Linear transport design support device, linear transport system, and method for operating the linear transport system

Abstract

The linear conveying design support device (1A) is a linear conveying design support device that supports the design of a linear conveying device having one or more movable parts that move on a conveying path and multiple fixed parts that drive the movable parts by magnetic force, and is equipped with a parameter setting unit (2) that stores a combination of fixed part design information, movable part design information, and operation instruction information, which is information on the movement of the movable parts, as a parameter set, and a parameter correction unit (4) that corrects at least one parameter included in the parameter set based on conveying efficiency, which is an index representing the conveying capacity of the linear conveying device, calculated by simulating the operation of the linear conveying device using the parameter set, and system evaluation information, which is an index representing the cost incurred when the linear conveying device is in operation, and a constraint range that limits the variable range of the system evaluation information that has been set in advance, so that the conveying efficiency is improved while the system evaluation information satisfies the constraint range.

Description

[Technical field]

[0001] The present disclosure relates to a linear conveyance design support device that supports the design of a linear conveyance device, a linear conveyance system, and an operation method for a linear conveyance system. [Background technology]

[0002] A linear conveying device applied to a production line in a factory is required to have a high conveying capacity. For example, a method of increasing the conveying capacity of a linear conveying device can be considered to increase the current flowing through the fixed part in order to move a large number of movable parts at high speed. However, in this method, the temperature of the fixed part rises due to the current load or heat generation, so the downtime for cooling increases, making it difficult to improve the conveying capacity. In addition, when moving the movable part at high speed, if large vibrations occur when passing through a curved path or when stopping, the downtime until the vibrations converge becomes long, which is a factor in reducing the conveying capacity. For this reason, a linear conveying device is required to satisfy various constraints such as current load and vibration.

[0003] The learning device described in Patent Document 1 performs reinforcement learning on a learning agent that controls the transport speeds of multiple transport units that form a logistics transport route. This learning device has a transport route simulator that uses a modeled logistics transport route to calculate the state of the logistics transport route and a reward based on the state, and a learning agent that learns about the transport speed so as to increase the evaluation based on the reward. The transport route simulator calculates the reward based on a transport completion reward obtained when the transport of a workpiece is completed on the logistics transport route, an acceptance refusal penalty that is given when the logistics transport route cannot accept the workpiece, and an energy consumption increase penalty that increases as the energy consumption related to the transport speed increases. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2023-31401 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the technology of Patent Document 1, since a simulation is not performed that simultaneously considers the states of the fixed part and the movable part in the linear conveying device, only parameters that satisfy the constraints imposed on the linear conveying device to a low degree can be set. Therefore, the technology of Patent Document 1 has a problem in that the conveying capacity can be improved only in a situation where the constraints imposed on the linear conveying device are not satisfied to a high degree.

[0006] The present disclosure has been made in consideration of the above, and aims to obtain a linear conveying design support device that can improve conveying capacity in a situation where the constraints imposed on the linear conveying device are highly satisfied. [Means for solving the problem]

[0007] In order to solve the above-mentioned problems and achieve the objective, the linear transport design support device disclosed herein is a linear transport design support device that supports the design of a linear transport device having one or more movable parts that move on a transport path, a plurality of fixed parts that are connected to each other to form the transport path and that drive the movable parts by magnetic force, and a controller unit that controls the operation of the movable parts, and is equipped with a parameter setting unit that stores a combination of fixed part design information, which is design information for the fixed parts, movable part design information, which is design information for the movable parts, and operation instruction information, which is information on the movement of the movable parts, as a parameter set. In addition, the linear conveying design support device disclosed herein includes a simulator unit that calculates conveying efficiency, which is an index representing the conveying capacity of the linear conveying device, and system evaluation information, which is an index representing the costs incurred when the linear conveying device is operating, by simulating the operation of the linear conveying device using a parameter set. In addition, the linear transport design support device of the present disclosure , transportation Transmission efficiency and Bishi The system includes a parameter modification unit that modifies at least one of the parameters included in the parameter set based on the system evaluation information and a constraint range that limits a preset variable range of the system evaluation information so that the system evaluation information satisfies the constraint range while improving the conveying efficiency. The simulator unit has a movable part state prediction unit that uses movable part design information to calculate time series information of the position, speed, and thrust for each of the movable parts; a fixed part state prediction unit that calculates time series information of the current flowing through the coil of the fixed part based on the parameter set, the time series information of the position, and the thrust; and a system evaluation unit that calculates at least one of the following as system evaluation information based on the time series information of the position, speed, thrust, and current: conveying energy, which is the energy consumed by the linear conveying device; conveying variability, which is the variability of the linear conveying device; and conveying design cost, which is the design cost of the hardware of the linear conveying device, and calculates conveying efficiency based on the time series information of at least one of the position and speed. Effect of the Invention

[0008] The linear conveyance design support device according to the present disclosure has an effect of improving conveyance capacity in a situation where the constraints imposed on the linear conveyance device are highly satisfied. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram showing a configuration example of a linear transport design support device according to a first embodiment; [Diagram 2] FIG. 1 is a diagram showing a configuration example of a simulator unit included in a linear transportation design support device according to a first embodiment; [Diagram 3] 1 is a flowchart showing a procedure of a parameter correction process executed by the linear transportation design support device according to the first embodiment. [Figure 4] FIG. 1 is a diagram showing a configuration example of a linear transport system having a linear transport design support device according to a first embodiment; [Diagram 5] FIG. 13 is a diagram showing a configuration example of a linear transport design support device according to a second embodiment. [Figure 6] FIG. 13 is a diagram showing a configuration example of a linear transport design support system according to a third embodiment. [Figure 7] FIG. 1 is a diagram showing a configuration example of a processing circuit provided in a linear transportation design support device according to a first embodiment when the processing circuit is realized by a processor and a memory; [Figure 8] FIG. 1 is a diagram showing an example of a processing circuit in the linear transportation design support device according to the first embodiment when the processing circuit is configured with dedicated hardware; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A linear conveyance design support device, a linear conveyance system, and an operating method of a linear conveyance system according to embodiments of the present disclosure will be described below in detail with reference to the accompanying drawings.

[0011] Embodiment 1 1 is a diagram illustrating a configuration example of a linear conveyance design support device according to a first embodiment. The linear conveyance design support device 1A is a device that corrects parameters set in a linear conveyance device. The linear conveyance design support device 1A corrects parameters set in the linear conveyance device so that the conveyance capacity is improved in a situation where the constraints imposed on the linear conveyance device are highly satisfied.

[0012] A linear transport device has one or more movable parts (movers) with permanent magnets, multiple fixed parts (stators) with coils, and a controller that controls the operation of the movers by controlling the current passed through the coils to drive the movable parts. The linear transport device transports an object mounted on the movable parts by moving the one or more movable parts levitated by magnetic force along a transport path formed by connecting and arranging multiple fixed parts.

[0013] The linear transportation design support device 1A includes a parameter setting unit 2, a simulator unit 3A, and a parameter correction unit 4. The parameter setting unit 2 receives and stores stationary part design information, movable part design information, and operation instruction information from the outside. The parameter setting unit 2 also receives and stores candidates for parameter values ​​to be corrected (modified parameter candidates, described later) from the parameter correction unit 4.

