacturing method by obtaining the control information from the manufacturing support device 200.

[0042] As shown in steps S108 and S109 in Fig. 7, when the mixing device that provided the manufacturing information only operates to acquire the control information, there may be only one mixing device in the manufacturing system 1 shown in Fig. 1. In other words, the manufacturing system 1 is a system that includes only the mixing device 100_1 and the manufacturing support device 200.

[0043] [First embodiment] The first embodiment is an embodiment using control information for control using a stirring speed and a torque value. The manufacturing support device 200 acquires the PSN and the torque value from the manufacturing information as described above, and derives the control information. Fig. 8 is a diagram showing an example of the overall control information stored in the overall control information storage unit 241. The derivation unit 222 derives the control information shown in the overall control information storage unit 241 from the manufacturing information.

[0044] The control information in Fig. 8 shows "device identifier", "PSN(1)", "TRQ(1)", "PSN(2)", "TRQ(2)", .... As described above, the "device identifier" is identification information for uniquely identifying the mixing device 100, and in the case of Fig. 8, the place name where the mixing device 100 is installed (Chiba, Tokyo, Kanagawa) is used as an example.

[0045] An array of TRQs such as "TRQ(1)", "TRQ(2)", ... indicates a control torque value. "TRQ(r)" (r is an integer equal to or greater than 1) is used to determine whether or not to end control at "PSN(r)". Specifically, the stirring device 100 starts control at "PSN(r)", determines whether the torque value measured by the torque measuring device 132 is equal to or greater than "TRQ(r)", and ends control at "PSN(r)" if it is determined that the torque value is equal to or greater than "TRQ(r)".

[0046] As shown in the manufacturing information in FIG. 5, the PSN can be changed in order for control, such as first controlling with PSN2 and then controlling with PSN4. Therefore, as shown in FIG. 8, the first PSN is indicated as PSN(1), and the final torque value at that time is TRQ(1). The second PSN is indicated as PSN(2), and the final torque value at that time is TRQ(2). If there is control with the third PSN, the PSNs and torque values ​​are recorded in sequence for the number of times the PSN has been changed, such as "PSN(3)", "TRQ(3)", and so on. Therefore, if the number of times the PSN has been changed is 5, then PSN(5) and TRQ(5) will exist, and if the number of times the PSN has been changed is 1, then only PSN(1) and TRQ(1) will exist.

[0047] The final torque value refers to the torque value immediately before the PSN was changed. For example, in the case of Fig. 5, the elapsed time from the time when PSN2 was changed to PSN4 was 2 minutes 15 seconds, so the torque value (0.09) at 2 minutes 14 seconds immediately before that is the final torque value for PSN2. This final torque value is an example of the torque value at the time of manufacture.

[0048] In the example of FIG. 8, for example, the mixing device 100 in Chiba is first controlled at PSN2 until the torque value becomes 0.06, and then at PSN4 until the torque value becomes 0.09.

[0049] 9 is a diagram showing the message format of a control information response. The control information response is composed of a message header indicating that it is a control information response, a device identifier indicating which mixing device 100 the control information is for, an array of PSNs from 1 to n, and an array of torque values ​​from 1 to n. n indicates the number of times the PSN has been changed in the mixing device 100.

[0050] The mixing device 100 that has acquired this control information stores the device identifier, the PSN array, and the torque value array as individual control information in the individual control information storage unit 151. Then, the mixing device 100 controls with PSN(1) until the torque value acquired by the torque acquisition unit 122 becomes TRQ(1), and then controls with PSN(2) until the torque value becomes TRQ(2), and so on, until the torque value becomes TRQ(n). This allows the manufacturing method of the mixing device 100 in Chiba, for example, to be automated in other mixing devices 100.

[0051] Next, the process flow of the mixing device 100 and the manufacturing support device 200 will be described using a flowchart. FIG. 10 is a flowchart showing the process flow of the mixing device 100 that transmits manufacturing information. The mixing device 100 acquires manufacturing information (see FIG. 5) (step S201). The mixing device 100 acquires its own device identifier stored, for example, in a non-volatile memory (not shown) (step S202). The mixing device 100 transmits a manufacturing information notification to the manufacturing support device 200 (step S203), and ends the process.

