Transport System

Abstract

The conveyance system (1A) includes a plurality of conveyance bodies, a conveyance path (10) along which the plurality of conveyance bodies travel, and a controller (13) that manages the plurality of conveyance bodies by assigning identification information to each of the plurality of conveyance bodies and controls each of the plurality of conveyance bodies. A reference point (15) that is a reference for the position of each of the plurality of conveyance bodies in a forward direction, which is one of the directions in which each of the plurality of conveyance bodies travels, is set on the conveyance path (10). The controller (13) assigns first identification information, which is a reference for the identification information, to a first conveyance body that is one of the plurality of conveyance bodies that is closest to the reference point (15) in the forward direction, and assigns second identification information, which is identification information subsequent to the first identification information, to each of second conveyance bodies that are other than the first conveyance body among the plurality of conveyance bodies, in the arrangement order of the second conveyance body in the forward direction or the reverse direction opposite to the forward direction.

Description

Technical Field

[0001] The present disclosure relates to a conveying system for conveying objects.

Background Art

[0002] In a production line where factory automation is introduced, for example, a production line for assembling industrial products or a production line for packaging food, a conveying system for conveying workpieces is generally used. In the conveying system, equipment for each of a plurality of processes is installed along the path, and by individually controlling each of a plurality of carts moving along the path, effects such as reduction of the area required for equipment installation, reduction of tact time, and flexibility of equipment design are expected. As one form of the conveying system, there is a so-called moving magnet type linear motor in which magnets are arranged on carts as movers and coils are arranged on stators constituting the conveying path.

[0003] When the conveying system is provided with an individual identification function for the carts so that each of the plurality of carts can be identified by the user of the conveying system, the carts can be specified and made to perform specific operations or specific roles. In this case, it becomes possible to construct a highly functional and highly flexible production line.

[0004] Patent Document 1 discloses a conveying system that detects a specific carrier, which is one of a plurality of carriers, by a detection unit, and assigns identification information to each of the plurality of carriers based on the detected specific carrier. The specific carrier has a convex portion that is not present on each of the other carriers among the plurality of carriers. When the convex portion is detected, the specific carrier is identified. Alternatively, a magnet is attached to the specific carrier, and the specific carrier is identified based on the result of detecting the magnitude of the magnetic field. In this case, the same magnet as the magnet attached to the specific carrier is not attached to each of the other carriers among the plurality of carriers.

Prior Art Documents

Patent Documents

[0005] [Patent Document 1] Japanese Patent Publication No. 2021-160842 [Overview of the Initiative] [Problems that the invention aims to solve]

[0006] In the transport system disclosed in Patent Document 1, it is necessary to prepare different types of transport bodies: some have a protrusion or magnet, which is a characteristic structure for identification, and others do not. Furthermore, the transport system disclosed in Patent Document 1 requires the installation of a detection unit to detect these structures. Because it is necessary to prepare multiple types of transport bodies by providing structures to distinguish them, the transport system disclosed in Patent Document 1 suffers from the problem of a complex system configuration and increased manufacturing costs.

[0007] This disclosure has been made in view of the above, and aims to provide a transport system that enables the identification of each of multiple transport bodies with a simple configuration. [Means for solving the problem]

[0008] To solve the aforementioned problems and achieve the objectives, the transport system according to this disclosure comprises: a plurality of transport bodies; a transport path on which the plurality of transport bodies travel; and a controller that manages the plurality of transport bodies by assigning identification information to each of the plurality of transport bodies and controls each of the plurality of transport bodies. It is a transport system.A reference point is set in the transport path, which is the reference point for the position in the forward direction, one of the directions in which multiple transport bodies are moved. The controller assigns a first identification information, which is the reference for identification information, to the first transport body, which is the one of the multiple transport bodies that is closest to the reference point in the forward direction, and assigns a second identification information, which is identification information that follows the first identification information, to each of the second transport bodies other than the first transport body, in the order in which the second transport bodies are arranged in the forward direction or the reverse direction. Each of the multiple transporters is assigned a unique individual identifier. The controller maintains the identification information assigned to each of the multiple transporters, linking it to the individual identifier, and assigns the identification information linked to the individual identifier of the first transporter to the first transporter as the first identification information when the transport system is started. [Effects of the Invention]

[0009] The transport system described herein has the effect of enabling the identification of each of multiple transported objects with a simple configuration. [Brief explanation of the drawing]

[0010] [Figure 1] This figure shows an example of the configuration of the transport system according to Embodiment 1. [Figure 2] This figure shows an example of a guide rail and a position detection unit provided in the transport system according to Embodiment 1. [Figure 3] This figure shows an example of the configuration of the transport system according to Embodiment 2. [Figure 4] This figure shows an example configuration of the transport system according to Embodiment 3. [Figure 5] This figure shows an example of the configuration of the transport system according to Embodiment 4. [Figure 6] This figure shows an example of the configuration of the transport system according to Embodiment 5. [Figure 7] This figure shows an example of the configuration of a learning device provided in the transport system according to Embodiment 5. [Figure 8] A diagram illustrating the data preprocessing in the preprocessing unit provided in the learning device according to Embodiment 5. [Figure 9] This figure shows an example of the configuration of the neural network used for learning in the learning device according to Embodiment 5. [Figure 10]Flowchart showing the learning process by the learning device according to Embodiment 5 [Figure 11] Diagram showing a configuration example of the remaining life estimation device provided in the transport system according to Embodiment 5 [Figure 12] Flowchart showing the inference process by the remaining life estimation device according to Embodiment 5 [Figure 13] Diagram showing a configuration example of the control circuit according to Embodiments 1 to 5 [Figure 14] Diagram showing a configuration example of the dedicated hardware circuit according to Embodiments 1 to 5

Embodiments for Carrying out the Invention

[0011] Hereinafter, the transport system according to the embodiment will be described in detail based on the drawings.

[0012] Embodiment 1. FIG. 1 is a diagram showing a configuration example of a transport system 1A according to Embodiment 1. The transport system 1A is a system used for transporting an object. In Embodiment 1, the transport system 1A transports an object by moving a carrier on which the object is placed.

[0013] The transport system 1A includes a plurality of carts 11a - 11f, a transport path 10 which is a path along which the plurality of carts 11a - 11f move, and a controller 13. Each of the plurality of carts 11a - 11f is a carrier. In the following description, the cart 11 refers to each of the carts 11a - 11f without distinction.

[0014] The transport path 10 is composed of a plurality of transport path units 12a - 12n. The plurality of transport path units 12a - 12n are connected to each other to form one transport path 10. The plurality of transport path units 12a - 12n move each of the carts 11a - 11f by applying a thrust to the carts 11a - 11f. In the following description, the transport path unit 12 refers to each of the transport path units 12a - 12n without distinction.

[0015] The transport path 10 shown in Figure 1 is a circular path. That is, the transport path 10 shown in Figure 1 is a closed path. The transport path 10 of the transport system 1A may also be an open path. That is, the transport path 10 of the transport system 1A may be a path with a start point and an end point that are far apart from each other.

