Diagnostic device and method for controlling diagnostic device

Abstract

To accurately conduct abnormality diagnosis of a diagnosis object.SOLUTION: A diagnostic device (10) comprises: an acquisition unit (11) for acquiring multiple kinds of measurement data to be used for abnormality diagnosis of a diagnosis object (2) included in an article conveyance facility (1); and a diagnosis unit (12) for conducting abnormality diagnosis of the diagnosis object (2), when any one of the measurement data attains a predetermined state corresponding to the measurement data, on the basis of the measurement data, and an attainment order of the respective measurement data having attained the predetermined state in the past.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to a diagnostic device and the like that performs abnormality diagnosis on a diagnostic target included in an item transport facility. [Background technology]

[0002] The article transport equipment constituting the production line of products such as automobiles is required to operate at a high capacity without unscheduled stops so as not to stagnate production. For this reason, there have been known techniques for detecting abnormalities in devices and parts included in the article transport equipment (Patent Document 1, etc.).

[0003] The equipment diagnosis device disclosed in Patent Document 1 is provided with sensors on equipment that drives a belt with multiple pulleys, collects waveform data of vibration, sound, etc., and diagnoses the operating state of the equipment using principal component analysis. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2007-108107 A Summary of the Invention [Problem to be solved by the invention]

[0005] The technology disclosed in Patent Document 1 requires processing such as generating pattern information indicating a feature space for a driving state from time-series data of waveform data, and the processing is therefore complex. [Means for solving the problem]

[0006] A diagnostic device according to one embodiment of the present disclosure includes an acquisition unit that acquires multiple types of measurement data used for diagnosing an abnormality in a diagnosis object included in an item transport facility, and a diagnosis unit that, when any of the measurement data reaches a predetermined state corresponding to the measurement data, performs abnormality diagnosis on the diagnosis object based on the order in which the measurement data and measurement data that has previously reached the predetermined state reached the predetermined state.

[0007] A method for controlling a diagnostic device according to an aspect of the present disclosure includes: acquiring a plurality of types of measurement data used for diagnosing an abnormality of a diagnostic target included in an item conveying facility; and a diagnosis step of, when any of the measurement data reaches a predetermined state corresponding to that measurement data, performing an abnormality diagnosis on the diagnosis object based on the order of arrival of that measurement data and measurement data that has previously reached the predetermined state. Effect of the Invention

[0008] Abnormality diagnosis of the diagnosis object can be performed with high accuracy using a simple configuration. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram showing an example of a friction-driven article transport facility that is the premise of an embodiment of the present invention. [Diagram 2] FIG. 1 is a diagram showing an example of a chain-driven article transport facility that is the premise of an embodiment of the present invention. [Diagram 3] 1 is a functional block diagram showing a configuration of a main part of a diagnostic device according to an embodiment of the present invention; [Figure 4] FIG. 4 is a diagram showing an example of a diagnosis table used in the diagnosis device. [Diagram 5] FIG. 4 is a diagram showing an example of a diagnosis table used in the diagnosis device. [Figure 6] FIG. 1 is a simplified diagram showing a friction drive type article transport facility. [Figure 7] FIG. 7 is a diagram showing details of area A in FIG. 6. [Figure 8]7 is a diagram showing the relationship between the wheels and rails attached to the bogie shown in area B of FIG. 6. FIG. [Figure 9] FIG. 1 is a simplified diagram showing a chain-driven article transport system. [Figure 10] FIG. 10 is a diagram showing details of region C in FIG. [Figure 11] FIG. 13 is a diagram showing an example in which an abnormality exists in a rail. [Figure 12] FIG. 13 is a diagram showing an example in which an abnormality exists in a wheel. [Figure 13] FIG. 2 is a diagram showing the relationship between a drive device and a chain in a chain drive system. [Figure 14] This is a diagram showing a state in which the chain pitch is elongated. [Figure 15] This is a diagram showing a state in which the chain pitch is shortened. [Figure 16] 10A to 10C are diagrams illustrating an example of changes in vibration data, sound data, and temperature data obtained from the guide roller or the vicinity of the guide roller. [Figure 17] 1A to 1C are diagrams illustrating an example of changes in vibration data, current data, sound data, and temperature data obtained from a rail or the vicinity of the rail. [Figure 18] 1A to 1C are diagrams illustrating an example of changes in vibration data, current data, sound data, and temperature data obtained from a rail or the vicinity of the rail. [Figure 19] 1A to 1C are diagrams illustrating an example of changes in vibration data, current data, sound data, and temperature data obtained from a rail or the vicinity of the rail. [Figure 20] 1A to 1C are diagrams illustrating an example of changes in vibration data, current data, sound data, and temperature data obtained from a rail or the vicinity of the rail. [Figure 21] 1A to 1C are diagrams showing an example of changes in vibration data, current data, sound data, and temperature data obtained from a wheel or in the vicinity of the wheel. [Figure 22] 10A to 10C are diagrams illustrating an example of changes in vibration data, current data, sound data, and temperature data obtained from a reducer or the vicinity of the reducer, and a motor or the vicinity of the motor. [Diagram 23] 5A to 5C are diagrams illustrating an example of changes in vibration data, current data, sound data, and temperature data obtained from a drive shaft rotating portion or the vicinity of the drive shaft rotating portion. [Figure 24] 10A to 10C are diagrams showing an example of changes in vibration data, current data, sound data, and temperature data obtained from a chain or in the vicinity of the chain. [Diagram 25] 1A to 1C are diagrams showing an example of changes in vibration data, current data, sound data, and temperature data obtained from a power supply unit of an article conveying facility or in its vicinity. [Figure 26] 10 is a flowchart showing an example of a process flow of a diagnostic device. [Figure 27] FIG. 11 is a diagram for explaining an example of performing diagnostic processing using a learning model. [Figure 28] FIG. 13 is a functional block diagram showing a modified example of the diagnostic device. [Figure 29] 13A and 13B are diagrams illustrating a configuration of carts in another example of the article transport facility. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] 〔overview〕 The diagnostic device 10 according to this embodiment performs abnormality diagnosis on an article conveying facility 1 including a conveyor or the like for conveying articles, which are conveyed objects such as vehicle bodies, installed in an automobile manufacturing plant or the like. The equipment to be diagnosed by the diagnostic device 10 may be any equipment that conveys articles using a conveyor or the like.

[0011] First, an example of an article conveying facility 1 to be diagnosed by the diagnosis device 10 according to this embodiment will be described with reference to Figures 1 and 2. Figure 1 shows an example of an article conveying facility 1 that conveys articles using a friction-driven conveyor. Figure 2 shows an example of an article conveying facility 1 that conveys articles using a chain-driven conveyor.

[0012] [Friction drive type] As described above, Fig. 1 shows an example of the article transport equipment 1, which is a friction-driven transport equipment 511. The transport equipment 511 has a plurality of traveling devices 531 arranged along a lower guide rail 514, which act on the load bar (not shown) of each cart 515 (corresponding to the cart 23 in Fig. 6) to travel the cart 515. Note that one of the traveling devices 531 is always arranged to act on the load bar of the cart 515 guided by the lower guide rail 514. Each traveling device 531 is composed of friction drive wheels 532 (corresponding to the drive rollers 24 in FIG. 6) and backup rollers 533 (corresponding to the backup rollers 21 in FIG. 6) that sandwich the driven side of the load bar from both the left and right sides, and a motor (not shown) that drives the friction drive wheels 532. The friction drive wheels 532 and backup rollers 533 are supported so as to be able to move laterally in a horizontal direction approximately perpendicular to the moving path of the load bar, i.e., the conveying line p, and are biased toward the load bar by a spring (not shown), so that the friction drive wheels 532 are securely pressed against the driven side of the load bar. Each traveling device 531 is also provided with an occupancy detector 536 consisting of a magnetic sensor that detects the occupancy (presence or absence) of the cart 515 by the presence or absence of the load bar.

[0013] [Chain drive type] As described above, FIG. 2 shows an example of the article conveying equipment 1, which is an example of a chain-driven conveying equipment 610. In the conveying equipment 610, a chain drive section 630 equipped with a drive chain 624 (corresponding to the chain 30 in FIG. 9) and a friction drive section 631 are set in the circulating travel path of the conveying traveling body (not shown). The drive method in the friction drive section 631 is the same as that of the conveying equipment 511 in FIG. 1 described above. In the friction drive section 631, friction drive means 632 are arranged along the travel path of the conveying traveling body at intervals not longer than the overall length of the load bar (not shown). The friction drive means 632 is composed of a friction drive wheel, a motor with a reducer that rotates and drives the friction drive wheel, and a biasing means that presses the friction drive wheel against one side of the friction drive surface of the load bar of the conveying traveling body. The drive chain 624, which is tensioned so as to rotate along the chain drive section 630, is driven by a drive means 646 (corresponding to the drive device 28 in FIG. 9) in a return path section 645 that extends from the end to the start of the chain drive section 630, and is tensioned by a take-up means 647 so as to maintain an appropriate tension. Furthermore, fixed stop positions 648a, 648b are set within the chain drive section 630.