[0052] 11 is a flowchart showing the flow of processing by the manufacturing support device 200. The manufacturing support device 200 receives two messages, a manufacturing information notification and a control information request, from the mixing device 100. First, the manufacturing support device 200 determines whether or not the manufacturing information notification has been received (step S301). If the manufacturing support device 200 has received the manufacturing information notification (step S301: YES), it derives control information from the manufacturing information, updates the overall control information stored in the overall control information storage unit 241 (step S302), and ends the processing. Here, updating refers to either a process of storing new control information or a process of overwriting existing control information with the new control information.

[0053] If the manufacturing support device 200 has not received a manufacturing information notification (step S301: NO), it determines whether or not it has received a control information request (step S303). If the manufacturing support device 200 has not received a control information request (step S303: NO), it ends the process without doing anything. If it has received a control information request (step S303: YES), the manufacturing support device 200 searches the overall control information storage unit 241 for the device identifier indicated in the control information request, and transmits the searched control information as a control information response (step S304), and ends the process.

[0054] 12 is a flowchart showing a process flow of the mixing device 100 receiving control information. The mixing device 100 transmits a control information request to the manufacturing support device 200 (step S401). The mixing device 100 receives a control information response to the transmitted control information request, and acquires the control information (step S402).

[0055] The mixing device 100 initializes a loop counter k to 1 (step S403) and assigns the number of control times to n (step S404). Here, the number of control times is the maximum value of the array number of PSNs in the control information. For example, if the control information includes PSN(1) through PSN(5), 5 is assigned to n.

[0056] The stirring device 100 performs control using PSN(k) (step S405). Specifically, since PSN(k) indicates the stirring speed, the stirring speed by the motor 131 is controlled to be the stirring speed indicated by PSN(k). The stirring device 100 acquires a torque value (step S406). The stirring device 100 determines whether the acquired torque value is equal to or greater than TRQ(k) (step S407). If the torque value is not equal to or greater than TRQ(k) (step S407: NO), the stirring device 100 acquires the torque value again (step S406).

[0057] When the torque value is equal to or greater than TRQ(k) (step S407: YES), the mixing device 100 increments k by 1 (step S408). The mixing device 100 determines whether k is greater than n (step S409). When k is not greater than n (step S409: NO), the mixing device 100 returns to step S405. When k is greater than n (step S409: YES), this indicates that the last sequence of control information has been processed, and the mixing device 100 ends the process.

[0058] In addition, when obtaining the hardness value of whipped cream, the torque value that results in the desired hardness value can be derived using the least squares method. This will be specifically described below.

[0059] In this embodiment, the hardness value of the whipped cream is calculated by dropping the cone from the surface of the whipped cream and measuring the distance (millimeters) the cone falls after a certain time has elapsed. For a method of acquiring the falling distance, see JP2020-153902A. The hardness value thus obtained is input by the input unit 112.

[0060] Furthermore, a hardness value is input for each PSN(*). For example, in the case of two PSNs, PSN(1) and PSN(2), after the whipped cream is produced, the hardness value at PSN(1) and the hardness value at PSN(2) are input. At this time, a desired hardness value is also input for each PSN(*). For example, in the case of two PSNs, PSN(1) and PSN(2), the desired hardness value at PSN(1) and the desired hardness value at PSN(2) are input. Note that the desired hardness value indicates the hardness value desired by the craftsman.

[0061] The hardness value is x and the torque value is y. By acquiring the hardness value and the torque value from the stirring device 100 multiple times as manufacturing information, multiple pairs of hardness value and torque value (xi, yi) (i=1, 2, ...) are acquired. In addition, as described above, a desired hardness value is also input for each PSN(*).

[0062] The derivation unit 222 generates relationship information indicating the relationship between the hardness value and the torque value at the time of manufacture from multiple pairs (xi, yi) of hardness value and torque value, and derives a torque value that becomes the desired hardness value as a control torque value from the generated relationship information.

