Transport control device and control method for transport control device

Abstract

To enable a continuous operation of an article conveyance equipment in which abnormal tendency is observed.SOLUTION: A conveyance control device (10) includes: an acquisition unit (11) that acquires one or more types of measurement data measured when a conveyance device (4) conveys an article in an article conveyance equipment (1) including the conveyance device (4); a comparison unit (12) that compares a measurement data with a threshold value; and a control unit (13) that controls to reduce at least one of acceleration and deceleration of the conveyance device (4) when the threshold value is exceeded or when a difference from the threshold value is within a predetermined value.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to a conveyance control device that controls the conveyance speed of a conveyance device in an article conveying facility. [Background technology]

[0002] It is required that the material transport equipment constituting the product production line operates at a high capacity without unscheduled stops so as not to stagnate production. Therefore, it is desirable that the material transport equipment continue to operate until the planned stop period by suppressing the occurrence of abnormalities as much as possible, even when there is a tendency for abnormalities such as breakdowns.

[0003] Patent Document 1 describes a conveyor that employs a protection device that forcibly stops the conveyor when the load on the drive motor becomes high. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 59-69309 Summary of the Invention [Problem to be solved by the invention]

[0005] The technology disclosed in Patent Document 1 is a technology for forcibly stopping a conveyor when the load on the drive motor becomes high, and is not a technology for continuing the operation of the conveyor.

[0006] One aspect of the present invention has been made in view of the above-mentioned problems, and has an object to allow article transport equipment which shows signs of abnormality to continue operating. [Means for solving the problem]

[0007] A conveying control device according to one embodiment of the present disclosure includes an acquisition unit that acquires one or more types of measurement data measured when a conveying device conveys an article in an article conveying facility including the conveying device, a comparison unit that compares the acquired measurement data with a threshold value set for each of the measurement data, and a control unit that controls at least one of the acceleration and deceleration of the conveying device to be reduced when at least one type of the measurement data exceeds the threshold value or when the difference with the threshold value is within a predetermined value.

[0008] In addition, a control method for a conveying control device according to one embodiment of the present disclosure includes an acquisition step of acquiring one or more types of measurement data measured when a conveying device conveys an article in an article conveying facility including the conveying device, a comparison step of comparing the acquired measurement data with a threshold value set for each of the measurement data, and a control step of controlling to reduce at least one of the acceleration and deceleration of the conveying device when at least one type of the measurement data exceeds the threshold value or when the difference with the threshold value is within a predetermined value. Effect of the Invention

[0009] The load on the article transport equipment can be reduced when the transport device accelerates or decelerates, which can delay the time when the article transport equipment goes into an abnormal state compared to before the load reduction, and as a result, the operation of the article transport equipment can be continued. [Brief description of the drawings]

[0010] [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 transport control device according to an embodiment of the present invention; [Figure 4] FIG. 1 is a simplified diagram showing a friction drive type article transport facility. [Diagram 5] FIG. 5 is a diagram showing details of area A in FIG. [Figure 6] 5 is a diagram showing the relationship between the wheels and rails attached to the bogie shown in area B of FIG. 4. FIG. [Figure 7] FIG. 1 is a simplified diagram showing a chain-driven article transport system. [Figure 8] 13A and 13B are diagrams illustrating a configuration of carts in another example of the article transport facility. [Figure 9] FIG. 11 is a diagram showing an example of a change in current data. [Figure 10] FIG. 11 is a diagram illustrating an example of a change in temperature data. [Figure 11] FIG. 11 is a diagram illustrating an example of a change in vibration data. [Figure 12] FIG. 11 is a diagram illustrating an example of a change in vibration data. [Figure 13] FIG. 11 is a diagram showing an example of a change in sound data. [Figure 14] FIG. 11 is a diagram showing an example of a change in sound data. [Figure 15] FIG. 11 is a diagram showing an example of a change in sound data. [Figure 16] 10 is a flowchart showing an example of a process flow of a transport control device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] 〔overview〕 The transport control device 10 according to this embodiment controls transport of an article transport facility 1 including a conveyor or the like for transporting articles that are transport targets such as vehicle bodies installed in an automobile manufacturing plant or the like. The facility for which the transport control device 10 controls transport may be any facility that transports articles using a conveyor or the like. Note that in this embodiment, an example will be described in which a dolly is used as the transport device 4 to transport articles.

[0012] First, an example of an article conveying facility 1 to be controlled by a conveying control device 10 according to this embodiment will be described with reference to Figures 1 and 2. Figure 1 shows a facility that conveys articles using a friction-driven conveyor as the article conveying facility 1. Figure 2 shows a facility that conveys articles using a chain-driven conveyor.

[0013] [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 a load bar (not shown) of each cart 515 (corresponding to the cart 23 in Fig. 4) 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. 5) and backup rollers 533 (corresponding to the backup rollers 21 in FIG. 5) 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 based on the presence or absence of the load bar.

[0014] [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. 7) and a friction drive section 631 are set in the circulation 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 entire 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. 7) 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.

[0015] [Main configuration of the transport control device 10] Next, the transport control device 10 will be described with reference to Fig. 3. Fig. 3 is a functional block diagram showing the main configuration of the transport control device 10. The transport control device 10 acquires one or more types of measurement data measured when an article is transported by a cart 23 in an article transport facility including the cart 23, and controls at least one of the acceleration and deceleration of the cart 23 using the acquired measurement data. As shown in Fig. 3, the transport control device 10 includes an acquisition unit 11, a comparison unit 12, and a control unit 13.

[0016] The transport control device 10 controls the movement of the transport device 4. The transport device 4 transports an article to a desired position by accelerating, moving at a constant speed, decelerating, and stopping in accordance with commands from the transport control device 10. The transport of an article may be performed repeatedly, in which case acceleration, moving at a constant speed, decelerating, and stopping are performed repeatedly.

