Linear Transport System

Abstract

The linear conveying system includes a control device (30) that manages the operating conditions of a carriage that moves on a track to convey an object to be conveyed. The control device (30) includes a reference point trajectory calculation unit (1) that outputs trajectory data of the reference point and attitude angle data of the carriage from shape data of the rail track and position information and dimensional information of the reference point of a moving body consisting of the carriage and the object to be conveyed; a reference point position time history calculation unit (2) that outputs the time history of the position of the reference point based on the operating speed information of the speed reference point of the moving body, the trajectory data of the reference point and the attitude angle data of the carriage; an acting load calculation unit (3) that calculates the time history of the acting load acting on the moving body based on the position information of the reference point, the mass and inertia moment information of the moving body, and the time history of the position of the reference point; and a carriage control unit (6) that operates the carriage under operating conditions where the feature value calculated based on the time history of the acting load is equal to or less than a preset reference value.

Description

[Technical Field]

[0001] The present disclosure relates to a linear transport system that uses a linear motor to operate a carriage. [Background technology]

[0002] A linear transport system has a rail on which an electromagnetic stator is installed, and a carriage equipped with an electromagnetic mover, which moves on the rail with an object to be transported. In a linear transport system, the electromagnetic stator installed on the rail and the electromagnetic mover arranged on the carriage constitute a linear motor, and thrust is generated by controlling the supply of electricity to the electromagnetic stator or the electromagnetic mover, causing the carriage to move.

[0003] The rails are not limited to being configured as straight tracks, but may be configured as tracks that combine straight tracks and curved tracks, or may be configured as circulatable closed tracks.

[0004] When a rail includes a curved track, when a carriage passes over a connection between a straight line and a curve, an impact dynamic load is generated on the carriage and the transported object due to the change in curvature, which may damage the mechanical system.

[0005] Patent Document 1 discloses smoothing the change in curvature of the track in order to mitigate the impact that occurs when the carriage passes over a connecting portion between a straight line and a curve. Patent Document 2 also discloses setting the operating speed pattern of the carriage so that the centrifugal force does not change when the carriage passes over a connecting portion between a straight line and a curve. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Application Laid-Open No. 2003-119702 [Patent Document 2] Japanese Patent Application Publication No. 61-142201 Summary of the Invention [Problem to be solved by the invention]

[0007] The impact load generated at the connection between a straight line and a curve varies depending on the track shape, inertia characteristics, and operating speed pattern. Note that inertia characteristics refer to the mass, center of gravity, and moment of inertia of the moving body, which includes the carriage and the transported object. Depending on these operating conditions, even if the curvature of the track at the connection between a straight line and a curve is designed to be smooth, as in the conveying system disclosed in Patent Document 1, the load generated on the moving body may not be fully absorbed, and the mechanical system may be damaged.

[0008] The conveyance system disclosed in Patent Document 2 is limited to a specific carriage operation speed pattern in which centrifugal force is constant. Furthermore, although the impact load acting on the carriage requires consideration of moment load in addition to centrifugal force, the conveyance system disclosed in Patent Document 2 does not consider the influence of moment load.

[0009] The present disclosure has been made in consideration of the above, and aims to obtain a linear conveying system that is not limited to a carriage operating speed pattern in which centrifugal force is constant, and that can suppress damage to the mechanical system by taking into account the influence of moment load. [Means for solving the problem]

[0010] In order to solve the above-mentioned problems and achieve the object, the linear conveyance system according to the present disclosure includes a track including a connection portion between a straight line and a curved line, a carriage that moves on the track to convey an object to be conveyed, and a control device that manages the operating conditions of the carriage. The control device includes a reference point trajectory calculation unit that outputs trajectory data of the reference point and attitude angle data of the carriage based on shape data of the rail track including the connection portion between the straight line and the curved line and position information and dimensional information of a reference point of a moving body constituted by the carriage and the object to be conveyed, and a reference point position time history calculation unit that outputs a time history of the position of the reference point based on operating speed information of the speed reference point of the moving body and the trajectory data of the reference point and attitude angle data of the carriage output from the reference point trajectory calculation unit. The control device includes an acting load calculation unit that calculates the time history of the acting load acting on the moving body based on position information of the reference point, mass and moment of inertia information of the moving body, and the time history of the position of the reference point output from the reference point position time history calculation unit; a feature determination unit that calculates a feature based on the time history of the acting load output from the acting load calculation unit and determines whether the feature is equal to or less than a predetermined reference value; and a carriage control unit that operates the carriage under operating conditions where the feature is equal to or less than the reference value. [Effects of the Invention]

