Transport System and Transport Control Method

Abstract

To recognize a conveyance status of an object to be conveyed by achieving both a simple configuration of a conveyance device and highly accurate recognition.SOLUTION: A conveyance device has a conveyance surface for conveying an object to be conveyed, and is juxtaposed with another conveyance device having a conveyance surface to form a conveyance path for the object to be conveyed by the conveyance surface. The conveyance device includes: a first sensor that detects that the object to be conveyed has entered the conveyance surface; a second sensor that detects that the object to be conveyed is on the conveyance surface; a speed sensor that detects a conveyance speed at which the object to be conveyed is conveyed on the conveyance surface; and a determination part that determines a position and a posture of the object to be conveyed on the conveyance surface based on sensor information obtained by detection by the first sensor, the second sensor, and the speed sensor. The second sensor detects the presence of the object to be conveyed using a detection axis that is not parallel to a conveyance direction of the object to be conveyed on the conveyance surface.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a conveying device, a conveying system, and a conveying control method.

Background Art

[0002] For example, in a logistics warehouse, there is a conveying system that conveys an object to be conveyed to a target location via a conveying path. In such a conveying system, in order to grasp the conveying status of the object to be conveyed, the entry of the object to be conveyed into the conveying path or the presence of the object to be conveyed is detected, or an image of the object to be conveyed is taken. Based on these detection results, the conveying system detects the size of the object to be conveyed, the distance between the objects to be conveyed on the conveying path, and the like.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the above-described conventional technology, although the position of the object to be conveyed can be detected, the posture thereof cannot be detected, and there is a problem that the conveying status of the object to be conveyed cannot be accurately recognized although the configuration is simple. In addition, when an object to be conveyed during conveyance is photographed using a camera, although the conveying status of the object to be conveyed can be accurately recognized, there is a problem that the configuration becomes large-scale and the cost increases. Thus, in the above-described conventional technology, there is a problem that it is difficult to achieve both a simple configuration of the conveying device and high recognition accuracy and recognize the conveying status of the object to be conveyed.

[0005] The present invention has been made in view of the above, and an object thereof is to achieve both a simple configuration of a conveying device and recognition accuracy, and to recognize the conveying state of an object to be conveyed.

Means for Solving the Problems

[0006] In order to solve the above-described problems, in one aspect of the present invention, there is provided a conveying device having a conveying surface for conveying an object to be conveyed, and being juxtaposed with another conveying device having a conveying surface to form a conveying path of the object to be conveyed by the conveying surface, the conveying device including: a first sensor that detects that the object to be conveyed has entered the conveying surface; a second sensor that detects that the object to be conveyed is present on the conveying surface; a speed sensor that detects a conveying speed at which the object to be conveyed is conveyed on the conveying surface; and a determination unit that determines a position and a posture of the object to be conveyed on the conveying surface based on sensor information obtained by detection by the first sensor, the second sensor, and the speed sensor, wherein the second sensor detects the presence of the object to be conveyed with a detection axis that is not parallel to a conveying direction of the object to be conveyed on the conveying surface.

Effects of the Invention

[0007] According to one aspect of the present invention, for example, it is possible to achieve both a simple configuration of a conveying device and recognition accuracy, and to recognize the conveying state of an object to be conveyed.

Brief Description of the Drawings

[0008]

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MODE FOR CARRYING OUT THE INVENTION

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the embodiments described below are merely examples including the drawings, and do not limit the disclosed technology of the present application. Also, not all of the various elements and their combinations described in the embodiments are essential for the solution means of the invention. Also, for configurations that are essential for the configuration of the invention but are well known, illustration and description may be omitted. Also, the number of each element shown in each figure is an example and is not limited to the illustration.

[0010] Also, in the following description, a processing function unit such as a "determination unit" is realized by the execution of a program by a processor. The processor is, for example, one or more CPUs (Central Processing Unit). Note that the processor is not limited to a microprocessor represented by a CPU, and may be another type of processor such as a GPU (Graphics Processing Unit). Also, the CPU may be a single core or a multi-core. Also, the CPU can be replaced by a processor in a broad sense such as a hardware circuit (for example, an FPGA (Field-Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit)) that performs part or all of the processing.

[0011] In the following description, when describing elements of the same type without distinction, common reference numerals among the reference numerals are used. When describing elements of the same type while distinguishing them, reference numerals with branch numbers attached to the common reference numerals are used.

[0012] [Embodiment 1] (Configuration of the transport system 1 according to Embodiment 1) FIG. 1 is a plan view showing a configuration example of the transport system 1 according to Embodiment 1. The transport system 1 has a loading / unloading mechanism 4 for loading the object to be transported 3 into the movable shelf 2 or unloading it from the movable shelf 2. The object to be transported 3 unloaded from the movable shelf 2 by the loading / unloading mechanism 4 is transported along a transport path R formed by a plurality of transport units 5a and 5b juxtaposed so as to be connected to the destination. The transport system 1 transports the object to be transported 3 along the transport path R formed by the transport units 5a and 5b with, for example, the installation location of the robot arm 6 as the destination. The object to be transported 3 is an article that the transport system 1 transports or a box in which articles are packed.

[0013] The transport unit 5a transports the object to be transported 3 conveyed from one adjacent transport unit 5 to the other adjacent transport unit 5 without changing its orientation by the rotation of the conveyors in both directions. Also, the transport unit 5b transports the object to be transported 3 conveyed from one adjacent transport unit 5 to the other adjacent transport unit 5 without changing its orientation or after changing its orientation by 90° by the rotation of the conveyors in both directions of the cross.

[0014] The object to be transported 3 that has arrived at the transport unit 5 around the robot arm 6 is picked up by the robot arm 6.

[0015] (Arrangement of sensors in the transport unit 5) FIG. 2 is a plan view showing an example of the arrangement of sensors of each transport unit 5 constituting the transport system 1 according to Embodiment 1. Each transport unit 5 includes a rectangular transport area R2 that constitutes a transport path R, an entry sensor 211 and a light receiving unit 221, and a loaded sensor 212 and a light receiving unit 222. The transport directions d1 and d2 in the transport area R2 are taken as the X-axis direction, and the widthwise direction of the transport area R2 is taken as the Y-axis direction. The X-axis is taken on the lower side edge of the transport area R2 facing the paper surface in the transport directions d1 and d2. The Y-axis is taken on the left side edge of the transport area R2 facing the paper surface in the direction perpendicular to the transport directions d1 and d2. The origin of the coordinate system constituted by the X-axis and the Y-axis is set at the positions of the entry sensor 211 and the loaded sensor 212.

[0016] The entry sensor 211 and the light receiving unit 221 are provided on the upstream side in the transport directions d1 and d2 of the transport area R2 such that their detection axes cross two sides of the transport area R2 parallel to the transport directions d1 and d2. The loaded sensor 212 and the light receiving unit 222 are provided by rotating their detection axes clockwise by +α° with respect to the detection axes of the entry sensor 211 and the light receiving unit 221 so as to cross two sides of the transport area R2 parallel to the transport directions d1 and d2. The detection axes of the loaded sensor 212 and the light receiving unit 222 are not parallel to the transport directions d2 and d2 of the transport area R2. That is, 0° < α < 90°. Hereinafter, for simplicity of calculation, an example in the case where α = 45° is shown.