[0017] The acquisition unit 11 acquires measurement data measured when the conveying device 4 included in the article conveying equipment 1 conveys articles. 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 at or near measurement target 2. Current data: data indicating the current supplied to the measurement target 2. Temperature data: data indicating the temperature of measurement target 2 or the vicinity of measurement target 2. Sound data: data indicating sounds collected in the vicinity of measurement target 2.

[0018] Vibration data can be obtained by installing a vibrometer (e.g., an acceleration sensor) on or near the measurement object 2. Current data can be obtained by measuring the current supplied to the measurement object 2 with an ammeter. A typical example of a measurement 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 measurement object 2. Sound data can be obtained by installing a sound collection device (microphone) on or near the measurement object 2. Hereinafter, the vibrometer, ammeter, thermometer, and sound collection device are collectively referred to as sensors 3.

[0019] The acquisition unit 11 acquires each piece of measurement data obtained by a sensor 3 installed on or near the measurement target 2.

[0020] The comparison unit 12 compares the measurement data acquired via the acquisition unit 11 with a preset threshold value.

[0021] When at least one type of measurement data exceeds a threshold value, or when the difference between the measurement data and the threshold value is within a predetermined value, the control unit 13 controls the conveyance device 4 to decrease at least one of the acceleration and deceleration.

[0022] The control unit 13 may perform control so as to reduce the acceleration in a section in which the conveying device 4 goes from a stopped state to a constant speed moving state (hereinafter, also referred to as an acceleration section).

[0023] Furthermore, the control unit 13 may perform control so as to reduce the deceleration in a section where the conveying device 4 moves from a constant speed moving state to a stopped state (hereinafter, also referred to as a deceleration section).

[0024] Furthermore, the control unit 13 may determine the degree of reduction in the acceleration or deceleration depending on the ratio of the peak value of the measurement data to a threshold value.

[0025] Furthermore, the control unit 13 may determine the degree of reduction in the acceleration or deceleration so that the peak value of the measurement data is reduced by a predetermined percentage (for example, so that the peak value is reduced by 20%).

[0026] When at least one type of measurement data exceeds the threshold value, the control unit 13 may further reduce the speed of the transport device 4 during constant speed movement.

[0027] The control unit 13 may determine the degree of reduction in speed depending on the ratio of the peak value of the measurement data to a threshold value.

[0028] The control unit 13 may determine the degree of reduction in speed so as to reduce the peak value of the measurement data by a predetermined percentage (for example, so that the peak value is reduced by 20%).

[0029] [Example of measurement target 2] 4 to 8, an example of the measurement target 2 will be described. The measurement target 2 includes the rail 22, the wheel 231, the motor 25, the reducer 26, the drive shaft rotating part 27, the chain 30, and the guide roller 33, which are provided on the transport path of the transport device 4.

[0030] 4 to 6 show examples of the rail 22, the wheel 231, the motor 25, the reducer 26, and the drive shaft rotating portion 27. In FIG.

[0031] Fig. 4 is a simplified diagram of friction drive type article transport equipment 1. Fig. 5 is a detailed diagram of area A in Fig. 4. Fig. 6 is a diagram showing the relationship between wheels 231 attached to cart 23 and rails 22 shown in area B in Fig. 4.

[0032] In the article conveying facility 1 shown in Fig. 4, 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. 5, 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.

[0033] 5, 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.

[0034] 6, 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.

[0035] An example of chain 30 is shown in Figure 7. Figure 7 is a simplified diagram of a chain-driven article transport equipment 1. In the article transport equipment 1 shown in Figure 7, the chain 30 is driven by the rotation of drive device 28, thereby moving cart 29.

[0036] Fig. 8 shows the configuration of a dolly 31 in another example of an article conveying facility. 81 in Fig. 8 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. 8, 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 a conveying path for 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. 8.

[0037] 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.

[0038] [Example of measurement data] [Current data] Next, the contents of the control in the control unit 13 will be described with reference to an example of the measurement data. First, an example in which the measurement data is current data supplied to the motor 25 and an abnormality occurs in the reducer 26 will be described with reference to Fig. 9. Fig. 9 is a diagram showing an example of a change in the current data supplied to the motor 25.

[0039] 9, when the article conveying equipment 1 is operating normally, the conveying device 4, in accordance with a speed command from the conveying control device 10, for example, starts accelerating from time t11 when the device is stopped, reaches a constant speed moving state at time t12, starts decelerating from time t13, and reaches a stopped state at time t14. At this time, as shown in 801 in FIG. 9, the current supplied to the motor 25 (1) increases sharply with acceleration and reaches a maximum value, (2) becomes approximately constant at a value smaller than the maximum value when constant speed moving is reached, (3) decreases sharply with deceleration, and (4) returns to the initial value when the device is stopped.

[0040] As shown in 801 of FIG. 9, during normal operation, the current supplied to the motor 25 does not exceed the threshold value Th11 during acceleration, and does not exceed the threshold value Th12 during constant speed movement, so that it is not likely to cause an abnormality such as a breakdown of the item conveying equipment 1.

[0041] However, if some kind of abnormality (e.g., oil leakage from the reducer 26) occurs, the current supplied to the motor 25 may exceed threshold value Th11 during acceleration, or may exceed threshold value Th12 during constant speed movement, as shown in 802 in Fig. 9. This is because if resistance inside the reducer 26 increases due to an oil leak or the like, more current is required to move the conveying device 4 than during normal operation. Continuing to operate the article conveying equipment 1 in this state may lead to an abnormality, such as a breakdown of the article conveying equipment 1.