[0014] [Configuration of main parts of diagnostic device 10] Next, the diagnostic device 10 will be described with reference to Fig. 3. Fig. 3 is a functional block diagram showing a configuration of a main part of the diagnostic device 10. The diagnostic device 10 is a device that performs abnormality diagnosis on one or more diagnostic objects 2 included in the article conveying equipment 1. As shown in Fig. 3, the diagnostic device 10 includes an acquisition unit 11 and a diagnosis unit 12.

[0015] The acquisition unit 11 acquires multiple types of measurement data used for abnormality diagnosis of the diagnosis target 2 included in the article transport equipment 1. Examples of the measurement data include the following. In this specification, "vicinity" includes the meanings of "adjacent position" and "nearby position". Vibration data: Data showing vibrations in diagnostic object 2 or in the vicinity of diagnostic object 2. Current data: data indicating the current supplied to the diagnostic object 2. Temperature data: data indicating the temperature of diagnostic object 2 or in the vicinity of diagnostic object 2. Sound data: data indicating sounds collected in the vicinity of diagnostic target 2.

[0016] Vibration data can be obtained by installing a vibrometer (e.g., an acceleration sensor) on or near the diagnosis object 2. Current data can be obtained by measuring the current supplied to the diagnosis object 2 with an ammeter. A typical example of a diagnosis object 2 to which a current is supplied is a motor 25. Temperature data can be obtained by installing a thermometer on or near the diagnosis object 2. Sound data can be obtained by installing a sound collection device (microphone) on or near the diagnosis object 2. Hereinafter, the vibrometer, ammeter, thermometer, and sound collection device are collectively referred to as sensors 3.

[0017] The acquisition unit 11 acquires each piece of measurement data obtained by a sensor 3 installed on or in the vicinity of the diagnostic object 2.

[0018] The diagnosis unit 12 uses the diagnosis table 121 to perform an abnormality diagnosis on the diagnosis object 2. Specifically, when any of the measurement data acquired by the acquisition unit 11 reaches a predetermined state corresponding to the measurement data, the diagnosis unit 12 performs an abnormality diagnosis on the diagnosis object 2 based on the arrival order of the measurement data and the measurement data that has previously reached the predetermined state.

[0019] The diagnosis unit 12 may diagnose one or more diagnostic objects 2. When there are multiple diagnostic objects 2, the combination of types of measurement data may be different for each diagnostic object 2.

[0020] Here, the diagnosis table 121 will be described with reference to Fig. 4 and Fig. 5. Fig. 4 and Fig. 5 are diagrams showing an example of the diagnosis table 121. In detail, Fig. 4 is a diagram showing an example of an order table 1211 included in the diagnosis table 121, and Fig. 5 is a diagram showing an example of a criteria table 1212 included in the diagnosis table 121.

[0021] The order table 1211 specifies the order in which the measurement data reaches a predetermined state for each diagnosis target 2. When the order in which each measurement data reaches a predetermined state matches an order predetermined in the order table 1211, the diagnosis unit 12 diagnoses that the diagnosis target 2 is abnormal or that there is a possibility that the diagnosis target 2 is abnormal.

[0022] Specifically, (1) when "all" of the measurement data obtained from the diagnosis object 2 has reached a predetermined state and the order in which they reached the predetermined state matches the order predefined in the order table 1211, the diagnosis unit 12 diagnoses the diagnosis object 2 as "abnormal." (2) When "some" of the measurement data obtained from the diagnosis object 2 has reached a predetermined state and the order in which they reached the predetermined state matches the order predefined in the order table 1211, the diagnosis unit 12 diagnoses the diagnosis object 2 as "possibly abnormal." In this case, the diagnosis is made as "possibly abnormal" because all of the measurement data has not yet reached the predetermined state.

[0023] In the example shown in the order table 1211, the order of measurement data for each of the guide roller 33, the rail 22, the wheel 231 of the dolly 23, the motor 25, the reducer 26, the drive shaft rotating part 27, and the chain 30 is specified as the diagnosis target 2. In addition to these, the order of measurement data for each of the floor, the belt, and the power supply to the article conveying equipment 1 may be specified as the diagnosis target 2. Here, the floor refers to the floor surface on which a dolly or the like for conveyance runs. In this case, it is assumed that the article conveying equipment 1 is one in which a dolly runs on the floor to convey articles. Also, the belt refers to a belt used in a drive system for moving the dolly 23. In this case, it is assumed that a belt is used in the drive system.

[0024] In the example shown in the order table 1211, it is specified that the first data is sound data, the second data is vibration data, and the third data is electric current data for the guide roller 33. For the rail 22, the following cases are specified: first data is vibration data, second data is electric current data, and third data is sound data (when a step occurs on the running surface); first data is electric current data, second data is vibration data, and third data is sound data (variation 1); first data is electric current data, second data is sound data, and third data is temperature data (variation 2); and first data is electric current data, second data is vibration data, and third data is sound data (when a foreign object is caught). For the rail 22, the order in which the influence is exerted varies depending on the content of the abnormality, so multiple orders are specified. For the wheel 231, it is specified that the first data is vibration data, second data is sound data, and third data is electric current data. For the motor 25, it is specified that the first data is electric current data, second data is sound data, third data is temperature data, and fourth data is vibration data. This is the order corresponding to a mechanical failure of the motor 25. For the reducer 26, it is specified that the first data is current data, the second data is sound data, the third data is temperature data, and the fourth data is vibration data. For the drive shaft rotating part 27, it is specified that the first data is sound data, the second data is vibration data, the third data is current data, and the fourth data is temperature data. For the chain 30, it is specified that the first data is vibration data, the second data is current data, and the third data is sound data (when elongation occurs) and that the first data is current data, the second data is vibration data, and the third data is sound data (when a foreign object is caught). For the chain 30, multiple orders are specified because the order in which the effects occur varies depending on the type of abnormality.

[0025] Furthermore, for the floor, the cases where the first data is vibration data, the second data is current data, and the third data is sound data (if a step occurs on the running surface) and the cases where the first data is current data, the second data is vibration data, and the third data is sound data (if a foreign object is caught) are specified. For the floor, the order in which the effects occur varies depending on the type of abnormality, so multiple orders are specified. For the belt, it is specified that the first data is current data, the second data is vibration data, and the third data is sound data. For the power supply to the goods conveying equipment 1, it is specified only that the first data is current data.

[0026] Note that the above is just an example, and an order different from the above may be specified depending on the type of abnormality.

[0027] The criteria table 1212 specifies judgment criteria for each piece of measurement data for each diagnosis target 2. When the measurement data satisfies the judgment criteria shown below, the diagnosis unit 12 judges that the measurement data has reached a predetermined state. As shown below, the combination of measurement data required for diagnosis differs for each diagnosis target 2. In the example shown in FIG. 5, the judgment criteria are as follows. In the following, "continuously" means continuous along the time axis, for example, continuing for one second or more.

[0028] When a malfunction occurs in the guide roller 33, sound is generated at or near the guide roller 33 in synchronization with the rotation of the guide roller 33. At the same time, vibrations are generated. Furthermore, the current supplied to the guide roller 33 also increases. In light of this, the judgment criteria for the guide roller 33 are that the sound data is "generated cyclically exceeding a threshold value," the vibration data is "a cyclic waveform exceeding a threshold value," and the current data is "synchronized with vibration and generated cyclically exceeding a threshold value."

[0029] When a defect such as peeling occurs on the running surface of the rail 22, vibrations occur on the rail 22 or in the vicinity of the rail 22 every time the cart 23 passes over that point. In addition, that point becomes a resistance, and the current supplied to the motor 25 to move the cart 23 over that point increases. Furthermore, noise occurs on the rail 22 or in the vicinity of the rail 22 every time the cart 23 passes over the above-mentioned point. In light of this, one of the judgment criteria for the rail 22 is that the vibration data "exceeds a threshold and generates a pulse," the current data "generates a pulse," and the sound data "exceeds a threshold and generates a pulse." Note that when a defect such as a step occurs on the running surface of the floor, it can be considered in the same way as when a defect such as peeling occurs on the running surface of the rail 22 described above.

