JP7317248B1 - Program creation support device, program creation support program, program creation support method, and linear transport system - Google Patents

Abstract

A program creation support device 1 creates a movement control program for controlling movement of a moving body 2 of a linear transport system LS having a track configuration 9 combining a plurality of lane modules 4 and moving bodies 2 arranged on the track configuration. An object placement unit 114, which is a program creation support device, creates a track configuration diagram representing the track configuration 9 by combining lane object parts representing the shape of the lane module 4, and moves the moving body 2 placed on the track configuration 9. and a driving pattern creation unit 115 that creates the driving pattern of the moving body 2 that is set in the track configuration 9 represented by the track configuration diagram and included in the movement control program.

Description

TECHNICAL FIELD The present disclosure relates to a program creation support device, a program creation support program, a program creation support method, and a linear transport system provided with these for use in a linear transport system.

A linear transport system includes a plurality of lane modules that form a movement path, a moving body that moves along the lane modules, and a controller that controls the movement of the moving body. In such a linear transport system, a controller executes control commands for controlling the movement of the moving body. Then, when the control command is executed, the mobile body moves to a designated position according to a movement control program and drive control parameters (position, speed, movement amount change, etc.) set for each mobile body.

Japanese Unexamined Patent Application Publication No. 2002-200003 discloses a technique related to an unmanned vehicle travel program input device for inputting a travel program to an unmanned vehicle, which is a mobile body that travels along a route designated by the travel program. Specifically, the driving program input device for an unmanned vehicle disclosed in Patent Document 1 displays the driving route of the unmanned vehicle as a route pattern diagrammatically, and allows the driver to move the unmanned vehicle forward, backward, and forward while confirming the driving route. It is possible to create a driving program including driving modes such as right turn, left turn and stop, driving speed of the unmanned vehicle, etc., and input the driving program to the unmanned vehicle. Then, the unmanned vehicle to which the travel program is input travels along the travel route according to the travel program.

JP-A-7-191723

The driving program input device for an unmanned vehicle disclosed in the above-mentioned Patent Document 1 can graphically display a driving route and create a driving program while confirming the driving route. It creates a running program that is input and executed by the moving object. Therefore, the technique disclosed in Patent Document 1 requires setting drive control parameters for the moving body and creating a movement control program, which complicates timing design for acceleration, deceleration, and stopping of the moving body. There is Further, the technology disclosed in Patent Document 1 creates a movement control program for moving bodies. There is a problem that it is difficult to change the number of moving bodies or partially change the movement of moving bodies on the moving route.

The present disclosure has been made in order to solve the above-mentioned problems, eliminate the complexity of timing design such as acceleration, deceleration and stopping of moving bodies, and change the number of moving bodies moving on the movement route. It is an object of the present invention to provide a program creation support device, a program creation support program, and a program creation support method that can facilitate

A program creation support device according to the present disclosure is a linear transport system comprising a track configuration combining a plurality of lane modules and a moving body arranged on the track configuration and moving along the track configuration. A program creation support device for creating a control program, comprising: an object placement unit for creating a track configuration diagram representing a track configuration by combining lane object parts representing shapes of lane modules; and a track configuration represented by the track configuration diagram. and a driving pattern creation unit that creates the driving pattern of the moving object that is set and included in the movement control program.

The program creation support device according to the present disclosure can eliminate the complexity of timing design for acceleration, deceleration, and stopping of moving bodies, and can facilitate changing the number of moving bodies moving on a moving route.

1 is a schematic diagram showing an example of a configuration of a linear transport system according to Embodiment 1 of the present disclosure; FIG. 1 is a block diagram showing an example of a configuration of a linear transport system according to Embodiment 1 of the present disclosure; FIG. 1 is a diagram illustrating an example of a program creation support device according to Embodiment 1 of the present disclosure; FIG. FIG. 4 is a diagram showing an example of placement of object parts in an object placement section according to Embodiment 1 of the present disclosure; FIG. 4 is a diagram showing an example of operation pattern creation by an operation pattern creation unit according to Embodiment 1 of the present disclosure; FIG. 4 is a diagram showing an example of drive control parameter settings in a track configuration setting unit 116 according to Embodiment 1 of the present disclosure; FIG. 4 is a flow diagram showing an example of the operation of creating a movement control program in the program creation support device according to Embodiment 1 of the present disclosure; It is a figure which shows an example of the programming assistance apparatus which concerns on Embodiment 2 of this indication. FIG. 10 is a diagram illustrating an example of placement of object parts in an object placement section according to Embodiment 2 of the present disclosure; FIG. 10 is a diagram showing an example of drive control parameter settings in a track configuration setting unit according to Embodiment 2 of the present disclosure; FIG. 10 is a diagram showing an example of setting of control points by a track configuration setting unit according to Embodiment 2 of the present disclosure; FIG. 10 is a flow diagram showing an example of an operation of creating a movement control program in a program creation support device according to Embodiment 2 of the present disclosure;

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. Note that the present disclosure is not limited by the embodiment.

Embodiment 1.
FIG. 1 is a schematic diagram showing an example of a configuration of a linear transport system according to Embodiment 1 of the present disclosure. As shown in FIG. 1, the linear transport system LS includes a plurality of lane modules 4a to 4l forming a movement path, a plurality of moving bodies 2a to 2c moving along the movement path, and a plurality of moving bodies 2a to 2c. and a programming support device 1 connected to the controller 3 . Note that the plurality of lane modules 4a to 4l may be simply referred to as the lane module 4 when there is no need to distinguish between them. Also, the plurality of moving bodies 2a to 2c may be simply referred to as moving bodies 2 when there is no need to distinguish between them.

