Linear conveyance design support device, linear conveyance system, and linear conveyance system operation method

Abstract

A linear conveyance design support device (1A), which supports the design of a linear conveyance device having one or a plurality of movable parts that move along a conveyance path and a plurality of fixed parts that drive the one or plurality of movable parts by magnetic force, comprises: a parameter setting unit (2) that stores, as a parameter set, a combination of fixed part design information, movable part design information, and operation instruction information, which is information about the movement of the one or plurality of movable parts; and a parameter correction unit (4) that, on the basis of a conveyance efficiency, which is an indicator representing the conveyance capacity of the linear conveyance device, system evaluation information, which is an indicator representing the costs incurred during the operation of the linear conveyance device, and a constraint range for limiting a pre-set variable range of the system evaluation information, corrects at least one of the parameters in the parameter set so that the conveyance efficiency is improved while the system evaluation information satisfies the constraint range, wherein the conveyance efficiency and the system evaluation information are calculated by simulating the operation of the linear conveyance device using the parameter set.

Description

Linear transport design support device, linear transport system, and linear transport system operation method

[0001] The present disclosure relates to a linear conveyance design support device that supports the design of a linear conveyance device, a linear conveyance system, and an operation method for a linear conveyance system.

[0002] Linear conveyance devices used in factory production lines and the like are required to have high conveying capabilities. One possible method for increasing the conveying capabilities of a linear conveyance device is to increase the current flowing through the fixed parts to move multiple moving parts at high speed. However, this method increases the temperature of the fixed parts due to current load or heat generation, which increases the downtime for cooling and makes it difficult to improve conveying capabilities. Furthermore, when moving moving parts at high speed, if large vibrations occur when passing through curved paths or when stopping, the downtime until the vibrations subsides becomes long, which reduces conveying capabilities. For this reason, linear conveyance devices are required to satisfy various constraints, such as current load and vibration.

[0003] The learning device described in Patent Document 1 uses reinforcement learning in a learning agent that controls the transport speeds of multiple transport units that form a logistics transport route. This learning device has a transport route simulator that uses a modeled logistics transport route to calculate the state of the logistics transport route and a reward based on the state, and a learning agent that learns about the transport speed so as to increase the evaluation based on the reward. The transport route simulator calculates the reward based on a transport completion reward obtained when the transport of a workpiece is completed on the logistics transport route, an acceptance refusal penalty imposed when the logistics transport route cannot accept the workpiece, and an energy consumption increase penalty that increases as the energy consumption related to the transport speed increases.

[0004] JP 2023-31401 A

[0005] However, the technology of Patent Document 1 does not perform a simulation that simultaneously considers the states of the fixed parts and the movable parts of the linear conveying device, and therefore can only set parameters that only satisfy the constraints imposed on the linear conveying device to a low degree. Therefore, the technology of Patent Document 1 has a problem in that it can only improve the conveying capacity in situations where the constraints imposed on the linear conveying device are only satisfied to a low degree.

[0006] The present disclosure has been made in consideration of the above, and aims to provide a linear conveying design support device that can improve conveying capacity in situations where the constraints imposed on the linear conveying device are highly satisfied.

[0007] In order to solve the above-mentioned problems and achieve the object, a linear conveyance design support device disclosed herein supports the design of a linear conveyance device having one or more movable units that move along a conveyance path, a plurality of fixed units that are connected to each other to form the conveyance path and that magnetically drive the movable units, and a controller unit that controls the operation of the movable units, and the linear conveyance design support device includes a parameter setting unit that stores, as a parameter set, combinations of fixed unit design information that is design information for the fixed units, movable unit design information that is design information for the movable units, and operation instruction information that is information for movement of the movable units. The linear conveyance design support device disclosed herein also includes a parameter correction unit that corrects at least one parameter included in the parameter set based on conveyance efficiency, which is an index representing the conveyance capacity of the linear conveyance device, and system evaluation information, which is an index representing costs incurred during operation of the linear conveyance device, calculated by simulating the operation of the linear conveyance device using the parameter set, and a preset constraint range that limits the variable range of the system evaluation information, so that the conveyance efficiency is improved while the system evaluation information satisfies the constraint range.

[0008] The linear conveyance design support device according to the present disclosure has the effect of being able to improve conveyance capacity in a situation where constraints imposed on the linear conveyance device are highly satisfied.

[0009] FIG. 1 is a diagram showing a configuration example of a linear conveyance design support device according to a first embodiment. FIG. 2 is a diagram showing a configuration example of a simulator unit provided in the linear conveyance design support device according to the first embodiment. FIG. 3 is a flowchart showing a processing procedure for parameter correction processing executed by the linear conveyance design support device according to the first embodiment. FIG. 4 is a diagram showing a configuration example of a linear conveyance system having the linear conveyance design support device according to the first embodiment. FIG. 5 is a diagram showing a configuration example of a linear conveyance design support device according to a second embodiment. FIG. 6 is a diagram showing a configuration example of a linear conveyance design support system according to a third embodiment. FIG. 7 is a diagram showing a configuration example of a processing circuit provided in the linear conveyance design support device according to the first embodiment when the processing circuit is realized by a processor and a memory. FIG. 8 is a diagram showing an example of a processing circuit provided in the linear conveyance design support device according to the first embodiment when configured with dedicated hardware.

[0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A linear conveyance design support device, a linear conveyance system, and an operating method for a linear conveyance system according to embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0011] First Embodiment. Fig. 1 is a diagram showing an example of the configuration of a linear conveyance design support device according to a first embodiment. The linear conveyance design support device 1A is a device that corrects parameters set in a linear conveyance device. The linear conveyance design support device 1A corrects the parameters set in the linear conveyance device so as to improve the conveyance capacity in a situation where the constraints imposed on the linear conveyance device are highly satisfied.

[0012] A linear transport device has one or more movable parts (movers) having permanent magnets, multiple fixed parts (stators) having coils, and a controller that controls the operation of the movable parts by controlling the current passed through the coils to drive the movable parts. The linear transport device transports an object mounted on the movable parts by moving the one or more movable parts levitated by magnetic force along a transport path formed by connecting and arranging multiple fixed parts.

[0013] The linear transportation design support device 1A includes a parameter setting unit 2, a simulator unit 3A, and a parameter correction unit 4. The parameter setting unit 2 receives and stores fixed part design information, movable part design information, and operation instruction information from the outside. The parameter setting unit 2 also receives and stores candidate values ​​of parameters to be corrected (modified parameter candidates, described later) from the parameter correction unit 4.

[0014] The fixed part design information is information (design information) about the design of the fixed part. Specifically, the fixed part design information includes at least one of the following information: the shape of each fixed part (e.g., straight line or curve), the number of fixed parts used by the linear conveyance device, the number of coils included in the fixed parts, and the arrangement order of the fixed parts when the fixed parts are connected and arranged to form a conveyance path. When correcting parameters, the parameter correction unit 4 cannot correct parameters included in the fixed part design information.