[0011] The linear conveying system according to the present disclosure has the advantage of being able to obtain a linear conveying system that is not limited to a carriage operation speed pattern in which centrifugal force is constant, and that can suppress damage to the mechanical system by taking into account the influence of moment load. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a diagram showing a configuration of a linear transport system according to a first embodiment. [Figure 2] FIG. 1 is a diagram showing a mechanical configuration and reference points of a moving body of a linear transport system according to a first embodiment; [Figure 3] FIG. 1 is a diagram showing a configuration of a control device for a linear transport system according to a first embodiment; [Figure 4] 10 is a flowchart showing a process flow for determining operating conditions of the linear transport system according to the first embodiment. [Figure 5] FIG. 10 is a diagram showing internal processing of a reference point trajectory calculation unit of the linear transport system according to the first embodiment. [Figure 6] FIG. 10 is a diagram showing internal processing of a reference point position time history calculation unit of the linear transport system according to the first embodiment. [Figure 7] FIG. 10 is a diagram showing the internal processing of the acting load calculation unit of the linear transport system according to the first embodiment. [Figure 8] FIG. 1 is a diagram showing a configuration example of an inference device provided in an acting load calculation unit of a linear transport system according to a first embodiment; [Figure 9] 10 is a flowchart illustrating an inference process of the acting load calculation unit of the linear transport system according to the first embodiment. [Figure 10] FIG. 1 is a diagram showing an example of a time history of a moment load of the linear transport system according to the first embodiment. [Figure 11] FIG. 10 is a diagram showing an example of a frequency analysis result of the linear transport system according to the first embodiment. [Figure 12] 10 is a flowchart showing a process flow for determining operating conditions of a linear transport system according to a second embodiment. [Figure 13] FIG. 1 is a diagram showing a hardware configuration of a control device for a linear transport system according to the first and second embodiments. DETAILED DESCRIPTION OF THE INVENTION

[0013] A linear transport system according to an embodiment will be described in detail below with reference to the drawings.

[0014] Embodiment 1 1 is a diagram showing the configuration of a linear conveyance system according to embodiment 1. The linear conveyance system 100 includes a rail 20 on which an electromagnetic stator is installed, a carriage 10a equipped with an electromagnetic mover and carrying an object 10b to be conveyed, and a control device 30 that manages the operating conditions of the carriage 10a. The rail 20 has a rail width s and includes connecting portions between straight lines and curved lines.

[0015] FIG. 2 is a diagram showing the mechanical configuration and reference points of a moving body of the linear conveyance system according to the first embodiment. The moving body 10 is composed of a carriage 10a including rollers, an electromagnetic mover, and a position detector, and a conveyed object 10b mounted on the carriage 10a. The reference points are a front wheel roller rotation center point 11, a rear wheel roller rotation center point 12, a speed reference point 13, a thrust center point 14 of the electromagnetic mover, and a center of gravity point 15 of the moving body 10. The position information of the reference points is coordinate information of the reference points in a carriage-fixed coordinate system. When the moving body 10 moves on a straight trajectory, the speed of every point on the moving body 10 is the same. However, when the moving body 10 moves on a curved trajectory and turns, the speed of a point on the moving body 10 varies depending on the radial position. Therefore, a speed reference point 13 that defines the operating speed is set in advance.