[0030] Furthermore, when deformation occurs in the rail 22, that portion becomes a running resistance, and the current supplied to the motor 25 to move through that portion increases. Then, every time the cart 23 passes through the above-mentioned portion, vibrations are generated on the rail 22 or in the vicinity of the rail 22. Additionally, noise is also generated on the rail 22 or in the vicinity of the rail 22. In light of this, another judgment criterion for the rail 22 is that the current data "continuously exceeds the threshold value for a certain period of time (e.g., 1 second) or more," the vibration data "continuously exceeds the threshold value for a certain period of time (e.g., 1 second) or more," and the sound data "continuously exceeds the threshold value for a certain period of time (e.g., 1 second) or more."

[0031] Furthermore, when a small deformation occurs in the rail 22, the current supplied to the motor 25 to move through that location increases. Thereafter, when the deformation becomes larger, sound is generated every time the rail passes through that location. Furthermore, when the deformation becomes larger, vibrations are also generated. Taking these factors into consideration, another judgment criterion for the rail 22 is that the current data "rises above a threshold", the sound data "rises above a threshold", and the vibration data "rises above a threshold".

[0032] In addition, when a foreign object is caught between the rail 22 and the cart 23, the part becomes a running resistance, and the current supplied to the motor 25 to move the part increases. Then, every time the cart 23 passes the above-mentioned part, vibration occurs at the rail 22 or in the vicinity of the rail 22. In addition, noise also occurs at the rail 22 or in the vicinity of the rail 22. In consideration of this, another judgment criterion for the rail 22 is that the current data "continuously exceeds the threshold value for a certain period of time (for example, 1 second) or more," the vibration data "periodically exceeds the threshold value for a certain period of time (for example, 1 second) or more," and the sound data "continuously exceeds the threshold value for a certain period of time (for example, 1 second) or more." Note that when a defect occurs in which a foreign object is caught between the floor and the cart, and when a defect occurs in which a foreign object is caught in the belt, these can be considered in the same manner as the defect occurs in which a foreign object is caught between the rail 22 and the cart 23 described above.

[0033] When a defect such as peeling occurs in the wheel 231, vibrations occur at the wheel 231 or in the vicinity of the wheel 231. Furthermore, noise occurs at the wheel 231 or in the vicinity of the wheel 231. Furthermore, the peeled area acts as a resistance, increasing the current supplied to the motor 25. In light of these, the judgment criteria for the wheel 231 are that the vibration data "rises above a threshold", the sound data "rises above a threshold", and the current data "rises above a threshold".

[0034] The current supplied to motor 25 increases as the resistance of motor 25 increases. Furthermore, the temperature of motor 25 or the vicinity of motor 25 increases as the current supplied to motor 25 increases. Furthermore, the sound of motor 25 or the vicinity of motor 25 increases as the oil of motor 25 decreases and the gears wear. Furthermore, the vibration of motor 25 or the vicinity of motor 25 increases as the gears of motor 25 wear. Based on these, the judgment criteria for motor 25 were set as follows: current data "continuously increasing", sound data "continuously increasing", temperature data "continuously increasing", and vibration data "continuously increasing".

[0035] The current supplied to the reducer 26 increases as the resistance inside the reducer 26 increases. Furthermore, the temperature of the reducer 26 or the vicinity of the reducer 26 increases as the current supplied to the reducer 26 increases. Furthermore, the sound of the reducer 26 or the vicinity of the reducer 26 increases as the oil inside the reducer 26 decreases and the gears wear. Furthermore, the vibration of the reducer 26 or the vicinity of the reducer 26 increases as the gears of the reducer 26 wear. In light of these, the judgment criteria for the reducer 26 were set to be that the current data was "continuously increasing", the sound data was "continuously increasing", the temperature data was "continuously increasing", and the vibration data was "continuously increasing".

[0036] When a malfunction occurs in the rotation or the like of the drive shaft rotating part 27, noise occurs at the drive shaft rotating part 27 or in the vicinity of the drive shaft rotating part 27, and the noise gets louder over time. At the same time, vibration occurs. The current supplied also increases accordingly. In light of this, the criteria for determining whether the drive shaft rotating part 27 is working are that the sound data "continuously increases above a threshold", the vibration data "continuously increases above a threshold", the current data "continuously increases above a threshold", and the temperature data "continuously increases above a threshold".

[0037] The chain 30 may shift its pitch from the drive unit 28 at the timing of speed switching due to elongation of the chain 30, etc. When the pitch shifts, vibration occurs in the chain 30 or in the vicinity of the chain 30. Also, the current supplied to the drive unit 28 increases to match the shifted pitch. Also, noise occurs when the chain 30 comes into contact with the drive unit 28. In light of this, one of the criteria for determining the chain 30 is that the vibration data "exceeds a threshold value in synchronization with the timing of the speed switching", the current data "exceeds a threshold value in synchronization with the timing of the speed switching", and the sound data "exceeds a threshold value in synchronization with the timing of the speed switching". Here, the timing of the speed switching is, for example, the timing of switching from regeneration to power running. Note that the sound data does not have to be used as a determination target.

[0038] Furthermore, if a foreign object gets caught between the chain 30 and the drive device 28, that point becomes a resistance, and the current supplied to the motor 25 to drive the chain 30 increases. At the same time, vibrations occur at the chain 30 or in its vicinity. Noise is also generated. Taking these factors into consideration, another judgment criterion for the chain 30 is that the current data "continuously exceeds the threshold for a certain period of time (e.g., 1 second) or more," the vibration data "periodically exceeds the threshold for a certain period of time (e.g., 1 second) or more," and the sound data "continuously exceeds the threshold for a certain period of time (e.g., 1 second) or more."

[0039] Furthermore, if an abnormality occurs in the voltage supplied to the article conveying equipment 1 and the supply voltage drops, the current supplied to the article conveying equipment 1 increases. In light of this, the criterion for determining the voltage supplied to the article conveying equipment 1 is that the current data "continuously exceeds the threshold value for a certain period of time (e.g., one second) or more." In other words, the current data exceeds the set threshold value continuously for a set predetermined period of time.

[0040] In addition, the diagnosis unit 12 may use as criteria for judgment that fluctuations in the measurement data continue for a predetermined period of time, that the fluctuation rate of the measurement data is greater than or equal to a predetermined value, and that the degree of similarity between the waveform of the measurement data and a predetermined waveform is greater than or equal to a predetermined value.

[0041] Also, in the above, a configuration has been described in which abnormality diagnosis is performed based on the order in which each piece of measurement data reaches a predetermined state. The present invention is not limited to this, and may be configured to perform abnormality diagnosis based on a combination of measurement data that reaches a predetermined state. A learning model constructed by machine learning may be used for this abnormality diagnosis. This learning model may be constructed by machine learning using measurement data collected in a normal state immediately after delivery of the article conveying equipment 1 as training data. By inputting measurement data into the learning model constructed by machine learning in this way, the probability of a normal state can be output as an estimated result.

[0042] [Example of diagnostic subject 2] Next, an example of the diagnosis object 2 will be described with reference to Fig. 6 to Fig. 10 and Fig. 29. As described above, the diagnosis object 2 includes the guide roller 33, the rail 22, the wheel 231, the motor 25, the reducer 26, the drive shaft rotating part 27, and the chain 30.

[0043] 6 to 8 show examples of the rail 22, the wheel 231, the motor 25, the reducer 26, and the drive shaft rotating portion 27. In FIG.

[0044] Fig. 6 is a simplified diagram of friction drive type article transport equipment 1. Fig. 7 is a diagram showing the details of area A in Fig. 6. Fig. 8 is a diagram showing the relationship between wheels 231 attached to cart 23 and rails 22 shown in area B in Fig. 6.

[0045] In the article conveying facility 1 shown in Fig. 6, a load bar 232 attached to the cart 23 is driven by the drive roller 24, causing the cart 23 to move on the rail 22. As shown in Fig. 7, the drive roller 24 rotates when the rotation of the motor 25 is transmitted to the reducer 26, and the drive shaft rotating section 27 rotates in accordance with the rotation of the reducer 26. When the drive roller 24 rotates, the load bar 232 moves due to frictional force, and the cart 23 moves. The backup roller 21 is paired with the drive roller 24 and is installed so as to sandwich the load bar 232 therebetween, and by sandwiching the load bar 232 between the drive roller 24 and the backup roller 21, the cart 23 can be moved stably.

[0046] 7, the sensor 3 may be installed at the motor 25 or in the vicinity of the motor 25. Similarly, the sensor 3 may be installed at the reducer 26 or in the vicinity of the reducer 26. The sensor 3 installed at the motor 25 or in the vicinity of the motor 25 may include a plurality of sensors that detect vibration, current, temperature, and sound, respectively. The sensor 3 installed at the reducer 26 or in the vicinity of the reducer 26 may include a plurality of sensors that detect vibration, temperature, and sound, respectively.

