Collision prevention control system and method

Abstract

Provided is a collision prevention control system capable of reducing a calculation load of a centralized controller. The collision prevention control system is provided with a controller (9) and a plurality of module controllers (24) for controlling drive circuits (22) of a plurality of modules. A module controller (24) for a module in which a slider is present transmits, to the controller (9), slider information which includes at least the identification ID and the current position of the slider. The controller (9) transmits the slider information to the plurality of module controllers (24). A module controller (24) for a module in which a slider to be controlled is present controls the slider to be controlled so as to prevent collision with the adjacent slider.

Description

Collision prevention control system and method

[0001] The present invention relates to a collision prevention control system and method for use in a transport device in which multiple sliders move along a transport path having multiple modules.

[0002] A transport device has been developed in which multiple sliders move along a transport path. The transport path is composed of a combination of multiple modules. Each module is equipped with multiple coils that serve as the stators of a linear motor, and a drive circuit that controls the power supplied to the multiple coils. The slider is equipped with a permanent magnet that serves as the mover of the linear motor. When the power supplied to the multiple coils is controlled by the drive circuit and a moving magnetic field is generated in the multiple coils, the slider moves along the transport path.

[0003] This type of conveying device is characterized by its superior flexibility compared to conventional belt conveyors. For example, unlike conventional belt conveyors, multiple sliders do not need to be moved simultaneously; instead, multiple sliders can be moved and positioned individually. Furthermore, by appropriately rearranging the modules, it is possible to create an appropriate conveying path depending on the application. For this reason, this type of conveying device is used in a variety of applications (manufacturing, processing, packaging, etc.).

[0004] A typical transport path is closed, and a slider repeatedly moves along the closed transport path. Near the transport path, multiple actuators are located to work in cooperation with the slider. For example, when the slider stops in front of a product supply actuator, the actuator supplies a product to the slider. Next, when the slider stops in front of another actuator, the other actuator processes, assembles, or otherwise processes the product on the slider. Next, when the slider stops in front of a product removal actuator, the actuator removes the product from the slider. The above cycle is then repeated.

[0005] In a conveying device in which multiple sliders move along a conveying path, it is important to prevent collisions between the sliders. For example, when the front slider in the direction of travel stops, the rear sliders must also stop to prevent collisions.

[0006] A conventional anti-collision control method is to stop the rear slider when the distance between the front slider and the rear slider is equal to or less than a preset threshold (see Patent Document 1).

[0007] Japanese Patent Application Laid-Open No. 2022-184755

[0008] However, in conventional collision prevention control methods, the calculations and controls for preventing collisions between sliders are performed by a centralized controller, which poses a problem that the calculation load on the centralized controller increases as the number of sliders increases.

[0009] The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a collision prevention control system and method that can reduce the calculation load on a centralized controller.

[0010] In order to solve the above problem, one aspect of the present invention is a collision prevention control system used in a conveying device in which multiple sliders move along a conveying path having multiple modules, the collision prevention control system comprising a controller and multiple module controllers that control the drive circuits of the multiple modules, wherein the module controller of the module in which the slider is located transmits slider information including at least the identification ID and current position of the slider to the controller, the controller transmits the slider information to the multiple module controllers, and the module controller of the module in which the slider to be controlled is located controls the slider to be controlled to prevent collision with an adjacent slider.

[0011] Another aspect of the present invention is a collision prevention control method used in a conveying device in which a plurality of sliders move along a conveying path having a plurality of modules, the conveying device comprising a controller and a plurality of module controllers that control drive circuits of the plurality of modules, the module controller of the module in which the slider is present transmits slider information including at least identification information and position information of the slider to the controller, the controller transmits the slider information to the plurality of module controllers, and the module controller of the module in which the slider to be controlled is present controls the slider to be controlled so as to prevent collision with an adjacent slider.