[0063] A method for generating the above-mentioned relationship information will be described. The hardness value is x, the torque value is y, and the following formula 1 is used to determine the relationship between the torque value and the hardness value. y=ax b …(Formula 1) Taking the natural logarithm of equation 1 gives equation 2. ln(y)=bln(x)+ln(a)…(Equation 2)

[0064] As described above, by acquiring the hardness value x and the torque value y from the stirring device 100 multiple times, multiple pairs of hardness value and torque value (xi, yi) (i=1, 2, . . . ) are acquired.

[0065] Therefore, ln(a) and b are determined using the least squares method with Yi = ln(yi) and Xi = ln(xi). This determines a and b in Equation 1, so the torque value y is determined by substituting the desired hardness value for x.

[0066] The torque value y that becomes the desired stiffness value is derived for each PSN(*). Therefore, by setting the torque value y that becomes the desired stiffness value as TRQ(*) in FIG. 9, it is possible to provide control information using the stiffness value. According to the first embodiment described above, it is possible to automate a method for producing whipped cream that an individual craftsman considers optimal, using control information for control using a stirring speed and a torque value.

[0067] [Second embodiment] The second embodiment is an embodiment using control information for control using agitation speed, a torque value, and an elapsed time. The manufacturing support device 200 acquires the PSN, the elapsed time, and the torque value from the manufacturing information as described above. Fig. 13 is a diagram showing an example of the overall control information stored in the overall control information storage unit 241. The derivation unit 222 derives the control information shown in the overall control information storage unit 241 from the manufacturing information.

[0068] The control information in FIG. 13 shows "apparatus identifier", "PSN(1)", "TM(1)", "PSN(2)", "TM(2)", ..., and "TRQ at stop". As described above, the "apparatus identifier" is identification information for uniquely identifying the mixing apparatus 100. "TM(r)" (r is an integer of 1 or more) is the elapsed time that has elapsed since the control was started by "PSN(r)" until it was ended. This elapsed time is derived from the manufacturing information (see FIG. 5). For example, in FIG. 5, the timing when the control was started by PSN4 was 2 minutes 15 seconds, and the timing when the control was ended by PSN4 was 2 minutes 37 seconds, so the elapsed time is derived as 22 seconds. "TRQ at stop" indicates the control torque value, and indicates the torque value immediately before the mixing stop command was input. For example, in the case of Fig. 5, the mixing stop command was input when the elapsed time was 2 minutes 38 seconds, so the torque value (0.09) at 2 minutes 37 seconds immediately before that becomes the TRQ at stop.

[0069] As with the control information in FIG. 8, the control information shown in FIG. 13 records the PSN and the elapsed time in sequence for the number of times the PSN has been changed.

[0070] In the example of Figure 13, for example, the mixing device 100 in Kanagawa is first controlled at PSN2 until the elapsed time reaches 2 minutes and 10 seconds, and then controlled at PSN3 until the elapsed time reaches 35 seconds, and the TRQ at stop is shown to be 0.09.

[0071] 14 is a diagram showing the message format of the control information response. The control information response is composed of a message header indicating that it is a control information response, a device identifier indicating which mixing device 100 the control information is for, an array of PSNs from 1 to n, an array of TMs from 1 to n-1, and a stop time TRQ. n indicates the number of times the PSN has been changed in the mixing device 100.

[0072] The mixing device 100 that has acquired this control information stores the device identifier, the PSN array, the TM array, and the torque value at stop as individual control information in the individual control information storage unit 151. Then, the mixing device 100 controls with PSN(1) until the elapsed time since control started with PSN(1) becomes TM(1), then controls with PSN(2) until the elapsed time since control started with PSN(2) becomes TM(2), and so on until the elapsed time since control started with PSN(n-1) becomes TM(n-1), and controls with PSN(n) until the torque value becomes equal to or greater than the TRQ at stop. This allows the manufacturing method of the mixing device 100 in Kanagawa, for example, to be automated in other mixing devices 100.

[0073] The flowchart showing the process flow of the stirring device 100 that transmits manufacturing information in the second embodiment is the same as the flowchart shown in Fig. 10. Also, the flowchart showing the process flow of the manufacturing support device 200 in the second embodiment is the same as the flowchart shown in Fig. 11.