[0014] The fixed part design information is information (design information) on the design of the fixed part. Specifically, the fixed part design information includes at least one of the following information: the shape of each fixed part, such as a straight line or a curved line, the number of fixed parts used by the linear conveying device, the number of coils included in the fixed parts, and the arrangement order of the fixed parts when the fixed parts are connected and arranged to construct a conveying path. When correcting the parameters, the parameter correction unit 4 cannot correct the parameters included in the fixed part design information.

[0015] The movable part design information is information (design information) on the design of the movable part. Specifically, the movable part design information includes at least one of the following information: the size of the movable part, the shape of the movable part, the mass of the movable part alone, the number of movable parts used in the linear transport device, and the maximum amount of material that can be loaded onto the movable part alone. The maximum amount of material that can be loaded onto the movable part alone is the maximum mass of the load that can be loaded onto the movable part alone.

[0016] When correcting the parameters, the parameter correction unit 4 can correct the size, shape, mass, and number of the movable parts defined in the movable part design information to any size, shape, mass, and number. Also, when correcting the parameters, the parameter correction unit 4 can correct the maximum amount of material to be loaded defined in the movable part design information to a value within a settable range.

[0017] The operation instruction information is information related to the movement of each movable part. Specifically, the operation instruction information includes at least one of the following information: a target position of the movement of the movable part, a payload of the payload when the movable part moves, a maximum speed and a maximum acceleration when the movable part moves to the target position, a minimum stopping time when the movable part reaches the target position, and a minimum distance between the movable parts.

[0018] The maximum speed and maximum acceleration when the movable part moves to the target position are the maximum speed and maximum acceleration that can be set for the movable part when moving to the target position. The minimum stopping time when the movable part reaches the target position is the minimum stopping time that can be set for the movable part that has reached the target position. The minimum distance between the movable parts is the minimum distance that can be set between the movable parts.

[0019] When correcting the parameters, the parameter correction unit 4 can correct the maximum speed defined in the operation instruction information to a value within a settable range. Also, when correcting the parameters, the parameter correction unit 4 can correct the maximum acceleration defined in the operation instruction information to a value within a settable range.

[0020] Furthermore, when correcting the parameters, the parameter correcting unit 4 can correct the minimum stop time defined in the operation instruction information to a value within a settable range.

[0021] Furthermore, when correcting the parameters, the parameter correcting unit 4 can correct the minimum distance defined in the action instruction information to a value within a settable range.

[0022] When correcting the parameters, the parameter correction unit 4 can correct the target position of the movement of the movable part, which is specified in the operation instruction information, to any position. When correcting the parameters, the parameter correction unit 4 can also correct the amount of loaded material, which is specified in the operation instruction information, to a value within a settable range. Note that the operation instruction information may be different for each movable part, or may be different for each movement to a target position.

[0023] The parameter setting unit 2 stores a combination of the fixed part design information, the movable part design information, and the operation instruction information as a parameter set. When the parameter setting unit 2 receives a modified parameter candidate from the parameter modification unit 4, the parameter setting unit 2 rewrites the value of the parameter corresponding to the modified parameter candidate in the parameter set to the value of the modified parameter candidate and stores the rewritten value.

[0024] The simulator unit 3A retrieves the latest parameter set stored in the parameter setting unit 2. The simulator unit 3A sets the retrieved parameter set as the parameters to be used in the simulation.

[0025] The simulator unit 3A executes calculations taking into account the physical characteristics of the linear conveyance device, using the set parameters from the imported parameter set. That is, the simulator unit 3A simulates (mimics) the operation of the linear conveyance device, using the set parameters from the imported parameter set.

[0026] The simulator unit 3A calculates the transport efficiency, which indicates the transport capacity of the linear transport device, by simulating the operation of the linear transport device. The simulator unit 3A also calculates system evaluation information, which indicates the cost incurred when the linear transport device is in operation, by simulating the operation of the linear transport device. The system evaluation information is information that indicates the cost of heat generation, vibration, etc., that occurs when the linear transport device is in operation. The system evaluation information will be described in detail later.

[0027] As described above, the fixed part design information of the parameter set used by the simulator unit 3A includes at least one of the shape of the fixed parts, the number of fixed parts, the number of coils included in the fixed parts, and the arrangement order of the fixed parts. Therefore, the simulator unit 3A can calculate the conveying efficiency and the system evaluation information based on at least one of the information of the shape of the fixed parts, the number of fixed parts, the number of coils included in the fixed parts, and the arrangement order of the fixed parts when the fixed parts are connected and arranged to construct a conveying path.

[0028] Moreover, the movable part design information of the parameter set used by the simulator unit 3A includes at least one of the size, shape, mass, maximum amount of loaded material, and number of the movable parts. Therefore, the simulator unit 3A can calculate the transportation efficiency and the system evaluation information based on at least one of the size, shape, mass, maximum amount of loaded material, and number of the movable parts.

[0029] The operation instruction information of the parameter set used by the simulator unit 3A includes at least one of the target position of the movement of the movable part, the maximum speed and maximum acceleration when the movable part moves to the target position, the stopping time when the movable part reaches the target position, the amount of the loaded material of the movable part when the movable part moves, and the minimum distance between the movable parts. Therefore, the simulator unit 3A can calculate the transportation efficiency and the system evaluation information based on at least one of the information of the target position of the movement of the movable part, the maximum speed and maximum acceleration when the movable part moves to the target position, the stopping time when the movable part reaches the target position, the amount of the loaded material of the movable part when the movable part moves, and the minimum distance between the movable parts.

[0030] The simulator unit 3A outputs the transport efficiency and the system evaluation information to the parameter correction unit 4. In this way, the simulator unit 3A simulates the operation of the linear transport device to calculate and output the transport efficiency and the system evaluation information of the linear transport device. The simulator unit 3A also outputs the parameter set used when simulating the operation of the linear transport device to the parameter correction unit 4 together with the transport efficiency and the system evaluation information.

[0031] The parameter modification unit 4 receives the constraint range and the target range from the outside. The parameter modification unit 4 also receives the modification target parameters, which are information specifying the parameters to be modified in the parameter set, from the outside. The constraint range, the target range, and the modification target parameters are input to the parameter modification unit 4 by, for example, a user.

[0032] The constraint range is information that limits the range of variation of the system evaluation information. That is, the constraint range specifies the range of variation of the system evaluation information. In other words, the constraint range is the range of constraints on the system evaluation information. The target range is the target range of conveying efficiency. The target range specifies the upper and lower limits of the target of conveying efficiency.

[0033] The parameter correction unit 4 receives the transportation efficiency, the system evaluation information, and the parameter set from the simulator unit 3 A. The parameter correction unit 4 stores the transportation efficiency, the system evaluation information, and the parameter set in association with each other as result data.

[0034] The parameter correction unit 4 corrects the parameter value based on the result data. That is, the parameter correction unit 4 corrects the value of at least one parameter in the parameter set based on the result data so that the conveyance efficiency approaches a value within a preset target range, or the system evaluation information approaches a value within a preset constraint range. The parameter correction unit 4 may also correct the value of at least one parameter in the parameter set so that an evaluation value, which is a value for evaluating the conveyance efficiency and the system evaluation information, increases. Details of the evaluation value will be described later.