[0047] 8, the wheels 231 of the cart 23 run on the rails 22, thereby enabling the cart 23 to move. The wheels 231 of the cart 23 and the rails 22 are in direct contact with each other, and if there is a problem with either of them, noise and the like associated with the contact will be generated, as described below.

[0048] Examples of chain 30 are shown in Figures 9 and 10. Figure 9 is a simplified diagram of a chain-driven article transport equipment 1. Figure 10 is a diagram showing details of area C in Figure 9. In the article transport equipment 1 shown in Figure 9, the chain 30 is driven by the rotation of drive device 28 as shown in Figure 10, thereby moving cart 29.

[0049] An example of the guide roller 33 is shown in FIG. 29. FIG. 29 is a diagram showing the configuration of the dolly 31 in another example of the article conveying facility 1. 81 in FIG. 29 shows the dolly 31 as viewed from above, and 82 shows the dolly 31 as viewed from the traveling direction side or the opposite side to the traveling direction. As shown in 81 in FIG. 29, in this example, two wall-like side guides 32 are provided on both sides of the dolly 31 so as to sandwich the dolly 31, and the conveying path of the dolly 31 is formed by these side guides 32. The dolly 31 includes guide rollers 33 and running wheels 34, and moves by the running wheels 34, and moves accurately along the conveying path by the guide rollers 33 coming into contact with the side guides 32 as shown in 82 in FIG. 29.

[0050] The cart 31 may be operated alone, or a plurality of carts 31 may be operated in a linked state. The cart 31 may be driven from the outside by a known means, or the cart 31 itself may be provided with a drive source.

[0051] [Examples of abnormal occurrences] Next, examples of abnormalities occurring in the diagnosis object 2 will be described with reference to Fig. 11 to Fig. 15. Fig. 11 is a diagram showing an example in which there is an abnormality in the rail 22 shown in Fig. 8, and Fig. 12 is a diagram showing an example in which there is an abnormality in the wheel 231 shown in Fig. 8.

[0052] 11, if the rail 22 has a scratch 61 such as peeling, a short-term vibration and an impact noise may occur every time the wheel 231 of the bogie 23 passes over the scratch 61. Therefore, among the judgment criteria for the rail 22 described above, the judgment criteria used for diagnosing anomalies such as unevenness on the running surface are that the vibration data is "a pulse exceeding a threshold is generated" and the sound data is "a pulse exceeding a threshold is generated."

[0053] 12, if there is a scratch 62 such as peeling on the contact surface of the wheel 231 with the rail 22, continuous micro vibrations and continuous noise may occur with each rotation of the wheel 231. Therefore, in the judgment criteria for the wheel 231 described above, the vibration data is set to "rise above the threshold" and the sound data is set to "rise above the threshold."

[0054] Fig. 13 is a diagram showing the contact position between the drive device 28 and the chain 30 in Fig. 10. Fig. 14 is a diagram showing a state in which the pitch of the chain 30 is elongated in region D in Fig. 13, and Fig. 15 is a diagram showing a state in which the pitch of the chain 30 is shortened in region E in Fig. 13.

[0055] In the case where the pitch of the chain 30 is elongated as shown in FIG. 14 in the region D shown in FIG. 13, if the chain 30 meshes with the driving device 28 as it is, the pitch of the chain 30 and the gear pitch of the driving device 28 will be misaligned. This can cause impulsive noise and short-term vibration when the chain 30 meshes with the gear of the driving device 28. Also, since a large force is momentarily applied to the driving device 28 to match the pitch of the chain 30 to the gear pitch, a subtle pulse can be generated in the current value of the motor that drives the driving device 28. Also, if the pitch of the chain 30 shrinks in the region E shown in FIG. 13 as shown in FIG. 15, impulsive noise and short-term vibration can be generated. Therefore, the above-mentioned criteria for the chain 30 are that the vibration data "exceeds a threshold in synchronization with the timing of the speed change", the current data "exceeds a threshold in synchronization with the timing of the speed change", and the sound data "exceeds a threshold in synchronization with the timing of the speed change".

[0056] [Example of abnormality diagnosis] Next, referring to Figs. 16 to 25, examples of changes in measurement data when the diagnosing unit 12 diagnoses an abnormality are shown. Fig. 16 shows an example of changes in vibration data, current data, temperature data, and sound data obtained from the guide roller 33 or the vicinity of the guide roller 33. Figs. 17 to 19 show an example of changes in vibration data, current data, temperature data, and sound data obtained from the rail 22 or the vicinity of the rail 22. Fig. 20 shows an example of changes in vibration data, current data, temperature data, and sound data obtained from the rail 22 or the vicinity of the rail 22, or the chain 30 or the vicinity of the chain 30. Fig. 21 shows an example of changes in vibration data, current data, temperature data, and sound data obtained from the wheel 231 or the vicinity of the wheel 231. Fig. 22 shows an example of changes in vibration data, current data, temperature data, and sound data obtained from the reducer 26 or the vicinity of the reducer 26. Fig. 23 shows an example of changes in vibration data, current data, temperature data, and sound data obtained from drive shaft rotating section 27 or the vicinity of drive shaft rotating section 27. Fig. 24 shows an example of changes in vibration data, current data, temperature data, and sound data obtained from chain 30 or the vicinity of chain 30. Fig. 25 shows an example of changes in current data related to power supply to article conveying equipment 1, and vibration data, temperature data, and sound data in a power supply section (not shown).

[0057] [Guide roller 33] As described above, the judgment criteria for the guide roller 33 are that the sound data is "occurring cyclically exceeding a threshold value", the vibration data is "a cyclic waveform exceeding a threshold value", and the current data is "synchronized with the vibration and occurring cyclically exceeding a threshold value".

[0058] In the example shown in FIG. 16, (1) first, cyclic sounds exceeding threshold v1 occur at times t1, t2, t3, and t4. (2) Next, following the occurrence of sounds at times t1, t2, t3, and t4, cyclic vibrations exceeding threshold v2 occur. (3) Also, immediately after the vibrations, the current exceeds threshold v3. Thus, the sound data, vibration data, and current data each reach a predetermined state defined in the reference table 1212. Also, the order in which the predetermined states are reached is the sound data, vibration data, and current data, which matches the order defined in advance in the order table 1211.

[0059] In this case, since the sound data specified as having the first arrival order is the first to reach the specified state, at this point in time, the diagnostic unit 12 diagnoses that there is a possibility of an abnormality in the guide roller 33 in the future and continues the diagnostic process.

[0060] Next, since the vibration data, which is specified as the second data in the arrival order, reaches the predetermined state following the sound data, the diagnosing unit 12 diagnoses that there is a possibility of an abnormality in the guide roller 33 in the future at this point in time, and continues the diagnosis process. At this time, a display such as "There is a possibility of a breakdown in the near future" may be displayed.

[0061] Subsequently, since the current data, which is specified as the third data in the arrival order, reaches the predetermined state following the sound data and the vibration data, the diagnoser 12 diagnoses that the guide roller 33 has an abnormality.

[0062] If any of the measurement data reaches a predetermined state in an order other than that shown in the example of Fig. 16, the diagnosing unit 12 diagnoses that there is no abnormality in the guide roller 33 at that point in time. If any of the measurement data reaches a predetermined state in an order other than that shown in the example of Fig. 16, a warning such as "something is wrong" may be output without identifying the location of the abnormality.

[0063] [Rail 22 (step on running surface)] As described above, one of the criteria for judgment regarding rail 22 is that the vibration data is a "pulse-like waveform exceeding a threshold value," the current data is "occurring in a pulse-like manner," and the sound data is "occurring in a pulse exceeding a threshold value."

[0064] In the example shown in Fig. 17, (1) first, a pulsed vibration exceeding the threshold v4 occurs at time t5. (2) Then, following time t5, a pulsed current occurs at time t6. (3) Then, following time t6, a sound exceeding the threshold v5 occurs at time t7. Thus, each of the vibration data, current data, and sound data reaches a predetermined state defined in the reference table 1212. Furthermore, the order in which the predetermined states are reached is the vibration data, current data, and sound data, which matches the order defined in advance in the order table 1211.

[0065] In this case, since at time t5 the vibration data specified as having the first arrival order reaches the specified state first, at this point in time the diagnosis unit 12 diagnoses that there is a possibility of an abnormality in the running surface of the rail 22 in the future and continues the diagnosis process.