[0017] Note that instead of the entry sensor 211 and the light receiving unit 221, means for detecting the entry of the object to be transported 3 may be adopted by other means such as a camera.

[0018] The determination unit 11 is provided for each conveyance unit 5. When the emitted light emitted toward the light receiving unit 221 by the entry sensor 211 is blocked by the object 3 to be conveyed and not received by the light receiving unit 221, the determination unit 11 detects that the object 3 to be conveyed has entered the conveyance area R2. Further, when the emitted light emitted toward the light receiving unit 222 by the arrival sensor 212 is blocked by the object 3 to be conveyed and not received by the light receiving unit 222, the determination unit 11 detects that the object 3 to be conveyed is present in the conveyance area R2. The determination unit 11 stores the detection results of the entry sensor 211 and the arrival sensor 212 in the storage unit 12 in time series. The detection results of the entry sensor 211 and the arrival sensor 212 are the times when the entry sensor 211 and the arrival sensor 212 start and end detecting the object 3 to be conveyed.

[0019] Further, the determination unit 11 detects the driving speed of the conveyor by the speed sensor 23 as the conveyance speed of the object 3 to be conveyed that is conveyed on the conveyance area R2 by the driving of the conveyor of the conveyance unit 5.

[0020] As shown in FIG. 2, with the center of the object 3 to be conveyed being O, the coordinate positions of the four vertices when the object 3 to be conveyed on the conveyance area R2 is viewed in plan at time t are denoted as A(t), B(t), C(t), and D(t). Also, as the posture of the object 3 to be conveyed, a clockwise rotation of θ [°] with respect to the conveyance directions d2, d2 of the object 3 to be conveyed with the center O as the rotation center is represented as +θ, and a counterclockwise rotation of θ is represented as -θ.

[0021] Further, assuming that the object 3 to be conveyed is rectangular in plan view, the lengths of the two pairs of opposite sides of the rectangle are denoted as Lh and Lv. The length Lh is the length of the side perpendicular to the conveyance directions d1, d2 when the posture θ of the object 3 to be conveyed is 0. The length Lv is the length of the side parallel to the conveyance directions d2, d2 when the posture θ of the object 3 to be conveyed is 0. Also, the length of the conveyance area R2 in the conveyance direction d1, d2 (positive X-axis direction) is denoted as L0x, and the length of the conveyance path width direction (positive Y-axis direction) of the conveyance area R2 is denoted as L0y.

[0022] (Calculation of the posture θ of the object 3 to be conveyed) FIG. 3A is a plan view for explaining an example of calculating the posture of the object 3 to be conveyed on the conveying unit 5 constituting the conveying system 1 according to Embodiment 1. The method for calculating the posture θ will be described below.

[0023] For example, FIG. 3A shows an example in which the object 3 to be conveyed is conveyed in the conveying direction d1 in the conveying area R2. In this example, among the four vertices A(t), B(t), C(t), and D(t) of the object 3 to be conveyed, the vertex of the object 3 to be conveyed whose entry into the conveying area R2 is detected by the entry sensor 211 at the earliest time t = t1 is the vertex B(t). Further, the detection of the entry of the object 3 to be conveyed into the conveying area R2 by the entry sensor 211 at time t = t2 ends at the vertex D(t).

[0024] The conveying distance d of the object 3 to be conveyed on the conveying area R2 between the vertex B(t1) at time t = t1 and the vertex D(t2) at time t = t2 is approximated as shown in Equation (1) using the driving speed V of the conveyor at time t = t1. d=(t1 - t2)V···(1) However, d is the conveying distance of the object 3 to be conveyed, and V in Equation (1) is the driving speed of the conveyor of the conveying unit 5 at time t = t1.

[0025] Also, the X coordinate X(t) of the center O of the object 3 to be conveyed at time t while being conveyed on the conveying area R2 becomes X = 0 at time (t1 + t2) / 2 corresponding to the midpoint between time t = t1 and time t = t2, so it is as shown in Equation (2). V in Equation (2) is the driving speed of the conveyor of the conveying unit 5 at time t = t1. X(t)={t-(t1 + t2) / 2}V···(2)

[0026] Also, the conveying distance d when the object 3 to be conveyed is conveyed in the conveying directions d1 and d2 on the conveying area R2 between time t = t1 and time t = t2 is also expressed as shown in Equation (3) using a = Lv·cosθ and b = Lh·|sinθ| as shown in FIG. 3A. D=a + b=Lv·cosθ+Lh·|sinθ|···(3)

[0027] From Equation (1) and Equation (3), Equation (4) is obtained. Lv·cosθ + Lh·|sinθ| = (t1 - t2)V ··· (4)

[0028] Figure 3B shows the positions passing through the in-loading sensor 212 and the light-receiving unit 222 when the rotation angle θ of the object 3 to be conveyed is negative (Figure 3B(a)), 0 (Figure 3B(b)), and positive (Figure 3B(c)), respectively. When the rotation angle θ of the object 3 to be conveyed is 0°, the moving distance in the traveling direction required to pass through the in-loading sensor 212 and the light-receiving unit 222 is D0 = Lh + Lv. On the other hand, when the rotation angle θ of the object 3 to be conveyed shown in Figure 4-2(a) is negative, the moving distance D n < D0, and when the rotation angle θ of the object 3 to be conveyed shown in Figure 3B(c) is positive, the moving distance D n > D0. Therefore, the time D / V for the object 3 to be conveyed to pass through the in-loading sensor 212 and the light-receiving unit 222 changes according to the rotation angle θ of the object 3 to be conveyed, and the positive or negative of the rotation angle θ can be determined from the following Equation (4-2). When t3 - t1 ≥ (Lh + Lv) / V, θ ≥ 0 When t3 - t1 < (Lh + Lv) / V, θ < 0 ··· (4-2)

[0029] Equation (4) holds regardless of the positional relationship between the entry sensor 211 and the light-receiving unit 221, and the in-loading sensor 212 and the light-receiving unit 222. Assuming that Lv and Lh are known, the posture θ of the object 3 to be conveyed can be obtained from Equation (4) and Equation (4-2).

[0030] (Calculation of the position (X(t), Δh) of the object 3 to be conveyed) Figures 4 to 11 are plan views for explaining an example of calculating the position of the object 3 to be conveyed on the conveying unit 5 constituting the conveying system 1 according to Embodiment 1. The position (X(t), Δh) of the object 3 to be conveyed is the coordinate information of the center O of the object 3 to be conveyed. X is the X coordinate of the center O of the object 3 to be conveyed. Δh is the deviation of the Y coordinate of the center O of the object 3 to be conveyed from the center Y = L0y / 2 in the conveying directions d1 and d2 of the conveying region R2.