[0012] According to the present invention, collision prevention control is distributed to the module controllers of the modules in which the sliders to be controlled are located, thereby reducing the calculation load on the controllers and centralized controllers. Furthermore, if a module controller receives slider information from other module controllers in distant locations via multiple module controllers, it takes time to receive the slider information. By having a module controller receive slider information from other module controllers via a controller, the time it takes to receive the slider information can be shortened.

[0013] 1 is a schematic diagram of a conveying device according to an embodiment of the present invention; FIG. 2 is an external view of a module; FIG. 3 is a perspective view showing the internal structure of a module; FIG. 4 is a perspective view showing the external appearance of a stator; FIG. 5 is a perspective view showing the scale of a slider; FIG. 6 is a configuration diagram of a collision prevention control system; FIG. 7 is a flowchart of the operation of a controller; FIG. 8 is a flowchart of the operation of a module controller; FIG. 9 is a diagram explaining an interference region; FIG. 10 is a diagram explaining the operation of the module controller (operation pattern (1)); FIG. 11 is a diagram explaining the operation of the module controller (operation pattern (2)); FIG. 12 is a diagram explaining the operation of the module controller (operation pattern (3)); FIG. 13 is a diagram explaining the operation of the module controller (operation pattern (4)); FIG. 14 is a diagram explaining the operation of the module controller (operation pattern (5)); and FIG. 15 is a diagram explaining the operation of the module controller (operation pattern (6)).

[0014] Hereinafter, a collision prevention control system and method according to an embodiment of the present invention will be described with reference to the accompanying drawings. However, the collision prevention control system and method according to the present invention can be embodied in various forms and are not limited to the embodiments described herein. The present embodiment is provided with the intention that those skilled in the art will be able to fully understand the invention by fully disclosing the specification. (Conveying device)

[0015] 1 is a schematic diagram of a conveying apparatus 1 according to one embodiment of the present invention. The conveying apparatus 1 includes a conveying path 2 having a plurality of modules 3. Each module 3 is linear and connected end to end. A plurality of actuators 5 that perform work are arranged near the conveying path 2. The positions of the modules 3 facing the actuators 5 are identified by unique position numbers A, B, C, and D.

[0016] To form a closed transport path 2, the transport path 2 is provided with a belt conveyor 6 and a mounting / dismounting module 7. The belt conveyor 6 moves the sliders 4 in the opposite direction to the module 3. The mounting / dismounting module 7 transfers the sliders 4 between the module 3 and the belt conveyor 6. The transport path 2 may be arranged in a vertical plane and the sliders 4 may circulate vertically, or the transport path 2 may be arranged in a horizontal plane and the sliders 4 may circulate horizontally.

[0017] The conveying device 1 is controlled by a centralized controller 8. The centralized controller 8 is a general-purpose PLC (Programmable Logic Controller), a personal computer, or the like. The centralized controller 8 includes a processor, a memory, and a communication interface. The memory includes a ROM and a RAM.

[0018] For example, the centralized controller 8 generates a target position command to move the slider 4 to position number A and sends it to the controller 9. When the slider 4 reaches point A, the module controller of the module 3 sends a signal to the centralized controller 8 via the controller 9 indicating that the slider 4 has reached position number A. Upon receiving this signal, the centralized controller 8 sends a command to start work to the actuator controller 10. When the work of the actuator 5 is finished, the centralized controller 8 moves the slider 4 to position number B. When the work of all the actuators 5 is finished, the centralized controller 8 moves the slider 4 to the detachable module 7 and the belt conveyor 6.

[0019] The actuator 5 is controlled by an actuator controller 10. The actuator controller 10 is a PLC, a personal computer, etc. The actuator controller 10 includes a processor, a memory, and a communication interface.

[0020] The centralized controller 8 and the controllers 9 are connected by a communication link 12 such as DeviceNet, EtherCAT, or EtherNET / IP. The centralized controller 8 and the actuator controllers 10 are also connected by a communication link 13. The controller 9 and the module controllers of the modules 3 are connected by a communication line 14 capable of synchronous communication such as RS485 or I2C.