[0016] The transport path 10 shown in Figure 1 is an oval-shaped path that includes both straight and curved paths. Transport path units 12a, 12b, 12g, 12h, 12i, and 12n are straight transport path units 12 that constitute the straight paths. Transport path units 12c, 12d, 12e, 12f, 12j, 12k, 12l, and 12m are curved transport path units 12 that constitute the curved paths and change the direction of travel of the transported object. The transport path 10 may also consist only of transport path units 12 that constitute the curved paths, without any transport path units 12 that constitute the straight paths. A transport path 10 with a start point and an end point that are far apart from each other may consist only of transport path units 12 that constitute the straight paths. The overall shape of the transport path 10 is arbitrary.

[0017] The transport system 1A according to Embodiment 1 is equipped with a moving magnet type linear motor. Each trolley 11 is equipped with a permanent magnet 17 that constitutes a movable element. Each transport path unit 12 is equipped with a plurality of coils and a plurality of inverters. The inverter is equipped with a switching element and supplies power to the coil after power conversion by switching of the switching element. When current flows through the coil, the coil generates thrust that moves the transported object through interaction with the magnetic field generated by the permanent magnet 17. The coils and inverters are not shown in the illustration.

[0018] The controller 13 is connected to each transport path unit 12 via a data communication line 14. The data communication line 14 consists of a line connecting one of the multiple transport path units 12, namely transport path unit 12a, to the controller 13, and lines connecting adjacent transport path units 12 to each other. The transport system 1A may also have multiple data communication lines 14, and each transport path unit 12 and the controller 13 may be directly connected via the data communication lines 14.

[0019] The controller 13 outputs drive commands to each transport path unit 12 via the data communication line 14. The drive command includes a command value for the current to flow through each coil of the transport path unit 12. Each transport path unit 12 controls the current flowing through each coil according to the command value included in the coil drive command. The controller 13 controls each of the multiple trolleys 11 individually by outputting drive commands to each transport path unit 12.

[0020] The direction of travel for each trolley 11 is either clockwise or counterclockwise in Figure 1. The counterclockwise direction in Figure 1 is considered the forward direction, and the clockwise direction in Figure 1 is considered the reverse direction. The arrow 16 shown in Figure 1 represents the forward direction. The controller 13 can individually control the forward and reverse movement of each trolley 11. The controller 13 can also individually control the stopping position of each trolley 11, as well as the speed of each trolley 11. Here, the counterclockwise direction in Figure 1 is considered the forward direction, but the clockwise direction in Figure 1 may also be considered the forward direction. The direction designated as the forward direction is arbitrary.

[0021] In the example shown in Figure 1, the transport system 1A comprises six trolleys 11 and fourteen transport path units 12. The number of trolleys 11 provided in the transport system 1A is arbitrary. The transport system 1A only needs to have multiple trolleys 11. Also, the number of transport path units 12 that constitute the transport path 10 is arbitrary.

[0022] Figure 2 shows an example of a guide rail 18 and a position detection unit 19 provided in the transport system 1A according to Embodiment 1. Guide rails 18 are provided on the side of the transport path 10 to guide the movement of each trolley 11. Each trolley 11 is attached to the side of the transport path 10 via the guide rails 18. The trolleys 11 move along the guide rails 18 on the side of the transport path 10 and stop on the side of the transport path 10. In Figure 2, three of the six trolleys 11 shown in Figure 1 are shown, and the other three are not shown. In the above description, the trolleys 11 are attached to the side of the transport path 10, but the trolleys 11 may also be attached to the top or bottom surface of the transport path 10.

[0023] The position detection unit 19 detects the position of each of the multiple trolleys 11 on the transport path 10. The position detection unit 19 is mounted on the upper surface of the transport path 10. The position detection unit 19 is, for example, a linear scale equipped with multiple position sensors. The position sensors are sensors that detect magnetic fields, such as Hall sensors or magnetoresistive sensors. Each position sensor detects the magnetic field of a permanent magnet 17 provided on the trolley 11. The trolley 11 may be equipped with permanent magnets 17 that constitute the movable element of a linear motor and permanent magnets for the linear scale. Each position sensor may also detect the magnetic field of a permanent magnet for the linear scale provided on the trolley 11.

[0024] The controller 13 acquires the detection results from the position detection unit 19. Based on the detection results from the position detection unit 19, the controller 13 controls each trolley 11 while confirming the position of each trolley 11. The position detection unit 19 does not need to be a linear scale and only needs to be capable of detecting the position of each of the multiple trolleys 11. In addition, although the position detection unit 19 is assumed to be mounted on the upper surface of the transport path 10 in the above description, the position detection unit 19 may be mounted on a surface other than the upper surface of the transport path 10.

[0025] A reference point 15 is set in the transport path 10, which is the reference point for the position in the forward direction, one of the directions in which each of the multiple trolleys 11 moves. In the example shown in Figure 1, the reference point 15 is set at the boundary between transport path unit 12a and transport path unit 12n. However, the reference point 15 is not limited to the boundary between transport path unit 12a and transport path unit 12n. The reference point 15 can be set at any position in the transport path 10.

[0026] Next, the process of assigning identification information to each of the multiple carts 11 will be described. The transport system 1A starts up, for example, when the production line starts up, and stops operating when the production line stops. When the transport system 1A starts up, the controller 13 executes the process of assigning identification information to each of the multiple carts 11. The controller 13 manages the multiple carts 11 by assigning identification information to each of the multiple carts 11, and also controls each of the multiple carts 11. As a result, while the transport system 1A is in operation, each cart 11 moving on the transport path 10 is associated with unique identification information. The transport system 1A identifies each of the multiple carts 11 based on the identification information and controls each of the multiple carts 11 individually. Specifically, managing multiple carts 11 means associating each cart 11 present on the transport path 10 with a driving pattern specified by the user. The driving pattern is a pattern of the movement of the cart 11.

[0027] When the power to the transport system 1A is turned off and the transport system 1A stops operating, the association between each of the multiple carts 11 and their identification information is lost. When the transport system 1A starts up again after stopping, it performs the process of assigning identification information to each of the multiple carts 11 once more.

[0028] The controller 13 assigns the first identification information, which is the basis for the identification information, to the first transporter, which is the one of the multiple transporters that is closest to the reference point 15 in the forward direction. The controller 13 also assigns the second identification information, which is the identification information that follows the first identification information, to each of the second transporters, which are transporters other than the first transporter, in the order of the second transporters in the forward direction.

[0029] When the transport system 1A is in the state shown in Figure 1, the first transport body, which is the trolley 11 closest to the reference point 15 in the forward direction indicated by arrow 16, is trolley 11a. The other trolleys 11b, 11c, 11d, 11e, and 11f are each second transport bodies.

[0030] In Embodiment 1, the identification information is a number. The first identification information is a predetermined number. The second identification information is a number that follows the first identification information in ascending or descending order. Here, the first identification information is a predetermined number, "N". The second identification information is a number that follows "N" in ascending order, such as "N+1", "N+2", ... "N" is any integer. By using a number that follows the first identification information in ascending or descending order as the second identification information, the transport system 1A can assign identification information to each trolley 11 that represents the arrangement order of multiple trolleys 11 in the direction of travel of each trolley 11.