[0015] The movable part design information is information (design information) about the design of the movable part. Specifically, the movable part design information includes at least one of the following information: the size of the movable part, the shape of the movable part, the mass of the movable part alone, the number of movable parts used in the linear conveyance device, and the maximum payload amount of the movable part alone. The maximum payload amount is the maximum mass of an object that can be loaded onto the movable part alone.

[0016] When correcting the parameters, the parameter correction unit 4 can correct the size, shape, mass, and number of movable parts specified in the movable part design information to any size, shape, mass, and number. Furthermore, when correcting the parameters, the parameter correction unit 4 can correct the maximum amount of material that can be loaded specified in the movable part design information to a value within a settable range.

[0017] The operation instruction information is information relating to the movement of each movable part, and specifically, the operation instruction information includes at least one of the following information: a target position for the movement of the movable part, a payload amount of the payload when the movable part moves, a maximum speed and a maximum acceleration when the movable part moves to the target position, a minimum stopping time when the movable part reaches the target position, and a minimum distance between the movable parts.

[0018] The maximum speed and maximum acceleration when the movable part moves to the target position are the maximum speed and acceleration that can be set for the movable part when moving to the target position. The minimum stopping time when the movable part reaches the target position is the minimum stopping time that can be set for the movable part that has reached the target position. The minimum distance between movable parts is the minimum distance that can be set as the distance between movable parts.

[0019] When correcting the parameters, the parameter correction unit 4 can correct the maximum speed specified in the operation instruction information to a value within a settable range. Also, when correcting the parameters, the parameter correction unit 4 can correct the maximum acceleration specified in the operation instruction information to a value within a settable range.

[0020] Furthermore, when correcting the parameters, the parameter correcting unit 4 can correct the minimum stop time defined in the operation instruction information to a value within a settable range.

[0021] Furthermore, when correcting the parameters, the parameter correcting unit 4 can correct the minimum distance defined in the operation instruction information to a value within a settable range.

[0022] When correcting the parameters, the parameter correction unit 4 can correct the target position of movement of the movable part specified in the operation instruction information to any position. Furthermore, when correcting the parameters, the parameter correction unit 4 can correct the amount of loaded material specified in the operation instruction information to a value within a settable range. Note that the operation instruction information may be different for each movable part, or may be different for each movement to a target position.

[0023] The parameter setting unit 2 stores a combination of fixed part design information, movable part design information, and operation instruction information as a parameter set. When the parameter setting unit 2 receives a correction parameter candidate from the parameter correction unit 4, the parameter setting unit 2 rewrites the value of a parameter in the parameter set corresponding to the correction parameter candidate with the value of the correction parameter candidate and stores the rewritten value.

[0024] The simulator unit 3A retrieves the latest parameter set stored in the parameter setting unit 2. The simulator unit 3A sets the retrieved parameter set as the parameters to be used in the simulation.

[0025] The simulator unit 3A executes calculations that take into account the physical characteristics of the linear conveyance device, using the set parameters from the imported parameter set. That is, the simulator unit 3A simulates (mimics) the operation of the linear conveyance device, using the set parameters from the imported parameter set.

[0026] The simulator unit 3A simulates the operation of the linear conveying device to calculate the conveying efficiency, which represents the conveying capacity of the linear conveying device. The simulator unit 3A also simulates the operation of the linear conveying device to calculate system evaluation information, which represents the costs incurred when the linear conveying device is in operation. The system evaluation information is information that indicates the costs of heat generation, vibration, etc., that are generated when the linear conveying device is in operation. Details of the system evaluation information will be described later.

[0027] As described above, the fixed part design information of the parameter set used by the simulator unit 3A includes at least one of the shape of the fixed parts, the number of fixed parts, the number of coils included in the fixed parts, and the arrangement order of the fixed parts. Therefore, the simulator unit 3A can calculate the conveying efficiency and the system evaluation information based on at least one of the information of the shape of the fixed parts, the number of fixed parts, the number of coils included in the fixed parts, and the arrangement order of the fixed parts when the fixed parts are connected and arranged to form a conveying path.

[0028] Furthermore, the movable part design information in the parameter set used by the simulator unit 3A includes at least one of the size, shape, mass, maximum load amount, and number of movable parts, and therefore the simulator unit 3A can calculate the transport efficiency and system evaluation information based on at least one of the size, shape, mass, maximum load amount, and number of movable parts.

[0029] Furthermore, the operation instruction information of the parameter set used by the simulator unit 3A includes at least one of the target position of the movement of the movable unit, the maximum speed and maximum acceleration when the movable unit moves to the target position, the stopping time when the movable unit reaches the target position, the amount of payload of the movable unit when it moves, and the minimum distance between the movable units. Therefore, the simulator unit 3A can calculate the transportation efficiency and the system evaluation information based on at least one of the information of the target position of the movement of the movable unit, the maximum speed and maximum acceleration when the movable unit moves to the target position, the stopping time when the movable unit reaches the target position, the amount of payload of the movable unit when it moves, and the minimum distance between the movable units.

[0030] The simulator unit 3A outputs the conveying efficiency and system evaluation information to the parameter correction unit 4. In this way, the simulator unit 3A simulates the operation of the linear conveying device to calculate and output the conveying efficiency and system evaluation information of the linear conveying device. The simulator unit 3A also outputs the parameter set used when simulating the operation of the linear conveying device to the parameter correction unit 4, together with the conveying efficiency and system evaluation information.

[0031] The parameter modification unit 4 receives a constraint range and a target range from an external device. The parameter modification unit 4 also receives parameters to be modified from an external device, which are information specifying parameters to be modified in the parameter set. The constraint range, target range, and parameters to be modified are input to the parameter modification unit 4 by, for example, a user.

[0032] The constraint range is information that limits the variable range of the system evaluation information. In other words, the constraint range specifies the variable range of the system evaluation information. In other words, the constraint range is the range of restrictions on the system evaluation information. The target range is the target range of conveyance efficiency. In the target range, the upper and lower limit values ​​of the target conveyance efficiency are specified.

[0033] The parameter correction unit 4 receives the transport efficiency, the system evaluation information, and the parameter set from the simulator unit 3 A. The parameter correction unit 4 associates the transport efficiency, the system evaluation information, and the parameter set, and stores them as result data.

[0034] The parameter correction unit 4 corrects the parameter values ​​based on the result data. That is, the parameter correction unit 4 corrects the value of at least one parameter in the parameter set based on the result data so that the conveying efficiency approaches a value within a preset target range or so that the system evaluation information approaches a value within a preset constraint range. The parameter correction unit 4 may also correct the value of at least one parameter in the parameter set so as to increase an evaluation value, which is a value for evaluating the conveying efficiency and the system evaluation information. Details of the evaluation value will be described later.

[0035] The parameter correction unit 4 corrects the value of at least one parameter in the parameter set using a search method described below. In the linear conveyance design support device 1A, the parameter correction unit 4 repeats a process of correcting the parameter value using the search method, and the simulator unit 3A repeats a process of calculating the conveyance efficiency and the system evaluation information using the corrected parameter values. In this way, the linear conveyance design support device 1A adjusts the parameters so that the system evaluation information falls within the constraint range and the conveyance efficiency falls within or approaches the target range. In other words, the parameter correction unit 4 corrects the parameter value using the conveyance efficiency and the system evaluation information so that the conveyance efficiency falls within or approaches the target range under the condition that the system evaluation information falls within the constraint range.