[0016] 3 is a diagram illustrating the configuration of a control device for a linear conveyance system according to the first embodiment. The control device 30 includes a reference point trajectory calculation unit 1 that calculates trajectory data of a reference point and attitude angle data of the moving body 10, a reference point position time history calculation unit 2 that calculates a time history of the reference point position, an applied load calculation unit 3 that calculates a time history of the applied load, a feature quantity determination unit 4 that determines whether a feature quantity calculated from the time history of the applied load is equal to or less than a predetermined reference value, an operating condition determination unit 5 that determines operating conditions for the carriage 10a, a carriage control unit 6 that controls the carriage 10a based on the operating conditions determined by the operating condition determination unit 5 and operates the carriage 10a under operating conditions that make the feature quantity equal to or less than the reference value, and a determination condition setting unit 7 that changes position information of the reference point and information on the mass and moment of inertia of the moving body when the feature quantity determined by the feature quantity determination unit 4 exceeds the predetermined reference value. The determination condition setting unit 7 holds data for calculating the feature quantity to be determined by the feature quantity determination unit 4. The data used to calculate the feature quantities include trajectory data indicating the shape of the trajectory, reference point position information and dimension information of the moving body 10, motion speed information of the speed reference point 13, mass and moment of inertia information of the entire moving body 10, and position-dependent external force data such as cogging thrust and magnetic attraction force at each point on the trajectory. The judgment condition setting unit 7 outputs the trajectory data, dimension information, and reference point position information to the reference point trajectory calculation unit 1. The judgment condition setting unit 7 also outputs motion speed information of the speed reference point to the reference point position time history calculation unit 2. The judgment condition setting unit 7 also outputs the reference point position information, mass and moment of inertia information, and position-dependent external force data to the acting load calculation unit 3.

[0017] 4 is a flowchart showing a process flow for determining operating conditions of the linear transport system according to embodiment 1. In step S1, the reference point trajectory calculation unit 1 receives trajectory data indicating the shape of the trajectory and reference point position information and dimension information of the moving body 10 as input, and calculates and outputs trajectory data of the reference points and attitude angle data of the moving body 10.

[0018] An example of internal processing of the reference point trajectory calculation unit 1 will be described. FIG. 5 is a diagram showing internal processing of the reference point trajectory calculation unit of the linear conveyance system according to the first embodiment. The trajectory data input to the reference point trajectory calculation unit 1 is XY discrete data of a rail center trajectory 20a that indicates the center of the rail 20 in the width direction. As shown in FIG. 5, with respect to a target point 21, which is any one of the XY discrete data of the rail center trajectory 20a, the front wheel roller rotation center point 11 of the moving body 10 is located on a line perpendicular to the rail center trajectory 20a in the XY plane, and the front wheel roller is in contact with the rail outer end 22. By considering this situation, the XY coordinates of the front wheel roller rotation center point 11 with respect to the target point 21 can be uniquely determined. When considering the above situation, the roller radius r is also used as dimensional information input to the reference point trajectory calculation unit 1.

[0019] Furthermore, by considering the posture of the moving body 10 when the rear wheel rollers of the carriage 10a contact the outer end 22 of the rail, it is possible to uniquely determine the posture angle θ of the carriage 10a corresponding to the XY coordinates of the front wheel roller rotation center point 11. This makes it possible to geometrically uniquely determine the XY coordinates of all reference points, including the velocity reference point 13, with respect to the target point 21.

[0020] By performing the above process for all points of the XY discrete data of the rail center track 20a, the XY discrete data r of the reference point track including the speed reference point 13 is obtained. *i =(X *i ,Y *i ) (i=1···N), and the posture angle θ of the carriage 10a corresponding to the reference point trajectory including the reference point. i (i=1···N) discrete data can be calculated. The reference point trajectory calculation unit 1 outputs reference point trajectory XY data and data on the attitude angle θ of the carriage 10a corresponding to the reference point.

[0021] Furthermore, as long as it is possible to output the reference point trajectory XY data and the data on the posture angle θ of the carriage 10a corresponding to the reference point, there is no need to be limited to the means exemplified here; the trajectory data may be continuous, and the support element for the carriage 10a may be a guide element other than a roller.

[0022] In step S2, the reference point position time history calculation unit 2 receives the reference point trajectory data and carriage 10a attitude angle data output from the reference point trajectory calculation unit 1, and the motion speed information of the speed reference point 13, and calculates the time history of the reference point position.