[0031] In the process of assigning identification information to each of the multiple carts 11, the transport system 1A first detects the position of each cart 11 using the position detection unit 19. If the position detection unit 19 is a linear scale as described above, the position detection unit 19 transmits information to the controller 13 indicating whether or not a cart 11 has been detected by each position sensor. The controller 13 determines the position of each of the multiple carts 11 based on the information from the position detection unit 19. The transport system 1A may also detect the position of each cart 11 by a method other than the one described above. For example, the position detection unit 19 may determine the position of each cart 11 based on the detection results of each position sensor and transmit position information indicating the position of each cart 11 to the controller 13.

[0032] The controller 13 identifies the first transported cart 11 by comparing the position of each cart 11 detected by the position detection unit 19 with a reference point 15. In other words, the controller 13 identifies the first transported cart 11 based on the detection results from the position detection unit 19. When the transport system 1A is in the state shown in Figure 1, the controller 13 identifies the cart 11a on the transport path unit 12b as the first transported cart. The controller 13 associates the first identification information, "N", with the first transported cart 11a. In this way, the controller 13 identifies the first transported cart and assigns the first identification information to the first transported cart.

[0033] Next, the controller 13 assigns a second set of identification information, which consists of numbers that proceed in ascending order starting with "N", to each of the second transporter units, the trolleys 11b-11f, in the order of their arrangement. Specifically, it assigns "N+1", "N+2", "N+3", "N+4", and "N+5" to trolleys 11b, 11c, 11d, 11e, and 11f, respectively. As a result, the controller 13 associates the second set of identification information, "N+1", with trolley 11b. The controller 13 associates the second set of identification information, "N+2", with trolley 11c. The controller 13 associates the second set of identification information, "N+3", with trolley 11d. The controller 13 associates the second set of identification information, "N+4", with trolley 11e. The controller 13 associates the bogie 11f with the second identification information, "N+5".

[0034] The controller 13 assigns the first identification information to the first transport body in this manner, and assigns the second identification information to each of the second transport bodies in the order of their arrangement in the forward direction. If the second identification information consists of numbers that continue in descending order starting from "N", then each of the second transport bodies will be assigned a number such as "N-1", "N-2", ... in the order of their arrangement in the forward direction. Whether the second identification information consists of ascending or descending numbers will be standardized each time the transport system 1A is started.

[0035] When the controller 13 assigns the second identification information, which is identification information that follows the first identification information, to each of the second transporters, which are transporters other than the first transporter among the multiple transporters, it may assign the second identification information in the order in which the second transporters are arranged in the reverse direction, opposite to the forward direction. The controller 13 may have a setting in advance to determine whether the assignment of the second identification information to each of the second transporters is in the order in which the second transporters are arranged in the forward direction or in the order in which the second transporters are arranged in the reverse direction.

[0036] The transport path 10 shown in Figure 1 is a closed path with no branches. In such a transport path 10, the arrangement order of the multiple trolleys 11 in the direction of travel of each trolley 11 does not change while the transport system 1A continues to operate. Therefore, each trolley 11 moving along the transport path 10 can be accurately identified by the identification information assigned to each trolley 11 when the transport system 1A is started.

[0037] According to Embodiment 1, the transport system 1A sets a reference point 15 on the transport path 10 and assigns a first identification information, which is the reference for identification information, to the first transport body, which is the one of the multiple trolleys 11 that is closest to the reference point 15 in the forward direction. The transport system 1A assigns a second identification information, which is identification information that follows the first identification information, to each of the second transport bodies, which are transport bodies other than the first transport body among the multiple trolleys 11, in the order of the arrangement of the second transport bodies in the forward or reverse direction. As a result, the transport system 1A can associate unique identification information with each of the multiple trolleys 11 and can identify each of the multiple trolleys 11 based on the identification information. The transport system 1A can identify each of the multiple trolleys 11 without having to prepare trolleys 11 that are equipped with structures that serve as features for identification and trolleys 11 that are not equipped with such structures. Furthermore, the transport system 1A according to Embodiment 1 does not require the installation of a detection unit for identifying the trolleys 11, which is a separate detection unit from the position detection unit 19 that performs position detection for controlling each trolley 11.

[0038] As a result, the transport system 1A has the effect of enabling the identification of each of multiple transported objects with a simple configuration. By making the transport system 1A possible with a simple configuration, it is possible to prevent the manufacturing cost of the transport system 1A from increasing.

[0039] Embodiment 2. In Embodiment 1, the first identification information assigned to the first transporter was a predetermined number. Embodiment 2 describes an example in which any number can be set as the first identification information.

[0040] Figure 3 shows an example of the configuration of the transport system 1B according to Embodiment 2. The transport system 1B has the same configuration as the transport system 1A shown in Figure 1, plus an input device 21. In Embodiment 2, the same reference numerals are used for the same components as in Embodiment 1, and the configuration that differs from Embodiment 1 will be described mainly.

[0041] The input device 21 is connected to the controller 13. The input device 21 receives a number to be set as the first identification information. The input device 21 is an input device operated by the user of the transport system 1B. The input device 21 includes, for example, a keyboard, mouse, keypad, or touch panel. The input device 21 transmits the entered number to the controller 13. The controller 13 receives the number transmitted from the input device 21 and sets the received number as the first identification information.

[0042] The user inputs an arbitrary integer into the input device 21. Here, the number input into the input device 21 is referred to as "M". The controller 13 identifies the trolley 11, which is the first transported object, in the same manner as in Embodiment 1. The controller 13 associates the identified trolley 11 with the first identification information, "M". In this way, the controller 13 assigns the first identification information, "M", to the trolley 11, which is the first transported object.

[0043] Next, the controller 13 assigns second identification information to each of the second transporters, which are the trolleys 11. In Embodiment 2, the second identification information is a number that follows in ascending or descending order from the number set in the first identification information. Here, the second identification information is a number that follows in ascending order from "M", such as "M+1", "M+2", ... The controller 13 assigns the number that follows in ascending order from "M" to each of the second transporters, which are the trolleys 11, in the order in which the trolleys 11 are arranged.

[0044] In this manner, the controller 13 assigns a first identification information, which is an arbitrary number, to the first transporter, and assigns a second identification information to each of the second transporters in the order of the second transporters in the forward or reverse direction. For example, suppose the transport system 1B is equipped with six carts 11, and the numbers "1", "2", "3", "4", "5", and "6" are assigned to each cart 11. If the number entered into the input device 21 is "5", then ascending order from "5" is "6", "1", "2", "3", and "4". In other words, in ascending order, after the largest number among the multiple numbers, it returns to the smallest number among the multiple numbers.

[0045] If the second identification information consists of numbers that proceed in descending order starting with "M", then each of the second carriers is assigned a number such as "M-1", "M-2", ... in the order of the second carriers' arrangement in the forward or reverse direction. In the case of descending order, the number after the smallest number among the multiple numbers returns to the largest number among the multiple numbers.

[0046] For example, at startup, the user visually identifies the trolley 11 that is closest to the reference point 15 in the forward direction among the multiple trolleys 11, i.e., the trolley 11 that is the first transported object. The user determines the number that was assigned to the trolley 11 in the previous operation of the transport system 1B and inputs the same number into the input device 21. This allows the transport system 1B to assign the same identification information to each of the multiple trolleys 11 as it did in the previous operation. In this case, even if the trolley 11 that is the first transported object changes each time the transport system 1B is started, the transport system 1B can assign the same identification information to each of the multiple trolleys 11 in each operation.