[0074] 15 is a flowchart showing a process flow of the mixing device 100 receiving control information. The mixing device 100 transmits a control information request to the manufacturing support device 200 (step S501). The mixing device 100 receives a control information response to the transmitted control information request, and acquires the control information (step S502).

[0075] The mixing device 100 initializes a loop counter k to 1 (step S503), and substitutes the number of control times into n (step S504). Here, the number of control times is the number of times that the PSN has been changed in the mixing device 100.

[0076] The mixing device 100 performs control using PSN(k) (step S505). The mixing device 100 determines whether k=n or not (step S506). If k=n is not true (step S506: NO), the mixing device 100 acquires the elapsed time controlled using PSN(k) (step S507). The mixing device 100 determines whether the acquired elapsed time has become TM(k) (step S508). If the elapsed time has not become TM(k) (step S508: NO), the mixing device 100 acquires the elapsed time again (step S507).

[0077] When the elapsed time reaches TM(k) (step S508: YES), the stirring device 100 increments k by 1 (step S509) and returns to step S505.

[0078] In the above step S506, if k=n (step S506: YES), the mixing device 100 acquires the torque value (step S510). The mixing device 100 determines whether the acquired torque value is equal to or greater than the TRQ at the time of stopping (step S511). If the torque value is not equal to or greater than the TRQ(k) (step S511: NO), the mixing device 100 acquires the torque value again (step S510). If the torque value is equal to or greater than the TRQ at the time of stopping (step S511: YES), the mixing device 100 ends the process.

[0079] According to the second embodiment described above, it is possible to automate a method for producing whipped cream that an individual craftsman considers optimal, using control information that controls using the stirring speed, torque value, and elapsed time.

[0080] A control combining the first embodiment and the second embodiment described above may be performed. For example, in the first embodiment, when the torque value becomes equal to or greater than the control torque value, the control in the PSN is terminated. Instead of this, when the torque value becomes equal to or greater than the control torque value and the elapsed time shown in the second embodiment has elapsed, the control in the PSN may be terminated. For example, as shown in FIG. 5, since it is common for the same torque value to continue even in the same PSN, by controlling not only when the torque value becomes the control torque value but also using the elapsed time, automation closer to the manufacturing method of a craftsman can be performed.

[0081] In this embodiment, the control information is exemplified by PSN and torque value, or PSN and elapsed time, but is not limited thereto. Since the control information is for controlling the second whipped cream stirring device, the program itself for such control may be the control information.

[0082] In this embodiment, the whipped cream is used as an example of the object to be processed, but other objects to be processed include, for example, food dough or foaming food. Among these, the food dough includes, for example, bread dough, choux pastry, or sponge dough. The foaming food includes, for example, whipped cream, butter cream, or meringue.

[0083] All of these processing objects are stirred in a stirring device by the operation of a craftsman, and the operation of the craftsman at this time is the same as the operation when producing whipped cream described in this embodiment. Therefore, this embodiment can be applied as it is to processing objects other than whipped cream. Note that the processing object may also be expressed as a fluid raw material.

[0084] There are also multiple varieties of whipped cream. For example, there is whipped cream made from vegetable fat and whipped cream made from pure milk fat, and the conditions for the bubbles may differ for each. In this case, the operation by the craftsman may differ for each variety, and the control content will differ even for the same mixing device. Therefore, a new identifier for identifying the variety (for example, a "variety identifier") is provided in the overall control information of Figures 8 and 13. In this way, by providing an identifier for identifying the variety in addition to the device identifier, control suitable for the variety can be performed, thereby further improving manufacturing accuracy.

[0085] The functions of the mixing device 100 and the manufacturing support device 200 in the above-mentioned embodiment may be realized by a computer. In that case, a program for realizing the functions may be recorded in a computer-readable recording medium, and the program recorded in the recording medium may be read into a computer system and executed to realize the functions. The term "computer system" as used herein includes hardware such as an OS and peripheral devices. The term "computer-readable recording medium" refers to portable media such as flexible disks, optical magnetic disks, ROMs, and CD-ROMs, and storage devices such as hard disks built into a computer system. The term "computer-readable recording medium" may also include a medium that dynamically holds a program for a short period of time, such as a communication line when a program is transmitted via a network such as the Internet or a communication line such as a telephone line, and a medium that holds a program for a certain period of time, such as a volatile memory inside a computer system that is a server or client in that case. The above-mentioned program may be a program for realizing a part of the above-mentioned functions, or may be a program that can realize the above-mentioned functions in combination with a program already recorded in the computer system.