In the linear transportation system LS shown in FIG. 1, the controller 3 is connected to the lane module 4 through the first communication line 5, and the programming support device 1 is connected to the controller 3 through the second communication line 6. ing. The lane modules 4 are connected to each other by a third communication line 7 . In FIG. 1, the connection between the controller 3 and the lane module 4, the connection between the controller 3 and the program creation support device 1, and the connection between the lane modules 4 are wired first communication line 5 and second wired communication line 5. Although they are connected by the communication line 6 and the third communication line 7, they may be connected wirelessly. That is, the connection between the controller 3 and the lane module 4, the connection between the controller 3 and the program creation support device 1, and the connection between the lane modules 4 may be configured so as to be communicable by any communication means.

In the linear transport system LS shown in FIG. 1, a plurality of lane modules 4 are composed of lane modules 4a, 4b, 4c, 4d, 4e, 4f, 4g, and 4h shaped to form straight tracks and lane modules shaped to form curved tracks. Modules 4i, 4j, 4k, and 4l are provided, and a plurality of lane modules 4 are connected to form a moving route of the moving object 2. FIG. The linear transport system LS is a system that transports a work by moving the moving body 2 along a movement path based on control commands output from the controller 3 . Although the linear transport system LS is provided with 12 lane modules 4 in FIG. 1, the number of lane modules 4 is not particularly limited. Furthermore, the lane module 4 is not limited to the shape shown in FIG. For example, the lane module 4 may have a shape having various tracks such as a Y shape with branches, a T shape, a cross shape, and the like.

The linear transport system LS may also treat one or a plurality of connected lane modules 4 as tracks 8 . Furthermore, the linear transport system LS sometimes treats a state in which multiple tracks 8 are combined as a track configuration 9 . In other words, the track configuration 9 constitutes a moving route in which a plurality of lane modules 4 are combined.

The mobile 2 is arranged on a track arrangement 9 . The moving body 2 is configured by alternately arranging S-pole magnets and N-pole magnets, and moves by obtaining thrust from an electromagnetic field generated in a coil 41 of the lane module 4, which will be described later. In addition, in FIG. 1, three mobile bodies 2a, 2b, and 2c are shown as the mobile bodies 2, but the number of the mobile bodies 2 is not particularly limited.

FIG. 2 is a configuration diagram showing an example of the configuration of the linear transport system according to Embodiment 1 of the present disclosure. As shown in FIG. 2, the linear transport system LS generates an electromagnetic field by controlling energization and non-energization of the coil 41 of the lane module 4, and the electromagnetic field acts on the magnet of the moving body 2, thereby It is a system for moving the moving body 2 . Each configuration of the linear transport system LS will be described below.

The program creation support device 1 includes a processor 11 that executes the program creation support program, a memory 12 that stores the program creation support program and reads and writes various data, an input interface (input I /F) 13 , a display 14 for displaying an execution screen of the program creation support program, etc., and a communication interface (communication I/F) 15 for communicating with the controller 3 . The program creation support device 1 functions by executing a program creation support program. The memory 12 includes a non-volatile memory in which the installed program creation support program is stored, and a volatile memory that serves as a work memory when the support program is executed.

The program creation support device 1 creates a movement control program for moving the moving body 2 in the linear transport system LS by executing the program creation support program. The program creation support device 1 outputs the created movement control program to the controller 3 via the communication I/F 15 . The operation of the program creation support device 1 creating the movement control program will be described later.

Note that the program creation support device 1 can use an arithmetic device such as a notebook computer, a desktop computer, a tablet computer, a smart phone, etc., in which a program creation support program is installed in the memory 12 . The programming support program is stored in a non-temporary computing terminal readable storage medium, and functions by being installed in the computing device. Non-temporary computing terminal readable storage media include, for example, CD-ROM (Compact Disc Read only memory), DVD-ROM (Digital Versatile Disk Read only memory), USB (Universal Serial Bus) flash drive, etc. can be done.

The controller 3 includes a processor 31 that generates a control command for moving the moving body 2 based on the received movement control program, a memory 32 that stores the movement control program and control commands, reads and writes various data, and creates programs. A communication interface (communication I/F) 33 for communicating with the support device 1 and the lane module 4 is provided. The memory 32 includes a nonvolatile memory that stores a movement control program, a program for generating control commands, and the like, and a volatile memory that serves as a work memory when generating control commands. The controller 3 receives the movement control program output from the program creation support device 1 via the communication I/F 33 and outputs the generated control command to the lane module 4 via the communication I/F 33 .

The lane module 4 includes a coil 41 that generates an electromagnetic field for moving the moving body 2, an amplifier 42 that controls energization and non-energization for generating the electromagnetic field in the coil 41, and information on the moving body 2. and a scale 43 for detecting. The coil 41 is configured to generate a desired electromagnetic field by switching between energization and non-energization, and is composed of a wound coil, for example. The coil 41 may be composed of one winding coil, or may be composed of a plurality of winding coils. The amplifier 42 receives an inverter circuit 421 that switches between energization and non-energization of the coil 41, a processor 422 that performs switching control of the inverter circuit 421 that switches between energization and non-energization of the coil 41 based on the received control command, and a control command. A communication interface (communication I/F) 423 is provided. In other words, the lane module 4 receives the control command via the communication I/F 423 of the amplifier 42, and controls switching of the inverter circuit 421 of the amplifier 42 based on the received control command, thereby causing the coil 41 to generate an electromagnetic field. generate Thereby, the moving body 2 on the lane module 4 can move along the track of the lane module 4 .

The scale 43 provided in the lane module 4 is configured to be able to detect the speed, position, etc. of the moving body 2 moving along the track of the lane module 4 . The scale 43 can use, for example, an optical or magnetic sensor. The scale 43 is connected to the processor 422 of the amplifier 42 , and outputs the information of the moving body 2 to the processor 422 when detecting the information of the moving body 2 such as the position and speed of the moving body 2 . The processor 422 may perform feedback control on the control command based on the information of the moving body 2 received from the scale 43 . Moreover, the processor 422 is good also as outputting the information of the mobile body 2 to the controller 3 via communication I/F423. The scale 43 does not necessarily have to be connected to the processor 422 and may output the information on the moving body 2 to the communication I/F 423 . In such a case, the information of the moving body 2 output from the scale I/F 43 may be output to the processor 422 and the controller 3 via the communication I/F 423, or to either the processor 422 or the controller 3 may be output.