[0047] Alternatively, if multiple trolleys 11 of different types are included, and the trolleys 11 of each type are arranged in a predetermined pattern, the input number may be predetermined for each type. The user inputs a number corresponding to the type of the first transported trolley 11 into the input device 21. The transport system 1B allows for the input of any number, enabling a high degree of freedom in assigning numbers to each trolley 11.

[0048] According to Embodiment 2, the transport system 1B can assign numbers to each trolley 11 with a high degree of freedom when the number set in the first identification information is input to the input device 21.

[0049] Embodiment 3. In one embodiment of Embodiment 2, an example was described in which the user confirms the first transporter, a trolley 11, and inputs the same identification information that was assigned to the trolley 11 in the previous operation, thereby assigning the same identification information to each of the multiple trolleys 11 in each operation. Embodiment 3 describes an example in which the same identification information that was assigned to the first transporter in the previous operation is automatically assigned to the first transporter.

[0050] Figure 4 shows an example of the configuration of the transport system 1C according to Embodiment 3. The transport system 1C has the same configuration as the transport system 1A shown in Figure 1, plus a reading device 22. In Embodiment 3, the same reference numerals are used for components that are the same as those in Embodiment 1 or 2, and the configuration that differs from Embodiment 1 or 2 will be described in detail.

[0051] In Embodiment 3, each of the multiple trolleys 11 is assigned a unique individual identifier 26. The controller 13 stores the identification information assigned to each of the multiple trolleys 11, linked to the individual identifier 26. When the transport system 1C is started, the controller 13 assigns the identification information linked to the individual identifier 26 of the first transport body as the first identification information to the first transport body.

[0052] The individual identifier 26 is, for example, an identifier such as a barcode or a two-dimensional code, or an RFID (Radio Frequency Identification) tag. If the individual identifier 26 is a barcode or a two-dimensional code, the reader 22 is an optical device such as an optical reader or a camera. If the individual identifier 26 is an RFID tag, the reader 22 is an RFID reader.

[0053] The reading device 22 is connected to the controller 13. The reading device 22 reads the individual identifier 26 assigned to the first transporter and transmits the read individual identifier 26 to the controller 13. As a result, the controller 13 obtains the read individual identifier 26.

[0054] In the example shown in Figure 4, the reading device 22 is assumed to be an optical reading device. The optical reading device obtains an identifier by irradiating light and reading the reflected light. In Figure 4, the way light is emitted from the reading device 22 is shown by a dashed line. The reading device 22 reads the individual identifier 26 of the trolley 11 that has entered the detection range of the reading device 22. The detection range is the range in which the reading device 22 can read the individual identifier 26 and approximately coincides with the range in which light is emitted from the reading device 22. In the example shown in Figure 4, the reading device 22 is positioned facing the side of the transport path 10 and emits light toward the side of the transport path 10. In the example shown in Figure 4, the individual identifier 26 is located on the side of the trolley 11 opposite to the side facing the transport path 10.

[0055] In the example shown in Figure 4, the reference point 15 is located within the transport path unit 12b. The reading device 22 is positioned opposite the transport path unit 12b. Thus, in the example shown in Figure 4, the reference point 15 is set according to the position of the reading device 22.

[0056] The transport system 1C maintains an identification information table in which individual identifiers 26 and identification information are linked to each other. In the example shown in Figure 4, the identification information table is stored in the internal memory 23 of the controller 13. Memory 23 is non-volatile memory. The individual identifier 26 is, for example, a unique number for each trolley 11. The identification information number may match the number of the individual identifier 26, or it may be different from the number of the individual identifier 26.

[0057] In the process of assigning identification information to each of the multiple trolleys 11, first, the transport system 1C detects the position of each trolley 11 using the position detection unit 19. If the first transport body, which is the trolley 11 closest to the reference point 15 in the forward direction, is within the detection range of the reading device 22, the reading device 22 reads the individual identifier 26 of that trolley 11. If the trolley 11 closest to the reference point 15 in the forward direction is outside the detection range of the reading device 22, the controller 13 moves each trolley 11 in the forward direction until the trolley 11 reaches the detection range of the reading device 22. The reading device 22 reads the individual identifier 26 of the trolley 11 that has reached the detection range of the reading device 22.

[0058] If the reading device 22 is located far from the reference point 15, and a second transporter exists between the first transporter closest to the reference point 15 and the reading device 22, the reading device 22 may mistakenly read the individual identifier 26 of the second transporter. In Embodiment 3, the reference point 15 is set to match the position of the reading device 22, thereby preventing the reading device 22 from mistakenly reading the individual identifier 26 of the second transporter.

[0059] When the controller 13 reads the individual identifier 26 of the first transporter, the trolley 11, it reads the identification information associated with the same individual identifier 26 as the read individual identifier 26 from the identification information table. The controller 13 assigns the read identification information to the first transporter, the trolley 11. Subsequently, the controller 13, as in the first embodiment, assigns the identification information that follows in ascending order from the identification information assigned to the first transporter, the trolley 11, or the identification information that follows in descending order from the identification information assigned to the first transporter, the trolley 11, to each of the second transporters, the trolleys 11.

[0060] In this way, the controller 13 assigns first identification information to the first transporter and second identification information to each of the second transporters. This allows the controller 13 to assign the same identification information to each of the multiple trolleys 11 in each operation.

[0061] In the above description, the individual identifier 26 is provided on one surface of the trolley 11, but the individual identifier 26 may be provided on each of two or more surfaces of the trolley 11. For example, the individual identifier 26 is provided on at least two of the top, side, and bottom surfaces of the trolley 11. By providing the individual identifier 26 on multiple surfaces, the degree of freedom of position and orientation of the reading device 22 when the reading device 22 is in a state where it can read the individual identifier 26 can be improved.

[0062] In the above explanation, the identification information table is stored in the internal memory 23 of the controller 13, but the identification information table may also be stored in non-volatile memory, which is an external storage device of the controller 13. In this case, the controller 13 obtains the identification information associated with the same individual identifier 26 as the individual identifier 26 read by the reading device 22 from the identification information table stored in the external storage device.

[0063] According to Embodiment 3, the transport system 1C stores identification information assigned to each of the multiple transport bodies, linked to an individual identifier 26. When the transport system 1C is started, the transport system 1C assigns the identification information linked to the individual identifier 26 of the first transport body as the first identification information to the first transport body. The transport system 1C automatically assigns the same identification information to the first transport body as the identification information assigned to the first transport body in the previous operation. As a result, the transport system 1C can automatically assign the same identification information to each of the multiple carts 11 in each operation. Although the transport bodies involved in the transport system 1C are equipped with individual identifiers 26, since all transport bodies in the transport system 1C are equipped with individual identifiers 26, there is no need to distinguish and prepare carts 11 with different configurations. Therefore, the transport system 1C can have a simple configuration, and the manufacturing cost of the transport system 1C can be prevented from increasing.

[0064] Embodiment 4. Embodiment 3 describes an example in which the same identification information that was assigned to the first transporter in the previous operation is automatically assigned to the first transporter. Embodiment 4 describes another example in which the same identification information that was assigned to the first transporter in the previous operation is automatically assigned to the first transporter.

[0065] Figure 5 shows an example of the configuration of the transport system 1D according to Embodiment 4. The transport system 1D has the same configuration as the transport system 1A shown in Figure 1. In Embodiment 4, the same reference numerals are used for components that are the same as those in Embodiments 1 to 3, and the configuration that differs from Embodiments 1 to 3 will be described in detail.