[0042] Therefore, the control unit 13 performs control to reduce at least one of the acceleration and deceleration of the conveying device 4 so that the current supplied to the motor 25 falls below the threshold Th11 during acceleration or falls below the threshold Th12 during constant speed movement. An example after the control by the control unit 13 is shown in 803 of FIG. 9. As shown in 803 of FIG. 9, the control unit 13 reduces the acceleration of the conveying device 4 in the acceleration section (from time t31 to time t32) to be lower than the acceleration of the conveying device 4 in the acceleration section (from time t11 to time t12) shown in 801 of FIG. 9. In addition, the control unit 13 reduces the deceleration of the conveying device 4 in the deceleration section (from time t33 to time t34) to be lower than the deceleration of the conveying device 4 in the deceleration section (from time t13 to time t14) shown in 801 of FIG. 9. This makes it possible to reduce the load on the article conveying facility 1 when the conveying device 4 accelerates or decelerates.

[0043] The control unit 13 may reduce both the acceleration of the conveying device 4 in the acceleration section and the deceleration of the conveying device 4 in the deceleration section, or may reduce only the acceleration of the conveying device 4 in the acceleration section, or may reduce only the deceleration of the conveying device 4 in the deceleration section. By reducing the deceleration, it is expected that vibrations and noise will be reduced, and the load on the article conveying equipment 1 can be reduced. This makes it possible to postpone the time when the article conveying equipment 1 will become abnormal, and to continue operation.

[0044] The method of determining the degree of the decrease in the acceleration or deceleration of the transport device 4 is not limited, and various methods are possible. For example, the control unit 13 may determine the degree of the decrease in the acceleration or deceleration according to the ratio of the peak value of the current to a threshold value. Specifically, the control unit 13 may determine the degree of the decrease in the acceleration or deceleration according to the ratio of the peak value PA of the current in an abnormal state shown in 802 of FIG. 9 to a threshold value Th11.

[0045] Also, for example, the control unit 13 may determine the degree of reduction in the acceleration or deceleration so that the peak value of the current is reduced by a predetermined percentage. Specifically, the control unit 13 may determine the degree of reduction in the acceleration or deceleration so that the peak value PA of the current during an abnormality shown in 802 of Fig. 9 is reduced by a predetermined percentage.

[0046] In addition to reducing the acceleration or deceleration of the conveying device 4, the control unit 13 may reduce the speed of the conveying device 4 during constant-speed movement. Specifically, the control unit 13 may reduce the speed of the conveying device 4 in the constant-speed movement section (from time t32 to time t33) shown in 803 in Fig. 9 below the speed of the conveying device 4 in the constant-speed movement section (from time t12 to time t13) shown in 801 in Fig. 9.

[0047] When the control unit 13 reduces the speed of the transport device 4 during constant speed movement, the control unit 13 may determine the degree of reduction in speed according to the ratio of the peak value PA to the threshold value Th11. Furthermore, the control unit 13 may determine the degree of reduction in speed such that the peak value PA is reduced by a predetermined ratio.

[0048] [Temperature data] Next, an example in which the measurement data is temperature data will be described with reference to Fig. 10. Fig. 10 is a diagram showing an example of changes in temperature data of the measurement object 2. Fig. 10 shows an example of changes in temperature data of the measurement object 2, which includes the motor 25, the reducer 26, the drive shaft rotating part 27, the drive device 28 that drives the chain 30, and the axle part of the wheel 231.

[0049] As shown in FIG. 10, the temperature of the measurement target 2 during normal operation (before time t41) is substantially constant at a value smaller than the threshold value Th21, and therefore is not likely to cause an abnormality such as a breakdown of the article conveying equipment 1.

[0050] However, as shown in Fig. 10, the temperature of the measurement object 2 may exceed the threshold value Th21 due to the occurrence of some abnormality. Examples of abnormalities include oil leakage if the measurement object 2 is the motor 25 or the reducer 26, and lack of grease at the rotating parts if the measurement object 2 is the drive shaft rotating part 27, the driving device 28 that drives the chain 30, or the shaft part of the wheel 231. When the resistance inside the measurement object 2 increases due to oil leakage, lack of grease, or the like, the temperature rises accordingly. This may cause the temperature of the measurement object 2 to exceed the threshold value Th21, as described above.

[0051] 10, the temperature exceeds threshold value Th21 from time t41 onwards. If the operation of the article conveying equipment 1 is continued in this state, it may cause an abnormality such as a breakdown of the article conveying equipment 1.

[0052] Therefore, the control unit 13 reduces at least one of the acceleration and deceleration of the transport device 4. By reducing at least one of the acceleration and deceleration of the transport device 4, the burden on the item transport equipment 1 can be reduced, and the temperature of the measurement target 2 can be made equal to or lower than the threshold value Th21. In the example shown in Fig. 10, the temperature is equal to or lower than the threshold value Th21 after time t42. This makes it possible to reduce the load on the item transport equipment 1 when the transport device 4 accelerates or decelerates.

[0053] The method of determining the degree of the decrease in the acceleration or deceleration of the transport device 4 is not limited, and various methods are possible. For example, the control unit 13 may determine the degree of the decrease in the acceleration or deceleration according to the ratio to a temperature threshold. Specifically, the degree of the decrease in the acceleration or deceleration may be determined according to the ratio of the temperature PB in an abnormal state to a threshold Th21 shown in FIG. 10.

[0054] Furthermore, the control unit 13 may determine the degree of the decrease in the acceleration or deceleration so as to decrease the temperature by a predetermined rate. Specifically, the control unit 13 may determine the degree of the decrease in the acceleration or deceleration so that the temperature PB in the abnormal state shown in FIG. 10 decreases by a predetermined rate.

[0055] The control unit 13 may reduce both the acceleration of the conveying device 4 in the acceleration section and the deceleration of the conveying device 4 in the deceleration section, or may reduce only the acceleration of the conveying device 4 in the acceleration section, or may reduce only the deceleration of the conveying device 4 in the deceleration section. In addition to reducing the acceleration or deceleration of the conveying device 4, the control unit 13 may reduce the speed of the conveying device 4 during constant speed movement.