[0031] When Δh > 0, the Y - coordinate of the center O of the object 3 to be conveyed is displaced by Δh in the positive Y - axis direction from the center of the conveyance path Y = L0y / 2, which is parallel to the conveyance directions d1 and d2 of the conveyance area R2. When Δh = 0, it means that the Y - coordinate of the center O of the object 3 to be conveyed is not displaced from the center of the conveyance path Y = L0y / 2. When Δh < 0, it means that the Y - coordinate of the center O of the object 3 to be conveyed is displaced by Δh in the negative Y - axis direction from the center of the conveyance path Y = L0y / 2.

[0032] Figure 4 shows an example where the object 3 entering the conveyance area R2 in the conveyance direction d1 is first detected by the entry sensor 211 from a certain vertex, and then detected by the arrival sensor 212 from a vertex different from the certain vertex. As shown in Figure 4, at the earliest time t = t1, the vertex B(t1) is detected by the entry sensor 211, and at the time t = t3, the vertex C(t3) is detected by the arrival sensor 212. Since the posture θ≧0, the deviation Δh of the center O can be obtained from Equation (5). However, V in Equation (5) is the driving speed of the conveyor at the time t = t1. b + x’ = Lh·|sinθ|+Δh+(L0y / 2 - Lh / 2)-{(Lv / 2)·sinθ-(Lh / 2)·(1 - cosθ)} =(t1 - t3)V ···(5)

[0033] Figure 5 shows an example where the object 3 entering the conveyance area R2 in the conveyance direction d1 is first detected by the entry sensor 211 from a certain vertex, and then detected by the arrival sensor 212 from the same certain vertex. As shown in Figure 5, at the earliest time t = t1, the vertex C(t1) is detected by the entry sensor 211, and at the time t = t3, the vertex C(t3) is detected by the arrival sensor 212. Since the posture θ < 0, the deviation Δh of the center O can be obtained from Equation (6). However, V in Equation (6) is the driving speed of the conveyor at the time t = t1. x’’ = Δh+(L0y / 2 - Lh / 2)-{(Lv / 2)·sinθ-(Lh / 2)·(1 - cosθ)}=(t1 - t3)V ···(6)

[0034] Figures 6 and 7 show examples where the object 3 is conveyed in the conveyance direction d2, which is opposite to that in Figures 4 and 5.

[0035] Replace D(t2) in FIG. 3A with D(t1) and B(t1) with B(t2). In this case, the vertex D(t1) is detected by the entry sensor 211 at time t = t1, and the vertex B(t2) is detected at time t = t2. The X coordinate of the center O of the object 3 being conveyed on the conveyance area R2 at time t becomes X = 0 at the time (t1 + t2) / 2 corresponding to the midpoint between time t = t1 and time t = t2. When the obtained distance {t - (t1 + t2) / 2}V is converted to the distance from the detection axis of the entry sensor 211 of the conveyance unit 5 adjacent to the object 3 in the conveyance direction d2 one before, it becomes as shown in Equation (7). However, V in Equation (7) is the driving speed of the conveyor at time t = t1. X(t)=L0x - {t - (t1 + t2) / 2}V ··· (7)

[0036] FIG. 6 shows an example in which the object 3 entering the conveyance area R2 in the conveyance direction d2 is first detected by the loading sensor 212 from a certain vertex, and then the detection is started by the entry sensor 211 from a vertex different from the certain vertex.

[0037] As shown in FIG. 6, the vertex A(t1) is detected by the loading sensor 212 at time t = t1, and the vertex D(t3) is detected by the entry sensor 211 at time t = t3. Since the attitude θ ≥ 0, the deviation Δh of the center O is obtained from Equation (8). However, V in Equation (8) is the driving speed of the conveyor at time t = t1. x’ - b = Δh + (L0y / 2 - Lh / 2) + {(Lv / 2)·sinθ - (Lh / 2)·(1 - cosθ)} - Lh·|sinθ| =(t1 - t3)V ··· (8)

[0038] FIG. 7 shows an example in which the object 3 to be conveyed entering the conveyance area R2 in the conveyance direction d2 is first detected by the entry sensor 211 starting from a certain vertex, and then the detection is started by the arrival sensor 212 starting from the same certain vertex. As shown in FIG. 7, the vertex A(t1) is detected by the arrival sensor 212 at the earliest time t = t1, and the vertex A(t3) is detected by the entry sensor 211 at the time t = t3. Since the attitude θ < 0, the deviation Δh of the center O can be obtained from Equation (9). However, the V in Equation (9) is the driving speed of the conveyor at the time t = t1. x’’ = Δh+(L0y / 2 - Lh / 2)+{(Lv / 2)·sinθ-(Lh / 2)·(1 - cosθ)}=(t1 - t3)V ···(9)

[0039] FIGS. 8 and 9 show an example in which the object 3 to be conveyed enters the adjacent conveyance unit 5 from the lateral direction of the conveyance unit 5.

[0040] Read D(t2) in FIG. 3A as D(t1) and B(t1) as B(t2). First, by the entry sensor 211 of the previous conveyance unit 5, the vertex D(t1) is detected at the time t = t1, and the vertex B(t2) is detected at the time t = t2. The X coordinate of the center O of the object 3 being conveyed on the conveyance area R2 at the time t becomes X = 0 at the time (t1 + t2) / 2 corresponding to the midpoint between the times t = t1 and t = t2. When the distance {t-(t3 + t3) / 2}V thus obtained is converted into the distance from the detection axis of the entry sensor 211 of the previous adjacent conveyance unit 5, it becomes as shown in Equation (7).

[0041] FIG. 8 shows an example in which the object 3 to be conveyed entering the conveyance area R2 of the relevant conveyance unit 5 is first detected by the entry sensor 211 of the previous conveyance unit 5 starting from a certain vertex, and then the detection is started by the arrival sensor 212 of the relevant conveyance unit 5 starting from a certain vertex.

[0042] As shown in FIG. 8, the apex D(t1) is detected by the arrival sensor 212 at time t = t1, and the apex D(t3) is detected by the entry sensor 211 at time t = t3. Since the attitude θ ≥ 0, the deviation Δh of the center O can be obtained from Equation (10). However, V in Equation (10) is the driving speed of the conveyor at time t = t1. x’’=-Δh+(L0y / 2-Lh / 2)+{(Lv / 2)·sinθ-(Lh / 2)·(1-cosθ)}=(t1-t3)V···(10)

[0043] FIG. 9 shows an example in which the object 3 to be conveyed entering the conveyance area R2 in the conveyance direction d2 of the conveyance unit 5 is first detected from a certain apex by the entry sensor 211 of the previous conveyance unit 5, and then the detection is started from the same certain apex by the arrival sensor 212 of the current conveyance unit 5. As shown in FIG. 9, the apex A(t1) is detected by the intrusion sensor 211 at the earliest time t = t1, and the apex D(t3) is detected by the arrival sensor 212 at time t = t3. Since the attitude θ ≥ 0, the deviation Δh of the center O can be obtained from Equation (11). However, V in Equation (11) is the driving speed of the conveyor at time t = t1. x’+b=-Δh+(L0y / 2-Lh / 2)-{(Lv / 2)·sinθ-(Lh / 2)·(1-cosθ)}+Lh·cosθ =(t1-t3)V···(11)

[0044] FIGS. 10 and 11 show another example in which the object 3 to be conveyed enters the adjacent conveyance unit 5 from the lateral direction of the conveyance unit 5.