[0086] Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope of the invention and its equivalents described in the claims, as well as in the scope and spirit of the invention. [Explanation of symbols]

[0087] 1... manufacturing system, 100, 100_1, 100_n... mixing device, 110... control device, 111... communication unit, 112... input unit, 120... control unit, 121... motor control unit, 122... torque acquisition unit, 123... hardness acquisition unit, 124... manufacturing information transmission unit, 125... control information acquisition unit, 126... control information execution unit, 131... motor, 132... torque measuring instrument, 140... mixing bar, 141... container, 142... cream, 151... individual control information storage unit, 200... manufacturing support device, 210... communication unit, 220... control unit, 221... manufacturing information acquisition unit, 222... derivation unit, 223... control information provision unit, 241... overall control information storage unit, 300... network

Claims

1. A manufacturing system including a first mixing device, a second mixing device, and a manufacturing support device, The first stirring device is A stirring unit that stirs the object to be processed using a motor; a torque acquisition unit that acquires a torque value at the time of manufacture acting on a rotation shaft of the motor, the torque value being a torque value immediately before the agitation speed of the motor is changed; a manufacturing information transmitting unit configured to transmit manufacturing information including the stirring speed of the motor and the torque value during manufacturing acquired by the torque acquiring unit to the manufacturing support device; Equipped with The manufacturing support device includes: A manufacturing information acquisition unit that acquires the manufacturing information; a derivation unit that derives control information for controlling the second stirring device based on the manufacturing information acquired by the manufacturing information acquisition unit; a providing unit that provides the control information derived by the derivation unit to the second stirring device; A manufacturing system equipped with

2. The derivation unit derives a control torque value for controlling the second stirring device, The manufacturing system according to claim 1 , wherein the control information is information for controlling the second stirring device so as to stir at the stirring speed included in the manufacturing information until the torque value for control is reached.

3. The first stirring device includes a hardness acquisition unit that acquires a hardness value of the object to be processed, the manufacturing information includes a hardness value acquired by the hardness acquisition unit, The manufacturing system of claim 2, wherein the derivation unit uses the hardness value and the torque value at the time of manufacture to generate relationship information indicating the relationship between the hardness value and the torque value at the time of manufacture, and derives a torque value that results in a desired hardness value as the control torque value from the generated relationship information.

4. The second stirring device is Another stirring unit that stirs the object to be processed using a motor; Another torque acquisition unit that acquires a manufacturing torque value acting on a rotating shaft of the motor; A control information acquisition unit that acquires the control information; a control information execution unit that controls the other agitation units in accordance with the control information acquired by the control information acquisition unit; The manufacturing system according to claim 2 or 3, comprising:

5. The first stirring device is Another control information acquisition unit that acquires the control information transmitted by the manufacturing information transmission unit; another control information execution unit that controls the stirring unit in accordance with the control information acquired by the another control information acquisition unit and the torque value acquired by the torque acquisition unit; The manufacturing system according to any one of claims 2 to 4, comprising:

6. A program for causing a first mixing device to function as a first computer and causing the manufacturing support device to function as a second computer in a manufacturing system including a first mixing device, a second mixing device, and a manufacturing support device, the program comprising: The first computer, a torque acquisition unit that acquires a torque value immediately before the agitation speed of the motor is changed, the torque value being a torque value during manufacturing that acts on a rotation shaft of the motor in an agitation unit that uses the motor to agitate the object to be processed; a manufacturing information transmission unit that transmits manufacturing information including the stirring speed of the motor and the torque value at the time of manufacturing acquired by the torque acquisition unit to the manufacturing support device; The second computer, A manufacturing information acquisition unit that acquires the manufacturing information; a derivation unit that derives control information for controlling the second stirring device based on the manufacturing information acquired by the manufacturing information acquisition unit; a program for causing the program to function as a providing unit that provides the control information derived by the derivation unit to the second stirring device.

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