[0056] When the control unit 13 reduces the speed of the transport device 4 during constant speed movement, the control unit 13 may determine the degree of reduction in speed according to the ratio of the temperature PB in the abnormal state to the threshold value Th21. Furthermore, the control unit 13 may determine the degree of reduction in speed so that the temperature PB in the abnormal state is reduced by a predetermined ratio.

[0057] [Vibration data] Next, an example of the case where the measurement data is vibration data will be described with reference to FIG. 11 and FIG. 12. FIG. 11 and FIG. 12 are diagrams showing an example of the change in vibration data. FIG. 11 shows an example of the change in vibration data of the guide roller 33, the drive shaft rotating part 27, the rail 22, and the wheel 231 as the measurement object 2. FIG. 12 shows an example of the change in vibration data of the motor 25, the reducer 26, the chain 30, the drive shaft rotating part 27, the rail 22, and the wheel 231 as the measurement object 2. The vibration sensor (acceleration sensor) measures the acceleration of three axes (X-axis, Y-axis, and Z-axis). Here, the X-axis is the conveying direction, the Y-axis is the horizontal direction, and the Z-axis is the vertical direction. FIG. 11 and FIG. 12 show the waveforms of vibrations occurring on the X-axis and the Y-axis. The vibration data of the chain 30 may be measured via the drive device 28 that drives the chain 30 and a support member (not shown) that supports the chain 30.

[0058] [When vibration occurs periodically] When some abnormality occurs, vibrations may occur periodically. For example, when some resistance such as deformation occurs in a part of the side guide 32 (see FIG. 8), vibrations occur every time the guide roller 33 comes into contact with the resistance. Similarly, when some resistance such as deformation occurs in a part of the drive shaft rotating part 27, vibrations occur every time the drive shaft rotating part 27 rotates. Furthermore, when some resistance such as deformation occurs in a part of the rail 22, vibrations occur every time the wheel 231 passes over the rail 22. Furthermore, when some resistance such as deformation occurs in a part of the wheel 231, vibrations occur every time the wheel 231 rotates. In this way, when some resistance such as deformation occurs in a part, vibrations occur periodically.

[0059] In an abnormal state where vibrations occur periodically, for example, as shown in 1001 in Fig. 11, the vibrations exceed threshold value Th31 after times t51A, t52A, t53A, t54A, t55A, and t56A, respectively, and fall below threshold value Th32 at times t51B, t52B, t53B, t54B, t55B, and t56B. Continuing to operate the article conveying equipment 1 in this state may cause an abnormality such as a breakdown of the article conveying equipment 1.

[0060] Therefore, the control unit 13 performs control to reduce at least one of the acceleration and deceleration of the conveying device 4 so that the vibration generated in the measurement target 2 is equal to or less than the threshold Th31 and equal to or more than the threshold Th32. An example after the control by the control unit 13 is shown in 1002 of FIG. 11. In the example shown in 1002 of FIG. 11, the vibration is equal to or less than the threshold Th31 at each of the times t61A, t62A, t63A, t64A, t65A, and t66A, which are the upper peaks of the vibration, and is equal to or more than the threshold Th32 at each of the times t61B, t62B, t63B, t64B, t65B, and t66B, which are the lower peaks of the vibration. This makes it possible to reduce the load on the article conveying facility 1 when the conveying device 4 accelerates or decelerates.

[0061] The method of determining the degree of the decrease in the acceleration or deceleration of the conveying device 4 is not limited, and various methods are possible. For example, the control unit 13 may determine the degree of the decrease in the acceleration or deceleration according to the ratio of the vibration to a threshold value. Specifically, the degree of the decrease in the acceleration or deceleration may be determined according to the ratio of the peak value PC of the vibration in an abnormal state shown in 1001 of FIG. 11 to a threshold value Th31. Also, the degree of the decrease in the acceleration or deceleration may be determined according to the ratio of the peak value PD to a threshold value Th32, instead of the peak value PC.

[0062] Furthermore, the control unit 13 may determine the degree of reduction in the acceleration or deceleration so as to reduce the temperature by a predetermined rate. Specifically, the control unit 13 may determine the degree of reduction in the acceleration or deceleration so as to reduce the peak value PC of the vibration during an abnormality shown in 1001 of Fig. 11 by a predetermined rate. Furthermore, the control unit 13 may determine the degree of reduction in the acceleration or deceleration so as to reduce the peak value PD by a predetermined rate, instead of the peak value PC.

[0063] If the acceleration and deceleration of the transport device 4 are controlled so as to lower the peak value PC, the amplitude of the vibration will be smaller overall, and the lower peak value PD will not fall below the threshold value Th32. Similarly, if the acceleration and deceleration of the transport device 4 are controlled so as to lower the peak value PD, the amplitude of the vibration will be smaller overall, and the upper peak value PC will not exceed the threshold value Th31.

[0064] The control unit 13 may reduce both the acceleration of the conveying device 4 in the acceleration section and the deceleration of the conveying device 4 in the deceleration section, or may reduce only the acceleration of the conveying device 4 in the acceleration section, or may reduce only the deceleration of the conveying device 4 in the deceleration section.

[0065] Furthermore, in addition to reducing the acceleration or deceleration of the transport device 4, the control unit 13 may also reduce the speed of the transport device 4 during constant speed movement.

[0066] When the control unit 13 reduces the speed of the transport device 4 during constant speed movement, the control unit 13 may determine the degree of reduction in speed according to the ratio of the peak value PC to the threshold value Th31. The control unit 13 may determine the degree of reduction in speed according to the ratio of the peak value PD to the threshold value Th32, instead of the peak value PC. The control unit 13 may also determine the degree of reduction in speed so that the peak value PC is reduced by a predetermined percentage. The control unit 13 may determine the degree of reduction in speed so that the peak value PD is reduced by a predetermined percentage, instead of the peak value PC.

