WO2024029047A1 - 搬送システム - Google Patents

搬送システム Download PDF

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Publication number
WO2024029047A1
WO2024029047A1 PCT/JP2022/029983 JP2022029983W WO2024029047A1 WO 2024029047 A1 WO2024029047 A1 WO 2024029047A1 JP 2022029983 W JP2022029983 W JP 2022029983W WO 2024029047 A1 WO2024029047 A1 WO 2024029047A1
Authority
WO
WIPO (PCT)
Prior art keywords
conveyance
unit
transport path
transport
switching
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2022/029983
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
達也 川瀬
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Electric Corp
Original Assignee
Mitsubishi Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to CN202280097053.2A priority Critical patent/CN119403747A/zh
Priority to KR1020247043088A priority patent/KR102765625B1/ko
Priority to PCT/JP2022/029983 priority patent/WO2024029047A1/ja
Priority to US18/879,812 priority patent/US12463574B2/en
Priority to JP2023504119A priority patent/JP7258265B1/ja
Priority to DE112022007078.1T priority patent/DE112022007078B4/de
Publication of WO2024029047A1 publication Critical patent/WO2024029047A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G54/00—Non-mechanical conveyors not otherwise provided for
    • B65G54/02—Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors
    • H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
    • H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/06—Linear motors
    • H02P25/064—Linear motors of the synchronous type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
    • B65G23/22—Arrangements or mountings of driving motors
    • B65G23/23—Arrangements or mountings of driving motors of electric linear motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N20/00—Machine learning
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/08—Learning methods
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N15/00—Holding or levitation devices using magnetic attraction or repulsion, not otherwise provided for
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/06—Linear motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)
    • B65G2203/0283—Position of the load carrier
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2812/00—Indexing codes relating to the kind or type of conveyors
    • B65G2812/99—Conveyor systems not otherwise provided for