When the processor 31 of the controller 3 receives the information of the moving body 2 and generates a control command based on the movement control program, the controller 3 generates a control command based on the information of the moving body 2 and the movement control program. You can do it. In such a case, the controller 3 can implement feedback control based on the information of the moving body 2. FIG.

The program creation support device 1 according to Embodiment 1 of the present disclosure executes the program creation support program stored in the memory 12 by the processor 11, so that the user operation reception unit 111, the display control unit 112, the parts management unit 113 , an object placement unit 114 , a driving pattern creation unit 115 , and a track configuration setting unit 116 . FIG. 3 is a diagram illustrating an example of a program creation support device according to Embodiment 1 of the present disclosure. As shown in FIG. 3, the program creation support apparatus 1 displays a work screen in the functional blocks of the program creation support apparatus 1 based on a user operation reception unit 111 that receives a user's operation and the user operation received by the user operation reception unit 111. and a display control unit 112 for displaying. The display control unit 112 includes a parts management unit 113 that manages object parts to be placed in an object placement unit 114, which will be described later, an object placement unit 114 that places object parts and creates and displays a track configuration diagram representing the track configuration 9, an object A driving pattern creation unit 115 that creates and displays the driving pattern of the moving body 2 in the track configuration diagram displayed in the placement unit 114, and sets and displays drive control parameters in the track configuration diagram created in the object placement unit 114. It has a function of displaying the work screen of the track configuration setting section 116 . The program creation support device 1 causes the processor 11 to execute the program creation support program stored in the memory 12 to display the user operation reception unit 111 and the display control unit 112 on the display 14 . Each functional block of the program creation support device 1 will be described in detail below.

The user operation reception unit 111 is displayed on the display 14 when the program creation support program is executed by the processor 11 of the program creation support device 1 . The user operation reception unit 111 is a functional block that receives user operations. are listed in the form. The user operates the user operation reception unit 111 via the input I/F 13 of the program creation support device 1 to cause the display control unit 112 to display the work screen for each functional block and create a movement control program.

The display control unit 112 is displayed on the display 14 when the program creation support program is executed by the processor 11 of the program creation support device 1 . The display control unit 112 displays work screens of the parts management unit 113, the object placement unit 114, the driving pattern creation unit 115, the track configuration setting unit 116, etc. based on the user's operation of the user operation reception unit 111, and displays these work screens. It is a function block as a work area that displays the work status of each function block.

The component management unit 113 causes the display control unit 112 to display the work screen based on the operation of the user operation reception unit 111 . The parts management unit 113 is a functional block that manages lane object parts representing the shapes of the lane module 4 and the track 8 . The component management unit 113 reads lane object components from the memory 12 of the program creation support device 1 and displays them. The lane object parts are graphics matching the shapes of the lane modules 4 and tracks 8 used in the linear transport system LS, and the lane object parts are stored in the memory 12 in advance. Alternatively, lane object components can be stored in memory 12 by the user. That is, the lane object component can add and remove graphics of any desired shape. Note that the lane object component is an example of an object component.

The object placement unit 114 causes the display control unit 112 to display the work screen based on the operation of the user operation reception unit 111 . FIG. 4 is a diagram illustrating an example of placement of object parts in an object placement unit according to Embodiment 1 of the present disclosure. As shown in FIG. 4, the object placement unit 114 has a plurality of sections S in which object parts managed by the parts management unit 113 can be placed. The object placement unit 114 selects the section S and the lane object component displayed on the work screen based on the user's operation, thereby arranging and displaying the lane object component in the selected section S. In FIG. 4, the object placement section 114 is composed of 12 sections S, with 6 sections S in the upper stage and 6 sections S in the lower stage. Also, in FIG. 4, the object placement unit 114 selects the second section S from the right in the lower row based on the user's operation, and selects and places the lane object parts having the straight trajectory of the parts management unit 113. is shown. By arranging lane object parts in the object placement unit 114 in accordance with the track configuration 9 of the linear transport system LS, the user can create a track configuration diagram in the program creation support device 1 that matches the track configuration 9. . Note that the number of sections S of the object placement unit 114 can be set arbitrarily, and the number of sections S can be determined according to the number of lane modules 4 forming the track configuration 9 of the linear transport system LS. Note that in FIG. 4, the object placement unit 114 creates a track configuration diagram showing the track configuration 9 having a closed oval movement path in accordance with the linear transport system LS shown in FIG.

Operation pattern creation unit 115 causes display control unit 112 to display a work screen based on the operation of user operation reception unit 111 . The driving pattern creation unit 115 sets the track configuration 9 represented by the track configuration diagram created by the object placement unit 114 in order to move the moving body 2 placed on the track configuration 9 of the linear transportation system LS. create and display driving patterns that The operation pattern created by the operation pattern creation unit 115 is a graphical representation of the movement trajectory of the mobile body 2 such as acceleration, deceleration, and constant speed for movement of the mobile body 2 along the movement route represented by the track configuration 9. It is. FIG. 5 is a diagram illustrating an example of operation pattern creation by an operation pattern creation unit according to Embodiment 1 of the present disclosure. The driving pattern creation unit 115 can create a driving pattern of the moving body 2 along the track configuration 9 by setting the starting point, the ending point, the stroke, the cam curve type, etc. of the driving pattern based on the user's operation. . For example, while checking the track configuration diagram of the object placement section 114, the user sets one section S of the object placement section 114 as the start point and another section S as the end point, and sets the cam curve type as uniform acceleration. Set the cam curve for the cam and set the desired stroke. As a result, the driving pattern generator 115 sets the track configuration 9 in which acceleration and deceleration are performed with a speed difference set as a stroke along a cam curve of a uniform acceleration cam with 360 degrees from the start point to the end point. A driving pattern for the moving body 2 can be created. That is, it is possible to create an operation pattern to be set for the track configuration 9 instead of creating an operation pattern to be set for the moving body 2 . The driving pattern creation unit 115 may create one driving pattern for the entire track configuration 9 represented by the track configuration diagram, or may create a plurality of different driving patterns. Further, the driving pattern creating unit 115 may divide the track configuration 9 into a plurality of parts and create a driving pattern for each of the divided parts. When creating an operation pattern by dividing the track configuration 9 into a plurality of sections, the section S corresponding to the track configuration diagram showing the divided track configuration 9 is used to set the start point and the end point, and the cam curve type and stroke are set. , etc. to create an operation pattern. FIG. 5 shows that the driving pattern creation unit 115 creates and displays one driving pattern 1 for the entire track configuration 9 .