[0067] As the acceleration and deceleration of the transport device 4 decrease, the movement of the transport device 4 slows down, so the interval between times t61 and t66 is wider than the interval between times t51 and t56 shown in 1001 of FIG.

[0068] [When vibrations occurring continuously during normal operation become large] In addition, the vibrations that occur continuously during normal operation may become larger than those during normal operation if some abnormality occurs. For example, the motor 25, the reducer 26, the drive shaft rotating part 27, the chain 30, the rail 22, the wheel 231, etc. vibrate continuously to some extent even during normal operation. However, for example, if the bearings connected to the motor 25, the reducer 26, the drive shaft rotating part 27, etc. wear out, or the grease runs out, the resistance increases, so the vibrations increase and continue in this state. In addition, if the vibrations of the motor 25, the reducer 26, the drive shaft rotating part 27, etc. increase, they affect the chain 30, the rail 22, the wheel 231, etc., and the vibrations of these also increase and continue in this state.

[0069] FIG. 12 shows an example of vibration data in which vibrations that occur continuously during normal operation become larger during an abnormality and continue in this state.

[0070] 12, a state in which the vibration exceeds threshold value Th51 and threshold value Th52 continues from time t91. If the operation of the article conveying equipment 1 is continued in this state, an abnormality such as a breakdown of the article conveying equipment 1 may occur.

[0071] Therefore, the control unit 13 reduces at least one of the acceleration and deceleration of the conveying device 4. By reducing at least one of the acceleration and deceleration of the conveying device 4, the burden on the item conveying equipment 1 can be reduced, and the vibration of the measurement target 2 can be reduced to below the thresholds Th51 and Th52. In the example shown in FIG. 12, the vibration is below the thresholds Th51 and Th52 after time t92. This makes it possible to reduce the load on the item conveying equipment 1 when the conveying device 4 accelerates and decelerates.

[0072] The method of determining the degree of the decrease in the acceleration or deceleration of the conveying device 4 is not limited, and various methods are possible. For example, the control unit 13 may determine the degree of the decrease in the acceleration or deceleration according to the ratio of the vibration to a threshold value. Specifically, the degree of the decrease in the acceleration or deceleration may be determined according to the ratio of the peak value PG of the vibration in an abnormal state to a threshold value Th51 shown in FIG. 12. Also, the degree of the decrease in the acceleration or deceleration may be determined according to the ratio of the peak value PH to a threshold value Th52, instead of the peak value PG.

[0073] Furthermore, the control unit 13 may determine the degree of reduction in the acceleration or deceleration so as to reduce the vibration by a predetermined percentage. Specifically, the control unit 13 may determine the degree of reduction in the acceleration or deceleration so as to reduce the peak value PG of the vibration during an abnormality shown in Fig. 12 by a predetermined percentage. Furthermore, the control unit 13 may determine the degree of reduction in the acceleration or deceleration so as to reduce the peak value PH by a predetermined percentage, instead of the peak value PG.

[0074] The control unit 13 may reduce both the acceleration of the conveying device 4 in the acceleration section and the deceleration of the conveying device 4 in the deceleration section, or may reduce only the acceleration of the conveying device 4 in the acceleration section, or may reduce only the deceleration of the conveying device 4 in the deceleration section. In addition to reducing the acceleration or deceleration of the conveying device 4, the control unit 13 may reduce the speed of the conveying device 4 during constant speed movement.

[0075] When the control unit 13 reduces the speed of the conveying device 4 during constant speed movement, the control unit 13 may determine the degree of reduction in speed according to the ratio of the peak value PG of the vibration in an abnormal state to the threshold value Th51. The control unit 13 may determine the degree of reduction in speed according to the ratio of the peak value PH to the threshold value Th52, instead of the peak value PG. The control unit 13 may also determine the degree of reduction in speed so that the peak value PG of the vibration in an abnormal state is reduced by a predetermined percentage. The control unit 13 may determine the degree of reduction in speed so that the peak value PH is reduced by a predetermined percentage, instead of the peak value PG.

[0076] [Sound data] Next, an example in which the measurement data is sound data will be described with reference to Figs. 13 to 15. Figs. 13 to 15 are diagrams showing an example of changes in sound data. Figs. 13 and 14 show examples of changes in sound data of the motor 25, the reducer 26, the drive shaft rotating part 27, the rail 22, the guide roller 33, the chain 30, and the wheel 231 as the measurement object 2. Fig. 15 shows an example of changes in sound data of the drive shaft rotating part 27, the rail 22, the chain 30, and the wheel 231 as the measurement object 2.

[0077] [When continuous noise becomes louder during normal operation] A sound that is continuously generated during normal operation may become louder than during normal operation if some abnormality occurs. For example, the motor 25, the reducer 26, the drive shaft rotating part 27, the chain 30, the rail 22, the wheel 231, etc. continuously generate some noise even during normal operation. However, for example, if the bearings connected to the motor 25, the reducer 26, the drive shaft rotating part 27, etc. wear out, or the grease runs out, resistance increases, and a louder sound than during normal operation is generated, and this state continues. In addition, the chain 30, the rail 22, the wheel 231, etc. also generate a loud sound, and this state continues. If the operation of the article conveying equipment 1 is continued in this state, an abnormality such as a breakdown of the article conveying equipment 1 may occur. In this case, the control unit 13 reduces at least one of the acceleration and deceleration of the conveying device 4 to suppress the generation of sound.