[0036] If the correction termination condition is not satisfied, the parameter correction unit 4 outputs the corrected parameter values ​​(corrected parameter candidates) to the parameter setting unit 2. The correction termination condition is, for example, that all system evaluation information falls within a predetermined constraint range and that the conveying efficiency is a value within a predetermined target range or a value close to the target range. If the correction termination condition is satisfied, the parameter correction unit 4 outputs the corrected parameter values ​​(corrected parameters) to an external device such as a display device. Note that the parameter correction unit 4 may also output a parameter set including the corrected parameter values ​​(corrected parameter set) to an external device such as a display device.

[0037] If the upper and lower limits of the target range are the same value (target value), the parameter correction unit 4 corrects the value of at least one parameter so that the conveying efficiency approaches the target value. If a target range is not set, the parameter correction unit 4 assumes that a very large specific value is set as the target value, and corrects the value of at least one parameter so that the conveying efficiency is maximized. The maximum conveying efficiency in the first embodiment is the conveying efficiency at the point when the correction termination condition is satisfied.

[0038] 2 is a diagram showing an example of the configuration of a simulator unit included in the linear transportation design support device according to embodiment 1. The simulator unit 3A includes a movable part state prediction unit 5, a fixed part state prediction unit 6, and a system evaluation unit 7.

[0039] The moving part state prediction unit 5 and the fixed part state prediction unit 6 receive parameter sets from the parameter setting unit 2. The moving part state prediction unit 5 calculates a series of movements of each moving part to a target position in accordance with the operation instruction information as time-series information of the position and velocity of each moving part. The moving part state prediction unit 5 calculates the time-series information of the position and velocity using the target position, maximum velocity, maximum acceleration, and stop time set in the operation instruction information. Specifically, based on the target position, maximum velocity, maximum acceleration, and stop time, the moving part state prediction unit 5 calculates the following movements: an operation of accelerating at the maximum acceleration to reach the maximum velocity, an operation of moving at the maximum velocity once the maximum velocity has been reached, thereafter an operation of decelerating at the maximum acceleration to stop at the target position, and an operation of stopping for the stop time after stopping before moving to the next target position, thereby calculating the time-series information of the position and velocity of the mover.

[0040] In a linear conveyance device, it is sometimes physically impossible for moving parts to overtake each other on a single route. For this reason, the moving part state prediction unit 5 calculates time-series information of position and speed, including processing to decelerate when the distance between moving parts becomes closer than the minimum distance between moving parts set in the operation instruction information, so that the moving parts do not collide. In other words, the moving part state prediction unit 5 calculates time-series information of position and speed so that the moving parts do not interfere with each other.

[0041] The moving part state prediction unit 5 uses the time-series information of the position and velocity calculated simultaneously to calculate time-series information of the thrust that needs to be applied to the moving part to achieve that position and velocity. For example, the moving part state prediction unit 5 considers the entire moving part, including the payload, as a single rigid body and calculates the acceleration obtained by time-differentiating the velocity of this rigid body. The moving part state prediction unit 5 also calculates the mass of the entire moving part, including the payload, based on the mass of the individual moving part set in the moving part design information and the amount of payload when the moving part moves, set in the operation instruction information. The moving part state prediction unit 5 then calculates the thrust as the product of the acceleration when the entire moving part, including the payload, is considered as a single rigid body and the mass of the entire moving part.

[0042] Furthermore, the moving part state prediction unit 5 may calculate the thrust using a mechanical model that takes into consideration the shape of the moving part set in the moving part design information, vibration, friction, external forces such as centrifugal force, etc. Note that the method of calculating the time-series information of the position, speed, and thrust of each moving part is not limited to the method described above.

[0043] The moving part state prediction unit 5 outputs the time series information of the position, speed, and thrust to the system evaluation unit 7. The moving part state prediction unit 5 also outputs the time series information of the position and thrust to the fixed part state prediction unit 6.

[0044] The fixed part state prediction unit 6 calculates time series information of the current to be applied to the coil of each fixed part arranged on the transport path (track) along which the movable part is transported, based on the time series information of the position and thrust of each movable part calculated by the movable part state prediction unit 5 and the parameter set received from the parameter setting unit 2. In other words, the fixed part state prediction unit 6 calculates time series information of the current required for the coil for each fixed part.

[0045] Specifically, the fixed part state prediction unit 6 extracts the shape and size of the movable part from the parameter set. Furthermore, the fixed part state prediction unit 6 calculates the positional relationship between the movable part and the coil based on the shape and size of the movable part extracted from the parameter set and time-series information on the position of the movable part. The positional relationship between the movable part and the coil calculated by the fixed part state prediction unit 6 includes, for example, the positional relationship between one end of the movable part in the transport direction and the coil, the positional relationship between the center of the movable part in the transport direction and the coil, and the positional relationship between the other end of the movable part in the transport direction and the coil.

[0046] The fixed unit state prediction unit 6 uses a current derivation model that derives time-series information about current from time-series information about thrust, taking into account the shape of the movable unit and the positional relationship between the movable unit and the coil. That is, the fixed unit state prediction unit 6 calculates time-series information about current corresponding to the time-series information about thrust by applying the extracted shape of the movable unit, the calculated positional relationship between the movable unit and the coil, and the time-series information about thrust to the current derivation model. In this way, the fixed unit state prediction unit 6 calculates the relationship between the current flow and the thrust required for movement (required thrust) using the current derivation model. The fixed unit state prediction unit 6 outputs the calculated time-series information about current to the system evaluation unit 7.

[0047] The system evaluation unit 7 receives time-series information on the position, speed, and thrust force, which are the calculation results, from the moving part state prediction unit 5. The system evaluation unit 7 also receives time-series information on the current, which is the calculation result, from the fixed part state prediction unit 6.

[0048] The system evaluation unit 7 calculates the transport efficiency and system evaluation information based on the calculation results by the movable part state prediction unit 5 and the fixed part state prediction unit 6. Specifically, the system evaluation unit 7 calculates the system evaluation information based on time-series information on the position, speed, thrust, and current of the movable part, and calculates the transport efficiency based on time-series information on at least one of the position and speed of the movable part.

[0049] Here, the conveying efficiency is an index representing the capability of the linear conveying device. In the first embodiment, for example, the conveying efficiency is expressed as the throughput, which indicates the total number of loads conveyed by the movable parts in the linear conveying device divided by the time required for conveying, or the throughput, which indicates the total number of loads conveyed within a certain time.

[0050] If, for example, the point where the payload is loaded and the point where the payload is unloaded are set as target positions in the parameter set, the system evaluation unit 7 can easily calculate the total number of payloads and the transport time from the time series information of the position of each movable part.

[0051] Furthermore, the moving part state prediction unit 5 may additionally calculate time-series information on the mass of each moving part. In this case, the system evaluation unit 7 can calculate the total number of payloads and the transportation time using the time-series information on the mass of the moving parts.