[0045] FIG. 10 shows an example in which the object 3 to be conveyed entering the conveyance area R2 of the current conveyance unit 5 is first detected from a certain apex by the entry sensor 211 of the previous conveyance unit 5, and then the detection is started from a certain apex by the arrival sensor 212 of the current conveyance unit 5.

[0046] As shown in FIG. 10, the apex B(t1) is detected by the arrival sensor 212 at time t = t1, and the apex B(t3) is detected by the entry sensor 211 at time t = t3. Since the posture θ ≧ 0, the deviation Δh of the center O can be obtained from Equation (12). However, V in Equation (12) is the driving speed of the conveyor at time t = t1. x’ = Δh + (L0y / 2 - Lh / 2) + {(Lv / 2)·sinθ - (Lh / 2)·(1 - cosθ)} = (t1 - t3)V ··· (12)

[0047] FIG. 11 shows an example in which the object 3 to be conveyed entering the conveyance area R2 in the conveyance direction d2 of the conveyance unit 5 is first detected from a certain apex by the entry sensor 211 of the previous conveyance unit 5, and then the detection is started from the same certain apex by the arrival sensor 212 of the current conveyance unit 5. As shown in FIG. 11, the apex C(t1) is detected by the intrusion sensor 211 at the earliest time t = t1, and the apex B(t3) is detected by the arrival sensor 212 at time t = t3. Since the posture θ ≧ 0, the deviation Δh of the center O can be obtained from Equation (13). However, V in Equation (13) is the driving speed of the conveyor at time t = t1. x’ + b = Δh + (L0y / 2 - Lh / 2) - {(Lv / 2)·sinθ + (Lh / 2)·(1 - cosθ)} + Lh·cosθ = (t1 - t3)V ··· (13)

[0048] (Modification Example of Sensor Arrangement in Embodiment 1) FIGS. 12 and 13 are plan views showing modification examples of the sensor arrangement of the conveyance unit constituting the conveyance system according to Embodiment 1. As shown in FIG. 12, the arrival sensor 212 and the light receiving unit 222 may be provided by rotating their detection axes clockwise by (90 + α)° with respect to the detection axes of the entry sensor 211 and the light receiving unit 221. Further, as shown in FIG. 13, the arrival sensor 212 and the light receiving unit 222 may be provided by rotating their detection axes clockwise by (360 - α)° with respect to the detection axes of the entry sensor 211 and the light receiving unit 221.

[0049] (Configuration in which the transport unit 5 has attitude control walls 71a and 71b in Embodiment 1) FIG. 14 is a plan view showing a configuration example in which the transport unit 5 constituting the transport system 1 according to Embodiment 1 has attitude control walls 71a and 71b. Some or all of the plurality of transport units 5 may have attitude control walls 71a and 71b on one or both sides of the transport directions d1 and d2 as shown in FIG. 14. The transport unit 5 having the attitude control walls 71a and 71b can drive the conveyor in the direction of the attitude control walls 71a and 71b.

[0050] The determination unit 11 drives the conveyor in the direction of either of the attitude control walls 71a and 71b according to the positive or negative of the above-described attitude θ, the positive or negative of the deviation Δh, and the installation status of the attitude control walls 71a and 71b to move the object 3 to be transported in the direction of the attitude control walls 71a and 71b. When only one of the attitude control walls 71a and 71b is installed, the determination unit 11 corrects the positive or negative of the attitude θ and the deviation Δh of the object 3 to be transported using this attitude control wall. Further, when both of the attitude control walls 71a and 71b are installed, the determination unit 11 moves the object 3 to be transported to the side of the attitude control wall with a smaller conveyor driving amount to correct the positive or negative of the attitude θ and the deviation Δh of the object 3 to be transported.

[0051] The determination unit 11 moves the object 3 to be transported and presses it against the attitude control walls 71a and 71b so that the attitude θ of the object 3 to be transported becomes 0°. Then, the determination unit 11 drives the conveyor so that the object 3 to be transported whose attitude has been corrected to θ = 0° moves in the direction opposite to the direction of pressing against the attitude control walls 71a and 71b, and moves the object 3 to be transported to the center in the width direction of the transport path R so that the deviation Δh = 0.

[0052] Each determination unit 11 and storage unit 12 of the plurality of transport units 5 are communicably connected via a communication unit 13. The determination unit 11, as necessary, acquires the detection result of the conveyed object 3 of the entry sensor 211 or arrival sensor 212 of the adjacent transport unit 5 from the storage unit 12 of the adjacent transport unit 5 via the communication unit 13. The determination unit 11 calculates the posture θ and position (X(t), Δh) of the conveyed object 3 using the detection result acquired from the adjacent transport unit 5 and the detection result of the entry sensor 211 or arrival sensor 212 of its own transport unit 5 for the conveyed object 3.

[0053] In addition, each determination unit 11 and storage unit 12 of the plurality of transport units 5 are communicably connected to an integrated determination unit 110 and a storage unit 120 that oversee these determination units 11 and storage units 12. The integrated determination unit 110 collects the time-series data of the posture θ or position (X(t), Δh) of the conveyed object 3 determined by each determination unit 11 of each transport unit 5 and stored in each storage unit 12, and stores it in the storage unit 120. The integrated determination unit 110 statistically analyzes the time-series data of the posture θ or position (X(t), Δh) of the conveyed object 3 acquired from each transport unit 5 stored in the storage unit 120. The statistical analysis calculates, for example, the deviation of each individual value from the average of the posture θ and position (X(t), Δh) of the conveyed object 3 acquired from each transport unit 5, and estimates and outputs the possibility of an abnormality in an individual transport unit 5 where the deviation exceeds a predetermined value. Abnormalities include, for example, malfunctions such as a decrease in the driving force of the conveyor due to a voltage drop, the inclination of the floor surface at the installation position, and design problems inherent in the layout of the transport path R itself. The administrator of the transport system 1 can take measures such as repairing, replacing, changing the position of the transport unit 5, and changing the layout of the transport path R based on the determination result by the integrated determination unit 110.

[0054] (Transport control process according to Embodiment 1) FIG. 15 is a flowchart showing an example of the transport control process according to Embodiment 1. The flowchart of FIG. 15 is executed for each determination unit 11 of each transport unit 5.