[0078] 1101 in FIG. 13 shows an example of sound data during normal operation. As shown in 1101 in FIG. 13, during normal operation, the sound data has a volume equal to or lower than threshold Th41 and equal to or higher than threshold Th42, and therefore does not lead to an abnormality such as a breakdown of the item conveying equipment 1. However, if some abnormality occurs, for example, as shown in 1102 in FIG. 13, the sound data exceeds threshold Th41 and falls below threshold Th42. In the example shown in 1102 in FIG. 13, a state occurs where the sound data exceeds threshold Th41 or falls below threshold Th42 after each of times t71 to t82. If the operation of the item conveying equipment 1 is continued in this state, an abnormality such as a breakdown of the item conveying equipment 1 may occur.

[0079] Therefore, the control unit 13 performs control to reduce at least one of the acceleration and deceleration of the conveying device 4 so that the sound data is equal to or less than threshold value Th41 and equal to or more than threshold value Th42. An example after the control by the control unit 13 is shown in 1103 of Fig. 13 and 1104 of Fig. 14. In the example shown in 1103 of Fig. 13 and 1104 of Fig. 14, the sound data is equal to or less than threshold value Th41 and equal to or more than threshold value Th42. This makes it possible to reduce the load on the article conveying equipment 1 when the conveying device 4 accelerates or decelerates.

[0080] The method of determining the degree of the decrease in the acceleration or deceleration of the transport device 4 is not limited, and various methods are possible. For example, the control unit 13 may determine the degree of the decrease in the acceleration or deceleration according to the ratio to the sound threshold. Specifically, the degree of the decrease in the acceleration or deceleration may be determined according to the ratio of the peak value PE of the sound in an abnormal state shown in 1102 of FIG. 13 to the threshold value Th41. Also, the degree of the decrease in the acceleration or deceleration may be determined according to the ratio of the peak value PF to the threshold value Th42, instead of the peak value PE.

[0081] Furthermore, the control unit 13 may determine the degree of reduction in acceleration or deceleration so that the peak value of the sound is reduced by a predetermined percentage. Specifically, the control unit 13 may determine the degree of reduction in acceleration or deceleration so that the peak value PE of the sound during an abnormality shown in 1102 of Fig. 13 is reduced by a predetermined percentage. Furthermore, the control unit 13 may determine the degree of reduction in acceleration or deceleration so that the peak value PF, not the peak value PE, is reduced by a predetermined percentage.

[0082] If the acceleration and deceleration of the transport device 4 are controlled so as to lower the peak value PE, the amplitude of the sound will be reduced overall, and the lower peak value PF will not fall below the threshold value Th42. Similarly, if the acceleration and deceleration of the transport device 4 are controlled so as to lower the peak value PF, the amplitude of the sound will be reduced overall, and the upper peak value PE will not exceed the threshold value Th41.

[0083] The control unit 13 may reduce both the acceleration of the conveying device 4 in the acceleration section and the deceleration of the conveying device 4 in the deceleration section, or may reduce only the acceleration of the conveying device 4 in the acceleration section, or may reduce only the deceleration of the conveying device 4 in the deceleration section.

[0084] Furthermore, in addition to reducing the acceleration or deceleration of the transport device 4, the control unit 13 may also reduce the speed of the transport device 4 during constant speed movement.

[0085] When the control unit 13 reduces the speed of the transport device 4 during constant speed movement, the control unit 13 may determine the degree of reduction in speed according to the ratio of the peak value PE to the threshold value Th41. The control unit 13 may also determine the degree of reduction in speed so that the peak value PE is reduced by a predetermined percentage. The control unit 13 may also determine the degree of reduction in speed so that the peak value PF is reduced by a predetermined percentage, instead of the peak value PE.

[0086] The amplitude period of the sound data after control by the control unit 13 is approximately the same as the amplitude period FR1 (1101 in FIG. 13) during normal operation, as shown as FR2 in 1103 in FIG. 13, or is longer than the amplitude period FR1 during normal operation, as shown as FR3 in 1104 in FIG. 14.

[0087] [When noise occurs periodically] Furthermore, if some abnormality occurs, a loud noise may be generated periodically. For example, if some resistance such as deformation occurs in a part of the side guide 32 (see FIG. 8), a loud noise will be generated every time the guide roller 33 comes into contact with the resistance. Similarly, if some resistance such as deformation occurs in a part of the drive shaft rotating part 27, a loud noise will be generated every time the drive shaft rotating part 27 rotates. If some resistance such as deformation occurs in a part of the rail 22, a loud noise will be generated every time the wheel 231 passes over the rail 22. If some resistance such as deformation occurs in a part of the wheel 231, a loud noise will be generated every time the wheel 231 rotates. In this way, if some resistance such as deformation occurs in a part, a loud noise will be generated periodically.

[0088] In an abnormal state where loud noise occurs periodically, for example, as shown in 1501 in Fig. 15, the sound exceeds threshold value Th61 after times t101A, t102A, t103A, t104A, t105A, and t106A, and falls below threshold value Th62 at times t101B, t102B, t103B, t104B, t105B, and t106B. Continuing to operate the article conveying equipment 1 in this state may result in an abnormality such as a breakdown of the article conveying equipment 1.

[0089] Therefore, the control unit 13 performs control to reduce at least one of the acceleration and deceleration of the conveying device 4 so that the sound generated in the measurement target 2 is equal to or less than the threshold Th61 and equal to or more than the threshold Th62. An example after the control by the control unit 13 is shown in 1502 of FIG. 15. In the example shown in 1502 of FIG. 15, the sound is equal to or less than the threshold Th61 at each of the times t111A, t112A, t113A, t114A, t115A, and t116A, which are the upper peaks of the sound, and is equal to or more than the threshold Th62 at each of the times t111B, t112B, t113B, t114B, t115B, and t116B, which are the lower peaks of the sound. This makes it possible to reduce the load on the article conveying facility 1 when the conveying device 4 accelerates or decelerates.