Since the driving pattern creation unit 115 can display the created driving pattern, the user can confirm the driving pattern created for the track configuration 9 as a pattern diagram. Any cam curve can be used as the cam curve type when creating the driving pattern, and a known cam curve can be used. The cam curve is stored in advance in the memory 12 of the program creation support device 1 as a cam curve type, and the driving pattern generator 115 can read out the cam curve type from the memory 12 and set it.

The track configuration setting unit 116 displays a work screen on the display control unit 112 based on the operation of the user operation reception unit 111 . The track configuration setting unit 116 sets and displays drive control parameters in the track configuration diagram displayed on the object placement unit 114 based on user operations. FIG. 6 is a diagram showing an example of drive control parameter settings in the track configuration setting unit 116 according to Embodiment 1 of the present disclosure. The track configuration setting unit 116 can set the track name, which is the name of the track configuration, and the usage operation pattern to be used for the track configuration diagram created in the object placement unit 114 . In this manner, the track configuration setting unit 116 sets the use operation pattern to be used as the drive control parameter based on the user's operation. A travel path along configuration 9 can be set to travel.

The track configuration setting unit 116 sets at least the operating pattern to be used as a drive control parameter for the track configuration diagram representing the track configuration 9 displayed in the object placement unit 114, and sets the track configuration 9. Display the drive control parameters that are set. As a result, the user can make settings while confirming what drive control parameters are set for the track configuration 9 .

FIG. 7 is a flow diagram showing an example of the operation of creating a movement control program in the program creation support device according to Embodiment 1 of the present disclosure. The operation of creating a movement control program by the program creation support device 1 will be specifically described with reference to FIG.

The program creation support device 1 functions by reading a program creation support program stored in the memory 12 and executing it by the processor 11 . When the program creation support device 1 executes the program creation support program, the display 14 displays the user operation reception unit 111 and the display control unit 112 .

Via the input I/F 13 , the user operates the user operation reception unit 111 to cause the display control unit 112 to display parts management unit 113 , object placement unit 114 , driving pattern creation unit 115 , and track configuration setting unit 116 . Display the work screen. The operation of creating the movement control program will be described step by step with reference to FIG. Note that the user does not have to display all of the parts management section 113, the object placement section 114, the driving pattern creation section 115, and the track configuration setting section 116. Before starting each step, the work screen of the necessary functional blocks is displayed. It may be displayed by operating the user operation reception unit 111 .

In step S701 shown in FIG. 7, the program creation support device 1 creates a track configuration diagram representing the track configuration 9 of the linear transportation system LS by placing lane object parts in each section S of the object placement unit 114. . Specifically, the user selects a lane object component from the component management section 113 displayed on the display control section 112 and places it in each section S of the object placement section 114 . The program creation support device 1 displays the lane object component selected based on the user operation from the component management unit 113 displayed on the display control unit 112 in the section S of the selected object placement unit 114 . In step S701, the track configuration 9 of the linear transport system LS is created as a graphic by arranging the lane object components for the number of sections S predetermined by the user according to the linear transport system LS. Note that step S701 is an example of an object arrangement step.

In step S702 shown in FIG. 7, the program creation support device 1 creates a driving pattern for the track configuration diagram created in step S701 based on the contents input to the driving pattern creation unit 115 by the user's operation. Specifically, the user inputs the start point, end point, stroke, cam curve type, etc. of the driving pattern to the driving pattern creating unit 115 while confirming the track configuration diagram of the object placing unit 114 . The program creation support device 1 sets the track configuration 9 represented by the track configuration diagram created in the object arrangement unit 114 in the operation pattern creation unit 115 based on the contents input to the operation pattern creation unit 115 by the user's operation. create and display a driving pattern that One operation pattern may be created, or a plurality of operation patterns may be created. When creating a plurality of driving patterns, the program creation support device 1 can create a plurality of driving patterns for the moving object 2 along the track configuration 9 in the driving pattern creation unit 115 by repeating step S702. Note that step S702 is an example of the operation pattern creation step.

In step S703 shown in FIG. 7, the program creation support device 1 sets drive control parameters in the track configuration setting unit 116. FIG. Specifically, the user selects the driving pattern created by the driving pattern creating unit 115 . The user can input a name as a track name for the track configuration 9 linked to the driving pattern. Based on the user's operation, the program creation support device 1 sets and displays the operating pattern, which is the selected operating pattern, and the track name if the track name is input, as drive control parameters. Note that step S703 is an example of a track configuration setting step.

In step S704 shown in FIG. 7, the program creation support device 1 creates a track configuration including at least a track configuration diagram, a driving pattern to be used, and drive control parameters, based on the content created and set in steps S701 to S703 described above. Create a movement control program that is set to 9. Creation of the movement control program ends by executing the operations up to step S704. Also, step S704 is an example of a movement control program creation step.

As described above, the program creation support device 1 according to the first embodiment executes the operations up to the track configuration setting unit 116 described above, thereby obtaining at least the track configuration diagram, the operating pattern to be used, and the drive control parameters. A movement control program to be set in the track configuration 9 is created. The program creation support device 1 disclosed in the first embodiment creates a movement control program set in the track configuration 9 represented by the track configuration diagram in order to move the moving body 2 placed on the track configuration 9. do. Therefore, the user does not need to design the timing of the acceleration, deceleration, and stop of the mobile body 2 in consideration of the movement path along which the mobile body 2 moves. and the complexity of timing design such as stopping can be eliminated. In addition, since the movement control program is created for the track configuration 9, the number of the moving bodies 2 arranged on the track configuration 9, which is the moving route, increases and decreases, and the number of the moving bodies 2 changes. However, since all moving bodies 2 arranged on the track configuration 9 are controlled by the movement control program, they are not affected by changes in the number of moving bodies 2 . In other words, the program creation support device 1 disclosed in the first embodiment can easily change the number of moving objects that move on the moving route.