[0066] Next, since the current data, which is specified as the second data in the arrival order, reaches the predetermined state following the vibration data, the diagnosing unit 12 diagnoses that there is a possibility of an abnormality in the running surface of the rail 22 in the future at this point in time, and continues the diagnosis process. At this time, a display such as "There is a possibility of a malfunction in the near future" may be displayed.

[0067] Subsequently, since the sound data, which is specified as the third data in the arrival order, reaches the predetermined state following the vibration data and the current data, the diagnoser 12 diagnoses that there is an abnormality in the traveling surface of the rail 22.

[0068] [Rail 22 (Variation 1)] As described above, another judgment criterion for rail 22 is that the current data "continuously exceeds the threshold for a certain period of time (e.g., 1 second) or more", the vibration data "continuously exceeds the threshold for a certain period of time (e.g., 1 second) or more", and the sound data "continuously exceeds the threshold for a certain period of time (e.g., 1 second) or more".

[0069] In the example shown in FIG. 18, (1) first, a current exceeding the threshold v6 occurs at time t8, and thereafter, the current exceeds the threshold v6 continuously for a certain period of time (e.g., 1 second). (2) Following time t8, a vibration exceeding the threshold v7 occurs at time t9, and thereafter, the current exceeds the threshold v7 continuously for a certain period of time (e.g., 1 second). (3) Following time t9, a sound exceeding the threshold v8 occurs at time t10, and thereafter, the current exceeds the threshold v8 continuously for a certain period of time (e.g., 1 second). Thus, each of the current data, vibration data, and sound data reaches a predetermined state defined in the reference table 1212. In addition, the order in which the predetermined states are reached is the current data, vibration data, and sound data, and therefore coincides with the order defined in advance in the order table 1211.

[0070] In this case, since the current data specified as being first in the arrival sequence reaches the specified state first after a certain time has elapsed since time t8, at this point in time, the diagnostic unit 12 diagnoses that there is a possibility of a deformation abnormality in the rail 22 in the future, and continues the diagnostic process.

[0071] Next, since the vibration data, which is specified as the second data in the arrival order, reaches the predetermined state following the current data, the diagnosing unit 12 diagnoses that there is a possibility of deformation abnormality in the rail 22 in the future at this point in time, and continues the diagnosis process. At this time, a display such as "There is a possibility of a breakdown in the near future" may be displayed.

[0072] Subsequently, since the sound data, which is specified as the third data in the arrival order, reaches the predetermined state following the current data and the vibration data, the diagnoser 12 diagnoses that the rail 22 has an abnormal deformation.

[0073] [Rail 22 (Variation 2)] As mentioned above, yet another of the criteria for rail 22 is that the current data is "rising above a threshold", the vibration data is "rising above a threshold", and the sound data is "rising above a threshold".

[0074] In the example shown in FIG. 19, (1) first, a current exceeding the threshold v9 occurs at time t11, and the current continues to rise thereafter. (2) Following time t11, a sound exceeding the threshold v10 occurs at time t12, and the current continues to rise thereafter. (3) Following time t12, a vibration exceeding the threshold v11 occurs at time t13, and the current continues to rise thereafter. Thus, the current data, sound data, and vibration data each reach a predetermined state defined in the reference table 1212. Furthermore, the order in which the predetermined states are reached is the current data, sound data, and vibration data, which matches the order defined in advance in the order table 1211.

[0075] In this case, since the current data specified as being first in the arrival sequence reaches the specified state first after a predetermined time has elapsed since time t11, at this point in time, the diagnostic unit 12 diagnoses that there is a possibility of a deformation abnormality in the rail 22 in the future, and continues the diagnostic process.

[0076] Next, since the sound data, which is specified as the second data in the arrival order, reaches the predetermined state following the current data, the diagnosing unit 12 diagnoses that there is a possibility of deformation abnormality in the rail 22 in the future and continues the diagnosis process. At this time, a display such as "There is a possibility of a breakdown in the near future" may be displayed.

[0077] Next, since the vibration data, which is specified as the third data in the arrival order, reaches the predetermined state following the current data and sound data, the diagnoser 12 diagnoses that the rail 22 has an abnormal deformation.

[0078] [Rail 22 (foreign object caught)] As described above, another judgment criterion for rail 22 is that the current data "continuously exceeds the threshold for a certain period of time (e.g., 1 second) or more", the vibration data "periodically exceeds the threshold for a certain period of time (e.g., 1 second) or more", and the sound data "continuously exceeds the threshold for a certain period of time (e.g., 1 second) or more".

[0079] In the example shown in FIG. 20, (1) first, a current exceeding the threshold v12 occurs at time t14, and thereafter, the current exceeds the threshold v12 continuously for a certain period of time (e.g., 1 second). (2) Following time t14, a vibration exceeding the threshold v13 occurs at time t15, and thereafter, a vibration exceeding the threshold v13 periodically occurs for a certain period of time (e.g., 1 second). (3) Following time t15, a sound exceeding the threshold v14 occurs at time t16, and thereafter, the sound exceeds the threshold v14 continuously for a certain period of time (e.g., 1 second). Thus, each of the current data, vibration data, and sound data reaches a predetermined state defined in the reference table 1212. In addition, the order in which the predetermined states are reached is the current data, vibration data, and sound data, and therefore coincides with the order defined in advance in the order table 1211.

[0080] In this case, since the current data specified as being first in the arrival sequence reaches the specified state first after a certain amount of time has elapsed since time t14, at this point in time the diagnostic unit 12 diagnoses that there is a possibility of an abnormality such as a foreign object being caught in the rail 22 in the future, and continues the diagnostic process.

[0081] Next, since the vibration data, which is specified as the second data in the arrival order, reaches the predetermined state following the current data, the diagnosing unit 12 diagnoses that there is a possibility of an abnormality such as a foreign object being caught in the rail 22 in the future at this point in time, and continues the diagnosis process. At this time, a display such as "There is a possibility of a malfunction in the near future" may be displayed.

[0082] Next, since the sound data, which is specified as the third data in the arrival order, reaches the predetermined state following the current data and vibration data, the diagnoser 12 diagnoses that there is an abnormality such as a foreign object being caught in the rail 22.

[0083] The graph shown in FIG. 20 can also be applied to an abnormality such as a foreign object getting caught in the chain 30.

[0084] 17 to 20, the diagnosing unit 12 diagnoses that there is no abnormality in the rail 22. If any of the measurement data reaches a predetermined state in an order other than the examples shown in Figures 17 to 20, the diagnosing unit 12 may be configured to output a warning such as "something is wrong" without identifying the location of the abnormality.

[0085] [Wheel 231] As described above, the criteria for wheel 231 are vibration data "rising above threshold", sound data "rising above threshold", and current data "rising above threshold".

[0086] In the example shown in Fig. 21, (1) first, from time t17, vibration exceeds threshold v15 and rises. (2) Next, at time t18 following time t17, sound exceeding threshold v16 is generated and rises. (3) Then, at time t19 following time t18, current rises and exceeds threshold v17. Thus, each of the vibration data, sound data, and current data reaches a predetermined state defined in the reference table 1212. Furthermore, the order in which the predetermined states are reached is the vibration data, sound data, and current data, which matches the order defined in advance in the order table 1211.

[0087] In this case, first, when a predetermined time has elapsed from time t1, the vibration data specified as having the first arrival order reaches the predetermined state first, so at this point in time, the diagnosis unit 12 diagnoses that there is a possibility of an abnormality in the wheel 231 in the future, and continues the diagnosis process.

[0088] Next, since the sound data, which is specified as the second data in the arrival order, reaches the predetermined state following the vibration data, the diagnosing unit 12 diagnoses that there is a possibility of an abnormality in the wheel 231 in the future at this point in time, and continues the diagnosis process. At this time, a display such as "There is a possibility of a malfunction in the near future" may be displayed.

[0089] Next, since the current data, which is specified as the third data in the arrival order, reaches the predetermined state following the vibration data and sound data, at this point in time, the diagnoser 12 diagnoses that the wheel 231 has an abnormality.

[0090] If any of the measurement data reaches a predetermined state in an order other than that shown in the example of Fig. 21, the diagnosing unit 12 diagnoses that there is no abnormality in the wheel 231 at that point in time. If any of the measurement data reaches a predetermined state in an order other than that shown in the example of Fig. 21, a warning such as "something is wrong" may be output without identifying the location of the abnormality.

[0091] [Reducer 26] As described above, the judgment criteria for the reducer 26 are that the current data is "continuously increasing", the sound data is "continuously increasing", the temperature data is "continuously increasing", and the vibration data is "continuously increasing".