[0035] The parameter correction unit 4 corrects the value of at least one parameter in the parameter set using a search method described later. In the linear transportation design support device 1A, the parameter correction unit 4 repeats a process of correcting the parameter value using the search method, and the simulator unit 3A repeats a process of calculating the transportation efficiency and the system evaluation information using the corrected parameter value. As a result, the linear transportation design support device 1A adjusts the parameters so that the system evaluation information falls within the constraint range and the transportation efficiency falls within or approaches the target range. In other words, the parameter correction unit 4 corrects the parameter value using the transportation efficiency and the system evaluation information so that the transportation efficiency falls within or approaches the target range under the condition that the system evaluation information falls within the constraint range.

[0036] When the correction end condition is not satisfied, the parameter correction unit 4 outputs the corrected parameter values ​​(corrected parameter candidates) to the parameter setting unit 2. The correction end condition is, for example, that all system evaluation information falls within a preset constraint range and the conveying efficiency is a value within a preset target range or a value close to the target range. When the correction end condition is satisfied, the parameter correction unit 4 outputs the corrected parameter values ​​(corrected parameters) to an external device such as a display device. The parameter correction unit 4 may output a parameter set including the corrected parameter values ​​(corrected parameter set) to an external device such as a display device.

[0037] When the upper limit and lower limit of the target range are the same value (target value), the parameter correction unit 4 corrects the value of at least one parameter so that the conveying efficiency approaches the target value. When the target range is not set, the parameter correction unit 4 assumes that a very large specific value is set as the target value, and corrects the value of at least one parameter so that the conveying efficiency is maximized. The maximum conveying efficiency in the actual form 1 is the conveying efficiency at the time when the correction end condition is satisfied.

[0038] 2 is a diagram showing a configuration example of a simulator unit included in the linear transportation design support device according to the embodiment 1. The simulator unit 3A includes a movable part state prediction unit 5, a fixed part state prediction unit 6, and a system evaluation unit 7.

[0039] The movable part state prediction unit 5 and the fixed part state prediction unit 6 receive the parameter set from the parameter setting unit 2. The movable part state prediction unit 5 calculates a series of movements of each movable part moving to a target position according to the operation instruction information as time series information of the position and speed of each movable part. The movable part state prediction unit 5 calculates the time series information of the position and speed using the target position, maximum speed, maximum acceleration, and stop time set in the operation instruction information. Specifically, the movable part state prediction unit 5 calculates the time series information of the position and speed of the movable part based on the target position, maximum speed, maximum acceleration, and stop time, by calculating the operation of accelerating at the maximum acceleration to reach the maximum speed, the operation of moving at the maximum speed after reaching the maximum speed, the operation of decelerating at the maximum acceleration and stopping at the target position, and the operation of stopping for the stop time after stopping and then moving to the next target position.

[0040] In addition, in a linear transport device, it may be physically impossible for movable parts to overtake each other on one route. For this reason, the movable part state prediction unit 5 calculates time series information of the position and speed including a process of decelerating when the distance between the movable parts becomes closer than the minimum distance between the movable parts set in the operation instruction information so that the movable parts do not collide with each other. In other words, the movable part state prediction unit 5 calculates time series information of the position and speed so that the movable parts do not interfere with each other.

[0041] The moving part state prediction unit 5 uses the time series information of the position and speed calculated at the same time to calculate the time series information of the thrust force required to be applied to the moving part to achieve that position and speed. For example, the moving part state prediction unit 5 regards the entire moving part including the payload as one rigid body, and calculates the acceleration obtained by time-differentiating the speed of this rigid body. The moving part state prediction unit 5 also calculates the mass of the entire moving part including the payload based on the mass of the single moving part set in the moving part design information and the amount of the payload when the moving part moves set in the operation instruction information. The moving part state prediction unit 5 then calculates the thrust force as the product of the acceleration when the entire moving part including the payload is regarded as one rigid body and the mass of the entire moving part.

[0042] Furthermore, the moving part state prediction unit 5 may calculate the thrust using a dynamic model that takes into consideration the shape of the moving parts set in the moving part design information, vibration, friction, external forces such as centrifugal force, etc. Note that the method of calculating the time-series information of the position, speed, and thrust of each moving part is not limited to the above-mentioned method.

[0043] The movable part state prediction unit 5 outputs the time series information of the position, speed, and thrust to the system evaluation unit 7. In addition, the movable part state prediction unit 5 outputs the time series information of the position and thrust to the fixed part state prediction unit 6.

[0044] The fixed part state prediction unit 6 calculates time series information of the current to be passed through the coil of each fixed part arranged on the transport path (track) along which the movable part is transported, based on the time series information of the position and thrust of each movable part calculated by the movable part state prediction unit 5 and the parameter set received from the parameter setting unit 2. That is, the fixed part state prediction unit 6 calculates time series information of the current required for the coil for each fixed part.

[0045] Specifically, the fixed part state prediction unit 6 extracts the shape and size of the movable part from the parameter set. The fixed part state prediction unit 6 also calculates the positional relationship between the movable part and the coil based on the shape and size of the movable part extracted from the parameter set and the time series information of the position of the movable part. The positional relationship between the movable part and the coil calculated by the fixed part state prediction unit 6 includes, for example, the positional relationship between one end of the movable part in the transport direction and the coil, the positional relationship between the center of the movable part in the transport direction and the coil, and the positional relationship between the other end of the movable part in the transport direction and the coil.

[0046] The fixed part state prediction unit 6 uses a current derivation model that derives time series information of current from time series information of thrust, taking into consideration the shape of the movable part and the positional relationship between the movable part and the coil. That is, the fixed part state prediction unit 6 applies the extracted shape of the movable part, the calculated positional relationship between the movable part and the coil, and the time series information of thrust to the current derivation model, thereby calculating time series information of current corresponding to the time series information of thrust. In this way, the fixed part state prediction unit 6 calculates the relationship between the current to be passed and the thrust (required thrust) required for movement, using the current derivation model. The fixed part state prediction unit 6 outputs the calculated time series information of current to the system evaluation unit 7.

[0047] The system evaluation unit 7 receives time-series information on the position, speed, and thrust force, which are the calculation results, from the movable part state prediction unit 5. The system evaluation unit 7 also receives time-series information on the current, which is the calculation result, from the fixed part state prediction unit 6.

[0048] The system evaluation unit 7 calculates the transport efficiency and system evaluation information based on the calculation results by the movable part state prediction unit 5 and the fixed part state prediction unit 6. Specifically, the system evaluation unit 7 calculates the system evaluation information based on time series information of the position, speed, thrust, and current of the movable part, and calculates the transport efficiency based on time series information of at least one of the position and speed of the movable part.

[0049] Here, the conveying efficiency is an index representing the capacity of the linear conveying device. In the first embodiment, for example, the conveying efficiency is a throughput indicating the value obtained by dividing the total number of objects conveyed by the movable parts in the linear conveying device by the conveying time, or a throughput indicating the total number of objects conveyed within a certain time.

[0050] If, for example, the point where the payload is loaded and the point where the payload is unloaded are set as target positions in the parameter set, the system evaluation unit 7 can easily calculate the total number of payloads and the transportation time from the time series information of the position of each movable part.