[0055] First, in step S11, the determination unit 11 determines whether it has received a detection signal of the next object to be conveyed 3 from the entry sensor 211 or the arrival sensor 212. When the determination unit 11 has received a detection signal of the next object to be conveyed 3 from the entry sensor 211 or the arrival sensor 212 (step S11 YES), the process proceeds to step S12. When it has not received the signal (step S11 NO), step S11 is repeated.

[0056] In step S12, the determination unit 11 determines whether the detection signal received in step S11 is a detection signal of the entry sensor 211. When the detection signal received in step S11 is a detection signal of the entry sensor 211 (step S12 YES), the process proceeds to step S13. When it is a detection signal of the arrival sensor 212 (step S12 NO), the process proceeds to step S18.

[0057] In step S13, the determination unit 11 resets a counter for measuring the time taken for the object to be conveyed 3 to pass through the entry sensor 211 and starts counting. Next, in step S14, the determination unit 11 determines whether it has received a detection signal of the arrival sensor 212. When the determination unit 11 has received a detection signal of the arrival sensor 212 (step S14 YES), the process proceeds to step S19. When it has not received the signal (step S14 NO), the process proceeds to step S15.

[0058] In step S15, the determination unit 11 determines whether the counter value started to be counted in step S13 is greater than a specified passing time. When the counter value started to be counted in step S13 is greater than the specified passing time (step S15 YES), the process proceeds to step S16. When the counter value is less than or equal to the specified passing time (step S15 NO), the process returns to step S14.

[0059] In step S16, the determination unit 11 outputs a notification of error occurrence from the output unit on the assumption that a conveyance delay has occurred because the time when the object to be conveyed 3 passes through the entry sensor 211 exceeds the specified passing time. In step S17 following step S16, the determination unit 11 determines whether to end the conveyance control process. If it is to end (step S17 YES), the conveyance control process is ended. If it is not to end (step S17 NO), the process returns to step S11.

[0060] On the other hand, in step S18, since the arrival sensor 212 detects the presence of the object to be conveyed 3 earlier than the entry sensor 211, the determination unit 11 assumes that the conveyance direction of the object to be conveyed 3 is the backward direction (conveyance direction d2 shown in FIG. 2 etc.), and acquires the detection signal of the entry sensor 211 of the conveyance unit 5 adjacent to the one before in the backward direction.

[0061] In step S19 following step S18, the determination unit 11 calculates the posture θ of the object to be conveyed 3 described with reference to FIGS. 3A and 3B. Then, according to the sign of the posture θ and the connection relationship with the adjacent conveyance unit 5, the position (X(t), Δh) of the object to be conveyed 3 described with reference to FIGS. 3A to 11 is calculated. This X is calculated by formula (2). Note that the conveyance unit 5 stores information on the connection relationship with the adjacent conveyance unit 5 in the storage unit 12. The information on the connection relationship is, for example, the relationship between the directions of the entry sensor 211 and the arrival sensor 212 of its own conveyance unit 5 and the directions of the entry sensor 211 and the arrival sensor 212 of the adjacent conveyance unit 5.

[0062] In step S20 following step S19, the determination unit 11 executes the posture error detection process. The details of the posture error detection process will be described later with reference to FIG. 16. In step S21 following step S20, the determination unit 11 executes the position error detection process. The details of the position error detection process will be described later with reference to FIG. 17. When step S21 ends, the determination unit 11 moves the process to step S17.

[0063] (Details of the posture error detection process according to Embodiment 1) FIG. 16 is a flowchart showing an example of the posture error detection process according to Embodiment 1. First, in step S20a, the determination unit 11 determines whether |θ| > the threshold value, that is, whether the magnitude of the posture θ exceeds the allowable range. When |θ| > the threshold value (step S20a YES), the determination unit 11 transfers the process to step S20b. When |θ| ≤ the threshold value (step S20a NO), the posture error detection process ends and the process is transferred to step S21 (FIG. 15).

[0064] In step S20b, the determination unit 11 determines whether either one or both of the posture control walls 71a and 71b exist. When either one or both of the posture control walls 71a and 71b exist (step S20b YES), the determination unit 11 transfers the process to step S20c. When they do not exist (step S20b NO), the posture error detection process ends and the process is transferred to step S21 (FIG. 15).

[0065] In step S20c, when only one of the posture control walls 71a and 71b exists, the determination unit 11 moves the conveyed object 3 to that posture control wall 71 and presses it. When both of the posture control walls 71a and 71b exist, the determination unit 11 moves the conveyed object 3 to either one of the posture control walls 71 and presses it to correct the posture θ within the allowable range (for example, 0°). When selecting the posture control wall 71 that presses the conveyed object 3, the determination unit 11 selects the posture control wall 71 with a smaller conveyor drive amount according to the posture θ and position (X(t), Δh) of the conveyed object 3.

[0066] Next, in step S20d, the determination unit 11 moves the conveyor moved during the correction of the posture θ of the conveyed object 3 in step S20c in the reverse direction to move the conveyed object 3 to the center of the conveyance path Y = L0y / 2. When step S20d ends, the determination unit 11 transfers the process to step S21 (FIG. 15).

[0067] (Details of the position error detection process according to Embodiment 1) FIG. 17 is a flowchart showing an example of the position error detection process according to Embodiment 1. First, in step S21a, the determination unit 11 determines whether the position error > threshold value (at least one of the error in the X coordinate in the conveyance direction (X-axis direction) and the deviation Δh in the Y-axis direction of the position (X(t), Δh) exceeds the allowable range). An error in the X coordinate in the conveyance direction (X-axis direction) means that the distance from the conveyed object 3 being conveyed in front of and behind the conveyed object 3 deviates from the assumption. That is, the determination unit 11 determines that the position error exceeds the allowable range when the difference between the position of the conveyed object 3 and the coordinate information where the conveyed object 3 is assumed to be located, which is obtained based on the sensor information obtained by the speed sensor 23, exceeds the threshold value. When the position error > threshold value (step S21a YES), the determination unit 11 transfers the process to step S21b, and when the position error ≦ threshold value (step S21a NO), the position error detection process ends and the process is transferred to step S17 (FIG. 15).

[0068] Next, in step S21b, the determination unit 11 determines whether the conveyor can be driven and controlled in the direction (X-axis direction and / or Y-axis direction) where there is a position error. When the determination unit 11 can drive and control the conveyor in the direction where there is a position error (step S21b YES), the process is transferred to step S21c, and when it is impossible to drive and control (step S21b NO), the position error detection process ends and the process is transferred to step S17 (FIG. 15).

[0069] Next, in step S21c, the determination unit 11 determines whether there is a position error in the conveyance direction (error in the X coordinate in the conveyance direction (X-axis direction)) in the determination result of step S21a. When there is a position error in the conveyance direction (step S21c YES), the process is transferred to step S21d, and when there is no position error in the conveyance direction (step S21c NO), the process is transferred to step S21f.