[0092] 22, (1) first, the current value increases continuously from time t20, (2) the sound increases continuously from time t21 after time t20, (3) the temperature increases continuously from time t22 after time t21, and (4) after the temperature starts to increase, the vibration increases continuously from time t23 after time t22. Thus, the current data, sound data, temperature data, and vibration data each reach a predetermined state defined in the reference table 1212. Also, the order in which the predetermined states are reached is the current data, sound data, temperature data, and vibration data, which matches the order defined in advance in the order table 1211.

[0093] In this case, first, when a predetermined time has elapsed from time t20, the current data specified as being first in the arrival order reaches the predetermined state first, so at this point in time, the diagnostic unit 12 diagnoses that there is a possibility of an abnormality in the reducer 26 in the future, and continues the diagnostic process.

[0094] Subsequently, when a predetermined time has elapsed from time t21, the sound data, which is specified as the second data in the arrival order, reaches the predetermined state following the current data, so at this point in time, the diagnosing unit 12 diagnoses that there is a possibility that the reducer 26 will have an abnormality in the future, and continues the diagnosis process. At this time, a display such as "There is a possibility of a breakdown in the near future" may be displayed.

[0095] Subsequently, when a predetermined time has elapsed from time t22, the temperature data, which is specified as the third data in the reaching order, reaches the predetermined state following the current data and sound data, so at this point in time, the diagnosing unit 12 diagnoses that there is a possibility of an abnormality in the reducer 26 in the future, and continues the diagnosing process. At this time, a configuration may be adopted in which a message such as "There is a possibility of a breakdown in the near future" is displayed.

[0096] Finally, when a predetermined time has elapsed from time t23, the vibration data, which is specified as being fourth in the arrival order, reaches the predetermined state following the current data, sound data, and temperature data, and therefore the diagnostic unit 12 ultimately diagnoses that there is an abnormality in the reducer 26.

[0097] If any of the measurement data reaches a predetermined state in an order other than that shown in the example of Fig. 22, the diagnosing unit 12 diagnoses that there is no abnormality in the reducer 26 at that point in time. If any of the measurement data reaches a predetermined state in an order other than that shown in the example of Fig. 22, a configuration may be adopted in which a warning such as "something is wrong" is output without identifying the location of the abnormality.

[0098] [Motor 25] Regarding mechanical failure of the motor 25, the tendency of the measurement data is the same as that of the reducer 26. Therefore, here, an explanation will be given using the example shown in Fig. 22. As described above, the judgment criteria for the motor 25 are the same as those for the reducer 26, that is, the current data is "continuously increasing", the sound data is "continuously increasing", the temperature data is "continuously increasing", and the vibration data is "continuously increasing".

[0099] 22, (1) first, the current value increases continuously from time t20, (2) the sound increases continuously from time t21 after time t20, (3) the temperature increases continuously from time t22 after time t21, and (4) after the temperature starts to increase, the vibration increases continuously from time t23 after time t22. Thus, the current data, sound data, temperature data, and vibration data each reach a predetermined state defined in the reference table 1212. Also, the order in which the predetermined states are reached is the current data, sound data, temperature data, and vibration data, which matches the order defined in advance in the order table 1211.

[0100] In this case, first, when a predetermined time has elapsed from time t20, the current data specified as being first in the arrival sequence reaches the predetermined state first, so at this point in time, the diagnostic unit 12 diagnoses that there is a possibility that an abnormality will occur in the motor 25 in the future, and continues the diagnostic process.

[0101] Subsequently, when a predetermined time has elapsed from time t21, the sound data, which is specified as the second data in the arrival order, reaches the predetermined state following the current data, so at this point in time, the diagnosing unit 12 diagnoses that there is a possibility that the motor 25 will have an abnormality in the future, and continues the diagnosis process. At this time, a display such as "There is a possibility of a breakdown in the near future" may be displayed.

[0102] Subsequently, when a predetermined time has elapsed from time t22, the temperature data, which is specified as the third data in the reaching order, reaches the predetermined state following the current data and sound data, so at this point in time, the diagnosing unit 12 diagnoses that there is a possibility that the motor 25 will have an abnormality in the future, and continues the diagnosing process. At this time, a display such as "There is a possibility of a breakdown in the near future" may be displayed.

[0103] Finally, when a predetermined time has elapsed from time t23, the vibration data, which is specified as being fourth in the arrival order, reaches the predetermined state following the current data, sound data, and temperature data, and therefore the diagnostic unit 12 ultimately diagnoses that there is an abnormality in the motor 25.

[0104] If any of the measurement data reaches a predetermined state in an order other than that shown in the example of Fig. 22, the diagnosing unit 12 diagnoses that there is no abnormality in the motor 25 at that point in time. If any of the measurement data reaches a predetermined state in an order other than that shown in the example of Fig. 22, a warning such as "something is wrong" may be output without identifying the location of the abnormality.

[0105] [Drive shaft rotating part 27] As described above, the judgment criteria for drive shaft rotating portion 27 are that the sound data "continuously increases above the threshold", the vibration data "continuously increases above the threshold", the current data "continuously increases above the threshold", and the temperature data "continuously increases above the threshold".

[0106] In the example shown in FIG. 23, (1) first, at time t24, the sound exceeds the threshold v18 and continues to rise. (2) Next, at time t25 following time t24, the vibration exceeds the threshold v19 and continues to rise. (3) Then, at time t26 following time t25, the current value exceeds the threshold v20 and continues to rise. (4) At time t27 following time t26, the temperature exceeds the threshold v21 and continues to rise. Thus, each of the sound data, vibration data, current data, and temperature data reaches a predetermined state defined in the reference table 1212. Also, the order in which the predetermined states are reached is the sound data, vibration data, current data, and temperature data, which matches the order defined in advance in the order table 1211.

[0107] In this case, first, when a predetermined time has elapsed from time t24, the sound data specified as having the first arrival order reaches the predetermined state first, so at this point in time, the diagnosis unit 12 diagnoses that there is a possibility of an abnormality in the drive shaft rotating unit 27 in the future, and continues the diagnosis process.

[0108] Subsequently, when a predetermined time has elapsed from time t25, the vibration data, which is specified as the second data in the arrival order, reaches the predetermined state following the sound data, so at this point in time, the diagnosing unit 12 diagnoses that there is a possibility of an abnormality in the drive shaft rotating unit 27 in the future, and continues the diagnosing process. At this time, a display such as "There is a possibility of a breakdown in the near future" may be displayed.

[0109] Subsequently, when a predetermined time has elapsed from time t26, the current data specified as the third data in the arrival order reaches the predetermined state following the sound data and vibration data, so at this point in time, the diagnosing unit 12 diagnoses that there is a possibility of an abnormality in the drive shaft rotating unit 27 in the future, and continues the diagnosing process. At this time, a display such as "There is a possibility of a breakdown in the near future" may be displayed.

[0110] Finally, when a predetermined time has elapsed from time t27, the temperature data, which is specified as being fourth in the arrival order, reaches the predetermined state following the sound data, vibration data, and current data, and therefore the diagnosing unit 12 ultimately diagnoses that there is an abnormality in the drive shaft rotating unit 27.

[0111] If any of the measurement data reaches a predetermined state in an order other than that shown in the example of Fig. 23, the diagnosing unit 12 diagnoses that there is no abnormality in the drive shaft rotating unit 27 at that point in time. If any of the measurement data reaches a predetermined state in an order other than that shown in the example of Fig. 23, a warning such as "something is wrong" may be output without identifying the location of the abnormality.

[0112] [Chain 30 (elongation)] As described above, the judgment criteria for Chain 30 are that the vibration data "exceeds the threshold value in synchronization with the timing of the speed change", the current data "exceeds the threshold value in synchronization with the timing of the speed change", and the sound data "exceeds the threshold value in synchronization with the timing of the speed change".

[0113] In the example shown in FIG. 24, (1) first, at time t28, vibrations exceeding threshold v22 occur in synchronization with the speed change timing. (2) Immediately thereafter, at time t29, the current value exceeds threshold v23. (3) Then, immediately thereafter, at time t30, sound exceeding threshold v24 occurs. During this time, the temperature remains approximately constant. Thus, each of the vibration data, current data, and sound data reaches a predetermined state defined in the reference table 1212. Furthermore, the order in which the predetermined states are reached is the vibration data, current data, and sound data, which matches the order defined in advance in the order table 1211.

[0114] In this case, since, at time t28, the vibration data specified as having the first arrival order reaches the specified state first, at this time point, the diagnostic unit 12 diagnoses that there is a possibility of an abnormality in the chain 30 in the future and continues the diagnostic process.