[0051] In addition, the moving part state prediction unit 5 may additionally calculate time series information of the mass of each moving part. In this case, the system evaluation unit 7 can calculate the total number of payloads and the transportation time using the time series information of the mass of the moving parts.

[0052] In addition to the throughput, the system evaluation unit 7 may use the average speed, which is the average of the speeds of all the movable parts, the loading rate, which is the ratio of the total mass of the loaded objects to the total maximum amount of loaded objects of all the movable parts, or the number of movable parts that pass a specific point within a certain time (number of passing objects) as the transport efficiency. In other words, the transport efficiency is at least one of the throughput, the average speed of all the movable parts, the loading rate, and the number of passing objects. In this way, the linear transport design support device 1A can calculate at least one of the throughput, the average speed, the loading rate, and the number of passing objects as the transport efficiency.

[0053] The system evaluation information is an index that represents the costs incurred when the linear conveying device is in operation. The system evaluation information is information that affects the conveying efficiency, and often acts to impose constraints on improving the conveying efficiency. The system evaluation information of the first embodiment includes the energy consumed by the linear conveying device (hereinafter referred to as conveying energy), the variability of the linear conveying device (hereinafter referred to as conveying variability), and the hardware design cost of the linear conveying device (hereinafter referred to as conveying design cost).

[0054] The transport energy is the energy required to move the linear transport device. For example, the transport energy is calculated based on at least one of the current load, heat generation, power consumption, and power consumption at each fixed part. It is expected that the transport efficiency will improve by increasing the transport energy, but if the transport energy is too large, it will have a significant impact on the energy efficiency of the linear transport device, electricity charges, and CO2 (carbon dioxide) emissions, so there is also a demand to reduce the transport energy. The constraint range of the transport energy is set in advance by the user of the linear transport device.

[0055] The conveyance variability is information on the state that must be satisfied in order for the linear conveyance device to operate stably. The conveyance variability is, for example, at least one of the vibration state including the vibration amplitude and vibration time of each movable part, the temperature of each fixed part, the temperature of each movable part, and the closeness of the distance between the movable parts when the movable parts move along the conveyance path. In order to improve the conveyance efficiency, a large current is passed through the fixed part to move the movable parts quickly, which may cause the movable parts to start vibrating or the temperature of the linear conveyance device to rise, leading to deterioration of control accuracy and deterioration of productivity, and therefore there is a demand to reduce the conveyance variability.

[0056] The transport variability also corresponds to the proximity of two moving parts that are close to each other along the route. An index of this proximity is expressed here as the proximity density or concentration. The proximity density or concentration is the value obtained by dividing the proximity of two moving parts by the number of moving parts by the distance between the moving parts. The larger the proximity density or concentration value, the higher the possibility of moving parts colliding with each other, so there is also a demand to reduce the proximity density or concentration.

[0057] In addition, the proximity density or concentration is not limited to the above definition, and may be calculated in any manner that is an index showing how many elements (movable parts) are gathered or approaching each other within a particular range, for example, it may be the product of the distance between the movable parts and a negative value.

[0058] The transportation design cost is information that affects the cost of the linear transportation device (the introduction cost of the moving parts, the maintenance cost, etc.). The transportation design cost is, for example, at least one of the number of moving parts, the size of the moving parts, the shape of the moving parts, and the mass of the moving parts. In order to transport many payloads or heavy payloads, it is necessary to increase the number or size of the moving parts, but if they are increased too much, the introduction cost and maintenance cost of the moving parts will increase, so there is also a demand to reduce them.

[0059] The system evaluation unit 7 calculates these transport efficiency and system evaluation information, and outputs the calculation results from the simulator unit 3A. Note that the system evaluation unit 7 only needs to calculate at least one type of information for each of the transport efficiency and the system evaluation information. Furthermore, the system evaluation unit 7 only needs to calculate at least one of the transport energy, transport variability, and transport design cost as the system evaluation information, and does not need to calculate one or more types of information for all three categories. In other words, the system evaluation unit 7 only needs to calculate one or more types of information as the transport efficiency, and one or more types of information as the system evaluation information.

[0060] In this way, the simulator unit 3A has the movable part state prediction unit 5 and the fixed part state prediction unit 6, so it can calculate the state of the fixed part and the movable part by simulation based on physical mechanics. Also, the simulator unit 3A has the system evaluation unit 7, so it can calculate the transport efficiency and system evaluation information based on the state of the fixed part and the state of the movable part.

[0061] 3 is a flowchart showing a procedure of a parameter correction process executed by the linear transportation design support device according to the embodiment 1. Note that the transportation route here is a circular route, and there are no branching or joining points on the transportation route.

[0062] The parameter correction unit 4 receives the parameters to be corrected from the user (step S10). The parameters to be corrected are the types of parameters to be corrected by the linear conveyance design support device 1A so that the system evaluation information falls within the constraint range and the conveyance efficiency falls within the target range. Here, the parameters to be corrected are the number of movable parts included in the movable part design information, the maximum speed of the movable parts included in the operation instruction information, the maximum acceleration of the movable parts, and the stopping time when the movable parts reach the target position. In addition, the user sets the target range of the conveyance efficiency and the constraint range of the system evaluation information. The target range and the constraint range are set in the parameter correction unit 4.

[0063] When the upper limit and lower limit of the target range are the same value, the parameter correction unit 4 treats the target range as the target value. In this case, the parameter correction unit 4 corrects the value of at least one parameter so as to approach the target value. Also, when the target range is not set, the parameter correction unit 4 assumes that a very large specific value is set as the target value, and corrects the value of at least one parameter so as to maximize the conveying efficiency. For this reason, the target range does not necessarily need to be set.

[0064] The parameter setting unit 2 receives and stores stationary part design information, movable part design information, and operation instruction information from the outside. The simulator unit 3A imports the latest parameter set stored in the parameter setting unit 2. The simulator unit 3A sets parameters to be used when simulating the operation of the linear conveyance device (step S20). That is, the simulator unit 3A sets the parameters included in the imported parameter set as the parameters to be used in the simulation.

[0065] The moving part state prediction unit 5 of the simulator unit 3A calculates time-series information on the position, speed, and thrust of each moving part based on the parameter set (step S30).

[0066] The fixed part state prediction part 6 of the simulator part 3A calculates time series information of the current flowing through each fixed part based on the parameter set and the time series information of the position and thrust of each movable part (step S40).

[0067] The system evaluation unit 7 of the simulator unit 3A calculates the transport efficiency based on time-series information of at least one of the position and speed of the movable part (step S50). Here, the system evaluation unit 7 calculates the throughput as an example of the transport efficiency.

[0068] The system evaluation unit 7 calculates system evaluation information based on the time-series information of the position, speed, thrust, and current of the movable part (step S60). Here, the system evaluation unit 7 calculates a current load, which is an example of system evaluation information, based on the time-series information of the current flowing through the coils of each fixed part calculated in step S40. The system evaluation unit 7 calculates, for example, a square root of the time-averaged value (value divided by the fixed time) obtained by integrating the square of the current flowing within a certain time period over this certain time period, and expresses this as a ratio of a reference value such as a rated current for convenience.