[0066] In Embodiment 4, the controller 13 periodically stores position information indicating the position of each of the multiple trolleys 11 in the transport path 10, linked to identification information assigned to each of the multiple trolleys 11, in the memory 23. When the transport system 1D is started, the controller 13 acquires startup position information indicating the position of each of the multiple trolleys 11 at startup. The controller 13 reads the latest position information, which is the most recent position information stored in the memory 23 prior to startup, from the memory 23. The controller 13 compares the latest position information with the startup position information. Through this comparison, the controller 13 identifies, for each of the multiple trolleys 11 at startup, the trolley 11 whose position shown in the latest position information is closest to the position shown in the startup position information along the transport path 10. The controller 13 assigns the identification information linked to the latest position information of the identified trolley 11 to each of the multiple trolleys 11 at startup.

[0067] For example, suppose the transport system 1D is restarted if the power to the transport system 1D is cut off due to an unexpected alarm. During the restart, the controller 13 obtains the startup position information of each of the multiple carts 11 using the position detection unit 19. The controller 13 reads the latest position information of each cart 11 from the memory 23. Next, the controller 13 compares the startup position information with the latest position information and assigns the identification information associated with the latest position information to the cart 11 that is closest to the position indicated by the latest position information. The controller 13 assigns the identification information to each of the multiple carts 11.

[0068] In Embodiment 3 described above, the controller 13 moves each cart 11 in the forward direction and assigns identification information to each of the multiple carts 11 when the cart 11 closest to the reference point 15 is outside the detection range of the reading device 22. In contrast, in Embodiment 4, the controller 13 can assign identification information to each of the multiple carts 11 without moving each cart 11. Therefore, according to Embodiment 4, identification information can be assigned to each of the multiple carts 11 quickly and automatically at startup.

[0069] In the above description, location information and identification information are stored in the internal memory 23 of the controller 13. However, the transport system 1D may also store location information and identification information in a non-volatile memory, which is an external storage device of the controller 13.

[0070] According to Embodiment 4, the transport system 1D periodically stores location information linked to identification information. The transport system 1D identifies the trolley 11 whose location shown in the latest location information is closest to the location shown in the startup location information along the transport path 10 for each of the multiple trolleys 11, and assigns the identification information linked to the latest location information of the identified trolley 11 to each of the multiple trolleys 11. This allows the transport system 1D to automatically assign the same identification information to each of the multiple trolleys 11 in each operation.

[0071] Embodiment 5. Embodiment 5 describes a method for estimating the remaining lifespan of each of the multiple trolleys 11 and swapping the identification numbers of the trolleys 11 based on the estimated remaining lifespan. Embodiment 5 also describes an example of applying machine learning to the estimation of remaining lifespan.

[0072] In the transport system 1A-1D according to embodiments 1 to 4, since each trolley 11 is moved in a different manner, the load on each trolley 11 varies. For example, the longer the cumulative time spent moving the trolley 11, the greater the load on the trolley 11. Also, the more frequently the acceleration is changed, or the more abrupt the acceleration changes, the greater the load on the trolley 11.

[0073] An imbalance in the load on each trolley 11 results in differences in the remaining lifespan of each trolley 11. Remaining lifespan refers to the period until maintenance is performed on the trolley 11. Maintenance includes repairing the trolley 11 and replacing the trolley 11. The greater the variation in the remaining lifespans of the multiple trolleys 11 in the transport system 1A-1D, the more frequently the transport system 1A-1D will need to be stopped for trolley 11 maintenance, thus hindering the operational efficiency of the transport system 1A-1D. To solve this problem, in Embodiment 5, the remaining lifespan of each of the multiple trolleys 11 is estimated, and the identification numbers are swapped so that the remaining lifespans of the trolleys 11 become uniform.

[0074] Figure 6 shows an example of the configuration of the transport system 1E according to Embodiment 5. In addition to the same configuration as the transport system 1A shown in Figure 1, the transport system 1E includes a lifetime estimation device 24 and a learning device 25. In Embodiment 5, the same reference numerals are used for components that are the same as those in Embodiments 1 to 4, and the configuration that differs from Embodiments 1 to 4 will be described in detail.

[0075] The lifespan estimation device 24 is connected to the controller 13. The lifespan estimation device 24 estimates the remaining lifespan for each of the multiple trolleys 11. The learning device 25 is connected to the lifespan estimation device 24. The learning device 25 learns the relationship between operating status data and operating history data and the remaining lifespan. Details of the operating status data and operating history data will be described later. Based on the learning results from the learning device 25, the lifespan estimation device 24 estimates the remaining lifespan.

[0076] The controller 13 swaps the identification information assigned to each of the multiple bogies 11 based on the estimated remaining lifespan for each of the multiple bogies 11. By swapping the identification information assigned to each of the multiple bogies 11, the controller 13 makes adjustments to equalize the future remaining lifespan for each of the multiple bogies 11.

[0077] Figure 7 shows an example of the configuration of a learning device 25 provided in the transport system 1E according to Embodiment 5. The learning device 25 comprises a preprocessing unit 31, a data acquisition unit 32, a model generation unit 33, and a learned model storage unit 34.

[0078] The preprocessing unit 31 performs preprocessing of the data to be input to the learning device 25. The preprocessing unit 31 receives operating status data for each trolley 11, operating history data for each trolley 11, and maintenance information for each trolley 11.

[0079] The operational status data is data that indicates the manner in which the trolley 11 moves. The operational status data includes various data such as the weight of the jig attached to the trolley 11, the weight of the workpiece placed on the trolley 11, the frequency of acceleration, the frequency of deceleration, the thrust during acceleration, the thrust during deceleration, the moving speed, the vibration frequency of the trolley 11, or the magnitude of the vibration of the trolley 11. The operational status data includes, for example, data acquired when the trolley 11 is actually moved. The data that can be included in the operational status data is not limited to the examples given here, as long as it is related to the manner in which the trolley 11 moves.

[0080] The operating status data may be a single numerical value, such as a numerical value indicating the weight of the workpiece, or it may be time-series data. Time-series data is, for example, a series of values ​​obtained by sampling values ​​that change over time at a certain period, such as data on the movement speed of the trolley 11.

[0081] The operation history data is data that shows the history of the operation of the trolley 11. The operation history data includes various data such as the cumulative operating time of the trolley 11, the cumulative distance traveled by the trolley 11, or the cumulative number of times the trolley 11 has crossed the guides provided on the transport path 10. The data that can be included in the operation history data is not limited to the examples given here, as it is data related to the history of the movement of the trolley 11.

[0082] Operating status data or operating history data is stored, for example, in non-volatile memory within the controller 13. (Illustration of non-volatile memory is omitted.) The pre-processing unit 31 reads the operating status data or operating history data from the non-volatile memory. The operating status data or operating history data may also be stored in non-volatile memory, which is an external storage device of the controller 13.

[0083] Maintenance information is data that shows the maintenance history of the trolley 11. Maintenance information is recorded, for example, by the worker performing the maintenance. Maintenance information includes data on the date and time the maintenance of the trolley 11 was performed, and information indicating the details of the maintenance.