[0090] The method of determining the degree of the decrease in the acceleration or deceleration of the transport device 4 is not limited, and various methods are possible. For example, the control unit 13 may determine the degree of the decrease in the acceleration or deceleration according to the ratio to the sound threshold. Specifically, the degree of the decrease in the acceleration or deceleration may be determined according to the ratio of the peak value PJ of the sound in an abnormal state to the threshold Th61 shown in 1501 of FIG. 15. Also, the degree of the decrease in the acceleration or deceleration may be determined according to the ratio of the peak value PK to the threshold Th62, instead of the peak value PJ.

[0091] Furthermore, the control unit 13 may determine the degree of the decrease in the acceleration or deceleration so as to decrease the temperature by a predetermined percentage. Specifically, the control unit 13 may determine the degree of the decrease in the acceleration or deceleration so that the peak value PJ of the sound during an abnormality shown in 1501 of Fig. 15 decreases by a predetermined percentage. Furthermore, the control unit 13 may determine the degree of the decrease in the acceleration or deceleration so that the peak value PK, not the peak value PJ, decreases by a predetermined percentage.

[0092] If the acceleration and deceleration of the transport device 4 are controlled so as to lower the peak value PJ, the amplitude of the sound will be reduced overall, and the lower peak value PK will not fall below the threshold value Th62. Similarly, if the acceleration and deceleration of the transport device 4 are controlled so as to lower the peak value PK, the amplitude of the sound will be reduced overall, and the upper peak value PJ will not exceed the threshold value Th61.

[0093] The control unit 13 may reduce both the acceleration of the conveying device 4 in the acceleration section and the deceleration of the conveying device 4 in the deceleration section, or may reduce only the acceleration of the conveying device 4 in the acceleration section, or may reduce only the deceleration of the conveying device 4 in the deceleration section.

[0094] Furthermore, in addition to reducing the acceleration or deceleration of the transport device 4, the control unit 13 may also reduce the speed of the transport device 4 during constant speed movement.

[0095] When the control unit 13 reduces the speed of the transport device 4 during constant speed movement, the control unit 13 may determine the degree of reduction in speed according to the ratio of the peak value PJ to the threshold value Th61. The control unit 13 may determine the degree of reduction in speed according to the ratio of the peak value PK to the threshold value Th62, instead of the peak value PJ. The control unit 13 may also determine the degree of reduction in speed so that the peak value PJ is reduced by a predetermined percentage. The control unit 13 may determine the degree of reduction in speed so that the peak value PK is reduced by a predetermined percentage, instead of the peak value PJ.

[0096] In the above, a case where a certain measurement data exceeds a threshold value has been described, but the present invention is not limited to this. When multiple types of measurement data exceed a threshold value, the control unit 13 may reduce at least one of the acceleration and deceleration of the conveying device 4. For example, when the current supplied to the article conveying facility 1 and the temperature of the reducer 26 exceed their respective threshold values, the control unit 13 may reduce at least one of the acceleration and deceleration of the conveying device 4. This allows the conveying device 4 to be controlled when there is a higher possibility of a breakdown.

[0097] In addition, in the above description, a configuration has been described in which the control unit 13 performs control to reduce at least one of the acceleration and deceleration of the transport device 4 when the measurement data exceeds the threshold. The control unit 13 may perform control to reduce at least one of the acceleration and deceleration of the transport device 4 not only when the measurement data exceeds the threshold, but also when the difference between the measurement data and the threshold falls within a predetermined value. For example, in the example shown in 802 of FIG. 9, even if the peak value PA of the current is equal to or less than the threshold Th11, when the difference from the threshold Th11 falls within a predetermined value, the control unit 13 may perform control to reduce at least one of the acceleration and deceleration of the transport device 4. This makes it possible to avoid an abnormality before the current value reaches the threshold Th11.

[0098] The above-described adjustment of the acceleration and deceleration may be performed as follows. The control unit 13 constantly monitors the peak value of the measurement data, and when the peak value exceeds the threshold, it slightly reduces at least one of the acceleration and deceleration. If the peak value continues to exceed the threshold after that, it further slightly reduces at least one of the acceleration and deceleration. This is repeated, and at least one of the acceleration and deceleration continues to be slightly reduced until the peak value of the measurement data does not exceed the threshold, and the adjustment of the acceleration and deceleration is terminated when the peak value of the measurement data does not exceed the threshold.

[0099] [Processing flow] Next, the flow of processing in the transport control device 10 will be described with reference to Fig. 16. Fig. 16 is a flowchart showing an example of the flow of processing in the transport control device 10.

[0100] 16, first, the acquisition unit 11 of the transport control device 10 acquires measurement data from the sensor 3 installed on or near the article transport facility 1 (S101, acquisition step). Next, the comparison unit 12 compares the acquired measurement data with a threshold value, and determines whether at least one type of the measurement data exceeds the threshold value or the difference from the threshold value is within a predetermined value (S102, comparison step).

[0101] Then, when the measurement data exceeds the threshold value or the difference between the measurement data and the threshold value is within a predetermined value, the control unit 13 performs control to reduce at least one of the acceleration and deceleration of the transport device 4 (S103, control step).

[0102] The above is the flow of processing in the transport control device 10.

[0103] 〔summary〕 As described above, the conveying control device 10 of this embodiment includes an acquisition unit 11 that acquires one or more types of measurement data measured when the conveying device 4 conveys an article in an article conveying facility 1 including the conveying device 4, a comparison unit 12 that compares the acquired measurement data with a threshold value set for each measurement data, and a control unit 13 that controls at least one of the acceleration and deceleration of the conveying device 4 to be reduced when at least one type of measurement data exceeds the threshold value or when the difference with the threshold value is within a predetermined value.

[0104] In general, the load such as mechanical resistance imposed on the article conveying equipment 1 becomes relatively high when the conveying device 4 accelerates or decelerates. If this type of load is repeatedly applied every time an article is conveyed, this may lead to an abnormality such as a breakdown of the article conveying equipment 1.