[0069] The system evaluation unit 7 includes the calculated maximum value of the current load in the system evaluation information. The system evaluation unit 7 also calculates the vibration state (here, vibration amplitude) at the time of reaching the target position based on the time series information of the position of the movable part calculated in step S30, and also includes the maximum value of the vibration amplitude in the system evaluation information. Furthermore, the system evaluation unit 7 includes the number of movable parts in the system evaluation information. The simulator unit 3A outputs the transportation efficiency, the system evaluation information, and the parameter set to the parameter correction unit 4.

[0070] The parameter correction unit 4 stores the transportation efficiency, the system evaluation information, and the parameter set output from the simulator unit 3A (step S70).

[0071] The parameter correction unit 4 judges whether the correction end condition is satisfied based on the stored information (step S80). That is, the parameter correction unit 4 judges whether the transport efficiency satisfies the correction end condition or whether the evaluation value calculated using the transport efficiency satisfies the correction end condition based on the stored information. The evaluation value is set, for example, by the following calculation formula (1), and the parameter correction unit 4 calculates the evaluation value using this formula (1).

[0072] Evaluation value = {Throughput × weight} + {(-1) × current load × weight} + {(-1) × vibration state × weight} + {(-1) × number of moving parts × weight} (1)

[0073] In other words, the evaluation value here is the sum of each variable, namely, throughput as the transport efficiency, current load as the transport energy of the system evaluation information, vibration state as the transport variability of the system evaluation information, and number of moving parts as the transport design cost of the system evaluation information, multiplied by a weight.

[0074] The weight is a value equal to or greater than 0, and the variable to be emphasized is made relatively larger than the other variables. Also, if the productivity does not change, it is better to have smaller transport energy, transport variability, and transport design cost, so the formula for calculating the evaluation value is set so that the larger the evaluation value, the more the transport efficiency improves by multiplying the variable by a negative value.

[0075] In addition, in the formula for calculating the evaluation value, instead of multiplying by a negative value, for example, the variable may be set as a reciprocal, or a value obtained by subtracting the variable from the maximum value of the variable may be set. Also, the calculation method (setting method) of the evaluation value is not limited to that shown here. For example, in the calculation example of the evaluation value described here, the larger the evaluation value, the more the conveying efficiency improves and the cost of the linear conveying device is reduced, but the evaluation value may be set so that the smaller the evaluation value, the more the conveying efficiency improves and the cost of the linear conveying device is reduced.

[0076] A first example of the correction end condition is that all the system evaluation information falls within a preset constraint range and the transport efficiency becomes a value within a preset target range.

[0077] A second example of the correction end condition is that the transport efficiency is sufficiently close to the target range or target value while all the system evaluation information is within a preset constraint range. The cases where the transport efficiency is sufficiently close to the target range or evaluation value are the following cases (N1) to (N6). (N1) When the conveying efficiency is greater than the upper limit of the target range, the value obtained by subtracting the upper limit of the target range from the conveying efficiency is equal to or less than the reference value. (N2) When the conveying efficiency is smaller than the lower limit of the target range, the value obtained by subtracting the conveying efficiency from the lower limit of the target range is equal to or smaller than the reference value. (N3) When the conveying efficiency is greater than the upper limit of the target range, the ratio of the conveying efficiency to the upper limit of the target range is equal to or less than the reference value. (N4) When the conveying efficiency is smaller than the lower limit of the target range, the ratio of the conveying efficiency to the lower limit of the target range is equal to or smaller than the reference value. (N5) When the absolute value of the difference between the transport efficiency and the target value is less than the reference value (N6) When the ratio of the transport efficiency to the target value is below the reference value

[0078] A third example of the correction end condition is when the evaluation value becomes sufficiently large and reaches a substantially constant value, which is when the evaluation value becomes larger than a first specific value and the fluctuation value of the evaluation value is smaller than a second specific value for a specific period of time.

[0079] A fourth example of the correction end condition is when the number of times the calculation process for the transport efficiency and the system evaluation information is performed reaches a preset reference number of times. Note that the parameter correction unit 4 does not need to calculate the evaluation value when determining whether or not the correction end condition is satisfied without using the evaluation value.

[0080] If the correction end condition is not satisfied (step S80, No), the parameter correction unit 4 derives correction parameter candidates that are candidates for correction parameters using a search method (step S90). The correction parameters are parameter values ​​that the linear transportation design support device 1A finally determines to be corrected. The parameter correction unit 4 searches for and changes the values ​​of the correction target parameters using a search method so that the system evaluation information falls within the constraint range, or the transportation efficiency falls within the target range, or the evaluation value calculated including the transportation efficiency becomes larger than the current value, and derives the changed values ​​of the correction target parameters as correction parameter candidates.

[0081] The search method used by the parameter correction unit 4 includes CMA-ES (Covariance Matrix Adaptation Evolution Strategy) and PSO (Particle Swarm Optimization), which are well known as optimization methods using simulation, but the search method used by the parameter correction unit 4 is not limited to these optimization methods (optimization calculations). The search method used by the parameter correction unit 4 may be optimization calculation using Bayesian estimation, a gradient method, or the like, and the algorithm used is not particularly limited.

[0082] When the parameter correction unit 4 derives the correction parameter candidates, it outputs the correction parameter candidates to the parameter setting unit 2. Then, the linear transportation design support device 1A executes the processes of steps S20 to S80. The linear transportation design support device 1A repeats the processes of steps S20 to S80 until a correction end condition is satisfied.

[0083] If the modification end condition is satisfied (step S80, Yes), the parameter modification unit 4 determines the modification parameter candidate when the modification end condition is satisfied as the modification parameter. The parameter modification unit 4 outputs the determined modification parameter to an external device such as a display device (step S100).

[0084] This allows the linear conveyance design support device 1A to obtain parameters to be modified (such as the number of movable parts and the operation pattern when the movable parts move along the conveyance path) that maximize the conveyance efficiency while satisfying the constraint ranges of various constraints (constraint conditions) such as current load and vibration. In other words, the linear conveyance design support device 1A can improve the conveyance capacity of the linear conveyance device within the constraints imposed on this linear conveyance device.

[0085] In addition, the linear conveying design support device 1A can appropriately determine parameters such as speed or acceleration that determine the operation of the movable parts to obtain the required conveying capacity at the design stage, thereby reducing design and manufacturing costs and shortening lead times.

[0086] In this way, the linear conveying design support device 1A performs a simulation that simultaneously takes into account the states of both the fixed and movable parts in the linear conveying device, and therefore it is possible to realize parameter settings that take into account, for example, vibrations that occur at corners, conveying efficiency according to the type (weight, shape, size, etc.) of the movable parts or the number of movable parts, conveying energy, conveying variability, and even conveying design costs.

[0087] In addition, the linear conveying design support device 1A sequentially determines parameter values ​​that improve the conveying efficiency when the system evaluation information satisfies the constraint range, and therefore can correct the parameter values ​​in a short time so that the conveying efficiency falls within or approaches the target range under the condition that the system evaluation information falls within the constraint range.

[0088] 4 is a diagram showing a configuration example of a linear conveyance system including the linear conveyance design support device according to the embodiment 1. The linear conveyance system 30 includes a linear conveyance design support device 1A and a linear conveyance device 20.

[0089] The linear transport device 20 is a device that moves one or more movable parts 21 along a transport path. The linear transport device 20 includes one or more movable parts 21, a plurality of fixed parts 22, a guide rail 23, and a controller unit 25.