[0115] Next, at time t29, since the current data specified as the second data to arrive reaches the specified state following the vibration data, at this point in time, the diagnostic unit 12 diagnoses that there is a possibility of an abnormality in the chain 30 in the future and continues the diagnostic process.

[0116] Finally, at time t30, since the sound data, which is specified as arriving third, reaches the specified state following the vibration data and current data, the diagnostic unit 12 ultimately diagnoses that there is an abnormality in the chain 30.

[0117] If any of the measurement data reaches a predetermined state in an order other than that shown in the example of Fig. 24, the diagnosing unit 12 will diagnose that there is no abnormality in the chain 30 at that point in time. If any of the measurement data reaches a predetermined state in an order other than that shown in the example of Fig. 24, a warning such as "something is wrong" may be output without identifying the location of the abnormality.

[0118] [Chain 30 (foreign object caught)] As described above, another judgment criterion for chain 30 is that the current data "continuously exceeds the threshold for a certain period of time (e.g., 1 second) or more," the vibration data "periodically exceeds the threshold for a certain period of time (e.g., 1 second) or more," and the sound data "continuously exceeds the threshold for a certain period of time (e.g., 1 second) or more."

[0119] As described above, when a foreign object gets caught in the chain 30, the situation is the same as when a foreign object gets caught in the rail 22 as described with reference to FIG.

[0120] That is, as shown in FIG. 20, (1) first, a current exceeding the threshold v12 occurs at time t14, and thereafter, the current exceeds the threshold v12 continuously for a certain period of time (e.g., 1 second). (2) Following time t14, a vibration exceeding the threshold v13 occurs at time t15, and thereafter, a vibration exceeding the threshold v13 periodically occurs for a certain period of time (e.g., 1 second). (3) Following time t15, a sound exceeding the threshold v14 occurs at time t16, and thereafter, the sound exceeds the threshold v14 continuously for a certain period of time (e.g., 1 second). Thus, each of the current data, vibration data, and sound data reaches a predetermined state defined in the reference table 1212. In addition, the order in which the predetermined states are reached is the current data, vibration data, and sound data, and therefore coincides with the order defined in advance in the order table 1211.

[0121] In this case, since the current data specified as being first in the arrival sequence reaches the specified state first after a certain amount of time has elapsed since time t14, the diagnostic unit 12 diagnoses at this point that there is a possibility of an abnormality such as a foreign object being caught in the chain 30 in the future, and continues the diagnostic process.

[0122] Next, since the vibration data, which is specified as the second data in the arrival order, reaches the predetermined state following the current data, the diagnosing unit 12 determines at this point that there is a possibility of an abnormality, such as a foreign object being caught in the chain 30, in the future, and continues the diagnostic process. At this time, the configuration may be such that a message such as "There is a possibility of a malfunction in the near future" is displayed.

[0123] Next, since the sound data, which is specified as the third data in the arrival order, reaches the predetermined state following the current data and vibration data, the diagnosing unit 12 diagnoses that there is an abnormality such as a foreign object being caught in the chain 30.

[0124] [Power supply to goods transport equipment 1] As described above, the criterion for determining whether or not power is supplied to the item transport facility 1 is that the current data "continuously exceeds the threshold value for a certain period of time (e.g., one second) or more." In the example shown in FIG. 25, the current value exceeds the threshold value v25 at time t31, and this state continues for a certain period of time (e.g., one second) or more. During this period of time, the vibration data, temperature data, and sound data are approximately constant. Thus, the current data reaches a predetermined state defined in the reference table 1212. Therefore, the diagnosis unit 12 diagnoses that there is an abnormality in the power supply to the item transport facility 1 when a certain period of time has elapsed since time t31.

[0125] [Processing flow] Next, the flow of processing in the diagnostic device 10 will be described with reference to Fig. 26. Fig. 26 is a flowchart showing an example of the flow of processing in the diagnostic device 10.

[0126] As shown in FIG. 26, first, the acquisition unit 11 of the diagnostic device 10 acquires measurement data from the sensor 3 installed on or near the article conveying facility 1 (S101, acquisition step). Next, the diagnosis unit 12 judges whether or not all of the acquired measurement data required for diagnosis of the diagnostic object 2 have reached a predetermined state (S102). If all of the measurement data required for diagnosis have reached the predetermined state (YES in S102), the diagnosis unit 12 judges whether or not the order in which each of the measurement data reached the predetermined state is a predetermined order (S103). If each of the measurement data has reached the predetermined state in the predetermined order (YES in S103), the diagnosis unit 12 diagnoses that the diagnostic object 2 is abnormal or may be abnormal (S104, diagnosis step).

[0127] The above is the flow of processing in the diagnostic device 10.

[0128] [Processing using learning models] The diagnosis unit 12 may determine whether or not the specified state has been reached based on an output value obtained by inputting the measurement data into a learning model that has been machine-learned using the measurement data and the specified state as teacher data.

[0129] 27 shows an example of a process flow for performing estimation processing using a machine-learned learning model 181. In a learning step 191, the learning model 181 is constructed by inputting teacher data 182 to a learning program 183. In this embodiment, a set of the above-mentioned measurement data and a predetermined state is used as the teacher data 182.

[0130] In an estimation step 192, the measurement data 186 acquired by the acquisition unit 11 is input to the learning model 181 constructed in the learning step 191 to obtain an estimation result 187. One example of the estimation result is the probability (output value) of an abnormality in the diagnosis object 2. The diagnosis unit 12 judges whether or not a predetermined state has been reached based on the estimation result 187.

[0131] By performing diagnostic processing using a learning model, it becomes possible to determine abnormalities that cannot be detected simply because the measurement data exceeds a threshold value.

[0132] The entity that executes the learning step 191 and the estimation step 192 is not limited, and may be the diagnosis unit 12, the diagnosis device 10, or a device (not shown) different from the diagnosis device 10. In addition, the location of the learning model is not limited.

[0133] [Modifications] Next, a modified example of diagnostic device 10 will be described with reference to Fig. 28. Fig. 28 is a functional block diagram showing the configuration of a main part of diagnostic device 10' which is a modified example of diagnostic device 10.

[0134] As shown in FIG. 28, a diagnostic device 10 ′ differs from the diagnostic device 10 described above in that a factor estimating section 13 is provided.

[0135] The cause estimation unit 13 uses operation data relating to the operation of the article conveying facility 1 or the diagnosis target 2 collected by the operation data collection device 5 to estimate events and locations that are factors in the results of diagnosis by the diagnosis unit 12.

[0136] The operation data collection device 5 acquires operation data that can be acquired from the item conveying equipment 1 and the diagnosis target 2. In addition, for operation data that requires input by an operator, the operation data collection device 5 acquires the operation data by accepting the input by the operator.

[0137] Although the configuration is described here as one in which the operation data collection device 5 collects operation data, the diagnosis device 10' may be configured to acquire operation data directly from the item conveying equipment 1 and the diagnosis target 2. In this case, the operation data that was accepted as input by the operation data collection device 5 may be acquired by having the diagnosis device 10' accept input from an operator.

[0138] Here, the operation data includes, for example, the operation time, the number of operations, the power-on time, the equipment installation period (years), the initial adjustment contents, the maintenance information, the recommended lifespan, etc. of each device as the diagnosis target 2. The operation time, the number of operations, and the power-on time may be acquired by the operation data collection device 5, for example, from the item conveying equipment 1 or the diagnosis target 2. Furthermore, the equipment installation period, the initial adjustment contents, and the maintenance information may be input into the operation data collection device 5 by, for example, an operator.

[0139] Examples of events that the factor estimation unit 13 estimates include lifespan, insufficient initial adjustment, aging deterioration, sudden failure, etc. Examples of points that are estimated include the following.

[0140] For example, when operation time is acquired as operation data, the factor estimation unit 13 can estimate wheel wear, bearing wear, rail, inverter deterioration, etc. as the cause location if it is related to traveling. Also, if it is related to lifting, the factor estimation unit 13 can estimate chain or wire wear, sprocket wear, bearing wear, guide rail wear, guide roller wear, inverter deterioration, etc. as the cause location. Also, if it is related to a transfer machine, the factor estimation unit 13 can estimate sprockets, bearings, inverters, etc. as the cause location. Here, the transfer machine is assumed to be, for example, a stacker crane used in an automated warehouse used for storing goods, etc.

[0141] Furthermore, when the number of operations is acquired as the operation data, the factor estimation unit 13 can estimate the cause locations as follows: if it is related to traveling, the electromagnetic switch for traveling, the inverter, the brake pads, etc., if it is related to lifting, the electromagnetic switch for lifting, the inverter, the brake pads, etc., if it is related to the loading and unloading machine, the electromagnetic switch inverter, the brake pads, etc., for each loading and unloading machine, can be estimated as the cause locations.