[0105] According to the above configuration, when at least one type of measurement data exceeds a threshold value, or when the difference between the measurement data and the threshold value is within a predetermined value, at least one of the acceleration and deceleration of the conveying device 4 is reduced. Therefore, the load on the article conveying facility 1 when the conveying device 4 is accelerating or decelerating can be reduced.

[0106] This makes it possible to postpone the time until the article transport equipment 1 goes into an abnormal state compared to before the load reduction, and as a result, the operation of the article transport equipment 1 can be continued.

[0107] [Modifications] [Software implementation example] The functions of the conveying control device 10 (hereinafter referred to as the "device") are realized by a program for causing a computer to function as the device, and can be realized by a program for causing a computer to function as each control block of the device (acquisition unit 11, comparison unit 12, control unit 13).

[0108] 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.

[0109] 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.

[0110] 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.

[0111] Furthermore, each process described in each of the above embodiments may be executed by AI (Artificial Intelligence). In this case, the AI ​​may be executed by the control device or another device (for example, an edge computer or a cloud server).

[0112] The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. The technical scope of the present invention also includes embodiments obtained by appropriately combining the technical means disclosed in the different embodiments. Furthermore, new technical features can be formed by combining the technical means disclosed in the respective embodiments. [Explanation of symbols]

[0113] 1. Goods transport equipment 2. Measurement target 3 Sensors 4. Conveyor 10. Transport control device 11 Acquisition Department 12 Comparison section 13 Control 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 one or more types of measurement data measured when the transport device transports an article in an article transport facility including the transport device; a comparison unit that compares the acquired measurement data with a threshold value that is set for each of the measurement data; a control unit that controls the conveying device to reduce at least one of an acceleration rate and a deceleration rate when at least one type of the measurement data exceeds the threshold value, or when at least one type of the measurement data is equal to or less than the threshold value and a difference between the measurement data and the threshold value is within a predetermined value, The control unit determines the degree of the decrease according to a ratio of a peak value of the measurement data to the threshold value.

2. The transport control device according to claim 1 , wherein the control unit controls the transport device to reduce the acceleration in a section in which the transport device moves from a stopped state to a constant speed moving state.

3. The transport control device according to claim 1 , wherein the control unit controls the transport device to reduce the deceleration in a section where the transport device moves from a constant speed moving state to a stopped state.

4. An acquisition unit that acquires one or more types of measurement data measured when a conveying device conveys an article in an article conveying facility including the conveying device; a comparison unit that compares the acquired measurement data with a threshold value that is set for each of the measurement data; a control unit that controls the conveying device to reduce at least one of an acceleration rate and a deceleration rate when at least one type of the measurement data exceeds the threshold value, or when at least one type of the measurement data is equal to or less than the threshold value and a difference between the measurement data and the threshold value is within a predetermined value, The control unit determines the degree of reduction so as to reduce the peak value of the measurement data by a predetermined ratio.

5. The transport control device according to any one of claims 1 to 4, wherein the control unit further reduces a speed of the transport device during constant speed movement when at least one type of the acquired measurement data exceeds the threshold value.

6. An acquisition unit that acquires one or more types of measurement data measured when a conveying device conveys an article in an article conveying facility including the conveying device; a comparison unit that compares the acquired measurement data with a threshold value that is set for each of the measurement data; a control unit that controls the conveying device to reduce at least one of an acceleration rate and a deceleration rate when at least one type of the measurement data exceeds the threshold value, or when at least one type of the measurement data is equal to or less than the threshold value and a difference between the measurement data and the threshold value is within a predetermined value, When at least one type of the acquired measurement data exceeds the threshold value, the control unit further reduces a speed during constant speed movement of the conveying device, The control unit determines a degree of the speed reduction depending on a ratio of a peak value of the measurement data to the threshold value.

7. An acquisition unit that acquires one or more types of measurement data measured when a conveying device conveys an article in an article conveying facility including the conveying device; a comparison unit that compares the acquired measurement data with a threshold value that is set for each of the measurement data; a control unit that controls the conveying device to reduce at least one of an acceleration rate and a deceleration rate when at least one type of the measurement data exceeds the threshold value, or when at least one type of the measurement data is equal to or less than the threshold value and a difference between the measurement data and the threshold value is within a predetermined value, When at least one type of the acquired measurement data exceeds the threshold value, the control unit further reduces a speed during constant speed movement of the conveying device, The control unit determines a degree of the speed reduction so as to reduce a peak value of the measurement data by a predetermined percentage.

8. The measurement data is Data indicating vibrations of a measurement target of the measurement data or in the vicinity of the measurement target; Data indicating a current supplied to the measurement object; Data indicating a temperature of the measurement object or a temperature in the vicinity of the measurement object; and Data showing sounds collected in the vicinity of the measurement target The transport control device according to any one of claims 1 to 7, comprising at least one of the following types:

9. The measurement target of the measurement data is A motor, a reducer, a drive shaft rotating unit, a rail, a guide roller, and a chain, which are provided on a conveying path of the conveying device, and Wheels of the conveying device; The transport control device according to claim 8 , wherein the transport control device is at least one of the above.

10. an acquiring step of acquiring one or more types of measurement data measured when the conveying device conveys an article in an article conveying facility including the conveying device; a comparison step of comparing the acquired measurement data with a threshold value set for each of the measurement data; and a control step of controlling the conveying device to reduce at least one of an acceleration rate and a deceleration rate when at least one type of the measurement data exceeds the threshold value, or when at least one type of the measurement data is equal to or less than the threshold value and a difference between the measurement data and the threshold value is within a predetermined value, In the control step, a degree of the decrease is determined in accordance with a ratio of a peak value of the measurement data to the threshold value.

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