[0023] An example of internal processing of the reference point position time history calculation unit 2 will be described. Fig. 6 is a diagram showing internal processing of the reference point position time history calculation unit of the linear transport system according to the first embodiment. As shown in Fig. 6, the reference point position time history calculation unit 2 calculates the trajectory XY discrete data r of the velocity reference point 13. vi =(X vi ,Y vi ) when the moving body 10 is at position A, the carriage travel speed V i The reference point position time history calculation unit 2 receives the motion speed information of the speed reference point 13 as input. The reference point position time history calculation unit 2 then calculates the speed reference point 13 when the moving object 10 is at position A and the trajectory XY discrete data r of the speed reference point 13. vi+1 =(X vi+1 ,Y vi+1 When the moving object 10 is at position B, the distance from the velocity reference point 13 is expressed as d i =|r vi+1 -r vi The reference point position time history calculation unit 2 calculates the time required for the moving object 10 to move from position A to position B as ΔT i =d i / V i It is calculated as follows.

[0024] This is the trajectory XY discrete data r of the velocity reference point 13. vi By performing this for all points (i=1...N), the reference point position time history calculation unit 2 obtains the trajectory XY discrete data r of the velocity reference point 13. vi The time t1 t corresponding to each point N Regarding this, t1=0 is set, and t2 and thereafter are calculated using the following formula (1).

[0025]

number

[0026] The reference point position time history calculation unit 2 calculates the time t1...t N Based on the reference point r, the XY discrete data of all the speed reference points 13 *i =(X *i ,Y *i ) (i=1···N) and the posture angle θ of the carriage 10a i Calculate the time history for (i=1···N).

[0027] In step S3, the acting load calculation unit 3 receives as input the time history of the reference point position output by the reference point position time history calculation unit 2, the reference point position information, mass and moment of inertia information of the moving body 10, and position-dependent external force data such as cogging thrust and magnetic attraction force at each point on the trajectory, and calculates the time history of the acting load.

[0028] The internal processing of the applied load calculation unit 3 will be described. First, the applied load calculation unit 3 calculates the time history data r * By numerically differentiating and calculating the first and second derivatives, the translational velocity r' of the point is calculated. * and acceleration r'' * The applied load calculation unit 3 also calculates the angular velocity θ′ and angular acceleration θ″ of the carriage 10a by numerically differentiating the time history data of the attitude angle θ of the carriage 10a and calculating the first and second derivatives.

[0029] An inverse dynamics calculation using the equation of motion of the carriage 10a will be described. Fig. 7 is a diagram showing the internal processing of the acting load calculation unit of the linear transport system according to the first embodiment. The acting load calculation unit 3 calculates the mass m of the moving body 10 and the acceleration r'' of the center of gravity position point 15 of the moving body 10. G (t)=(X′′ G (t),Y′′ G (t)), the applied load F required to realize the orbital movement of the carriage 10a is G (t)=(F XG (t),F YG (t)) is calculated, where F XG (t)=mX′′G (t) and F YG (t)=mY′′ G (t).

[0030] Then, the acting load calculation unit 3 calculates F G By the coordinate transformation of (t), the radial component of the load F G,c By calculating (t), the centrifugal force load acting on the moving body 10 is calculated. G,c (t)=F YG (t)cosθ(t)-F XG (t)sinθ(t).

[0031] In addition, the acting load calculation unit 3 assumes that the rail center track 20a and the thrust center point 14 of the electromagnetic mover always coincide with each other, and calculates the rail track center moment M required to realize the movement of the carriage 10a using the mass m, the moment of inertia J about the center of gravity point 15, and the distance l between the thrust center point 14 and the center of gravity point 15. Z (t) Calculate the rail track center moment M Z (t) is the moment load of the roller guide portion that supports the moving body 10 relative to the rail 20. Here, M Z (t)=(J+ml 2 )θ′′(t).