[0084] Figure 8 is a diagram illustrating the data preprocessing in the preprocessing unit 31 provided in the learning device 25 according to Embodiment 5. The preprocessing unit 31 collects operational status data and operational history data for a period preceding the date and time indicated in the maintenance information. The preprocessing unit 31 divides the period preceding the date and time indicated in the maintenance information into multiple periods and classifies the collected operational status data and the collected operational history data according to each period.

[0085] The horizontal axis in Figure 8 represents the remaining lifespan in time. t0 is defined as the time when maintenance is performed, i.e., when the trolley 11 reaches the end of its lifespan. t4 is defined as the time when the trolley 11 is put into use in the transport system 1E. In the example shown in Figure 8, the pre-processing unit 31 divides the period from t4 to t0 into four periods, T1-T4, and classifies the collected operating status data and collected operating history data into data for each period. T1 is the period from t4 to t3. T2 is the period from t3 to t2. T3 is the period from t2 to t1. T4 is the period from t1 to t0. The pre-processing unit 31 generates remaining lifespan data corresponding to each classified data. The remaining lifespan data is data indicating the time remaining until the trolley 11 reaches the end of its lifespan. The remaining lifespan data is, for example, data indicating the classification of the period. The remaining lifespan data generated by the pre-processing unit 31 shows the remaining lifespan calculated based on the actual lifespan of the trolley 11.

[0086] The preprocessing unit 31 creates a dataset consisting of a set of state variables, which include operating state data and operating history data, and remaining lifespan data. The data acquisition unit 32 acquires the training data 35, which is the dataset created by the preprocessing unit 31. The training data 35 is data that associates the operating state data, operating history data, and remaining lifespan data with each other. In this way, the data acquisition unit 32 acquires the training data 35, which includes operating state data, which is data indicating the manner in which the trolley 11 moves; operating history data, which is data indicating the history of operation of the trolley 11; and remaining lifespan data, which indicates the remaining lifespan calculated based on the actual lifespan of the trolley 11. The data acquisition unit 32 outputs the acquired training data 35 to the model generation unit 33.

[0087] The model generation unit 33 generates a trained model 36 for inferring the remaining lifespan from the operating status data and operating history data, based on the training data 35. The model generation unit 33 generates the trained model 36 by learning the relationship between the operating status data, operating history data and the remaining lifespan data. The trained model 36 is stored in the trained model storage unit 34.

[0088] The model generation unit 33 can use any known learning algorithm, such as supervised learning, unsupervised learning, or reinforcement learning. As an example, we will describe the case where a neural network is applied.

[0089] The model generation unit 33 learns the relationship between operating status data, operating history data, and remaining lifespan data through so-called supervised learning, following, for example, a neural network model. Here, supervised learning is a method in which a pair of input and result data is provided to the learning device 25, thereby learning the features in the training data 35 and inferring the result from the input.

[0090] The training data 35 includes inputs and labels that correspond to the inputs. Operating status data and operating history data are inputs. Remaining lifespan data is training data and corresponds to labels. The neural network consists of an input layer made up of multiple neurons, a hidden layer which is an intermediate layer made up of multiple neurons, and an output layer made up of multiple neurons. The intermediate layer may be one or more layers.

[0091] Figure 9 shows an example of the configuration of a neural network used for learning in the learning device 25 according to Embodiment 5. The neural network shown in Figure 9 is a three-layer neural network. The input layer includes neurons X1, X2, and X3. The hidden layer includes neurons Y1 and Y2. The output layer includes neurons Z1, Z2, and Z3. The number of neurons in each layer is arbitrary. Multiple values ​​input to the input layer are multiplied by weights W1 (w11, w12, w13, w14, w15, w16) and input to the hidden layer. Multiple values ​​input to the hidden layer are multiplied by weights W2 (w21, w22, w23, w24, w25, w26) and output from the output layer. The output result output from the output layer changes according to the values ​​of weights W1 and W2.

[0092] In Embodiment 5, the neural network learns the remaining lifespan through so-called supervised learning, according to the training data 35 acquired by the data acquisition unit 32. That is, the neural network learns the remaining lifespan by inputting operating state data and operating history data into the input layer and adjusting the weights W1 and W2 so that the result output from the output layer approaches the remaining lifespan data. The model generation unit 33 generates a trained model 36 by performing the above-described learning and outputs the trained model 36. The trained model storage unit 34 stores the trained model 36 output from the model generation unit 33. The model generation unit 33 may read the already generated trained model 36 from the trained model storage unit 34 and update the trained model 36 by retraining according to the training data 35.

[0093] Next, the learning process by the learning device 25 will be described. Figure 10 is a flowchart showing the procedure of the learning process by the learning device 25 according to Embodiment 5. In step S11, the learning device 25 acquires learning data 35, which includes operating status data, operating history data, and remaining lifespan data, using the preprocessing unit 31 and the data acquisition unit 32. The learning device 25 acquires, for example, the operating status data, operating history data, and remaining lifespan data simultaneously. The learning device 25 only needs to acquire learning data 35 in which the operating status data, operating history data, and remaining lifespan data are related to each other, and the operating status data, operating history data, and remaining lifespan data may be acquired at different times from each other.

[0094] In step S12, the model generation unit 33 generates a trained model 36 by so-called supervised learning according to the training data 35 acquired in step S11. In step S13, the trained model storage unit 34 stores the trained model 36 generated in step S12. With this, the learning device 25 completes the learning process according to the procedure shown in Figure 10. The learning device 25 may also update the trained model 36 by the same learning process used to generate the trained model 36.

[0095] In the example shown in Figure 6, the learning device 25 is an external device to the controller 13. The learning device 25 may also be a device that can connect to the controller 13 via a network. The learning device 25 may also be a device located on a cloud server. Alternatively, the learning device 25 may be a device built into the controller 13. In the example shown in Figure 7, the trained model storage unit 34 is built into the learning device 25. The trained model storage unit 34 may also be located outside the learning device 25.

[0096] The learning device 25 may learn the remaining lifespan according to a dataset created for multiple transport systems 1E. The learning device 25 may acquire operational status data, operational history data, and maintenance information from multiple transport systems 1E used in the same location, or it may acquire operational status data, operational history data, and maintenance information from multiple transport systems 1E used in different locations. The operational status data, operational history data, and maintenance information may be collected from multiple transport systems 1E operating independently in multiple locations. After the collection of operational status data, operational history data, and maintenance information from multiple transport systems 1E has begun, new transport systems 1E may be added to the list of systems from which operational status data, operational history data, and maintenance information are collected. Also, after the collection of operational status data, operational history data, and maintenance information from multiple transport systems 1E has begun, some of the multiple transport systems 1E may be excluded from the list of systems from which operational status data, operational history data, and maintenance information are collected.

[0097] A learning device 25 that has learned about one transport system 1E may also learn about other transport systems 1E. The learning device 25 that learns about other transport systems 1E can update the learned model 36 by relearning in those other transport systems 1E.

[0098] Figure 11 shows an example of the configuration of a life estimation device 24 provided in the transport system 1E according to Embodiment 5. The life estimation device 24 functions as an inference device that infers the remaining lifespan from operating status data and operating history data. The life estimation device 24 comprises a data acquisition unit 41 and an inference unit 42.