[0021] The controller 9 executes the configuration software 11 when the conveyance device 1 is started up. As a result, the memory 36 of the controller 9 (see FIG. 6) stores machine coordinates (movement coordinates) corresponding to the unique position numbers A, B, C, and D. The memory 36 of the controller 9 also stores the speed, acceleration, jerk, etc. when the module controller of the module 3 creates the motion profile (speed curve) of the slider 4. (Module)

[0022] As shown in FIG. 2 , the module 3 includes a stator 20 having a plurality of coils 21. As shown in FIG. 4 , a plurality of stators 20 (four in this embodiment) are provided for one module 3. FIG. 2 shows one stator 20. Each stator 20 includes a plurality of sets (two sets in this embodiment) of coils 21 for U, V, and W phases. Power is supplied to the stator 20 by a drive circuit 22. A power line (not shown) is connected to the drive circuit 22. The drive circuit 22 is a power converter such as a PWM inverter. The drive circuit 22 is controlled by a module controller 24. A plurality of drive circuits 22 (four in this embodiment) are provided for one module controller 24. The drive circuit 22 is arranged on a driver board 23 shown in FIG. 3 . The module controller 24 is also arranged on the driver board 23 shown in FIG. 3 .

[0023] 3, the module 3 includes a linear guide 25 that smoothly guides the linear movement of the slider 4. A rail 26 of the linear guide 25 is attached to a base 28 of the module 3. A carriage 27 of the linear guide 25 is attached to the slider 4.

[0024] The module 3 is provided with sensors 29 for detecting the identification ID and current position of the slider 4. The sensors 29 are hall sensors, magnetoresistive sensors, etc. The sensors 29 are arranged on a sensor board 30. The sensors 29 are provided corresponding to each stator 20. In this embodiment, four sensors 29 are provided.

[0025] The slider 4 is provided with a driving permanent magnet 31 that serves as a mover of the linear motor. As shown in Fig. 5, the slider 4 is provided with a scale 32 that is parallel to the driving permanent magnet 31. The sensor 29 detects the magnetic field of the scale 32 to detect the identification ID and current position of the slider 4. (Collision prevention control system)

[0026] 6 shows a configuration diagram of a collision prevention control system. The collision prevention control system includes a controller 9 and a plurality of module controllers 24. The controller 9 is a computer such as a personal computer. The controller 9 includes a processor 35, a memory 36, and a communication interface 37. The memory 36 includes a ROM and a RAM. The processor 35 executes a program stored in the memory 36. The controller 9 may be a microcomputer or an electric circuit such as an FPGA (Field Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit).

[0027] The centralized controller 8 and the controllers 9 are connected by the above-mentioned communication link 12. The controller 9 and the module controllers 24 are connected by a communication line 14 such as RS485 or I2C. Adjacent module controllers 24 are also connected by a communication line 15 such as RS485 or I2C.

[0028] The controller 9 converts the target position command (position numbers A, B, C, D) for the slider 4 received from the centralized controller 8 into a target position command (movement coordinates) and transmits the target position command for the slider 4 to all module controllers 24.

[0029] The module controller 24 is a microcomputer and includes a processor 38, a memory 39, a communication interface 40, and an interface circuit 41. The module controller 24 may be a computer such as a personal computer, or an electric circuit such as an FPGA or ASIC.

[0030] The module controller 24 receives a target position command (movement coordinates) for the slider 4 from the controller 9. The module controller 24 of the module 3 in which the slider 4 is located creates a motion profile (speed curve, etc.) for the slider 4 based on this target position command, generates a movement command (position command and speed command, or position command), and controls the drive circuit 22. When the slider 4 transfers from one stator 20 to another stator 20, the module controller 24 switches the drive circuit 22. When the slider 4 transfers from one module 3 to another module 3, the module controller 24 of the other module 3 takes over the motion profile and controls the drive circuit 22 of the other module 3.