[0090] In the linear transport device 20, a fixed part 22 is disposed on a path along which the movable part 21 moves. A permanent magnet (not shown) is disposed on the movable part 21, and a coil (not shown) is disposed on the fixed part 22. A controller unit 25 controls the current flowing through the coil of the fixed part 22 to drive the movable part 21.

[0091] The guide rail 23 is a mechanical component for smoothly moving the movable part 21 in the direction of the rail. By connecting multiple linear track modules, each of which combines a guide rail 23 and a fixed part 22, it is possible to construct various routes.

[0092] In the linear conveyance system 30, the linear conveyance design support device 1A transmits the correction parameters to the controller unit 25. The controller unit 25 changes the values ​​of the parameters corresponding to the correction parameters in the parameter set to the values ​​of the correction parameters, and then controls the operation of the movable part 21 using the parameter set.

[0093] The linear transportation design support device 1A according to the present disclosure is named "linear transportation design support device" merely for the sake of convenience, and the scope of rights should not be limited by this name.

[0094] For example, information output from the linear conveyance design support device 1A, such as correction parameters, conveyance efficiency, system evaluation information, and other analysis results, may be directly input to the linear conveyance device and used for conveyance control. Also, the output information may be displayed on a display unit or the like and viewed by an operator for design or control. In other words, the information output from the linear conveyance design support device 1A can be freely selected for operation, function, use, etc. In other words, as long as the subject is a linear conveyance device, the linear conveyance design support device in the name of the invention can be called a linear conveyance design device, a linear conveyance control device, a linear conveyance analysis device, etc.

[0095] In the first embodiment, the simulator unit 3A is disposed inside the linear transportation design support device 1A, but a device consisting of a processor, memory, or a combination of these that operates similarly to the simulator unit 3A may be disposed outside the linear transportation design support device 1A, and the transportation efficiency and system evaluation information may be acquired from this device. With such a configuration, the effects of the first embodiment described above can be obtained.

[0096] Thus, according to embodiment 1, the linear conveying design support device 1A modifies at least one of the parameters included in the parameter set so that the system evaluation information satisfies the constraint range while improving the conveying efficiency, thereby making it possible to improve the conveying capacity in a situation where the constraints imposed on the linear conveying device 20 are highly satisfied.

[0097] Furthermore, since the linear transportation design support device 1A corrects at least one of the parameters included in the movable part design information and the operation instruction information, it is possible to suppress the value of the system evaluation information and improve transportation efficiency.

[0098] Embodiment 2 Next, a second embodiment will be described with reference to Fig. 5. In the second embodiment, a prediction model expressed by a mathematical expression, a state transition diagram, a state transition table, or a learning model is used to predict the transportation efficiency and system evaluation information corresponding to a parameter set.

[0099] Fig. 5 is a diagram showing a configuration example of a linear transportation design support device according to embodiment 2. Among the components in Fig. 5, components that achieve the same functions as those in the linear transportation design support device 1A according to embodiment 1 shown in Fig. 1 are given the same reference numerals, and duplicated explanations will be omitted.

[0100] The linear conveyance design support device 1B of the second embodiment corrects parameters set in the linear conveyance device 20, similar to the linear conveyance design support device 1A. The linear conveyance design support device 1B is different from the linear conveyance design support device 1A in that it includes a simulator unit 3B instead of the simulator unit 3A. That is, the linear conveyance design support device 1B includes a parameter setting unit 2, a simulator unit 3B, and a parameter correction unit 4.

[0101] The simulator unit 3B includes a prediction model 8. The prediction model 8 is a model generated based on a data set of a parameter set acquired in advance and conveyance efficiency and system evaluation information. The parameter set acquired in advance is acquired, for example, by operating an actual machine (linear conveyance device 20) or a simulator that simulates the operation of the actual machine in advance. In addition, the conveyance efficiency and system evaluation information are calculated based on the parameter set. The prediction model 8 receives a parameter set from a user as an input, and predicts the conveyance efficiency and system evaluation information as an output.

[0102] The prediction model 8 is expressed by a mathematical formula, a state transition diagram, a state transition table, or a learning model. Note that the prediction algorithm used when expressing the prediction model 8 by a mathematical formula, a state transition diagram, a state transition table, or a learning model does not need to be particularly limited, and any algorithm may be used.

[0103] When the simulator unit 3B receives a parameter set from the parameter setting unit 2, it predicts the transport efficiency and system evaluation information based on the parameter set. That is, when a parameter set is input, the prediction model 8 of the simulator unit 3B predicts and outputs the transport efficiency and system evaluation information corresponding to this parameter set. After that, modified parameters that improve the transport efficiency are output from the parameter modification unit 4 by the same process as in the first embodiment.

[0104] In this way, according to the second embodiment, the linear transportation design support device 1B includes the prediction model 8, so that it is possible to obtain the transportation efficiency and the system evaluation information in a short time by the prediction model 8 without executing a time series simulation. Therefore, the linear transportation design support device 1B can obtain the correction parameters that improve the transportation efficiency in a shorter time than the first embodiment.

[0105] Embodiment 3 Next, a third embodiment will be described with reference to Fig. 6. In the third embodiment, the process executed by the simulator unit 3A and the process executed by the parameter setting unit 2 and the parameter correction unit 4 are executed by different computers.

[0106] Fig. 6 is a diagram showing a configuration example of a linear transportation design support system according to the embodiment 3. Among the components in Fig. 6, components that achieve the same functions as those of the linear transportation design support device 1A according to the embodiment 1 shown in Fig. 1 are given the same reference numerals, and duplicated explanations will be omitted.

[0107] The linear conveyance design support system 10 of the third embodiment corrects parameters set in the linear conveyance device 20, similarly to the linear conveyance design support device 1A. The linear conveyance design support system 10 includes a parameter setting unit 2, a simulator unit 3A, and a parameter correction unit 4, as well as a parameter transmission unit 11, a parameter reception unit 12, a calculation result transmission unit 13, and a calculation result reception unit 14.

[0108] The parameter transmission unit 11, the parameter reception unit 12, the calculation result transmission unit 13, and the calculation result reception unit 14 are connected between the parameter setting unit 2 and the parameter correction unit 4, and the simulator unit 3A. Specifically, the parameter transmission unit 11 is connected to the parameter setting unit 2, the parameter reception unit 12 and the calculation result transmission unit 13 are connected to the simulator unit 3A, and the calculation result reception unit 14 is connected to the parameter correction unit 4. The parameter transmission unit 11, the parameter reception unit 12, the calculation result transmission unit 13, and the calculation result reception unit 14 are connected to the Internet 15. The parameter correction unit 4 and the parameter setting unit 2 are also connected.

[0109] In the linear transportation design support system 10, the computer including the simulator unit 3A and the computer including the parameter setting unit 2 and the parameter correction unit 4 are separate computers. The computer including the simulator unit 3A and the computer including the parameter setting unit 2 and the parameter correction unit 4 transmit and receive information via the Internet 15.

[0110] Parameter setting unit 2 stores the parameter set by the same process as in embodiment 1. Parameter transmission unit 11 transmits the parameter set stored in parameter setting unit 2 to parameter reception unit 12 via the Internet 15. The timing at which parameter transmission unit 11 transmits the parameter set may be when the parameter set stored in parameter setting unit 2 is updated, when parameter transmission unit 11 receives a request from the outside, or at a specific regular timing.