Embodiment 2.
A linear transport system according to Embodiment 2 of the present disclosure will be described. It should be noted that the same reference numerals are used for the same configurations as in the above-described first embodiment, and detailed descriptions thereof will be omitted. Configurations different from the first embodiment will be specifically described below.

The linear transport system LS according to the second embodiment, similar to the above-described first embodiment, operates a plurality of lane modules 4a to 4l, a plurality of moving bodies 2a to 2c, and a plurality of moving bodies 2a to 2c. It is provided with a controller 3 for control and the controller 3, and the controller 3 is connected with the programming support device 1a. However, since the hardware configuration of the program creation support device 1a, the moving object 2, the controller 3, and the lane module 4 is the same as that of the first embodiment described above with reference to FIG. omitted.

Embodiment 2 of the present disclosure differs from Embodiment 1 described above in the function of the program creation support device 1a. Functions of the program creation support device 1a according to the second embodiment will be described below. In the description of the functions of the program creation support device 1a according to the second embodiment, the functional block configurations similar to those of the program creation support device 1 according to the first embodiment are described using the same reference numerals. explanation is omitted.

The program creation support device 1a according to the second embodiment of the present disclosure executes the program creation support program stored in the memory 12 by the processor 11, so that the user operation reception unit 111, the display control unit 112, the parts management unit 113a, an object placement unit 114a, a driving pattern creation unit 115, and a track configuration setting unit 116a. FIG. 8 is a diagram illustrating an example of a program creation support device according to Embodiment 2 of the present disclosure. As shown in FIG. 8, the program creation support device 1a displays a user operation reception unit 111 for receiving user operations and a work screen in the functional blocks of the program creation support device 1a based on the operations received by the user operation reception unit 111. A display control unit 112 is provided. The display control unit 112 includes a parts management unit 113a that manages object parts to be placed in an object placement unit 114a (to be described later), an object placement unit 114a that places object parts and creates and displays a track configuration diagram representing the track configuration 9, an object A driving pattern creation unit 115 that creates and displays the driving pattern of the moving body 2 in the track configuration diagram displayed in the placement unit 114a, and sets and displays drive control parameters in the track configuration diagram displayed in the object placement unit 114a. It has a function of displaying the work screen of the track configuration setting section 116a. The program creation support device 1a causes the processor 11 to execute the program creation support program stored in the memory 12, thereby causing the display 14 to display the user operation reception unit 111 and the display control unit 112. FIG. The functional blocks of the program creation support device 1a will be described in detail below with respect to the differences from the first embodiment.

The component management unit 113 a causes the display control unit 112 to display the work screen based on the operation of the user operation reception unit 111 . The component management unit 113a is a functional block that manages, in addition to lane object components, control point object components that generate control points for adding a control program that performs predetermined arbitrary control to a part of the track configuration 9. is. The component management unit 113a reads out these object components from the memory 12 of the program creation support device 1a and displays them. The control point object parts are graphics for setting a predetermined specific control program different from the driving pattern, and these object parts are stored in the memory 12 in advance. Alternatively, these object parts can be stored in memory 12 by the user. In other words, these object parts can add and delete figures of required shapes and figures for setting required control programs. The control point object component is not limited to graphics, and may be configured as text. Note that the lane object component and the control point object component are examples of object components.

The object placement unit 114 a causes the display control unit 112 to display the work screen based on the operation of the user operation reception unit 111 . FIG. 9 is a diagram illustrating an example of placement of object parts in an object placement unit according to Embodiment 2 of the present disclosure. The object placement unit 114a has a plurality of sections S in which object parts managed by the parts management unit 113a can be placed. The object arranging unit 114a arranges and displays the object part in the section S selected on the work screen based on the user's operation. In FIG. 9, the object placement section 114a is composed of 12 divisions S as in the first embodiment, with 6 divisions S in the upper stage and 6 divisions S in the lower stage. In addition, FIG. 9 shows how the object placement unit 114a selects the third section S from the right in the lower row based on the user's operation, and the control point object components of the components management unit 113a are selected and placed. there is By arranging the lane object parts in the object placement section 114a in accordance with the track configuration 9 of the linear transportation system LS, the user can create a track configuration in accordance with the track configuration 9 in the program creation support device 1a. Can create diagrams. Further, the user can generate a control point in the selected section S by selecting an arbitrary section S in which the lane object component is arranged and arranging the control point object component. Note that the number of sections S of the object placement section 114a can be set arbitrarily, and the number of sections S can be determined according to the number of lane modules 4 forming the track configuration 9 of the linear transport system LS. Also in the second embodiment, the object placement unit 114a creates a track configuration diagram showing the track configuration 9 having a closed oval movement path in accordance with the linear transport system LS shown in FIG. .

The operation pattern creation unit 115 sets the track configuration 9 represented by the track configuration diagram created in the object placement unit 114a in order to move the moving body 2 placed on the track configuration 9 of the linear transportation system LS. Create and display driving patterns. Operation pattern generator 115 functions in the same manner as in the first embodiment.