[0031] The module controller 24 includes an interface circuit 41. The interface circuit 41 processes the output signal of the sensor 29 that detects the current position of the slider 4 so that it can be feedback-controlled. The interface circuit 41 also processes the output signal of the current sensor 42 that detects the current in the stator 20 so that it can be feedback-controlled.

[0032] The processor 38 of the module controller 24 controls the position, speed, and current of the slider 4. That is, the processor 38 generates a speed command based on the deviation between the position command of the movement command and the current position detected by the sensor 29. Then, it generates a current command based on the deviation between the speed command and the current speed detected by the sensor 29. Then, it generates a voltage command based on the deviation between the current command and the current current detected by the current sensor 42. The drive circuit 22 converts DC power to AC power using switching elements based on the voltage command generated by the processor 38, and supplies the AC power to the stator 20. (Collision Prevention Control Method)

[0033] 7 is a flowchart showing the operation of the controller 9. When the controller 9 receives a target position command (position number A, B, C, D) from the centralized controller 8 (S1), the controller 9 converts the target position command (position number A, B, C, D) into a target position command (movement coordinates) and transmits the target position command (movement coordinates) to all the module controllers 24 (S2). The controller 9 also transmits information such as velocity, acceleration, and jerk for creating a motion profile (velocity curve) of the slider 4 to all the module controllers 24.

[0034] Next, the controller 9 receives slider information from the module controller 24 of the module 3 in which the slider 4 is located (S3). The slider information includes the identification ID of the slider 4, the current position, the current speed, and the interference area.

[0035] The identification ID is a number for identifying the slider 4. The current position is the current position of the slider 4 detected by the sensor 29. The current speed is the current speed of the slider 4 detected by the sensor 29. The interference area is, in other words, an area where other sliders 4 are prohibited from entering. As shown in FIG. 9 , the interference area is the distance until the slider 4 decelerates and stops. The interference area is defined by the plus side safe stop position Xcw in the traveling direction of the slider 4 and the minus side safe stop position Xccw in the opposite direction.

[0036] As shown in Figure 9, when the slider 4 moves in the cw direction on the movement coordinate system, the plus side safe stop position Xcw is determined by Equation 1. (Equation 1) Plus side interference region Xcw = scan time movement distance (mm) + deceleration stop distance (mm) + slider size (+) (mm) + margin (mm)

[0037] The scan time travel distance is the distance that the slider 4 travels during the position update cycle of the controller 9. The scan time travel distance is determined according to Equation 2: (Equation 2) Scan time travel distance (mm) = Number of sliders × α μs × Speed ​​(mm / s) Here, α is the time it takes for the controller 9 to inquire about slider information from one module controller 24 and for one module controller 24 to respond with the slider information to the controller 9.

[0038] The deceleration stop distance is the distance when the slider 4 immediately decelerates and stops. The deceleration stop distance is determined by Equation 3. (Equation 3) Deceleration stop distance (mm) = (deceleration (mm / s) ２ ) x 0.5 + speed (mm / s)) x speed (mm / s) / deceleration (mm / s) ２ ) For the deceleration in Equation 3, an emergency stop deceleration that is greater than the deceleration used when creating the motion profile (speed curve) is used.

[0039] As shown in Figure 9, the slider size (+) (mm) is the length from the center of the slider 4 to the end of the slider 4 in the moving direction. The slider size (+) is the longer of the slider 4 or the pallet 16. A margin may or may not be provided.

[0040] The negative side safe stop position Xccw is set to 0 when the slider 4 moves in the cw direction or when the slider 4 is at rest.

[0041] When the slider 4 moves in the ccw direction on the movement coordinate system, the negative side safe stop position Xccw is set in the same manner as in Equation 1. When the slider 4 moves in the ccw direction or when the slider 4 is stopped, the positive side safe stop position Xcw is set to, for example, 0.