[0052] In addition to the throughput, the system evaluation unit 7 may also use the average speed, which is the average of the speeds of all movable parts, the loading rate, which is the ratio of the total mass of the loaded objects to the total maximum load mass of all movable parts, or the number of movable parts that pass a specific point within a certain period of time (number of passing objects), as the conveyance efficiency. In other words, the conveyance efficiency is at least one of the throughput, the average speed of all movable parts, the loading rate, and the number of passing objects. This allows the linear conveyance design support device 1A to calculate at least one of the throughput, the average speed, the loading rate, and the number of passing objects as the conveyance efficiency.

[0053] The system evaluation information is an index that represents the costs incurred when the linear conveying device is in operation. The system evaluation information is information that affects conveying efficiency, and often acts to impose constraints on improving conveying efficiency. The system evaluation information in the first embodiment includes the energy consumption of the linear conveying device (hereinafter referred to as conveying energy), the variability of the linear conveying device (hereinafter referred to as conveying variability), and the hardware design cost of the linear conveying device (hereinafter referred to as conveying design cost).

[0054] Conveying energy is the energy required to operate a linear conveying device. For example, the conveying energy is calculated based on at least one of the current load, heat generation, power consumption, and power consumption amount at each fixed part. Increasing the conveying energy is expected to improve conveying efficiency, but if the conveying energy is too high, it will have a significant impact on the energy efficiency of the linear conveying device, electricity bills, CO2 (carbon dioxide) emissions, etc., so there is also a demand to reduce the conveying energy. The constraint range of conveying energy is set in advance by the user of the linear conveying device.

[0055] Conveyance variability is information about conditions that must be met for a linear conveyance device to operate stably. Conveyance variability is, for example, at least one of the vibration state, including the vibration amplitude and vibration time, of each movable part, the temperature of each fixed part, the temperature of each movable part, and the proximity of the movable parts when they move along the conveyance path. Passing a large current through the fixed parts to move the movable parts quickly in order to improve conveyance efficiency can cause the movable parts to start vibrating or the temperature of the linear conveyance device to rise, which can lead to deterioration in control accuracy and productivity, and therefore there is a demand for reducing conveyance variability.

[0056] Furthermore, transport variability also corresponds to the proximity of two moving parts that are close to each other along a route. An index of this proximity is expressed here as proximity density or concentration. The proximity density or concentration is the value obtained by dividing the proximity of two moving parts by the number of moving parts by the distance between the moving parts. The greater the proximity density or concentration value, the higher the possibility of moving parts colliding with each other, so there is also a demand for reducing the proximity density or concentration.

[0057] The proximity density or concentration is not limited to the above definition, and may be calculated in any manner that is an index that indicates how many elements (moving parts) are gathered or close together within a specific range, for example, it may be the product of the distance between the moving parts and a negative value.

[0058] The transportation design cost is information that affects the cost of the linear transportation device (such as the introduction cost and maintenance cost of the moving parts). The transportation design cost is, for example, at least one of the number of moving parts, the size of the moving parts, the shape of the moving parts, and the mass of the moving parts. In order to transport a large number of payloads or a heavy payload, it is necessary to increase the number or size of the moving parts. However, if the number or size of the moving parts is increased too much, the introduction cost and maintenance cost of the moving parts will increase, so there is also a demand to reduce them.

[0059] The system evaluation unit 7 calculates the transport efficiency and system evaluation information, and outputs the calculation results from the simulator unit 3A. Note that the system evaluation unit 7 only needs to calculate at least one type of information for each of the transport efficiency and the system evaluation information. Furthermore, the system evaluation unit 7 only needs to calculate at least one of the transport energy, transport variability, and transport design cost as the system evaluation information, and does not need to calculate one or more types of information for all three categories. In other words, the system evaluation unit 7 only needs to calculate one or more types of information for the transport efficiency and one or more types of information for the system evaluation information.

[0060] In this way, the simulator unit 3A has the movable unit state prediction unit 5 and the fixed unit state prediction unit 6, so it can calculate the states of the fixed unit and the movable unit by simulation based on physical mechanics. In addition, the simulator unit 3A has the system evaluation unit 7, so it can calculate the transport efficiency and system evaluation information based on the states of the fixed unit and the movable unit.

[0061] 3 is a flowchart showing the procedure of the parameter correction process executed by the linear transportation design support device according to the embodiment 1. It is assumed that the transportation route here is a circular route, and that there are no branching or merging points within the transportation route.

[0062] The parameter correction unit 4 receives parameters to be corrected from the user (step S10). The parameters to be corrected are types of parameters that the linear conveyance design support device 1A corrects so that the system evaluation information falls within the constraint range and the conveyance efficiency falls within the target range. In this example, the parameters to be corrected are the number of movable parts included in the movable part design information, the maximum speed and maximum acceleration of the movable parts included in the operation instruction information, and the stopping time when the movable parts reach the target position. In addition, the user sets the target range of the conveyance efficiency and the constraint range of the system evaluation information. The target range and the constraint range are set in the parameter correction unit 4.

[0063] If the upper and lower limits of the target range are the same, the parameter correction unit 4 treats the target range as the target value. In this case, the parameter correction unit 4 corrects the value of at least one parameter so that it approaches the target value. Furthermore, if a target range is not set, the parameter correction unit 4 assumes that a very large specific value is set as the target value, and corrects the value of at least one parameter so that the conveying efficiency is maximized. For this reason, a target range does not necessarily have to be set.

[0064] The parameter setting unit 2 receives and stores stationary part design information, movable part design information, and operation instruction information from the outside. The simulator unit 3A imports the latest parameter set stored in the parameter setting unit 2. The simulator unit 3A sets parameters to be used when simulating the operation of the linear conveyance device (step S20). That is, the simulator unit 3A sets the parameters included in the imported parameter set as the parameters to be used in the simulation.

[0065] The moving part state prediction unit 5 of the simulator unit 3A calculates time-series information of the position, speed, and thrust of each moving part based on the parameter set (step S30).

[0066] The fixed part state prediction part 6 of the simulator part 3A calculates time series information of the current flowing through each fixed part based on the parameter set and time series information of the position and thrust of each movable part (step S40).

[0067] The system evaluation unit 7 of the simulator unit 3A calculates the transport efficiency based on the time-series information of at least one of the position and speed of the movable part (step S50). Here, the system evaluation unit 7 calculates the throughput as an example of the transport efficiency.

[0068] The system evaluation unit 7 calculates system evaluation information based on the time-series information of the position, speed, thrust, and current of the movable part (step S60). Here, the system evaluation unit 7 calculates a current load, which is an example of system evaluation information, based on the time-series information of the current flowing through the coils of each fixed part calculated in step S40. The system evaluation unit 7 calculates a current load, which is, for example, a value obtained by taking the square root of the time-averaged value (value divided by the fixed time) obtained by integrating the square of the current flowing within a certain time period over this certain time period, and expressing this value as a ratio of a reference value such as a rated current for convenience.

[0069] The system evaluation unit 7 includes the calculated maximum value of the current load in the system evaluation information. Furthermore, the system evaluation unit 7 calculates the vibration state (here, vibration amplitude) at the time of reaching the target position based on the time-series information of the movable part positions calculated in step S30, and also includes the maximum value of the vibration amplitude in the system evaluation information. Furthermore, the system evaluation unit 7 includes the number of movable parts in the system evaluation information. The simulator unit 3A outputs the conveying efficiency, the system evaluation information, and the parameter set to the parameter correction unit 4.