[0070] In step S21d, the determination unit 11 calculates a conveyance speed for correcting the positional error in the conveyance direction of the object to be conveyed 3 based on the detection result of the speed sensor 23. The conveyance speed for correcting the positional error in the conveyance direction of the object to be conveyed 3 is the conveyance speed that is changed to correct the error in the X coordinate in the conveyance direction (X-axis direction) of the object to be conveyed 3. Next, in step S21e, when the X coordinate in the conveyance direction (X-axis direction) is at a position that is delayed compared to the assumption (the object to be conveyed 3 is conveying with a delay along the conveyance path R), the determination unit 11 increases the conveyance speed, and when it is at a position that has advanced compared to the assumption (the conveyance path R is inclined in the conveyance direction and the conveyance path R is engaged by the object to be conveyed 3), the determination unit 11 adjusts the conveyance speed to slow it down. Thereby, each position and conveyance interval of the object to be conveyed 3 conveyed on the conveyance path R are corrected within an allowable range.

[0071] Next, in step S21f, the determination unit 11 determines whether there is a positional error (deviation Δh) in the width direction of the conveyance path in the determination result of step S21a. When there is a deviation Δh (step S21f YES), the determination unit 11 transfers the process to step S21g, and when there is no deviation Δh (step S21f NO), the positional error detection process ends and the process transfers to step S17 (FIG. 15).

[0072] In step S21g, the determination unit 11 calculates a positional error correction amount for correcting the deviation Δh of the object to be conveyed 3. Next, in step S21h, the determination unit 11 temporarily stops the conveyance of the conveyance unit 5 and drives the conveyor to correct the deviation Δh. When the correction of the posture θ in step S20 (FIG. 15) has been performed, since the deviation Δh has already been corrected, steps S21f to S21h can also be omitted. When step S21h ends, the determination unit 11 ends the positional error detection process and transfers the process to step S17 (FIG. 15).

[0073] In the above-described Embodiment 1, based on an entry sensor that detects that the object to be conveyed has entered the conveyance surface, a presence sensor that detects the presence of the object to be conveyed with a detection axis that is not parallel to the conveyance direction of the object to be conveyed on the conveyance surface, and the conveyance speed of the conveyor of the conveyance unit, the posture and position of the object to be conveyed are calculated. Therefore, the posture and position of the object to be conveyed can be calculated accurately with a simple configuration.

[0074] Also, in the above-described Embodiment 1, a plurality of the above-described conveyance devices can be juxtaposed to form a conveyance system in which a conveyance path for the object to be conveyed is formed by the conveyance surface.

[0075] Also, in the above-described Embodiment 1, since the posture of the object to be conveyed is the angle formed by the direction of the object to be conveyed with respect to the conveyance direction, it can be simply expressed by one parameter, and the handling of the posture control of the object to be conveyed becomes easy.

[0076] Also, in the above-described Embodiment 1, after it is detected by the entry sensor that the object to be conveyed has entered the conveyance surface, if it is not detected by the presence sensor that the object to be conveyed exists on the conveyance surface even after a predetermined time has elapsed, a notification of an error occurrence is output. Therefore, a conveyance delay of the object to be conveyed can be quickly recognized.

[0077] Also, in the above-described Embodiment 1, sensor information is transmitted and received with other conveyance devices, and based on the sensor information of its own conveyance device and the sensor information of another adjacent conveyance device, the position and posture of the object to be conveyed on the conveyance surface are determined. Therefore, by the adjacent conveyance devices cooperating with respect to sensor utilization, the posture and position of the object to be conveyed can be calculated corresponding to conveyance in all directions.

[0078] Also, in the above-described Embodiment 1, the conveyance device has a posture control member that controls the posture of the object to be conveyed on at least one of both sides of the conveyance surface in the conveyance direction, and when the posture exceeds the allowable range, the conveyance surface is controlled to move the object to be conveyed to the posture control member and press it to correct the posture within the allowable range. Therefore, the posture of the object to be conveyed can be corrected with a simple configuration.

[0079] In the above-described Embodiment 1, the conveying device has attitude control members on both sides of the conveying surface in the conveying direction, and controls the conveying surface according to the magnitude and positive / negative sign of the attitude θ to move the object to be conveyed to one of the attitude control members and press it, thereby correcting the attitude within the allowable range. Therefore, by moving the object to be conveyed to the side of the attitude control member with a smaller conveyor movement amount, it is possible to shorten the attitude correction time.

[0080] In the above-described Embodiment 1, when the position error of the object to be conveyed exceeds the allowable range, the conveying surface is controlled to change the conveying speed or move the object to be conveyed in a direction orthogonal to the conveying direction, thereby correcting the position error within the allowable range. Therefore, it is possible to correct the position errors in the conveying direction and the direction orthogonal to the conveying direction of the object to be conveyed.

[0081] In the above-described Embodiment 1, the position of the object to be conveyed is the coordinate information where the center of the object to be conveyed obtained based on the sensor information obtained by the entry sensor and the in-stock sensor actually lies. When the difference between this position and the coordinate information where the object to be conveyed is assumed to be located based on the sensor information obtained by the speed sensor exceeds the threshold value, it is determined that the position error exceeds the allowable range. Therefore, since the two pieces of coordinate information to be compared are sensor information from different sensors, it is possible to ensure the detection output of exceeding the allowable range of the error.

[0082] In the above-described Embodiment 1, it has an integrated determination unit that controls a plurality of conveying devices. The integrated determination unit receives the attitude and position from each conveying device and accumulates them in the storage unit, and based on the attitude and position accumulated in the storage unit, estimates the conveying device in which an abnormality has occurred within the conveying system. Therefore, it is possible to estimate the abnormality of the conveying devices constituting the conveying system with a high likelihood based on the accumulated data.

[0083] In the above-described Embodiment 1, the integrated determination unit estimates as abnormal the conveying device corresponding to the outlier as a result of statistically analyzing the attitude and position accumulated in the storage unit. Therefore, even without preparing individual indicators for diagnosis, it is possible to estimate the conveying device with an abnormality with a high statistical likelihood.

[0084] [Embodiment 2] In the above-described Embodiment 1, it was assumed that the shape (lengths Lh and Lv) of the object 3 to be conveyed was known when calculating the posture θ and position (X(t), Δh) of the object 3 to be conveyed. However, when the shape of the object 3 to be conveyed is unknown or when objects 3 of various shapes are mixed and conveyed, it is necessary to measure the shape of the object 3 to be conveyed.

[0085] (Arrangement of sensors of the conveying unit 5a1 according to Embodiment 2) FIGS. 18 to 20 are plan views showing an example of the arrangement of sensors of the conveying unit 5a1 constituting the conveying system 1 according to Embodiment 2.