[0042] 7 again, the controller 9 receives slider information from the module controller 24 of the module 3 in which the slider 4 exists (S3). Then, the controller 9 transmits the received slider information to all module controllers 24 (S4). As a result, all module controllers 24 share the slider information.

[0043] The slider information sent from the controller 9 to the module controller 24 is expressed in the table format of Table 1, for example.

[0044] FIG. 8 shows a flowchart of the operation of the module controller 24. The module controller 24 of the module 3 containing the slider 4 to be controlled (hereinafter simply referred to as the module controller 24) receives slider information from the controller 9 (S11). Next, the module controller 24 determines whether the slider 4 to be controlled, assumed to have moved to the target position, will interfere with the interference area of ​​the adjacent slider 4 (the slider 4 ahead in the direction of travel) (S12). If there is no interference, the module controller 24 sets the target position A received from the controller 9 as the target position (S13) and creates a motion profile (velocity curve) based on the target position A (S15). If there is interference, the module controller 24 changes the target position to a provisional target position A1 to avoid interference (S14) and creates a motion profile based on the provisional target position A1 (S15). Next, the module controller 24 generates a motion command (a position command and a velocity command, or a position command) based on the motion profile, and controls the drive circuit 22 to perform feedback control of the slider 4 to be controlled (S16).

[0045] The operations (S12) to (S15) of the module controller will be explained in detail below, dividing them into patterns. As shown in FIG. 10, the current position of the slider 4A to be controlled is A, and the current position of the adjacent slider 4B received from the controller 9 is B. The interference area 18(+) of slider 4B is the plus side safe stop position Xcw received from the controller 9. The interference area 18(-) of slider 4B is determined from the minus side safe stop position Xccw and slider size (-) received from the controller 9. The plus side safe stop position Xcw, minus side safe stop position Xccw, and slider sizes (+) and (-) are stored in the memory 39 of the module controller 24. The symbols 19(+) and (-) indicate the slider sizes (+) and (-) of slider 4A.

[0046] As shown in Fig. 10, it is assumed that the slider 4A to be controlled has moved to the target position A received from the controller 9. The slider 4 at the target position A is indicated by a dashed line. If the slider 4A does not interfere with the interference area 18 of the slider 4B even after moving to the target position A, the module controller 24 sets the target position to the target position A received from the controller 9. Then, as shown in Fig. 10, a motion profile (trapezoidal velocity curve 17) is created. Note that this velocity curve 17 indicates that the slider 4A gradually accelerates as it moves, then reaches a constant speed, then gradually decelerates, and stops at the target position A.

[0047] 11A, when slider 4A, which is assumed to have moved to target position A, interferes with interference region 18 of adjacent slider 4B, module controller 24 changes the target position from target position A received from controller 9 to provisional target position A1 to avoid the interference. Then, based on provisional target position A1, velocity curve 17 is changed to velocity curve 17-1, indicated by the dashed line in FIG. 11A.

[0048] The velocity curve 17-1 is updated at a predetermined update interval (for example, every 1 ms). As shown in FIG. 11B, after a predetermined time has elapsed, when the slider 4B has moved to the current position B shown in FIG. 11B, the slider 4A will no longer interfere with the slider 4B even if it moves to the target position A. At this time, the module controller 24 resets the target position to the target position A received from the controller 9, and returns the velocity curve 17-1 to the original velocity curve 17. As a result, in this case, the operation of the slider 4A is not affected by the slider 4B.

[0049] 12(a) and 12(b) show an example in which slider 4B is stopped. As shown in FIG. 12(a), when slider 4A, which is assumed to have moved to target position A, interferes with interference area 18 of stopped slider 4B, module controller 24 changes target position A of slider 4A to provisional target position A1 to avoid the interference. Then, based on provisional target position A1, velocity curve 17 is changed to velocity curve 17-1, shown by the dashed line in FIG. 12(a).