[0070] The parameter correction unit 4 stores the transport efficiency, system evaluation information, and parameter set output from the simulator unit 3A (step S70).

[0071] The parameter correction unit 4 determines whether the correction termination condition is satisfied based on the stored information (step S80). That is, the parameter correction unit 4 determines whether the transport efficiency satisfies the correction termination condition or whether the evaluation value calculated using the transport efficiency satisfies the correction termination condition based on the stored information. The evaluation value is set, for example, by the following calculation formula (1), and the parameter correction unit 4 calculates the evaluation value using this formula (1).

[0072] Evaluation value = {Throughput × Weight} + {(-1) × Current load × Weight} + {(-1) × Vibration state × Weight} + {(-1) × Number of moving parts × Weight} (1)

[0073] In other words, the evaluation value here is the sum of the weights of each of the following variables: throughput as transport efficiency, current load as transport energy in the system evaluation information, vibration state as transport variability in the system evaluation information, and number of moving parts as transport design cost in the system evaluation information.

[0074] The weight is a value equal to or greater than 0, and variables that are to be emphasized are made relatively larger than other variables. Furthermore, if productivity does not change, it is better to have smaller transport energy, transport variability, and transport design costs, so the formula for calculating the evaluation value is set so that the larger the evaluation value, the more the transport efficiency improves, by multiplying the variable by a negative value.

[0075] In the formula for calculating the evaluation value, instead of multiplying by a negative value, the variable may be set as its reciprocal, or a value obtained by subtracting the variable from its maximum value may be set. The calculation method (setting method) of the evaluation value is not limited to that shown here. For example, in the calculation example of the evaluation value described here, the larger the evaluation value, the more the conveyance efficiency improves and the cost of the linear conveyance device is reduced. However, the evaluation value may be set so that the smaller the evaluation value, the more the conveyance efficiency improves and the cost of the linear conveyance device is reduced.

[0076] A first example of the correction termination condition is that all of the system evaluation information falls within a preset constraint range and the transport efficiency is a value within a preset target range.

[0077] Furthermore, a second example of the correction termination condition is when the conveyance efficiency sufficiently approaches the target range or target value while all system evaluation information is within a preset constraint range. The cases where the conveyance efficiency sufficiently approaches the target range or evaluation value are the following cases (N1) to (N6): (N1) When the conveyance efficiency is greater than the upper limit of the target range, the value obtained by subtracting the upper limit of the target range from the conveyance efficiency is equal to or less than a reference value. (N2) When the conveyance efficiency is smaller than the lower limit of the target range, the value obtained by subtracting the lower limit of the target range from the conveyance efficiency is equal to or less than a reference value. (N3) When the conveyance efficiency is greater than the upper limit of the target range, the ratio between the conveyance efficiency and the upper limit of the target range is equal to or less than a reference value. (N4) When the conveyance efficiency is smaller than the lower limit of the target range, the ratio between the conveyance efficiency and the lower limit of the target range is equal to or less than a reference value. (N5) When the absolute value of the difference between the conveyance efficiency and the target value is equal to or less than a reference value. (N6) When the ratio between the conveyance efficiency and the target value is equal to or less than a reference value.

[0078] A third example of the correction termination condition is when the evaluation value becomes sufficiently large and reaches a substantially constant value, which is when the evaluation value becomes larger than the first specific value and the fluctuation value of the evaluation value remains smaller than the second specific value for a specific period of time.

[0079] A fourth example of the correction termination condition is when the number of times the calculation process for the transport efficiency and the system evaluation information has been executed reaches a predetermined reference number. Note that the parameter correction unit 4 does not need to calculate the evaluation value when determining whether the correction termination condition is met without using the evaluation value.

[0080] If the correction termination condition is not satisfied (step S80, No), the parameter correction unit 4 derives correction parameter candidates, which are candidates for correction parameters, using a search method (step S90). The correction parameters are parameter values ​​that the linear conveyance design support device 1A will finally determine to be corrected. The parameter correction unit 4 searches for and changes the values ​​of the correction target parameters using the search method so that the system evaluation information falls within the constraint range, or so that the conveyance efficiency falls within the target range, or so that the evaluation value calculated including the conveyance efficiency becomes larger than the current value, and derives the changed values ​​of the correction target parameters as correction parameter candidates.

[0081] The search method used by the parameter correction unit 4 includes CMA-ES (Covariance Matrix Adaptation Evolution Strategy) and PSO (Particle Swarm Optimization), which are well-known optimization methods using simulation, but the search method used by the parameter correction unit 4 is not limited to these optimization methods (optimization calculations). The search method used by the parameter correction unit 4 may also be optimization calculations using Bayesian estimation, a gradient method, or the like, and the algorithm used is not particularly limited.

[0082] When the parameter correction unit 4 derives the correction parameter candidates, it outputs the correction parameter candidates to the parameter setting unit 2. Then, the linear conveyance design support device 1A executes the processing of steps S20 to S80. The linear conveyance design support device 1A repeats the processing of steps S20 to S80 until the correction termination condition is satisfied.

[0083] If the modification termination condition is satisfied (Yes in step S80), the parameter modification unit 4 determines the modification parameter candidate when the modification termination condition is satisfied as the modification parameter, and outputs the determined modification parameter to an external device such as a display device (step S100).

[0084] As a result, the linear conveyance design support device 1A can determine parameters to be modified (such as the number of movable parts and the operation pattern when the movable parts move along the conveyance path) that maximize the conveyance efficiency while various constraints (constraint conditions) such as current load and vibration satisfy the constraint ranges. In other words, the linear conveyance design support device 1A can improve the conveyance capacity of the linear conveyance device within the constraints imposed on this linear conveyance device.

[0085] In addition, the linear conveying design support device 1A can appropriately determine parameters such as speed or acceleration that determine the operation of the moving parts to obtain the required conveying capacity during the design stage, thereby reducing design and manufacturing costs and shortening lead times.

[0086] In this way, the linear conveying design support device 1A performs a simulation that simultaneously takes into account the states of both the fixed and movable parts of the linear conveying device, and therefore can realize parameter settings that take into account, for example, vibrations that occur at corners, conveying efficiency according to the type (weight, shape, size, etc.) of movable parts or the number of movable parts, conveying energy, conveying variability, and even conveying design costs.

[0087] Furthermore, the linear transport design support device 1A sequentially determines the parameter values ​​that improve transport efficiency when the system evaluation information satisfies the constraint range, and therefore, under the condition that the system evaluation information falls within the constraint range, the parameter values ​​can be corrected in a short time so that the transport efficiency falls within or approaches the target range.

[0088] 4 is a diagram showing an example of the configuration of a linear conveyance system including the linear conveyance design support device according to the first embodiment. The linear conveyance system 30 includes a linear conveyance design support device 1A and a linear conveyance device 20.