The track configuration setting unit 116 a displays a work screen on the display control unit 112 based on the operation of the user operation reception unit 111 . The track configuration setting unit 116a sets and displays drive control parameters in the track configuration diagram displayed on the object placement unit 114a based on user operations. FIG. 10 is a diagram illustrating an example of drive control parameter settings in a track configuration setting unit according to Embodiment 2 of the present disclosure. The track configuration setting unit 116a can set the track name, which is the name of the track configuration, the usage operation pattern to be used, and detailed conditions for the track configuration diagram created in the object placement unit 114a. Here, the detailed condition is a condition for designating the movement of the moving body 2 set for the track configuration 9 in addition to the usage operation pattern. FIG. 10 shows how the moving body 2 circulates (moves) around the track configuration 9 according to the usage operation pattern as detailed conditions (moving speed). In this way, the track configuration setting unit 116a sets the operating pattern to be used and the circling speed, which is a detailed condition, as drive control parameters based on the user's operation, so that the moving body 2 accelerates and decelerates according to the operating pattern. , it can be set to circulate the moving path along the track configuration 9 at the circulating speed, which is a detailed condition. The detailed conditions are not limited to the circling speed, and the moving speed of the moving body 2 may be set as an absolute value. method can be set.

Furthermore, when a plurality of mobile bodies 2 are arranged on the track configuration 9, the track configuration setting unit 116a sets a collision avoidance function for avoiding collision between the mobile bodies 2 as a detailed condition based on the user's operation. may For example, the user uses the track configuration setting unit 116a to set conditions for establishing the stoppage of the moving body 2, cancellation conditions for canceling the stoppage of the moving body 2, and conditions for canceling the stopping of the moving body 2. The deceleration time until stopping and the acceleration time for accelerating the moving body 2 when the stop of the moving body 2 is canceled by the cancellation condition may be set as detailed conditions for activating the collision avoidance function of the moving body 2. . In this way, when the detailed conditions for the collision avoidance function are set, the plurality of mobile bodies 2 accelerate and decelerate according to the operation pattern set for the track configuration 9, and decelerate, stop, and stop as the detailed conditions. It can be set to move while releasing and accelerating.

In this way, the track configuration setting unit 116a sets at least the operating pattern to be used and the detailed conditions as drive control parameters for the track configuration diagram representing the track configuration 9 displayed in the object placement unit 114a. to display the drive control parameters set for the track configuration 9 . As a result, the user can make settings while confirming what drive control parameters are set for the track configuration 9 .

The track configuration setting unit 116a sets a control point generated by the control point object component based on the user's operation when the control point object component is placed in the track configuration 9 displayed in the object placement unit 114a. be able to. A control point object component is an object for setting a predetermined control program, and can easily expand the content of the movement control program. Control point object components include, for example, a stop point FB that sets a stopping point for a moving object, a moving object number limit FB that limits the number of moving objects that can enter a certain section where control points are generated, and a certain section where control points are generated. Passing moving body history management FB that records the passing time and moving body identification information of moving bodies that have passed through, Moving body count FB that acquires the number of moving bodies existing in a certain section where control points are generated and moving body identification information , a branch point control FB for setting a moving route when there is a branching of the moving route in the track configuration, and a variety of other control programs. The track configuration setting unit 116a sets input parameters and output parameters for the operation of each control program based on the user's operation, thereby enabling the movement control program to operate the control program at the control point.

FIG. 11 is a diagram illustrating an example of setting of control points by a track configuration setting unit according to Embodiment 2 of the present disclosure. When the control point object component is placed in the object placement section 114a, the user selects the control point object placed on the work screen of the object placement section 114a to control the work screen of the track configuration setting section 116a. It is possible to display the contents of the control program possessed by the point object component and input necessary input parameters and output parameters. In FIG. 11, the track configuration setting unit 116a sets input parameters and output parameters for the control point object component placed third from the right in the lower row among the 12 sections S of the object placement unit 114a. It shows how it is. In FIG. 11, a control point object component having a stop point FB is selected as the control program. In order to operate the stop point FB, the track configuration setting unit 116a sets, for example, a stop position, a filter (playing a specific moving body), etc. as necessary input parameters based on the user's operation. Presence or absence, identification information of the stationary moving object, etc. are set as output parameters. As a result, the moving body 2 accelerates and decelerates according to the operation pattern, moves along the movement path along the track configuration 9 according to the detailed conditions, and moves according to the control program set at the generated control points. can be set. In this way, the track configuration setting unit 116a can easily expand the set contents of the movement of the moving body 2 in the driving pattern and drive control parameters by setting the control point object components.

FIG. 12 is a flow diagram showing an example of the operation of creating a movement control program in the program creation support device according to Embodiment 2 of the present disclosure. The operation of creating a movement control program by the program creation support device 1a will be specifically described with reference to FIG.

The program creation support device 1a functions by reading out a program creation support program stored in the memory 12 and executing it by the processor 11 . When the program creation support device 1a executes the program creation support program, the display 14 displays the user operation reception unit 111 and the display control unit 112. FIG.

Via the input I/F 13, the user operates the user operation reception unit 111 to cause the display control unit 112 to display parts management unit 113a, object placement unit 114a, driving pattern creation unit 115, and track configuration setting unit 116a. Display the work screen. The operation of creating the movement control program will be described step by step with reference to FIG. The user does not have to display all of the parts management section 113a, the object placement section 114a, the driving pattern creation section 115, and the track configuration setting section 116a. It may be displayed by operating the user operation reception unit 111 .

The program creation support device 1a creates a track configuration diagram representing the track configuration 9 of the linear transport system LS in step S701.

In step S1201 shown in FIG. 12, the program creation support apparatus 1a arranges the control point object component in an arbitrary section S of the object arrangement unit 114a, thereby controlling the linear transportation system LS to an arbitrary location in the track configuration 9. Create a point. Specifically, the user selects a control point object component from the component management section 113a displayed on the display control section 112, and places it in an arbitrary section S of the object placement section 114a. The program creation support device 1a displays the control point object component selected based on the user's operation from the component management section 113a displayed on the display control section 112 in the section S of the selected object placement section 114a. It should be noted that the control point object component need not always be arranged, and one or more control point object components may be arranged as required. The object placement unit 114a creates a control point in the section S where the control point object component is placed. Step S1201 may be skipped if control points are not created. Note that step S1201 is an example of an object arrangement step.