[0142] Furthermore, when the power supply time is acquired as the operation data, the factor estimation unit 13 can estimate the factors such as low-voltage power supply deterioration, controller deterioration, lighting and lamp deterioration, inverter deterioration, and capacitor deterioration as factors.

[0143] Furthermore, when the equipment installation period is acquired as the operation data, the factor estimation unit 13 can estimate that the cause is a plastic part, a rubber part, a controller part, wiring, or the like.

[0144] Furthermore, the cause estimation unit 13 may perform estimation as follows depending on the length of the equipment installation period in the operation data. Here, for example, "long-term" refers to a period that exceeds the guideline period (average life) set for each part to be estimated. This period can be set based on the results of a durability test, for example, a test in which the part is repeatedly operated 1 million times or more or until it breaks, the period of use (number of times) recommended by the manufacturer, and past failure records. Note that defects that occur within a few weeks after the start of operation may be determined to be initial defects.

[0145] For example, if there is an abnormality in the guide roller 33, if the equipment has been in operation for a long time, it is assumed that the abnormality is due to wear of the guide roller over time, whereas if the equipment has been in operation for a short time, it is assumed that the abnormality is due to insufficient initial adjustment.

[0146] If an abnormality is found on the running surface of the rail 22, if the equipment has been in place for a long time, it is presumed to be due to deterioration of the running surface over time, and if the equipment has been in place for a short time, it is presumed to be a temporary disorder.

[0147] If there is an abnormal deformation in the rail 22, if the equipment has been in place for a long time, it is presumed to be due to bolts loosening or deformation of the fastening material over time, but if the equipment has been in place for a short time, it is presumed to be due to an initial construction problem.

[0148] When a foreign object is found stuck in the rail 22, if the equipment has been in operation for a long time, it is assumed that the foreign object has caused a transport disruption during operation, whereas if the equipment has been in operation for a short time, it is assumed that the disruption is due to initial construction work.

[0149] If there is an abnormality in the wheel 231, if the equipment has been installed for a long time, it is assumed that the abnormality is due to deterioration due to life span, and if the equipment has been installed for a short time, it is assumed that the abnormality is due to sudden surface peeling.

[0150] If there is an abnormality in the motor 25 or the reducer 26, if the equipment has been in operation for a long time, it is assumed that the cause is lack of maintenance, and if the equipment has been in operation for a short time, it is assumed that the cause is an initial oil injection leak.

[0151] If there is an abnormality in the drive shaft rotating portion 27, if the equipment has been installed for a long time, it is assumed that the abnormality is due to deterioration due to end of life, and if the equipment has been installed for a short time, it is assumed that the abnormality is due to insufficient initial adjustment.

[0152] If there is an abnormality in the power supply to the article transport facility 1, if the facility has been in operation for a long time, it is assumed that the cause is time-dependent deterioration of the capacitor in the inverter, and if the facility has been in operation for a short time, it is assumed that the cause is an abnormality in the inverter.

[0153] The above estimation may also be performed by conducting a durability test when developing the article transport equipment 1, and using the results of the durability test, such as the service life, the number of times the equipment is used, the parts that are prone to deterioration, and the order in which the parts are prone to deterioration.

[0154] 〔summary〕 As described above, the diagnostic device 10, 10' according to this embodiment includes an acquisition unit 11 that acquires multiple types of measurement data used for abnormality diagnosis of the diagnostic object 2 included in the item transport equipment 1, and a diagnosis unit 12 that, when any of the measurement data reaches a predetermined state corresponding to the measurement data, performs abnormality diagnosis of the diagnostic object 2 based on the order in which the measurement data and measurement data that has previously reached the predetermined state reached the respective measurement data.

[0155] The inventors of the present application have found that there is a predetermined rule for multiple types of measurement data (vibration, current, temperature, sound, etc.) acquired during the process in which diagnosis target 2, which is a device or part (motor, reducer, rail, etc.) included in the article conveying facility 1, becomes abnormal. Specifically, they have found that for each diagnosis target 2, there is a rule for the order in which each of the multiple types of measurement data reaches a predetermined state corresponding to the measurement data. According to the above configuration, an abnormality diagnosis of the diagnosis target is performed based on the arrival order. Therefore, an abnormality diagnosis of diagnosis target 2 (in an abnormal state or possibly abnormal) can be performed accurately with a simple configuration.

[0156] Furthermore, rather than waiting until all of the measurement data reaches a predetermined state before performing abnormality diagnosis, abnormality diagnosis is performed as soon as any of the measurement data reaches a predetermined state, so that abnormality diagnosis can be performed as early as possible to the extent that is known at that time.

[0157] Furthermore, the above-mentioned configuration can lead to improved energy efficiency, which can contribute to the achievement of the Sustainable Development Goals (SDGs).

[0158] [Software implementation example] The functions of the diagnostic device 10, 10' (hereinafter referred to as the "device") can be realized by a program for causing a computer to function as the device, and a program for causing a computer to function as each control block (acquisition unit 11, diagnosis unit 12, factor estimation unit 13) of the device.

[0159] In this case, the device includes a computer having at least one control device (e.g., a processor) and at least one storage device (e.g., a memory) as hardware for executing the program. The control device and storage device execute the program to realize each function described in each of the above embodiments.

[0160] The program may be non-transitory and may be recorded in one or more computer-readable recording media. The recording media may or may not be included in the device. In the latter case, the program may be provided to the device via any wired or wireless transmission medium.

[0161] In addition, some or all of the functions of each of the control blocks can be realized by a logic circuit. For example, an integrated circuit in which a logic circuit that functions as each of the control blocks is formed is also included in the scope of the present invention. In addition, the functions of each of the control blocks can be realized by, for example, a quantum computer.

[0162] The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention. [Explanation of symbols]

[0163] 1. Goods transport equipment 2. Subjects of diagnosis 3 Sensors 5. Operational data collection device 10 Diagnostic equipment 11 Acquisition Department 12 Diagnostic Department 121 Diagnostic Table 1211 Order Table 1212 Reference Table 13 Factor Estimation Section 21 Backup roller 22 Rail 23 Trolley 231 Wheels 232 Road Bar 24 Drive Roller 25 Motor 26 Reducer 27 Drive shaft rotating part 28 Drive unit 29 Trolley 30 Chen 31 Trolley 32 Side guide 33 Guide roller 34 Running wheels

Claims

1. an acquisition unit that acquires three or more types of measurement data used for abnormality diagnosis of a diagnosis target included in the item transport equipment; a diagnosis unit that, when any of the measurement data reaches a predetermined state corresponding to the measurement data, performs an abnormality diagnosis on the diagnosis target based on an order of arrival of the measurement data and measurement data that has previously reached the predetermined state, The diagnostic unit diagnoses that the object to be diagnosed is abnormal or that there is a possibility of an abnormality in the object to be diagnosed when the order in which each of the measurement data reaches the specified state matches a predetermined order.

2. There are a plurality of diagnostic subjects, The diagnostic device according to claim 1 , wherein the combination of types of the measurement data is different for each of the diagnostic subjects.

3. The measurement data is Data indicative of vibrations at or near the diagnosis target; Data indicating a current supplied to the diagnostic subject; Data indicative of a temperature at or near the diagnostic object; and Data indicating sounds collected in the vicinity of the diagnosis target The diagnostic device according to claim 1 or 2, comprising at least one of the following types:

4. The diagnostic device according to any one of claims 1 to 3, wherein the diagnostic unit determines whether or not the specified state has been reached based on an output value obtained by inputting the measurement data into a learning model that has been machine-learned using the measurement data and the specified state as teacher data.

5. The diagnostic device according to any one of claims 1 to 4, further comprising a factor estimation unit that estimates an event that is a factor of a diagnosis result by the diagnosis unit using operation data related to the operation of the item conveying equipment or the object to be diagnosed.

6. 6. The diagnostic device according to claim 1, wherein the diagnostic target is any one of a motor, a reducer, a drive shaft rotating portion, a rail, a guide roller, a chain, and a wheel of a carriage.

7. An acquisition step of acquiring three or more types of measurement data used for abnormality diagnosis of a diagnosis target included in the article transport equipment; a diagnosis step of, when any of the measurement data reaches a predetermined state corresponding to the measurement data, performing an abnormality diagnosis on the diagnosis target based on an order of arrival of the measurement data and measurement data that has previously reached the predetermined state, A method for controlling a diagnostic device, in which, in the diagnostic step, when the order in which each of the measurement data reached the specified state matches a predetermined order, the diagnostic object is diagnosed as being abnormal or as possibly being abnormal.

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