[0089] The linear transport device 20 is a device that moves one or more movable parts 21 along a transport path. The linear transport device 20 includes one or more movable parts 21, a plurality of fixed parts 22, guide rails 23, and a controller unit 25.

[0090] In the linear transport device 20, a fixed part 22 is disposed on a path along which the movable part 21 moves. A permanent magnet (not shown) is disposed on the movable part 21, and a coil (not shown) is disposed on the fixed part 22. A controller part 25 controls the current flowing through the coil of the fixed part 22 to drive the movable part 21.

[0091] The guide rail 23 is a mechanical component for smoothly moving the movable part 21 in the direction of the rail. By connecting multiple linear track modules, each of which combines a guide rail 23 and a fixed part 22, it is possible to construct various paths.

[0092] In the linear conveyance system 30, the linear conveyance design support device 1A transmits the correction parameters to the controller unit 25. The controller unit 25 changes the values ​​of the parameters in the parameter set that correspond to the correction parameters to the values ​​of the correction parameters, and then controls the operation of the movable part 21 using the parameter set.

[0093] The linear conveyance design support device 1A according to the present disclosure is named "linear conveyance design support device" for the sake of convenience, and the scope of rights should not be limited by this name.

[0094] For example, information output from the linear conveyance design support device 1A, such as correction parameters, conveyance efficiency, system evaluation information, and other analysis results, may be directly input to the linear conveyance device and used to control the conveyance. Furthermore, the output information may be displayed on a display unit or the like and viewed by an operator for design or control. In other words, the operation, function, application, etc. of the information output from the linear conveyance design support device 1A can be freely selected. In other words, as long as the subject is a linear conveyance device, the linear conveyance design support device in the title of the invention may also be called a linear conveyance design device, a linear conveyance control device, a linear conveyance analysis device, etc.

[0095] Furthermore, in the first embodiment, the case where the simulator unit 3A is arranged inside the linear transportation design support device 1A has been described, but it is also possible to configure the linear transportation design support device 1A so that a device consisting of a processor, memory, or a combination of these, which operates in the same manner as the simulator unit 3A, is arranged outside the linear transportation design support device 1A, and the transportation efficiency and system evaluation information is acquired from this device. With such a configuration, the effects of the first embodiment described above can also be obtained.

[0096] Thus, according to embodiment 1, the linear conveying design support device 1A modifies at least one of the parameters included in the parameter set so that the system evaluation information satisfies the constraint range while improving conveying efficiency, thereby making it possible to improve conveying capacity in a situation where the constraints imposed on the linear conveying device 20 are highly satisfied.

[0097] Furthermore, the linear conveying design support device 1A modifies at least one of the parameters included in the movable part design information and the operation instruction information, thereby suppressing the value of the system evaluation information and improving conveying efficiency.

[0098] Second Embodiment Next, a second embodiment will be described with reference to Fig. 5. In the second embodiment, the conveyance efficiency and system evaluation information corresponding to a parameter set are predicted using a prediction model expressed as a mathematical expression, a state transition diagram, a state transition table, or a learning model.

[0099] Fig. 5 is a diagram showing a configuration example of a linear transportation design support device according to embodiment 2. Among the components in Fig. 5, components that achieve the same functions as those in the linear transportation design support device 1A according to embodiment 1 shown in Fig. 1 are assigned the same reference numerals, and duplicated explanations will be omitted.

[0100] Similar to the linear conveyance design support device 1A, the linear conveyance design support device 1B of the second embodiment corrects parameters set in the linear conveyance device 20. Compared to the linear conveyance design support device 1A, the linear conveyance design support device 1B includes a simulator unit 3B instead of the simulator unit 3A. That is, the linear conveyance design support device 1B includes a parameter setting unit 2, a simulator unit 3B, and a parameter correction unit 4.

[0101] The simulator unit 3B includes a prediction model 8. The prediction model 8 is a model generated based on a data set of a parameter set acquired in advance and conveyance efficiency and system evaluation information. The parameter set acquired in advance is obtained, for example, by operating an actual machine (linear conveyance device 20) or a simulator that simulates the operation of the actual machine. The conveyance efficiency and system evaluation information are calculated based on the parameter set. The prediction model 8 receives a parameter set from a user as input and predicts conveyance efficiency and system evaluation information as output.

[0102] The prediction model 8 is expressed by a mathematical formula, a state transition diagram, a state transition table, or a learning model. Note that the prediction algorithm used when expressing the prediction model 8 by a mathematical formula, a state transition diagram, a state transition table, or a learning model does not need to be particularly limited, and any algorithm may be used.

[0103] When the simulator unit 3B receives a parameter set from the parameter setting unit 2, it predicts the conveying efficiency and system evaluation information based on the parameter set. That is, when a parameter set is input, the prediction model 8 of the simulator unit 3B predicts and outputs the conveying efficiency and system evaluation information corresponding to this parameter set. Thereafter, modified parameters that improve the conveying efficiency are output from the parameter modification unit 4 by processing similar to that in the first embodiment.

[0104] As described above, according to the second embodiment, the linear transportation design supporting device 1B is provided with the prediction model 8, and therefore it is possible to obtain the transportation efficiency and system evaluation information in a short time using the prediction model 8 without executing a time-series simulation. Therefore, the linear transportation design supporting device 1B can obtain the correction parameters that improve the transportation efficiency in a shorter time than in the first embodiment.

[0105] Third Embodiment Next, a third embodiment will be described with reference to Fig. 6. In the third embodiment, the process executed by the simulator unit 3A and the process executed by the parameter setting unit 2 and the parameter correction unit 4 are executed by different computers.

[0106] Fig. 6 is a diagram showing an example of the configuration of a linear transportation design support system according to the third embodiment. Of the components in Fig. 6, components that achieve the same functions as those in the linear transportation design support device 1A according to the first embodiment shown in Fig. 1 are assigned the same reference numerals, and duplicated explanations will be omitted.

[0107] Similar to the linear conveyance design support device 1A, the linear conveyance design support system 10 of the third embodiment corrects parameters set in the linear conveyance device 20. In addition to the parameter setting unit 2, the simulator unit 3A, and the parameter correction unit 4, the linear conveyance design support system 10 includes a parameter sending unit 11, a parameter receiving unit 12, a calculation result sending unit 13, and a calculation result receiving unit 14.

[0108] The parameter transmitting unit 11, the parameter receiving unit 12, the calculation result transmitting unit 13, and the calculation result receiving unit 14 are connected between the parameter setting unit 2 and the parameter correction unit 4 and the simulator unit 3A. Specifically, the parameter setting unit 2 is connected to the parameter transmitting unit 11, the simulator unit 3A is connected to the parameter receiving unit 12 and the calculation result transmitting unit 13, and the parameter correction unit 4 is connected to the calculation result receiving unit 14. The parameter transmitting unit 11, the parameter receiving unit 12, the calculation result transmitting unit 13, and the calculation result receiving unit 14 are connected to the Internet 15. The parameter correction unit 4 is also connected to the parameter setting unit 2.

[0109] In the linear transportation design support system 10, the computer including the simulator unit 3A and the computer including the parameter setting unit 2 and parameter correction unit 4 are separate computers. The computer including the simulator unit 3A and the computer including the parameter setting unit 2 and parameter correction unit 4 transmit and receive information via the Internet 15.