[0086] FIG. 18 shows an example in which distance sensors 231 and 232 are provided near the exit of the most downstream conveying region R2 on the conveying direction d1 side of the conveying unit 5a1. The determination unit 11 and the distance sensors 231 and 232 constitute a shape measurement means for measuring the planar shape of the object 3 to be conveyed. The determination unit 11 calculates the shape of the object 3 to be conveyed based on the manner in which the distances to the object 3 measured from both the positive and negative directions of the Y-axis by the distance sensors 231 and 232 change as the object 3 is conveyed. For example, in the example of FIG. 18, the distance to the object 3 measured by the distance sensor 231 gradually decreases from the start of detection at the vertex B as the object 3 is conveyed, becomes minimal at the vertex C, then gradually increases, and ends detection at the vertex D. Also, the distance to the object 3 measured by the distance sensor 232 gradually decreases from the start of detection at the vertex B as the object 3 is conveyed, becomes minimal at the vertex A, then gradually increases, and ends detection at the vertex D, obtaining the same detection result as the distance sensor 231. The determination unit 11 can calculate from the detection results of the distances to the object 3 by such distance sensors 231 and 232 that the object 3 is square and the lengths Lv and Lh of two pairs of opposite sides thereof.

[0087] FIG. 19 shows an example of the transport unit 5a2 in which distance sensors 231 and 232 are provided near the entrance of the most upstream transport region R2 on the transport direction d1 side of the transport unit 5. The detection results of the distances of the distance sensors 231 and 232 are the same as those described with reference to FIG. 18.

[0088] FIG. 20 shows an example in which a camera 241 is provided above the transport unit 5a3. The camera 241 can photograph the object to be transported 3 at any position within the transport region R2. The determination unit 11 can measure the shape (length Lv, Lh) of the object to be transported 3 using the image distance obtained by photographing the object to be transported 3 with the camera 241.

[0089] When measuring the shape of the object to be transported 3, any one of the transport units 5a1, 5a2, and 5a3 may be installed at the position of the most upstream transport unit 5ax (FIG. 1) of the transport path R. On the other hand, when calculating and correcting the posture θ and position (X(t), Δh) of the object to be transported 3 in real time, any transport unit needs to be either the transport unit 5a2 or 5a3.

[0090] In the above-described Embodiment 2, the transport device determines the position and posture of the object to be transported on the transport surface based on the sensor information obtained by the entry sensor, the in-loading sensor, the speed sensor, and the distance sensor for measuring the shape of the non-transported object. Therefore, even if the shape of the object to be transported is unknown, the position and posture of the object to be transported can be determined accordingly.

[0091] The present invention is not limited to the above-described embodiments and includes various modifications. For example, the above-described embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the configurations described. Also, as long as there is no contradiction, a part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment. Further, it is possible to add, delete, replace, integrate, or disperse a part of the configuration of each embodiment. Also, the configurations and processes shown in the embodiments can be appropriately dispersed, integrated, or interchanged based on processing efficiency or implementation efficiency.

Description of Symbols

[0092] 1: Conveyor system, R2: Conveyor area (conveyor surface), 3: Object to be conveyed, 5, 5a, 5a1, 5a2, 5a3, 5b: Conveyor unit (conveyor device), 11: Judgment unit, 13: Communication unit, 23: Speed sensor, 71, 71a, 71b: Posture control wall (posture control member), 110: Integrated judgment unit, 211: Entry sensor (first sensor), 212: In-stock sensor (second sensor), 231, 232: Distance sensor, 241: Camera.

Claims

A conveying system having a conveying surface for conveying an object to be conveyed, in which a plurality of conveying devices having a conveying surface are juxtaposed with another conveying device having a conveying surface to form a conveying path of the object to be conveyed by the conveying surface, and the conveying path of the object to be conveyed is formed by the conveying surface, wherein the conveying device, a first sensor for detecting that the object to be conveyed has entered the conveying surface, a second sensor for detecting that the object to be conveyed is present on the conveying surface, a speed sensor for detecting a conveying speed at which the object to be conveyed is conveyed on the conveying surface, a determination unit for determining a position and a posture of the object to be conveyed on the conveying surface based on sensor information obtained by detection of the first sensor, the second sensor, and the speed sensor, and a communication unit for transmitting and receiving the sensor information to and from another one of the conveying devices, wherein the second sensor, detects the presence of the object to be conveyed with a detection axis that is not parallel to a conveying direction of the object to be conveyed on the conveying surface, and the determination unit, determines the position and the posture of the object to be conveyed on the conveying surface based on the sensor information of its own conveying device and the sensor information of another adjacent conveying device. A conveying system characterized by the above. A conveying system having a conveying surface for conveying an object to be conveyed, in which a plurality of conveying devices having a conveying surface are juxtaposed with another conveying device having a conveying surface to form a conveying path of the object to be conveyed by the conveying surface, and the conveying path of the object to be conveyed is formed by the conveying surface, wherein the conveying device, a first sensor for detecting that the object to be conveyed has entered the conveying surface, a second sensor for detecting that the object to be conveyed is present on the conveying surface, a speed sensor for detecting a conveying speed at which the object to be conveyed is conveyed on the conveying surface, and a determination unit for determining a position and a posture of the object to be conveyed on the conveying surface based on sensor information obtained by detection of the first sensor, the second sensor, and the speed sensor, wherein the second sensor, detects the presence of the object to be conveyed with a detection axis that is not parallel to a conveying direction of the object to be conveyed on the conveying surface, the position is coordinate information where the center of the object to be conveyed obtained based on the sensor information obtained by the first sensor and the second sensor is actually located, and the determination unit, Determine whether the error in the position exceeds the allowable range. If it exceeds the allowable range, control the conveyance surface to change the conveyance speed or move the object to be conveyed in a direction orthogonal to the conveyance direction to correct the error in the position within the allowable range. When the difference between the position and the coordinate information where the object to be conveyed is assumed to be located, which is obtained based on the sensor information obtained by the speed sensor, exceeds a threshold value, it is determined that the error in the position exceeds the allowable range. A conveyance system characterized by the above.

3. A conveyance system having a conveyance surface for conveying an object to be conveyed, and a plurality of conveyance devices juxtaposed with another conveyance device having a conveyance surface to form a conveyance path of the object to be conveyed by the conveyance surface, wherein the conveyance device a first sensor for detecting that the object to be conveyed has entered the conveyance surface; a second sensor for detecting that the object to be conveyed is present on the conveyance surface; a speed sensor for detecting the conveyance speed at which the object to be conveyed is conveyed on the conveyance surface; a determination unit for determining the position and posture of the object to be conveyed on the conveyance surface based on the sensor information obtained by detection of the first sensor, the second sensor, and the speed sensor; a communication unit for transmitting and receiving the sensor information to and from another one of the conveyance devices; and the second sensor detects the presence of the object to be conveyed with a detection axis that is not parallel to the conveyance direction of the object to be conveyed on the conveyance surface; at least one of the conveyance devices further includes a third sensor for measuring the shape of the object to be conveyed; transmits the sensor information obtained by the third sensor to another one of the conveyance devices via the communication unit; the determination unit of another one of the conveyance devices determines the position and posture of the object to be conveyed on the conveyance surface based on the sensor information obtained by the first sensor, the second sensor, the speed sensor, and the third sensor. A conveyance system characterized by the above.