[0032] F G,c (t) and M Z As shown in each equation (t), the load generated at the connection portion between the straight line and the curve varies depending on the mass m of the movable body 10, the moment of inertia J about the center of gravity position point 15, and the distance l between the thrust center point 14 and the center of gravity position point 15. In this way, in the linear conveying system 100 according to the first embodiment, the load generated at the connection portion between the straight line and the curve varies depending on the operating conditions, and it is possible to quantitatively predict the impact load generated when the movable body 10 passes through the connection portion between the straight line and the curve. Furthermore, in the linear conveying system 100 according to the first embodiment, the operation pattern of the carriage 10a is not limited to a specific pattern, and the moment load of the guide unit can also be taken into consideration.

[0033] Although an example of calculating the applied load considering only dynamic factors has been shown here, more accurate load value prediction is possible by also considering position-dependent external forces such as cogging thrust, magnetic attraction, and friction at each point on the trajectory. For example, by performing an electromagnetic field analysis in advance, data ΔF of position-dependent external forces such as cogging thrust and magnetic attraction, which change depending on the XY coordinates of the thrust center point 14, can be obtained. G,c (t) and F G,c (t)=F YG (t)cosθ(t)-F XG (t)sinθ(t)+ΔF G,c The time history of the applied load can be calculated based on the formula (t).

[0034] Furthermore, the acting load calculation unit 3 may use a trained model generated by machine learning instead of the equation of motion and position-dependent external force data in the process of calculating the acting load from the time history of the reference point position. In this case, the acting load calculation unit 3 is configured to include an inference device.

[0035] 8 is a diagram showing an example of the configuration of an inference device provided in the acting load calculation unit of the linear conveyance system according to Embodiment 1. The inference device 250 includes an inference data acquisition unit 251 and an inference unit 252.

[0036] The inference data acquisition unit 251 acquires the time history of the reference point positions.

[0037] The inference unit 252 infers the acting load using the trained model 241 generated from multiple pieces of training data relating to the time history of the reference point position and the load that actually occurs. That is, by inputting the time history of the reference point position acquired by the inference data acquisition unit 251 into the trained model 241, it is possible to infer the acting load corresponding to the time history of the reference point position.

[0038] Next, a description will be given of the process by which the inference device 250 obtains the acting load using the trained model 241. Fig. 9 is a flowchart of the inference process of the acting load calculation unit of the linear transport system according to the first embodiment.

[0039] In step S31, the inference data acquisition unit 251 acquires the time history of the reference point positions, which is the inference data.

[0040] In step S32, the inference unit 252 inputs the time history of the reference point position into the trained model 241 to obtain the acting load.

[0041] In step S33, the inference unit 252 outputs the acting weight obtained by the trained model 241 to the feature amount determination unit 4.

[0042] When an acting load is predicted using a physical model such as an equation of motion and a position-dependent external force model, an error may occur with respect to the actually occurring load. The trained model 241 is generated from multiple pieces of training data relating to the time history of the reference point position and the actually occurring load, and the acting load calculation unit 3 uses this to calculate the acting load, thereby making it possible to improve the accuracy of the predicted load.

[0043] In step S4, the feature amount determination unit 4 calculates the feature amount from the time history of the applied load output by the applied load calculation unit 3. In step S5, the feature amount determination unit 4 determines whether the feature amount is equal to or less than a preset reference value.

[0044] The maximum value of the applied load can be used as the feature quantity for determining whether it is equal to or less than a reference value in the feature quantity determination unit 4. The reference value can be set to a load value that may cause damage to the mechanical system if the load value occurs instantaneously, or a load value that may cause damage if it occurs repeatedly over a long period of operation, and it can be determined whether the load value is equal to or less than the reference value.

[0045] Furthermore, the feature quantity may be a frequency component obtained by frequency analysis of the time history of the applied load. Fig. 10 is a diagram showing an example of the time history of the moment load of the linear transport system according to the first embodiment. Fig. 11 is a diagram showing an example of the frequency analysis result of the linear transport system according to the first embodiment. The moment load M shown in Fig. 10 ZThe time history of is impulse-like, and when frequency analysis is performed on such an impulse-like time waveform signal, the waveform shown in Figure 11 is obtained. Z The frequency components of the carriage 10a and the object 10b have the natural frequency f res Since there is a possibility that mechanical resonance may occur if the frequency component is included, the feature amount determination unit 4 sets the reference value of the frequency component as shown in FIG. 11 to the natural frequency f res and the moment load M Z The maximum value of the frequency component f max is the natural frequency f res It may be determined whether or not:

[0046] In the process of calculating the feature amount from the time history of the applied load and determining whether the feature amount is equal to or less than the reference value, the determination may be made using a trained model generated from multiple pieces of training data relating to the time history of the reference point position and the determination result of whether the feature amount is equal to or less than the reference value. In this case, the inference device 250 shown in Fig. 8 is provided in the feature amount determination unit 4, and the time history of the applied load is used as inference data and input to the trained model 241 generated from multiple pieces of training data relating to the time history of the reference point position and the determination result of whether the feature amount is equal to or less than the reference value, thereby making it possible to determine whether the feature amount is equal to or less than the reference value.

[0047] If the feature amount is determined to be equal to or less than the reference value in step S5, the answer is Yes in step S5 and the process proceeds to step S6. If the feature amount is determined to be greater than the reference value in step S5, the answer is No in step S5 and the process proceeds to step S7.

[0048] In step S6, the operating condition determination unit 5 determines the determination conditions used to determine the feature amount as the operating conditions for the carriage 10a. After step S6, the process of determining the operating conditions ends.

[0049] In step S7, the judgment condition setting unit 7 changes the reference point position information and the mass and moment of inertia information of the moving body 10. After step S7, the process proceeds to step S1.

[0050] The mass, center of gravity position, and moment of inertia of the movable body 10 are determined based on the mass, center of gravity position, and moment of inertia of the carriage 10a, which includes the rollers, electromagnetic mover, and position detector, and the transported object 10b. Therefore, if it is difficult to change the configuration of the carriage 10a itself, the mass, center of gravity position, and moment of inertia of the movable body 10 can be changed by changing the mass, moment of inertia, center of gravity position, and arrangement of the transported object 10b alone relative to the carriage 10a.

[0051] The linear conveying system 100 according to the first embodiment determines the operating conditions so that the characteristic quantity calculated from the time history of the applied load is equal to or less than a predetermined reference value, and therefore can suppress damage to the mechanical system regardless of the inertia characteristics of the moving body 10, which is the carriage 10a and the conveyed object 10b, and the operating speed pattern of the carriage 10a.

[0052] Embodiment 2 12 is a flowchart showing the flow of processing for determining operating conditions in the linear conveyance system according to embodiment 2. The linear conveyance system 100 according to embodiment 2 differs from the linear conveyance system 100 according to embodiment 1 in that, when the feature amount determination unit 4 determines that the feature amount of the applied load is not equal to or less than a preset reference value, the linear conveyance system 100 changes the operating speed information of the speed reference point 13 without changing the reference point position information, mass, and inertia moment information of the moving body 10.

[0053] The operations from step S1 to step S6 are the same as the processing in which the linear conveyance system 100 according to embodiment 1 determines the operating conditions. In step S8, the judgment condition setting unit 7 changes the operating speed information of the speed reference point 13. After step S8, the processing proceeds to step S1.

[0054] The linear conveyance system 100 according to the second embodiment can determine operating conditions that suppress damage to the mechanical system without changing the configurations of the carriage 10a and the object 10b to be conveyed.

[0055] The linear conveying system 100 according to the second embodiment is not limited to carriage operation speed patterns that keep the centrifugal force constant when passing through a connection between a straight line and a curve in order to prevent the occurrence of impact loads, but can select an operation pattern that keeps the centrifugal force below a reference value. Furthermore, the linear conveying system 100 according to the second embodiment can also determine whether moment loads other than centrifugal force will be below a reference value.

[0056] The following describes the hardware configuration of the control device 30 of the linear conveyance system 100 according to the first and second embodiments. Fig. 13 is a diagram showing the hardware configuration of the control device of the linear conveyance system according to the first and second embodiments. The control device 30 is realized by a computer system including a processor 91 that executes various processes, a memory 92 that is a main memory, and a storage device 93 that stores information.