[0110] The parameter setting unit 2 stores the parameter set by the same process as in embodiment 1. The parameter transmission unit 11 transmits the parameter set stored in the parameter setting unit 2 to the parameter reception unit 12 via the Internet 15. The timing at which the parameter transmission unit 11 transmits the parameter set may be when the parameter set stored in the parameter setting unit 2 is updated, when the parameter transmission unit 11 receives a request from outside, or at a specific periodic timing.

[0111] The parameter receiving unit 12 receives the parameter set from the parameter transmitting unit 11 via the Internet 15. The parameter receiving unit 12 outputs the received parameter set to the simulator unit 3A.

[0112] The simulator unit 3A calculates the transport efficiency and the system evaluation information based on the parameter set, as in the first embodiment. The simulator unit 3A outputs the calculation results of the calculated transport efficiency and the system evaluation information, and the parameter set used in the calculation, to the calculation result transmission unit 13.

[0113] The calculation result transmitting unit 13 receives the calculation results and parameter sets output by the simulator unit 3A. The calculation result transmitting unit 13 transmits the calculation results and parameter sets received from the simulator unit 3A to the calculation result receiving unit 14 via the Internet 15. The timing at which the calculation result transmitting unit 13 transmits the calculation results and parameter sets may be when the simulator unit 3A calculates the transport efficiency and the system evaluation information and outputs them to the calculation result transmitting unit 13, when the calculation result transmitting unit 13 receives a request from outside, or at a specific periodic timing.

[0114] The calculation result receiving unit 14 receives the calculation results and the parameter set from the calculation result transmitting unit 13 via the Internet 15. The calculation result receiving unit 14 outputs the received calculation results and parameter set to the parameter correcting unit 4. Similar to the parameter correcting unit 4 in the first embodiment, the parameter correcting unit 4 corrects the parameters based on the calculation results, i.e., the transport efficiency and system evaluation information, and the parameter set.

[0115] As in the first embodiment, if the correction termination condition is not satisfied, the parameter correction unit 4 outputs correction parameter candidates to the parameter setting unit 2. As in the linear conveyance design support device 1A, in the linear conveyance design support system 10, the correction parameters are determined by repeating the processing by the parameter setting unit 2, the processing by the simulator unit 3A, and the processing by the parameter correction unit 4. When the parameter correction unit 4 determines the correction parameters, it outputs the correction parameters to an external device such as a display device.

[0116] The linear transportation design support system 10 may include a simulator unit 3B instead of the simulator unit 3A.

[0117] As described above, according to the third embodiment, the linear conveyance design support system 10 transmits the parameter set to the simulator unit 3A via the Internet 15. As a result, the linear conveyance design support system 10 can realize, for example, only the simulator unit 3A using a computer (calculator) with higher performance than the parameter setting unit 2 or the parameter correction unit 4. Therefore, the linear conveyance design support system 10 can easily improve the calculation accuracy and calculation speed of the simulator unit 3A, and can obtain accurate correction parameters that improve conveyance efficiency in a shorter time than in the first embodiment.

[0118] Next, the hardware configuration of the linear conveyance design support devices 1A and 1B will be described. Since the linear conveyance design support devices 1A and 1B have similar hardware configurations, the hardware configuration of the linear conveyance design support device 1A will be described here. The linear conveyance design support device 1A is realized by a processing circuit. The processing circuit may be a processor and memory that executes a program stored in memory, or may be dedicated hardware.

[0119] FIG. 7 is a diagram illustrating an example of the configuration of a processing circuit included in the linear transportation design support device according to the first embodiment, when the processing circuit is realized by a processor and a memory. The processing circuit 90 illustrated in FIG. 7 includes a processor 91 and a memory 92. When the processing circuit 90 is configured with the processor 91 and the memory 92, each function of the processing circuit 90 is realized by software, firmware, or a combination of software and firmware. The software or firmware is written as a linear transportation design support program and stored in the memory 92. The processing circuit 90 realizes each function by having the processor 91 read and execute the linear transportation design support program stored in the memory 92. That is, the processing circuit 90 includes the memory 92 for storing the linear transportation design support program that results in the processing of the linear transportation design support device 1A. The linear transportation design support program can also be considered a program that causes the linear transportation design support device 1A to execute each function realized by the processing circuit 90. The linear transportation design support program may be provided by a computer-readable recording medium on which the linear transportation design support program is recorded, or by other means such as a communication medium.

[0120] The linear transportation design support program can also be said to be a program that causes the linear transportation design support device 1A to execute the processes of steps S10 to S100 in FIG.

[0121] Here, the processor 91 is, for example, a CPU (Central Processing Unit), a processing device, an arithmetic unit, a microprocessor, a microcomputer, or a DSP (Digital Signal Processor), etc. The memory 92 is, for example, a non-volatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable ROM), or an EEPROM (Electrically EPROM), a magnetic disk, a flexible disk, an optical disk, a compact disk, a minidisk, or a DVD (Digital Versatile Disc).

[0122] FIG. 8 is a diagram illustrating an example of a processing circuit provided in the linear transportation design support device according to the first embodiment, configured with dedicated hardware. The processing circuit 93 illustrated in FIG. 8 corresponds to, for example, 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 combination thereof. The processing circuit 93 may be partially implemented with dedicated hardware and partially implemented with software or firmware. In this way, the processing circuit 93 can realize each of the above-described functions by dedicated hardware, software, firmware, or a combination thereof.

[0123] Any of the parameter setting unit 2, simulator units 3A and 3B, and parameter correction unit 4 of the linear transportation design support system 10 may be realized by any of the processing circuits 90 and 93 described above.

[0124] The configurations shown in the above embodiments are merely examples, and may be combined with other known technologies, or different embodiments may be combined with each other. It is also possible to omit or modify parts of the configurations as long as they do not deviate from the gist of the invention.

[0125] 1A, 1B Linear conveyance design support device, 2 Parameter setting unit, 3A, 3B Simulator unit, 4 Parameter correction unit, 5 Movable part state prediction unit, 6 Fixed part state prediction unit, 7 System evaluation unit, 8 Prediction model, 10 Linear conveyance design support system, 11 Parameter transmission unit, 12 Parameter reception unit, 13 Calculation result transmission unit, 14 Calculation result reception unit, 15 Internet, 20 Linear conveyance device, 21 Movable part, 22 Fixed part, 23 Guide rail, 25 Controller unit, 30 Linear conveyance system, 90, 93 Processing circuit, 91 Processor, 92 Memory.

Claims

1. A linear conveyance design support device that supports the design of a linear conveyance device having one or more movable parts that move on a conveyance path, a plurality of fixed parts that are connected to each other to form the conveyance path and that drive the movable parts with magnetic force, and a controller part that controls the operation of the movable parts, comprising: a parameter setting part that stores, as a parameter set, a combination of fixed part design information that is design information for the fixed parts, movable part design information that is design information for the movable parts, and operation instruction information that is information on the movement of the movable parts; and a parameter correction part that corrects at least one parameter included in the parameter set based on system evaluation information that is calculated by simulating the operation of the linear conveyance device using the parameter set, and conveyance efficiency that is an index that represents the conveyance capacity of the linear conveyance device and system evaluation information that is an index that represents the cost incurred when the linear conveyance device is in operation, and a preset constraint range that limits the variable range of the system evaluation information, so that the conveyance efficiency is improved while the system evaluation information satisfies the constraint range.