4. A conveyance system having a conveyance surface for conveying an object to be conveyed, and a plurality of conveyance devices juxtaposed with another conveyance device having a conveyance surface to form a conveyance path of the object to be conveyed by the conveyance surface, wherein the conveyance device a first sensor for detecting that the object to be conveyed has entered the conveyance surface; A second sensor that detects the presence of the object to be conveyed on the conveying surface; A speed sensor that detects the conveying speed at which the object to be conveyed is conveyed on the conveying surface; A determination unit that determines the position and orientation of the object to be conveyed on the conveying surface based on the sensor information obtained by the detection of the first sensor, the second sensor, and the speed sensor; An integrated determination unit that controls a plurality of the conveying devices, and a communication unit for the integrated determination unit to communicate with the conveying devices; The second sensor: Detects the presence of the object to be conveyed with a detection axis that is not parallel to the conveying direction of the object to be conveyed on the conveying surface; Each of the conveying devices: Has a communication unit that transmits and receives the sensor information to and from other conveying devices and the integrated determination unit; The determination unit transmits the orientation and the position to the integrated determination unit; The integrated determination unit: Accumulates the orientation and the position received from each of the conveying devices in a storage unit; Estimates the conveying device in which an abnormality has occurred in the conveying system based on the orientation and the position accumulated in the storage unit A conveying system characterized by the above.

5. The conveying system according to claim 4, wherein: The integrated determination unit: Estimates as abnormal the conveying device corresponding to an outlier in the result of statistically analyzing the orientation and the position accumulated in the storage unit A conveying system characterized by the above.

6. A conveying control method performed by a conveying system having a conveying surface for conveying an object to be conveyed, a plurality of conveying devices having a conveying surface and juxtaposed with other conveying devices having a conveying surface to form a conveying path for the object to be conveyed by the conveying surface, and the conveying path for the object to be conveyed being formed by the conveying surface, wherein: Each of the conveying devices: Detects that the object to be conveyed has entered the conveying surface by a first sensor; Detects that the object to be conveyed is present on the conveying surface by a second sensor; Detects the conveying speed at which the object to be conveyed is conveyed on the conveying surface by a speed sensor; Determines the position and orientation of the object to be conveyed on the conveying surface based on the sensor information obtained by the first sensor, the second sensor, and the speed sensor; Transmits and receives the sensor information to and from other conveying devices Each has the following processing; The second sensor: Detects the presence of the object to be conveyed with a detection axis that is not parallel to the conveying direction of the object to be conveyed on the conveying surface; Each of the conveying devices: Based on the sensor information of the own conveying device and the sensor information of another adjacent conveying device, determine the position and posture of the object to be conveyed on the conveying surface A conveying control method characterized by the above.

7. A conveying control method performed by a conveying system in which a plurality of conveying devices having a conveying surface for conveying an object to be conveyed are juxtaposed and form a conveying path of the object to be conveyed by the conveying surface, and are juxtaposed with other conveying devices having a conveying surface, and a conveying path of the object to be conveyed is formed by the conveying surface, each of the conveying devices, detect that the object to be conveyed has entered the conveying surface by a first sensor, detect that the object to be conveyed exists on the conveying surface by a second sensor, detect the conveying speed at which the object to be conveyed is conveyed on the conveying surface by a speed sensor, Based on the sensor information obtained by the detection of the first sensor, the second sensor, and the speed sensor, determine the position and posture of the object to be conveyed on the conveying surface has each process, the second sensor, detect the presence of the object to be conveyed with a detection axis that is not parallel to the conveying direction of the object to be conveyed on the conveying surface, the position is coordinate information where the center of the object to be conveyed obtained based on the sensor information obtained by the first sensor and the second sensor is actually located, each of the conveying devices, determine whether the error of the position exceeds the allowable range, and if it exceeds the allowable range, control the conveying surface to change the conveying speed or move the object to be conveyed in a direction orthogonal to the conveying direction to correct the error of the position within the allowable range, When the difference between the position and the coordinate information where the object to be conveyed is assumed to be located obtained based on the sensor information obtained by the speed sensor exceeds the threshold value, it is determined that the error of the position exceeds the allowable range A conveying control method characterized by the above.

8. A conveying control method performed by a conveying system in which a plurality of conveying devices having a conveying surface for conveying an object to be conveyed are juxtaposed and form a conveying path of the object to be conveyed by the conveying surface, and are juxtaposed with other conveying devices having a conveying surface, and a conveying path of the object to be conveyed is formed by the conveying surface, each of the conveying devices, detect that the object to be conveyed has entered the conveying surface by a first sensor, detect that the object to be conveyed exists on the conveying surface by a second sensor, A speed sensor detects the conveyance speed at which the object to be conveyed is conveyed on the conveyance surface. Based on the sensor information obtained by the detection of the first sensor, the second sensor, and the speed sensor, the position and orientation of the object to be conveyed on the conveyance surface are determined. The sensor information is transmitted and received with other said conveying devices. Each has each process. The second sensor detects the presence of the object to be conveyed with a detection axis that is not parallel to the conveyance direction of the object to be conveyed on the conveyance surface. At least one of the said conveying devices measures the shape of the object to be conveyed by a third sensor. The sensor information obtained by the third sensor is transmitted to other said conveying devices. Another of the said conveying devices Based on the sensor information obtained by the first sensor, the second sensor, the speed sensor, and the third sensor, the position and orientation of the object to be conveyed on the conveyance surface are determined. A conveying control method characterized by the above.

9. A conveying control method performed by a conveying system in which a plurality of conveying devices having a conveyance surface for conveying an object to be conveyed are juxtaposed and arranged side by side with another conveying device having a conveyance surface to form a conveyance path for the object to be conveyed by the conveyance surface, Each of the said conveying devices detects that the object to be conveyed has entered the conveyance surface by a first sensor. detects that the object to be conveyed is present on the conveyance surface by a second sensor. A speed sensor detects the conveyance speed at which the object to be conveyed is conveyed on the conveyance surface. Based on the sensor information obtained by the detection of the first sensor, the second sensor, and the speed sensor, the position and orientation of the object to be conveyed on the conveyance surface are determined. communicates with an integrated determination unit that controls a plurality of the said conveying devices. Each has each process. The second sensor detects the presence of the object to be conveyed with a detection axis that is not parallel to the conveyance direction of the object to be conveyed on the conveyance surface. Each of the said conveying devices transmits and receives the sensor information with other said conveying devices and the integrated determination unit. transmits the determined orientation and position to the integrated determination unit. The integrated determination unit accumulates the orientation and position received from each of the said conveying devices in a storage unit. Based on the orientation and position accumulated in the storage unit, the conveying device in which an abnormality has occurred within the conveying system is estimated. A conveying control method characterized by the above.

10. The conveyance control method according to Claim 9, wherein the integrated determination unit estimates as abnormal the transport device corresponding to an outlier in the result of statistically analyzing the posture and the position stored in the storage unit is a characteristic of the conveyance control method.

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