[0050] 12B, the slider 4B remains stopped even after the predetermined time has elapsed. The module controller 24 continues to hold the provisional target position A1, and stops the slider 4A at the provisional target position A1.

[0051] 13A and 13B show an example of a slider 4B moving at a low speed. As shown in FIG. 13A, when the slider 4A, which is assumed to have moved to the target position A, interferes with the interference area 18 of the slider 4B moving at a low speed, the module controller 24 changes the target position A to a provisional target position A1 to avoid the interference. Then, based on the provisional target position A1, the velocity curve 17 is changed to a velocity curve 17-1, shown by the dashed line in FIG. 13A.

[0052] 13B, when the slider 4A catches up with the slider 4B, the module controller 24 changes the provisional target position A1 to a new provisional target position A2 and generates a velocity curve 17-2. At this time, the slider 4A repeatedly accelerates and decelerates until it reaches the same velocity as the slider 4B.

[0053] 14A and 14B show an example of a slider 4B moving at high speed. As shown in FIG. 14A, when the slider 4A, which is assumed to have moved to the target position A, interferes with the interference area 18 of the slider 4B moving at high speed, the module controller 24 changes the target position A to a provisional target position A1 to avoid the interference. Then, based on the provisional target position A1, the velocity curve 17 is changed to a velocity curve 17-1, shown by the dashed line in FIG. 14A.

[0054] 14B, after a predetermined time, when the slider 4B separates from the slider 4A, the module controller 24 changes the provisional target position A1 to a new provisional target position A2 in accordance with the movement of the slider 4B, and generates a new velocity curve 17-2. The new velocity curve 17-2 is closer to the original velocity curve 17.

[0055] 15(a), (b), and (c) show an example in which sliders 4A and 4B are moving opposite each other. Slider 4A is controlled by the module controller 24 of the module 3 in which slider 4A is located. Slider 4B is controlled by the module controller 24 of the module 3 in which slider 4B is located. As shown in FIG. 15(a), at the start of operation, sliders 4A and 4B are separated. Slider 4A moves based on velocity curve 33, and slider 4B moves based on velocity curve 34. As shown in FIGS. 15(a) and 15(b), neither slider 4A nor slider 4B decelerates until the interference region 18 of slider 4A and the interference region 18 of slider 4B overlap. As shown in Figures 15(b) and 15(c), when the interference area 18 of slider 4A interferes with the interference area 18 of slider 4B, the module controller 24 of the module 3 in which slider 4A is located changes the target position A to a provisional target position A1 that avoids interference, and changes the velocity curve 33 based on the provisional target position A1 to a velocity curve 33-1, indicated by the dashed line in Figure 15(c). Then, the module controller 24 of the module 3 in which slider 4B is located changes the target position B to a provisional target position B1, changes the velocity curve 34 to a velocity curve 34-1, and decelerates and stops slider 4B at the same emergency stop deceleration as slider 4A. This prevents a collision between slider 4A and slider 4B. When stopped, slider 4A and slider 4B are separated by a margin x 2. (Effect)

[0056] The collision prevention control system and method of this embodiment provides the following advantages.

[0057] Since the control for preventing collisions is distributed to the module controllers 24 of the modules 3 in which the sliders 4 to be controlled are located, the calculation load on the controller 9 and the centralized controller 8 can be reduced. Also, if a module controller 24 receives slider information from other module controllers 24 in distant locations via multiple module controllers 24, it takes time to receive the slider information. By having a module controller 24 receive slider information from other module controllers 24 via the controller 9, the time it takes to receive the slider information can be shortened.

[0058] Since the slider information includes the identification ID of the slider 4, the current position, and the interference area, various controls for preventing collisions become possible.