[0111] The parameter receiving unit 12 receives the parameter set from the parameter transmitting unit 11 via the Internet 15. The parameter receiving unit 12 outputs the received parameter set to the simulator unit 3A.

[0112] The simulator unit 3A calculates the transport efficiency and the system evaluation information based on the parameter set, similarly to the embodiment 1. The simulator unit 3A outputs the calculation results of the calculated transport efficiency and the system evaluation information and the parameter set used in the calculation to the calculation result transmission unit 13.

[0113] The calculation result transmitting unit 13 receives the calculation results and the parameter set output by the simulator unit 3A. The calculation result transmitting unit 13 transmits the calculation results and the parameter set received from the simulator unit 3A to the calculation result receiving unit 14 via the Internet 15. The timing at which the calculation result transmitting unit 13 transmits the calculation results and the parameter set may be when the simulator unit 3A calculates the transport efficiency and the system evaluation information and outputs them to the calculation result transmitting unit 13, when the calculation result transmitting unit 13 receives a request from the outside, or at a specific regular timing.

[0114] The calculation result receiving unit 14 receives the calculation results and the parameter set from the calculation result transmitting unit 13 via the Internet 15. The calculation result receiving unit 14 outputs the received calculation results and the parameter set to the parameter correcting unit 4. As with the parameter correcting unit 4 in the first embodiment, the parameter correcting unit 4 corrects the parameters based on the transport efficiency and system evaluation information, which are the calculation results, and the parameter set.

[0115] Similarly to the first embodiment, the parameter correction unit 4 outputs correction parameter candidates to the parameter setting unit 2 when the correction end condition is not satisfied. In the linear conveyance design support system 10, similar to the linear conveyance design support device 1A, the process by the parameter setting unit 2, the process by the simulator unit 3A, and the process by the parameter correction unit 4 are repeated to determine the correction parameters. When the parameter correction unit 4 determines the correction parameters, it outputs the correction parameters to an external device such as a display device.

[0116] The linear transportation design support system 10 may include a simulator unit 3B instead of the simulator unit 3A.

[0117] Thus, according to the third embodiment, the linear conveyance design support system 10 transmits the parameter set to the simulator unit 3A via the Internet 15. As a result, the linear conveyance design support system 10 can realize, for example, only the simulator unit 3A with a computer (calculator) having higher performance than the parameter setting unit 2 or the parameter correction unit 4. Therefore, the linear conveyance design support system 10 can easily improve the calculation accuracy and calculation speed of the simulator unit 3A, and can obtain accurate correction parameters that improve conveyance efficiency in a shorter time than in the first embodiment.

[0118] Next, the hardware configuration of the linear transport design support devices 1A and 1B will be described. Since the linear transport design support devices 1A and 1B have similar hardware configurations, the hardware configuration of the linear transport design support device 1A will be described here. The linear transport design support device 1A is realized by a processing circuit. The processing circuit may be a processor and memory that executes a program stored in a memory, or may be dedicated hardware.

[0119] FIG. 7 is a diagram showing an example of the configuration of a processing circuit in the linear conveyance design support device according to the first embodiment when the processing circuit is realized by a processor and a memory. The processing circuit 90 shown in FIG. 7 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 described as a linear conveyance design support program and stored in the memory 92. In the processing circuit 90, each function is realized by the processor 91 reading and executing the linear conveyance design support program stored in the memory 92. That is, the processing circuit 90 includes a memory 92 for storing a linear conveyance design support program that results in the processing of the linear conveyance design support device 1A. This linear conveyance design support program can also be said to be a program for causing the linear conveyance design support device 1A to execute each function realized by the processing circuit 90. This linear conveyance design support program may be provided by a computer-readable recording medium on which the linear conveyance design support program is recorded, or may be provided by other means such as a communication medium.

[0120] The linear transportation design support program can also be said to be a program that causes the linear transportation design support device 1A to execute the processes of steps S10 to S100 in FIG.

[0121] Here, the processor 91 is, for example, a CPU (Central Processing Unit), a processing device, an arithmetic device, a microprocessor, a microcomputer, or a DSP (Digital Signal Processor), etc. Also, the memory 92 is, for example, a non-volatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable ROM), an EEPROM (Electrically EPROM), a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, or a DVD (Digital Versatile Disc), etc.

[0122] FIG. 8 is a diagram showing an example of a processing circuit provided in the linear transportation design support device according to the first embodiment, configured with dedicated hardware. The processing circuit 93 shown in FIG. 8 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 of these. 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-mentioned functions by dedicated hardware, software, firmware, or a combination of these.

[0123] Any one of the parameter setting unit 2, the simulator units 3A and 3B, and the parameter correction unit 4 of the linear transportation design support system 10 may be realized by any one of the processing circuits 90 and 93 described above.

[0124] The configurations shown in the above embodiments are merely examples, and may be combined with other known technologies, or the embodiments may be combined with each other. Also, parts of the configurations may be omitted or modified without departing from the spirit of the invention. [Explanation of symbols]

[0125] 1A, 1B Linear transport design support device, 2 Parameter setting unit, 3A, 3B Simulator unit, 4 Parameter correction unit, 5 Moving part state prediction unit, 6 Fixed part state prediction unit, 7 System evaluation unit, 8 Prediction model, 10 Linear transport design support system, 11 Parameter transmission unit, 12 Parameter reception unit, 13 Calculation result transmission unit, 14 Calculation result reception unit, 15 Internet, 20 Linear transport device, 21 Moving part, 22 Fixed part, 23 Guide rail, 25 Controller unit, 30 Linear transport system, 90, 93 Processing circuit, 91 Processor, 92 Memory.

Claims

1. A linear conveyance design support device that supports the design of a linear conveyance device having one or more movable parts that move along a conveyance path, a plurality of fixed parts that are mutually connected to form the conveyance path and drive the movable parts by magnetic force, and a controller unit that controls the operation of the movable parts, a parameter setting unit that stores, as a parameter set, a combination of fixed part design information that is design information of the fixed part, movable part design information that is design information of the movable part, and operation instruction information that is information on movement of the movable part; a simulator unit that calculates a conveying efficiency, which is an index representing a conveying capacity of the linear conveying device, and a system evaluation information, which is an index representing a cost incurred during operation of the linear conveying device, by simulating an operation of the linear conveying device using the parameter set; a parameter modification unit that modifies at least one parameter included in the parameter set based on the conveying efficiency, the system evaluation information, and a constraint range that limits a preset variable range of the system evaluation information, so that the conveying efficiency is improved while the system evaluation information satisfies the constraint range; Equipped with The simulator unit includes: a moving part state prediction unit that calculates time-series information of a position, a speed, and a thrust for each of the moving parts by using the moving part design information; a fixed section state prediction unit that calculates time-series information of a current flowing through a coil of the fixed section based on time-series information of the parameter set, the position, and the thrust; A system evaluation unit that calculates at least one of the following as the system evaluation information: a conveying energy, which is the energy consumed by the linear conveying device, a conveying variability, which is the variability of the linear conveying device, and a conveying design cost, which is the hardware design cost of the linear conveying device, based on time-series information of the position, the speed, the thrust, and the current, and calculates the conveying efficiency based on time-series information of at least one of the position and the speed; having A linear transport design support device characterized by the above.