2. The linear conveyance design support device according to claim 1, further comprising a simulator unit that calculates the conveyance efficiency and the system evaluation information by simulating the operation of the linear conveyance device using the parameter set, and outputs the calculated information to the parameter correction unit.

3. The linear conveyance design support device according to claim 2, characterized in that the parameter correction unit repeats a process of correcting the value of at least one parameter of the parameter set so that the conveyance efficiency approaches a value within a preset target range or so that the system evaluation information approaches a value within the constraint range, and the simulator unit calculates the conveyance efficiency and the system evaluation information and outputs them to the parameter correction unit.

4. The linear conveying design support device according to claim 2 or 3, characterized in that the simulator unit comprises: a moving part state prediction unit that uses the moving part design information to calculate time series information of the position, speed, and thrust for each of the moving parts; a fixed part state prediction unit that calculates time series information of the current flowing through the coils of the fixed parts based on the parameter set and the time series information of the position and the thrust; and a system evaluation unit that calculates at least one of conveying energy, which is the energy consumed by the linear conveying device, conveying variability, which is the variability of the linear conveying device, and conveying design cost, which is the design cost of the hardware of the linear conveying device, as the system evaluation information based on the time series information of the position, the speed, the thrust, and the current, and calculates the conveying efficiency based on the time series information of at least one of the position and the speed.

5. The linear conveying design support device according to claim 4, characterized in that the parameter correction unit determines whether or not a termination condition for terminating the parameter correction is met based on the system evaluation information, the constraint range, the conveying efficiency, and the target range, and if it determines that the termination condition is met, outputs the corrected parameters to the outside as corrected parameters.

6. The linear conveying design support device according to claim 5, characterized in that the parameter correction unit determines that the termination condition is met when the system evaluation information calculated by the simulator unit is within the constraint range and the conveying efficiency is within the target range or the conveying efficiency is approaching the target value, and determines that the termination condition is not met when at least one of the following occurs: the system evaluation information is outside the constraint range, the conveying efficiency is outside the target range, and the conveying efficiency is not approaching the target value.

7. The linear conveying design support device according to claim 5 or 6, characterized in that, when the parameter correction unit determines that the termination condition is not satisfied, the simulator unit calculates the conveying efficiency and the system evaluation information using the parameter set updated by the parameter values ​​corrected by the parameter correction unit.

8. A linear conveying design support device as described in any one of claims 1 to 7, characterized in that the fixed part design information includes at least one piece of information among the shape of the fixed parts, the number of the fixed parts, the number of coils included in the fixed parts, and the arrangement order of the connected and arranged fixed parts.

9. A linear conveying design support device according to any one of claims 1 to 8, characterized in that the movable part design information includes at least one piece of information among the size of the movable part, the shape of the movable part, the mass of the movable part, the number of the movable parts, and the maximum amount of material that can be carried by the movable part.

10. A linear conveying design support device as described in any one of claims 1 to 9, characterized in that the operation instruction information includes at least one of the following information: a target position for movement of the movable part; a payload mass of the load when the movable part moves; a maximum speed and a maximum acceleration when the movable part moves to the target position; a minimum stopping time when the movable part reaches the target position; and a minimum distance between the movable parts.

11. A linear conveyance design support device according to any one of claims 1 to 10, characterized in that the parameter correction unit corrects at least one parameter among the parameters included in the movable part design information and the operation instruction information.

12. A linear conveying design support device as described in any one of claims 1 to 11, characterized in that the conveying efficiency is at least one of: throughput, which is the conveying capacity of the movable part; average speed of the movable part; loading rate, which is the ratio of the total mass of the load when the movable part moves to the total maximum load mass of the movable part; and number of passes, which is the number of movable parts that pass a specific point within a certain period of time.

13. The linear conveying design support device according to claim 4, characterized in that the system evaluation unit calculates the conveying energy based on at least one of the current load, heat generation, power consumption, and power consumption amount at the fixed unit.

14. The linear conveying design support device according to claim 4, characterized in that the system evaluation unit calculates, as the conveying variability, at least one of the vibration state of the movable parts, the temperature of the fixed parts, the temperature of the movable parts, and the distance between the movable parts when the movable parts move along the conveying path.

15. The linear conveying design support device according to claim 4, characterized in that the system evaluation unit calculates at least one of the number of the movable parts, the shape of the movable parts, and the mass of the movable parts as the conveying design cost.

16. The linear conveying design support device according to claim 3, characterized in that the simulator unit is a prediction model that is generated based on a data set of the parameter set and the conveying efficiency and the system evaluation information, and that uses the parameter set as input and predicts the conveying efficiency and the system evaluation information as output.

17. The linear transportation design support device according to claim 16, wherein the prediction model is expressed by a mathematical formula, a state transition diagram, a state transition table, or a learning model.

18. A linear conveyance system comprising: a linear conveyance device having one or more movable parts that move on a conveyance path, and a plurality of fixed parts that are connected to each other to form the conveyance path and drive the movable parts by magnetic force; and a linear conveyance design support device that supports the design of the linear conveyance device, wherein the linear conveyance design support device comprises: a parameter setting unit that stores, as a parameter set, a combination of fixed part design information that is design information for the fixed parts, movable part design information that is design information for the movable parts, and operation instruction information that is information on the movement of the movable parts; and a parameter correction unit that corrects at least one parameter included in the parameter set based on system evaluation information that is calculated by simulating the operation of the linear conveyance device using the parameter set, and system evaluation information that is an index representing the conveyance capacity of the linear conveyance device and an index representing the cost incurred when the linear conveyance device is in operation, and a preset constraint range that limits the variable range of the system evaluation information, so that the conveyance efficiency is improved while the system evaluation information satisfies the constraint range.

19. A method for operating a linear conveyance system, comprising: a parameter setting unit step in which a linear conveyance design support device that supports the design of a linear conveyance device having one or more movable parts that move on a conveyance path, a plurality of fixed parts that are connected to each other to form the conveyance path and that magnetically drive the movable parts, and a controller unit that controls the operation of the movable parts, stores a combination of fixed part design information that is design information for the fixed parts, movable part design information that is design information for the movable parts, and operation instruction information that is information about the movement of the movable parts as a parameter set; a parameter correction step in which the linear conveyance design support device corrects at least one parameter of the parameters included in the parameter set based on conveyance efficiency, which is an index representing the conveyance capacity of the linear conveyance device, and system evaluation information, which is an index representing the cost incurred when the linear conveyance device is in operation, calculated by simulating the operation of the linear conveyance device using the parameter set, and a preset constraint range that limits the variable range of the system evaluation information, so that the conveyance efficiency is improved while the system evaluation information satisfies the constraint range; and a movement step in which the linear conveyance device moves the movable parts using the corrected parameter.

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