[0059] When the slider 4 to be controlled, which the module controller 24 assumes has moved to the target position, interferes with the interference area of ​​an adjacent slider 4, the module controller 24 changes the target position of the slider 4 to be controlled to a provisional target position to avoid the interference, thereby eliminating the needless stopping of the slider 4 to be controlled, and improving the throughput of the conveying device 1.

[0060] When a slider 4 to be controlled and an adjacent slider 4 move in directions facing each other, the slider 4 to be controlled is decelerated and stopped at an emergency stop deceleration greater than the deceleration when they move in the same direction, so that collision between the two sliders 4 can be safely prevented.

[0061] Since the interference region includes the deceleration stop distance until the slider 4 decelerates and stops, collision between the two sliders 4 when they move in directions facing each other can be safely prevented.

[0062] Since the interference region includes the scan time movement distance that the slider 4 moves during the position update period of the controller 9, it is possible to safely prevent collision when the two sliders 4 move in directions facing each other.

[0063] The controller 9 transmits the target position command for the slider 4 received from the centralized controller 8 to the module controller 24, so that the calculation load on the centralized controller 8 can be reduced.

[0064] The present invention is not limited to the above-described embodiment, and can be embodied in other embodiments without departing from the spirit of the present invention.

[0065] For example, the module controller of the module in which the slider to be controlled is located may calculate the distance between the slider to be controlled and an adjacent slider based on the slider's identification ID and current position information, and stop the slider to be controlled when this distance is less than a preset threshold.

[0066] In the above embodiment, four drive circuits are provided for one module controller, but one drive circuit may be provided for one module controller.

[0067] In the above embodiment, the centralized controller and the controller are separated, but the centralized controller and the controller may be integrated and the functions of the controller may be incorporated into the centralized controller.

[0068] This specification is based on Japanese Patent Application No. 2023-098880, filed June 16, 2023, the entire contents of which are incorporated herein by reference.

[0069] REFERENCE SIGNS LIST 1... conveying device, 2... conveying path, 3... module, 4... slider, 8... centralized controller, 9... controller, 22... drive circuit

Claims

1. A collision prevention control system used in a conveying device in which multiple sliders move along a conveying path having multiple modules, comprising: a controller; and multiple module controllers that control the drive circuits of the multiple modules, wherein the module controller of the module in which the slider is located transmits slider information including at least an identification ID and a current position of the slider to the controller, the controller transmits the slider information to the multiple module controllers, and the module controller of the module in which the slider to be controlled is located controls the slider to be controlled to prevent collision with an adjacent slider.

2. The collision prevention control system according to claim 1, wherein the slider information includes an identification ID, a current position and an interference area of ​​the slider.

3. The collision prevention control system according to claim 2, characterized in that when the slider to be controlled, assumed to have moved to the target position, interferes with the interference area of ​​an adjacent slider, the module controller changes the target position of the slider to be controlled to a provisional target position to avoid interference.

4. A collision prevention control system as described in claim 1 or 2, characterized in that when the controlled slider and an adjacent slider move in directions toward each other, the module controller decelerates and stops the controlled slider at an emergency stop deceleration that is greater than the deceleration when these sliders move in the same direction.

5. A collision prevention control system according to claim 2 or 3, wherein the interference area includes a deceleration and stopping distance until the slider decelerates and stops.

6. A collision prevention control system as claimed in claim 5, wherein said interference region includes a scan time travel distance travelled by said slider during a position update period of said controller.

7. A collision prevention control system according to claim 1 or 2, characterized in that said controller transmits a slider target position command received from a centralized controller to said module controllers.

8. A collision prevention control method used in a conveying device in which a plurality of sliders move along a conveying path having a plurality of modules, the conveying device comprising a controller and a plurality of module controllers that control drive circuits of the plurality of modules, the module controller of the module in which the slider is present transmits slider information including at least identification information and position information of the slider to the controller, the controller transmits the slider information to the plurality of module controllers, and the module controller of the module in which the slider to be controlled is present controls the slider to be controlled so as to prevent collision with an adjacent slider.

Images