2. The parameter correction unit repeats a process of correcting a value of at least one parameter of the parameter set so that the conveyance efficiency approaches a value within a preset target range or the system evaluation information approaches a value within the constraint range, and the simulator unit calculates the conveyance efficiency and the system evaluation information and outputs the calculated values ​​to the parameter correction unit.

2. The linear transport design support device according to claim 1.

3. The parameter modification unit determining whether or not a termination condition for terminating the correction of the parameters is satisfied based on the system evaluation information, the constraint range, the conveying efficiency, and the target range, and outputting the corrected parameters to the outside as corrected parameters when it is determined that the termination condition is satisfied; 3. The linear transport design support device according to claim 2.

4. The parameter modification unit When the system evaluation information calculated by the simulator unit is within the constraint range and when the transport efficiency is within the target range or approaches the target value, it is determined that the end condition is satisfied; When the system evaluation information is outside the constraint range, when the conveying efficiency is outside the target range, and when the conveying efficiency is not approaching the target value, the parameter correction unit determines that the termination condition is not satisfied.

4. The linear transport design support device according to claim 3.

5. The simulator unit includes: when the parameter correction unit determines that the termination condition is not satisfied, calculating the conveyance efficiency and the system evaluation information using the parameter set updated by the parameter values ​​corrected by the parameter correction unit.

4. The linear transport design support device according to claim 3.

6. The fixed part design information is The information includes at least one of information regarding the shape of the fixed portion, the number of the fixed portions, the number of coils included in the fixed portions, and the arrangement order of the fixed portions that are connected and arranged.

6. The linear transport design support device according to claim 1,

7. The movable part design information is The information includes at least one of the size of the movable part, the shape of the movable part, the mass of the movable part, the number of the movable parts, and the maximum amount of material carried by the movable part.

6. The linear transport design support device according to claim 1,

8. The operation instruction information is The information includes at least one of a target position of the movement of the movable part, a loaded mass of an object when the movable part moves, a maximum speed and a maximum acceleration when the movable part moves to the target position, a minimum stopping time when the movable part reaches the target position, and a minimum distance between the movable parts.

6. The linear transport design support device according to claim 1,

9. The parameter modification unit Modifying at least one parameter among parameters included in the moving part design information and the operation instruction information; 6. The linear transport design support device according to claim 1,

10. The conveying efficiency is At least one of a throughput, which is a transport capacity of the movable part, an average speed of the movable part, a loading rate, which is a ratio of a total mass of the loaded objects when the movable part moves to a total maximum loaded material amount of the movable part, and a passing number, which is a number of the movable parts passing a specific point within a certain time.

6. The linear transport design support device according to claim 1,

11. The system evaluation unit includes: The transportation energy is calculated based on at least one of a current load, a heat generation amount, a power consumption, and a power consumption amount at the fixed unit.

6. The linear transport design support device according to claim 1,

12. The system evaluation unit includes: As the transport variability, at least one of a vibration state of the movable part, a temperature of the fixed part, a temperature of the movable part, and a distance between the movable parts when the movable parts move along the transport path is calculated.

6. The linear transport design support device according to claim 1,

13. The system evaluation unit includes: Calculating at least one of the number of the movable parts, the shape of the movable parts, and the mass of the movable parts as the transportation design cost.

6. The linear transport design support device according to claim 1,

14. The simulator unit includes: a prediction model that is generated based on a data set of the parameter set and the conveying efficiency and the system evaluation information, and that predicts the conveying efficiency and the system evaluation information as an output with the parameter set as an input; 6. The linear transport design support device according to claim 1,

15. The prediction model is expressed by a mathematical formula, a state transition diagram, a state transition table, or a learning model.

15. The linear transport design support device according to claim 14.

16. a linear transport device having one or more movable parts that move along a transport path, and a plurality of fixed parts that are connected to each other to form the transport path and drive the movable parts by magnetic force; A linear conveyance design support device that supports the design of the linear conveyance device; having The linear transport design support device includes: a parameter setting unit that stores, as a parameter set, a combination of fixed part design information that is design information of the fixed part, movable part design information that is design information of the movable part, and operation instruction information that is information on movement of the movable part; a simulator unit that calculates a conveying efficiency, which is an index representing a conveying capacity of the linear conveying device, and a system evaluation information, which is an index representing a cost incurred during operation of the linear conveying device, by simulating an operation of the linear conveying device using the parameter set; a parameter modification unit that modifies at least one parameter included in the parameter set based on the conveying efficiency, the system evaluation information, and a constraint range that limits a preset variable range of the system evaluation information, so that the conveying efficiency is improved while the system evaluation information satisfies the constraint range; Equipped with The simulator unit includes: a moving part state prediction unit that calculates time-series information of a position, a speed, and a thrust for each of the moving parts by using the moving part design information; a fixed section state prediction unit that calculates time-series information of a current flowing through a coil of the fixed section based on time-series information of the parameter set, the position, and the thrust; A system evaluation unit that calculates at least one of the following as the system evaluation information: a conveying energy, which is the energy consumed by the linear conveying device, a conveying variability, which is the variability of the linear conveying device, and a conveying design cost, which is the hardware design cost of the linear conveying device, based on time-series information of the position, the speed, the thrust, and the current, and calculates the conveying efficiency based on time-series information of at least one of the position and the speed; having A linear transport system comprising:

17. A linear conveyance design support device that supports the design of a linear conveyance device having one or more movable parts that move on a conveyance path, a plurality of fixed parts that are connected to each other to form the conveyance path and drive the movable parts by magnetic force, and a controller unit that controls operation of the movable parts, includes a parameter setting unit step of storing a combination of fixed part design information that is design information of the fixed parts, movable part design information that is design information of the movable parts, and operation instruction information that is information on the movement of the movable parts as a parameter set; a simulator step in which the linear transport design support device simulates the operation of the linear transport device using the parameter set to calculate transport efficiency, which is an index representing the transport capacity of the linear transport device, and system evaluation information, which is an index representing the cost incurred during operation of the linear transport device; a parameter correction step in which the linear transportation design support device corrects at least one parameter among the parameters included in the parameter set based on the transportation efficiency, the system evaluation information, and a constraint range that limits a variable range of the system evaluation information set in advance, so that the transportation efficiency is improved while the system evaluation information satisfies the constraint range; a moving step in which the linear transport device moves the movable part using the corrected parameters; Including, The simulator step includes: a movable part state prediction step in which the linear transportation design support device calculates time-series information of a position, a speed, and a thrust force for each of the movable parts by using the movable part design information; a stationary part state prediction step in which the linear transportation design support device calculates time-series information of a current flowing through a coil of the stationary part based on time-series information of the parameter set, the position, and the thrust; The linear conveyance design support device calculates at least one of the following as the system evaluation information: conveyance energy, which is the energy consumed by the linear conveyance device, conveyance variability, which is the variability of the linear conveyance device, and conveyance design cost, which is the hardware design cost of the linear conveyance device, based on time-series information of the position, the speed, the thrust, and the current; and calculates the conveyance efficiency based on time-series information of at least one of the position and the speed; Including, A method for operating a linear transport system comprising the steps of:

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