[0057] The processor 91 may be a computing device such as a calculation device, microprocessor, microcomputer, CPU (Central Processing Unit), or DSP (Digital Signal Processor). The memory 92 may be a non-volatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), or EEPROM (Electrically Erasable Programmable Read Only Memory). The storage device 93 stores programs for setting judgment conditions, determining operating conditions, and controlling the carriage 10a.

[0058] The computer system described above realizes the functions of executing processes for setting judgment conditions, determining operating conditions, and controlling the carriage 10a by having the processor 91 read into the memory 92 programs stored in the storage device 93 and corresponding to the processes of each component, and execute the programs. The memory 92 is also used as a temporary memory for each process executed by the processor 91. The programs executed by the processor 91 may be provided in a state stored in a storage medium, or may be provided via a network.

[0059] The configurations shown in the above embodiments are merely examples of the content, and may be combined with other known technologies, or parts of the configurations may be omitted or modified without departing from the spirit of the invention. [Explanation of symbols]

[0060] 1 Reference point trajectory calculation unit, 2 Reference point position time history calculation unit, 3 Acting load calculation unit, 4 Feature determination unit, 5 Operation condition determination unit, 6 Carriage control unit, 7 Determination condition setting unit, 10 Moving body, 10a Carriage, 10b Transported object, 11 Front wheel roller rotation center point, 12 Rear wheel roller rotation center point, 13 Speed ​​reference point, 14 Thrust center point, 15 Center of gravity position point, 20 Rail, 20a Rail center trajectory, 21 Target point, 22 Rail outer end, 30 Control device, 91 Processor, 92 Memory, 93 Storage device, 100 Linear transport system, 241 Trained model, 250 Inference device, 251 Inference data acquisition unit, 252 Inference unit.

Claims

1. a track including a connection portion between a straight line and a curve; a carriage that moves on the track to transport an object; and a control device that manages the operating conditions of the carriage, The control device a reference point trajectory calculation unit that outputs trajectory data of the reference points and attitude angle data of the carriage based on shape data of the rail track including connecting portions of straight lines and curves, and position information and dimensional information of reference points of a moving body constituted by the carriage and the transported object; a reference point position time history calculation unit that outputs a time history of the position of the reference point based on motion speed information of the speed reference point of the moving body, the trajectory data of the reference point output from the reference point trajectory calculation unit, and the attitude angle data of the carriage; an acting load calculation unit that calculates a time history of an acting load acting on the moving body based on the position information of the reference point, the mass of the moving body, and the moment of inertia information of the moving body, and the time history of the position of the reference point output from the reference point position time history calculation unit; a feature amount determination unit that calculates a feature amount based on the time history of the applied load output from the applied load calculation unit, and determines whether the feature amount is equal to or less than a predetermined reference value; a carriage control unit that operates the carriage under operating conditions under which the characteristic amount is equal to or less than the reference value.

2. The linear conveying system according to claim 1, further comprising a judgment condition setting unit that changes the position information of the reference point, the mass of the moving body, and the moment of inertia information of the moving body when the feature amount exceeds the reference value in the judgment by the feature amount judgment unit.

3. 2. The linear conveyance system according to claim 1, further comprising a judgment condition setting unit that changes the operating speed information of the reference point when the characteristic amount exceeds the reference value in the judgment by the characteristic amount judgment unit.

4. 4. The linear transport system according to claim 1, wherein the applied load calculation unit calculates the time history of the applied load by adding position-dependent external force data.

5. 4. The linear transport system according to claim 1, wherein the characteristic amount is a maximum value of the applied load.

6. 4. The linear transport system according to claim 1, wherein the characteristic amount is a frequency component of the applied load.

7. The linear conveying system according to any one of claims 1 to 3, characterized in that the applied load calculation unit calculates the applied load using a trained model generated from multiple learning data relating to the time history of the reference point position and the actually generated load.

8. The linear conveying system according to any one of claims 1 to 3, characterized in that the feature determination unit determines whether the feature extracted from the applied load is less than or equal to the reference value using a trained model generated from multiple learning data related to the time history of the reference point position and the determination result of whether the feature is less than or equal to the reference value.

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