At step S702, the program creation support device 1a creates a driving pattern for the track configuration diagram created at step S701 based on the contents input to the driving pattern creation unit 115. FIG.

In step S1202 shown in FIG. 12, the program creation support device 1a sets drive control parameters in the track configuration setting unit 116a. Specifically, the user selects the driving pattern created by the driving pattern creating unit 115 . The user can input a name as a track name for the track configuration 9 linked to the driving pattern. Furthermore, in addition to the driving pattern, the user inputs detailed conditions, which are conditions specifying movement of the moving body 2 set for the track configuration 9 . As exemplified above, the detailed conditions specify the movement of the moving body 2 to be set for the track configuration 9 in addition to the driving pattern such as the moving speed of the moving body 2 such as the circling speed, the conditions related to the collision avoidance function, etc. It is a condition. Based on the user's operation, the program creation support device 1a sets and displays the use driving pattern, which is the selected driving pattern, the track name if the track name is input, and detailed conditions as drive control parameters. Note that step S1202 is an example of a track configuration setting step.

In step S1203 shown in FIG. 12, the program creation support apparatus 1a sets the control points in the track configuration setting unit 116a when the control points are created in step S1201. Specifically, when a control point object component has been placed in an arbitrary section S in S1201, the user selects the control point object component placed on the object placement section 114a and selects the control point object component. The contents of the control program are displayed on the track configuration setting section 116a, and necessary input parameters and output parameters are input. The program creation support device 1a sets and displays the content of the control program possessed by the selected control point object component and the input parameters and output parameters by the track configuration setting unit 116a based on the user's operation. When a plurality of control points are created in step S1201, the program creation support apparatus 1a can set each control point by repeating step S1203. It should be noted that the program creation support apparatus 1a also skips the setting of the control points in step S1203 when the creation of the control points in step S1201 is skipped. Also, step S1203 is an example of a track configuration setting step.

At step S1204 shown in FIG. 12, the program creation support device 1a generates at least a track configuration diagram, a use operation pattern, drive control parameters, and control points based on the creation and setting contents from steps S701 to S1203 described above. If so, create a motion control program that is set in the track configuration 9 including control points and input and output parameters. Creation of the movement control program ends by executing the operations up to step S1204. Also, step S1204 is an example of a movement control program creation step.

As described above, the program creation support device 1a according to the second embodiment executes the operations up to the track configuration setting unit 116a described above, so that at least the track configuration diagram, the operating pattern to be used, and the drive control parameters are included. A movement control program to be set in the track configuration 9 is created. Therefore, as in the first embodiment, the user does not need to design the timing of acceleration, deceleration, and stop of the moving body 2 taking into account the movement path along which the moving body 2 moves. , complexity of timing design such as acceleration, deceleration and stop of the moving body 2 can be eliminated. In addition, since the movement control program is created for the track configuration 9, even if the number of moving bodies 2 is changed, all the moving bodies 2 arranged on the track configuration 9 are controlled by the movement control program. Since it is controlled, it is not affected by changes in the number of moving bodies 2 . In other words, the program creation support device 1a disclosed in the second embodiment can easily change the number of moving bodies that move on the moving route.

Furthermore, the program creation support device 1a disclosed in the second embodiment can set detailed conditions as drive control parameters by the track configuration setting unit 116a. Thereby, it is possible to partially change the movement of the moving body 2 according to the operation pattern. For this reason, the programming support device 1a can also facilitate partial changes in the movement of the moving body 2 on the movement route.

In addition, the program creation support device 1a disclosed in the second embodiment manages the control point object components by the component management unit 113a, and arranges the control point object components on the track configuration 9 by the object placement unit 114a. can be used to create control points. Then, the track configuration setting unit 116a confirms the control program possessed by the control point object component and sets the input parameters and output parameters for the operation of the control program, so that any point on the track configuration 9, which is the movement path, can be set. can cause the moving body 2 to perform the operation at the control point. For this reason, the program creation support device 1a can also facilitate expansion of settings for movement of the moving body 2 in the operation pattern and the drive control parameters.

Modification.
The track configuration setting unit 116 described in Embodiment 1 above sets the track name, which is the name of the track configuration, and the operating pattern to be used for the track configuration diagram created in the object placement unit 114 as drive control parameters. described as possible. However, the track configuration setting unit 116 may be configured to set other conditions as long as the track name and the usage driving pattern to be used can be set as drive control parameters. For example, like the track configuration setting unit 116a described in the second embodiment, the detailed conditions may be further set. In other words, the track configuration setting unit 116 described in the first embodiment may be configured so as to set at least the operating pattern to be used and the detailed conditions as drive control parameters. As a result, the program creation support device 1 according to the first embodiment can eliminate the complexity of timing design such as acceleration, deceleration, and stop of the moving body 2, and In addition to facilitating change and these effects, it is also possible to facilitate partial movement change of the moving body 2 on the movement route.

The parts management unit 113 described in the first embodiment manages lane object parts, the object placement unit 114 places the lane object parts to create a track configuration diagram, and the track configuration setting unit 116 creates a track configuration diagram. It has been described that the operating pattern used for the track configuration diagram created by the placement unit 114 is set as the drive control parameter. However, like the component management unit 113a described in the second embodiment, the component management unit 113 of the first embodiment may be configured to manage control point object components in addition to lane object components. In addition to arranging lane object components, the object placement unit 114 of the first embodiment places control point object components to create control points, like the object placement unit 114a described in the second embodiment. may be configured to generate Furthermore, the track configuration setting unit 116 of the first embodiment may be configured to set control points like the track configuration setting unit 116a described in the second embodiment. As a result, the program creation support device 1 according to the first embodiment can eliminate the complexity of timing design such as acceleration, deceleration, and stop of the moving body 2, and In addition to facilitating changes and these effects, it is also possible to facilitate expansion of settings for movement of the moving body 2 in operation patterns.

The configuration shown in the above embodiment shows an example of the content of the present invention, and it is possible to combine it with another known technology, and one configuration can be used without departing from the scope of the present invention. It is also possible to omit or change the part.