[0099] The data acquisition unit 41 receives operational status data and operational history data for each of the multiple trolleys 11 provided by the transport system 1E. As a result, the data acquisition unit 41 acquires operational status data and operational history data for each of the multiple trolleys 11. The data acquisition unit 41 outputs the acquired operational status data and operational history data, which constitute inference data 43, to the inference unit 42. The trained model 36 stored in the trained model storage unit 34 of the learning device 25 is input to the inference unit 42. The inference unit 42 inputs the operational status data and operational history data to the trained model 36 to infer the remaining lifespan of each of the multiple trolleys 11. The inference unit 42 outputs the remaining lifespan data 44, which is the inference result of the remaining lifespan, to the controller 13.

[0100] Figure 12 is a flowchart showing the procedure for inference processing by the life estimation device 24 according to Embodiment 5. In step S21, the life estimation device 24 acquires operating status data and operating history data using the data acquisition unit 41.

[0101] In step S22, the inference unit 42 generates remaining lifetime data 44 by inputting inference data 43 to the trained model 36. In step S23, the inference unit 42 outputs the remaining lifetime data 44 generated in step S22. With this, the lifetime estimation device 24 completes the processing according to the procedure shown in Figure 12.

[0102] In the example shown in Figure 6, the lifetime estimation device 24 is an external device to the controller 13. The lifetime estimation device 24 may also be a device that can connect to the controller 13 via a network. The lifetime estimation device 24 may also be a device located on a cloud server. Alternatively, the lifetime estimation device 24 may be a device built into the controller 13.

[0103] Up to this point, we have described an example in which supervised learning is applied to the learning algorithm used by the model generation unit 33. However, learning methods other than supervised learning may also be applied to the learning algorithm. Reinforcement learning, unsupervised learning, or semi-supervised learning may also be applied to the learning algorithm. In addition to neural networks, the model generation unit 33 may perform machine learning using learning algorithms such as deep learning, genetic programming, inductive logic programming, or support vector machines.

[0104] The controller 13 obtains remaining lifespan data 44 for each of the multiple bogies 11 from the lifespan estimation device 24. The controller 13 refers to the remaining lifespan data 44 for each bogie 11 and appropriately swaps the identification information assigned to each bogie 11. By swapping the identification information between the bogies 11, the controller 13 swaps the operating patterns between the bogies 11.

[0105] Based on the estimated remaining lifespan for each of the multiple bogies 11, the controller 13 swaps, for example, the identification information of the bogie 11 with the shortest estimated remaining lifespan among the multiple bogies 11 with the identification information of the bogie 11 with the longest estimated remaining lifespan among the multiple bogies 11. By swapping the identification information, a high-load driving pattern is applied to the bogie 11 with the longest remaining lifespan among the multiple bogies 11, and a low-load driving pattern is applied to the bogie 11 with the shortest remaining lifespan among the multiple bogies 11. By swapping the driving patterns, the future remaining lives of the bogies 11 are equalized. In this way, the controller 13 adjusts the future remaining lives of each of the multiple bogies 11 by swapping the identification information assigned to each of the multiple bogies 11 based on the estimated remaining lifespan for each of the multiple bogies 11.

[0106] According to Embodiment 5, the transport system 1E can estimate the remaining lifespan of each trolley 11 by comprising a learning device 25 and a lifespan estimation device 24, which is an inference device. Furthermore, the transport system 1E adjusts the future remaining lifespan of each of the multiple trolleys 11 by swapping identification information based on the estimated remaining lifespan. This reduces the frequency of stopping the transport system 1E for trolley 11 maintenance and improves the operational efficiency of the transport system 1E.

[0107] In the transport system 1E according to Embodiment 5, the controller 13 may arbitrarily swap the identification information assigned to each of the multiple transport bodies based on the estimated remaining lifespan. For example, the controller 13 may be set to swap the identification information of the trolley 11 with the shortest estimated remaining lifespan among the multiple trolleys 11 with the identification information of the trolley 11 with the second shortest estimated remaining lifespan among the multiple trolleys 11. In other words, the transport system 1E adjusts to equalize the future remaining lifespans of the two trolleys 11 with the shortest remaining lifespans among the multiple trolleys 11. Even with such a configuration, the frequency of stopping the transport system 1E for maintenance of the trolleys 11 can be reduced, and the operational efficiency of the transport system 1E can be improved.

[0108] In the transport system 1E according to Embodiment 5, the lifespan estimation device 24 was described as a device that infers the remaining lifespan using an inference unit 42 that employs a trained model 36. However, the lifespan estimation device 24 is not limited to this configuration. For example, the lifespan estimation device 24 may store a data table that links operating status data, operating history data, and remaining lifespan data, and output the remaining lifespan by comparing it with the data table when at least one of the operating status data and operating history data is input. The lifespan estimation device 24 can output the remaining lifespan even with such a configuration that does not use a trained model 36.

[0109] Next, the hardware that implements the controller 13 according to Embodiments 1 to 5 will be described. The controller 13 is implemented by a processing circuit. The processing circuit may be a circuit in which a processor executes software, or it may be a dedicated circuit.

[0110] When the processing circuit is implemented by software, the processing circuit is, for example, the control circuit 50 shown in Figure 13. Figure 13 is a diagram showing an example configuration of the control circuit 50 according to Embodiments 1 to 5. The control circuit 50 comprises an input unit 51, a processor 52, a memory 53, and an output unit 54. The input unit 51 is an interface circuit that receives data input from outside the control circuit 50 and provides it to the processor 52. The output unit 54 is an interface circuit that sends data from the processor 52 or the memory 53 to the outside of the control circuit 50.

[0111] If the processing circuit is the control circuit 50 shown in Figure 13, the controller 13 is implemented by software, firmware, or a combination of software and firmware. The software or firmware is written as a program and stored in memory 53. The processing circuit implements each function of the controller 13 by having the processor 52 read and execute the program stored in memory 53. In other words, the processing circuit has memory 53 for storing the program that will ultimately be executed as a result of the processing of the controller 13. These programs can also be said to cause the computer to execute the procedures and methods of the controller 13.

[0112] The processor 52 is a CPU (Central Processing Unit). The processor 52 may also be a central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, processor, or DSP (Digital Signal Processor). The memory 53 includes, for example, non-volatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Registered Trademark) (Electrically Erasable Programmable Read Only Memory), magnetic disks, flexible disks, optical disks, compact disks, minidiscs, or DVDs (Digital Versatile Discs).

[0113] Figure 13 shows an example of hardware when the controller 13 is implemented using a general-purpose processor 52 and memory 53, but the controller 13 may also be implemented using dedicated hardware circuitry. Figure 14 shows an example of the configuration of dedicated hardware circuitry 55 according to embodiments 1 to 5.

[0114] The dedicated hardware circuit 55 includes an input section 51, an output section 54, and a processing circuit 56. The processing circuit 56 is a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a circuit combining these. Each function of the controller 13 may be implemented by the processing circuit 56 separately, or all functions may be implemented together by the processing circuit 56. The controller 13 may also be implemented by combining the control circuit 50 and the hardware circuit 55.

[0115] If the learning device 25 is an external device to the controller 13, the learning device 25 is implemented by a processing circuit, similar to the controller 13. The processing circuit that implements the learning device 25 is either the control circuit 50 shown in Figure 13, or the dedicated hardware circuit 55 shown in Figure 14.