INDUSTRIAL APPLICABILITY The present disclosure is suitable for realizing a program creation support device, a program creation support program, a program creation support method, and a linear transport system provided with these for use in a linear transport system.

1, 1a program creation support device, 11 processor, 12 memory, 13 input interface (input I/F), 14 display, 15 communication interface (communication I/F), 111 user operation reception unit, 112 display control unit, 113, 113a parts management unit, 114, 114a object placement unit, 115 driving pattern creation unit, 116, 116a track configuration setting unit, 2 (2a to 2c) mobile unit, 3 controller, 31 processor, 32 memory, 33 communication interface (communication I /F), 4 (4a to 4l) lane module, 41 coil, 42 amplifier, 421 inverter circuit, 422 processor, 423 communication interface (communication I/F), 43 scale, 5 first communication line, 6 second communication line, 7 third communication line, 8 track, 9 track configuration

Claims (12)

Program creation for creating a movement control program for controlling the movement of the moving body of a linear transport system comprising a track configuration combining a plurality of lane modules and a moving body arranged on the track configuration and moving along the track configuration A support device,
an object placement unit that creates a track configuration diagram that represents the track configuration by combining lane object parts that represent the shape of the lane module;
a driving pattern creation unit that creates a driving pattern of the moving object set in the track configuration represented by the track configuration diagram and included in the movement control program;
A program creation support device comprising: Program creation for creating a movement control program for controlling the movement of the moving body of a linear transport system comprising a track configuration combining a plurality of lane modules and a moving body arranged on the track configuration and moving along the track configuration A support device,
an object placement unit that creates a track configuration diagram that represents the track configuration by combining lane object parts that represent the shape of the lane module;
a driving pattern creation unit that creates a driving pattern of the moving object set in the track configuration represented by the track configuration diagram and included in the movement control program;
a track configuration setting unit that sets the operating pattern created by the operating pattern creating unit as a used operating pattern that is used in the track configuration represented by the track configuration diagram and included in the movement control program;
with
The program creation support device, wherein the object arrangement unit generates a control point for adding a predetermined control program different from the usage driving pattern to the track configuration diagram. The track configuration setting unit sets, as a detailed condition included in the movement control program, a moving speed of the moving object that moves according to the usage operation pattern.
3. The program creation support device according to claim 2 . The track configuration setting unit includes, as detailed conditions included in the movement control program, a establishment condition for establishing a stop of the moving object that moves according to the use operation pattern for functioning the collision avoidance function of the moving object; A cancellation condition for canceling the stoppage of the moving body, a deceleration time until the moving body is stopped when the moving body is stopped by the fulfillment condition, and a time when the stoppage of the moving body is canceled by the cancellation condition. setting an acceleration time for accelerating the moving object;
4. The program creation support device according to claim 2 or 3 . The track configuration setting unit sets input parameters and output parameters for the operation of the control program at the control points included in the movement control program.
5. The program creation support device according to any one of claims 2 to 4 . a parts management unit that manages and displays control point object parts for generating the lane object parts and the control points;
The program creation support device according to any one of claims 2 to 5, comprising: The driving pattern creation unit creates the driving pattern based on a start point and an end point of the drive pattern and a cam curve type representing a cam curve from the start point to the end point.
7. The program creation support device according to any one of claims 1 to 6 . A program creation support device according to any one of claims 1 to 7 ;
a controller connected to the programming support device and receiving the movement control program;
the track configuration combining the plurality of lane modules;
the moving body arranged on the track configuration and moving along the track configuration;
A linear transport system with Program creation for creating a movement control program for controlling the movement of the moving body of a linear transport system comprising a track configuration combining a plurality of lane modules and a moving body arranged on the track configuration and moving along the track configuration A support program,
an object placement unit that creates a track configuration diagram that represents the track configuration by combining lane object parts that represent the shape of the lane module;
A driving pattern creation unit that creates a driving pattern of the moving body set in the track configuration represented by the track configuration diagram and included in the movement control program;
Program creation support program that makes the arithmetic unit function as Program creation for creating a movement control program for controlling the movement of the moving body of a linear transport system comprising a track configuration combining a plurality of lane modules and a moving body arranged on the track configuration and moving along the track configuration A support program,
an object placement unit that creates a track configuration diagram that represents the track configuration by combining lane object parts that represent the shape of the lane module;
A driving pattern creation unit that creates a driving pattern of the moving body set in the track configuration represented by the track configuration diagram and included in the movement control program;
A track configuration setting unit that sets the operation pattern created by the operation pattern creation unit as a use operation pattern that is used in the track configuration represented by the track configuration diagram and included in the movement control program;
Let the arithmetic unit function as
A program creation support program for generating a control point for adding a predetermined control program different from a usage driving pattern to the track configuration diagram, wherein the object arrangement unit generates a control point. Program creation for creating a movement control program for controlling the movement of the moving body of a linear transport system comprising a track configuration combining a plurality of lane modules and a moving body arranged on the track configuration and moving along the track configuration A support method comprising:
an object placement step of creating a track configuration diagram representing the track configuration by combining lane object parts representing the shape of the lane module;
a driving pattern creation step of creating a driving pattern of the moving body set in the track configuration represented by the track configuration diagram and included in the movement control program;
A program creation support method having Program creation for creating a movement control program for controlling the movement of the moving body of a linear transport system comprising a track configuration combining a plurality of lane modules and a moving body arranged on the track configuration and moving along the track configuration A support method comprising:
an object placement step of creating a track configuration diagram representing the track configuration by combining lane object parts representing the shape of the lane module;
a driving pattern creation step of creating a driving pattern of the moving body set in the track configuration represented by the track configuration diagram and included in the movement control program;
a track configuration setting step of setting the operating pattern created in the operating pattern creating step as a used operating pattern that is used in the track configuration represented by the track configuration diagram and included in the movement control program;
has
In the program creation support method, in the object arrangement step, a control point for adding a predetermined control program different from a use driving pattern is generated in the track configuration diagram.

Images