[0116] If the life estimation device 24 is an external device to the controller 13, the life estimation device 24 is implemented by a processing circuit, similar to the controller 13. The processing circuit that implements the life estimation device 24 is the control circuit 50 shown in Figure 13, or the dedicated hardware circuit 55 shown in Figure 14.

[0117] The specific forms of distribution or integration of each component in the transport system 1A-1E according to Embodiments 1 to 5 are not limited to those described in Embodiments 1 to 5. All or part of the components of the transport system 1A-1E may be configured by distributing or integrating them functionally or physically in any unit.

[0118] The configurations shown in each of the embodiments described above are examples of the content of this disclosure. The configurations of each embodiment can be combined with other known technologies. The configurations of each embodiment may be combined with each other as appropriate. It is possible to omit or modify parts of the configurations of each embodiment without departing from the gist of this disclosure. [Explanation of symbols]

[0119] 1A,1B,1C,1D,1E Transport system, 10 Transport path, 11,11a,11b,11c,11d,11e,11f Trolley, 12,12a,12b,12c,12d,12e,12f,12g,12h,12i,12j,12k,12l,12m,12n Transport path unit, 13 Controller, 14 Data communication line, 15 Reference point, 16 Arrow, 17 Permanent magnet, 18 Guide rail, 19 Position detection unit, 21 Input device, 22 Reading device, 23,53 Memory, 24 Life estimation device, 25 Learning device, 26 Individual identifier, 31 Preprocessing unit, 32,41 Data acquisition unit, 33 Model generation unit, 34 Trained model storage unit, 35 Training data, 36 Trained model, 42 43 Inference unit, 44 Inference data, 44 Remaining lifespan data, 50 Control circuit, 51 Input unit, 52 Processor, 54 Output unit, 55 Hardware circuit, 56 Processing circuit.

Claims

1. A plurality of carriers; A conveying path along which a plurality of the conveying bodies move; A controller that manages the plurality of conveyance bodies by assigning identification information to each of the plurality of conveyance bodies and controls each of the plurality of conveyance bodies, a reference point is set on the conveying path as a reference for a position in a forward direction, which is one of directions in which each of the plurality of conveying bodies is moved; the controller assigns a first identification information, which is a reference for the identification information, to a first conveying body, which is one of the plurality of conveying bodies that is closest to the reference point in the forward direction, and assigns a second identification information, which is the identification information following the first identification information, to each of a second conveying body, which is a conveying body other than the first conveying body, among the plurality of conveying bodies, in the arrangement order of the second conveying body in the forward direction or a reverse direction opposite to the forward direction; Each of the plurality of carriers is assigned a unique individual identifier for each individual carrier; A transport system characterized in that the controller holds the identification information assigned to each of the multiple transport bodies in association with the individual identifier, and when the transport system is started, assigns the identification information linked to the individual identifier of the first transport body to the first transport body as the first identification information.

2. a position detection unit that detects the position of each of the plurality of transport bodies on the transport path, The transport system according to claim 1 , wherein the controller identifies the first transport body based on a detection result by the position detector.

3. 2. The transport system according to claim 1, wherein the transport path is a closed path without any branches.

4. Each of the plurality of conveying bodies is provided with a permanent magnet, 2. The transport system according to claim 1, wherein the transport path includes a coil that generates a thrust for moving the transport body by interacting with a magnetic field generated by the permanent magnet.

5. a reader for reading the individual identifier attached to the first carrier; 5. The transport system according to claim 1, wherein the controller acquires the individual identifier read by the reading device.

6. 6. The transport system according to claim 5, wherein the reference point is set in accordance with the position of the reading device.

7. 6. The transport system according to claim 5, wherein the individual identifier is provided on each of two or more surfaces of the transport body.

8. A plurality of carriers; A conveying path along which a plurality of the conveying bodies move; A controller that manages the plurality of conveyance bodies by assigning identification information to each of the plurality of conveyance bodies and controls each of the plurality of conveyance bodies, a reference point is set on the conveying path as a reference for a position in a forward direction, which is one of directions in which each of the plurality of conveying bodies is moved; the controller assigns a first identification information, which is a reference for the identification information, to a first conveying body, which is one of the plurality of conveying bodies that is closest to the reference point in the forward direction, and assigns a second identification information, which is the identification information following the first identification information, to each of a second conveying body, which is a conveying body other than the first conveying body, among the plurality of conveying bodies, in the arrangement order of the second conveying body in the forward direction or a reverse direction opposite to the forward direction; the controller periodically stores in a memory position information indicating a position of each of the plurality of transport bodies on the transport path in association with the identification information assigned to each of the plurality of transport bodies; A conveying system characterized in that, when the conveying system is started up, the controller compares start-up position information indicating the position of each of the multiple conveying bodies at the start-up with latest position information, which is the position information stored in the memory and is the latest position information before the start-up, to identify, for each of the multiple conveying bodies, the conveying body whose position indicated in the latest position information is closest along the conveying path to the position indicated in the start-up position information, and assigns the identification information linked to the latest position information of the identified conveying body to each of the multiple conveying bodies.

9. A plurality of carriers; A conveying path along which a plurality of the conveying bodies move; A controller that manages the plurality of conveyance bodies by assigning identification information to each of the plurality of conveyance bodies and controls each of the plurality of conveyance bodies, a reference point is set on the conveying path as a reference for a position in a forward direction, which is one of directions in which each of the plurality of conveying bodies is moved; the controller assigns a first identification information, which is a reference for the identification information, to a first conveying body, which is one of the plurality of conveying bodies that is closest to the reference point in the forward direction, and assigns a second identification information, which is the identification information following the first identification information, to each of a second conveying body, which is a conveying body other than the first conveying body, among the plurality of conveying bodies, in the arrangement order of the second conveying body in the forward direction or a reverse direction opposite to the forward direction; a life estimation device that estimates a remaining life of each of the plurality of transport bodies, the remaining life being a period until maintenance of the transport body is performed; The controller replaces the identification information assigned to each of the plurality of transport bodies based on an estimation result of the remaining life of each of the plurality of transport bodies.

10. The conveying system according to claim 9, characterized in that the controller replaces the identification information assigned to the conveying body among the plurality of conveying bodies having the longest estimated remaining life with the identification information assigned to the conveying body among the plurality of conveying bodies having the shortest estimated remaining life based on the estimated remaining life of each of the plurality of conveying bodies.

11. a data acquisition unit that acquires learning data including operation status data that is data indicating a mode of movement of the transport body, operation history data that is data indicating a history of operation of the transport body, and remaining life data that indicates the remaining life calculated based on a past record of the life of the transport body; a model generation unit that generates a trained model for inferring the remaining life from the operational state data and the operational history data based on the training data; The transport system according to claim 9 or 10, further comprising a learning device having the following:

12. The life estimation device includes: a data acquisition unit that acquires, for each of the plurality of conveyance bodies, operation status data that is data indicating a manner of movement of the conveyance body and operation history data that is data indicating a history of operation of the conveyance body; an inference unit that infers the remaining life of each of the plurality of transport bodies by inputting the operating state data and the operating history data into a trained model for inferring the remaining life from the operating state data and the operating history data; The transport system according to claim 9 or 10, further comprising:

Images