Definitions

  • the present disclosure relates to a conveyance system that conveys objects.
  • a transportation system for transporting workpieces is generally used in production lines where factory automation is introduced, such as production lines for assembling industrial products or production lines for packaging food.
  • factory automation is introduced
  • production lines for assembling industrial products or production lines for packaging food In recent years, many transport systems have been used in which a transport path for transporting a workpiece is divided into a plurality of zones, and a trolley carrying the workpiece is driven by a control device disposed in each zone.
  • Such a conveyance system is known as one of the conveyance systems excellent in terms of production efficiency.
  • Patent Document 1 discloses a conveyance system using a linear motor.
  • the conveyance system disclosed in Patent Document 1 includes a truck having a magnet and a plurality of coils arranged in the traveling direction of the truck on a conveyance path.
  • the conveyance system disclosed in Patent Document 1 controls the current flowing through each coil using an inverter circuit such as a full-bridge inverter circuit or a half-bridge inverter circuit.
  • the present disclosure has been made in view of the above, and aims to provide a conveyance system that can reduce noise and reduce energy loss.
  • a conveyance system includes a plurality of conveyance paths along which a conveyance body moves, and a plurality of conveyance paths that move the conveyance body by applying power to the conveyance body. Equipped with a conveyance path unit.
  • Each of the plurality of transport path units includes a drive unit that generates power, and an inverter circuit that has a switching element and supplies power to the drive unit after power conversion by switching the switching element. .
  • the conveyance system according to the present disclosure has the effect of reducing noise and reducing energy loss.
  • a diagram showing a configuration example of a learning device included in the controller of Embodiment 3 Flowchart showing the processing procedure of the learning device included in the controller of Embodiment 3 A diagram showing an example of the configuration of a position command generation unit included in the controller of Embodiment 3. Flowchart showing the processing procedure of the position command generation unit and the coil drive command generation unit included in the controller of Embodiment 3 A diagram showing a configuration example of a control circuit according to Embodiments 1 to 3. A diagram showing a configuration example of a dedicated hardware circuit according to Embodiments 1 to 3.
  • FIG. 1 is a diagram showing a configuration example of a transport system 1 according to the first embodiment.
  • the conveyance system 1 is a system used for conveying objects.
  • the transport system 1 transports objects by moving a carrier on which the objects are placed.
  • the transport system 1 includes a plurality of transport path units 11A, 11B, 11C, 11D, 11E, 11F, 11G, and 11H, a controller 12, a direct current (DC) power supply 13, and carts 16A, 16B, and 16C. Be prepared.
  • the conveyance path unit 11 refers to each of the conveyance path units 11A, 11B, 11C, 11D, 11E, 11F, 11G, and 11H without distinction.
  • the plurality of transport path units 11 are connected to each other and constitute a transport path 10 along which the transport body moves.
  • the plurality of transport path units 11 move the transport bodies by applying power to the transport bodies.
  • Each of the trolleys 16A, 16B, and 16C is a carrier. In the following description, the trolley 16 refers to each of the trolleys 16A, 16B, and 16C without distinction.
  • the conveyance path 10 shown in FIG. 1 is annular. That is, the conveyance path 10 shown in FIG. 1 is a closed path.
  • the conveyance path 10 of the conveyance system 1 may be an open path, ie a path having a starting point and an ending point.
  • the conveyance path units 11A, 11B, 11E, and 11F are linear conveyance path units 11 that constitute a straight path.
  • the conveyance path units 11C, 11D, 11G, and 11H are curved conveyance path units 11 forming a curved path, and change the traveling direction of the conveyance body.
  • the conveyance path 10 may not include the conveyance path unit 11 that constitutes a straight path, but may consist only of conveyance path units 11 that constitute a curved path.
  • the overall shape of the conveyance path 10 is assumed to be arbitrary.
  • the trolley 16 is attached to the side of the conveyance path 10.
  • the trolley 16 moves along guide rails provided on the side of the conveyance path 10.
  • the trolley 16 moves on the side of the conveyance path 10 and stops on the side of the conveyance path 10.
  • the conveyance system 1 is a moving magnet type linear motor.
  • the trolley 16 may move along a guide rail provided on the upper surface of the transport path 10.
  • the trolley 16 includes a permanent magnet as a mover, a permanent magnet for a linear scale, and a guide roller that moves on a guide rail by rotation.
  • FIG. 1 illustration of a guide rail, a guide roller, a permanent magnet as a mover, and a permanent magnet for a linear scale is omitted.
  • the transport system 1 includes eight transport path units 11 and three carts 16. It is assumed that the number of transport path units 11 provided in the transport system 1 is arbitrary. That is, it is assumed that the number of conveyance path units 11 configuring the conveyance path 10 is arbitrary. The transport system 1 only needs to include a plurality of transport path units 11. It is assumed that the number of carts 16 moving on the conveyance path 10 is arbitrary. The transport system 1 only needs to include one or more carts 16.
  • the conveyance system 1 is not limited to a system equipped with a linear motor, but may also be a system equipped with a rotary motor.
  • the conveyance system 1 may be a belt conveyor including a rotary motor and a belt rotated by the rotary motor.
  • the belt conveyor moves the workpieces placed on the belt.
  • the conveyance system 1 may be a roller conveyor including a plurality of rollers and a rotary motor that rotates the rollers.
  • a roller conveyor moves a workpiece placed on rollers.
  • the DC power supply 13 is connected to each transport path unit 11 via a DC power supply bus 15.
  • the DC power supply 13 is a power supply device or a power supply circuit that outputs a DC voltage.
  • the DC power supply 13 supplies power to each transport path unit 11.
  • Each transport path unit 11 shares the DC power supply 13.
  • the transport system 1 has a configuration in which each transport path unit 11 is connected to a DC power source 13 through a multi-drop connection.
  • the connection form between each transport path unit 11 and the DC power supply 13 is not limited to multi-drop connection, but may be daisy chain connection.
  • the number of DC power supplies 13 provided in the transport system 1 is one, but the number of DC power supplies 13 provided in the transport system 1 may be plural. That is, the transport system 1 may include a plurality of power domains.
  • the controller 12 is connected to each transport path unit 11 via a data communication line 14.
  • the controller 12 controls each of the plurality of transport path units 11.
  • the data communication line 14 includes a line connecting the controller 12 and the transport path unit 11A, which is one of the plurality of transport path units 11, and a line connecting adjacent transport path units 11 to each other.
  • the transport system 1 has a configuration in which each transport path unit 11 is connected to a controller 12 through a daisy chain connection.
  • the connection form between each conveyance path unit 11 and the controller 12 is not limited to a daisy chain connection.
  • the connection form between each transport path unit 11 and the controller 12 may be a star connection in which each transport path unit 11 is connected to the controller 12 via a communication hub.
  • the transport system 1 may include a plurality of data communication lines 14, and each transport path unit 11 and the controller 12 may be directly connected via the data communication lines 14.
  • the controller 12 generates a position command indicating the position to which the trolley 16 is to be moved, and generates a coil drive command based on the position command.
  • the controller 12 outputs a coil drive command to each conveyance path unit 11.
  • Each conveyance path unit 11 drives a coil according to a coil drive command.
  • the controller 12 controls the movement of each cart 16 by outputting a coil drive command to each transport path unit 11.
  • the traveling direction of each truck 16 is the clockwise direction in FIG. 1 or the counterclockwise direction in FIG. 1.
  • the clockwise direction in FIG. 1 is defined as the forward direction.
  • the counterclockwise direction in FIG. 1 is defined as the opposite direction.
  • Arrow 17A represents the forward direction.
  • Arrow 17B represents the opposite direction.
  • a human-machine interface may be connected to the controller 12. Such a human-machine interface accepts input from an operator. Further, the human-machine interface outputs information indicating the status of the transport system 1 by display or the like.
  • the controller 12 may obtain operating information of the trolley 16 from a higher-level control device or a human-machine interface, and may generate a position command based on the operating information.
  • the operation information is information indicating a schedule for the movement of each of the plurality of carts 16 on the transport path 10.
  • the configuration of the conveyance path unit 11 will be explained.
  • the configuration of the conveyance path unit 11 will be explained using a linear conveyance path unit 11 as an example.
  • the arrangement of the coils is different from that in the straight conveyance path unit 11.
  • the configuration of the curved conveyance path unit 11 is similar to the configuration of the linear conveyance path unit 11 except that the arrangement of the coils is different.
  • FIG. 2 is a diagram showing a configuration example of the transport path unit 11 provided in the transport system 1 according to the first embodiment.
  • FIG. 2 shows the conveyance path unit 11 and permanent magnets 30 and 31 provided on the trolley 16.
  • the permanent magnet 30 is a permanent magnet that is a mover.
  • the permanent magnet 31 is a permanent magnet for a linear scale.
  • the conveyance path unit 11 includes a plurality of coils 20. Each coil 20 functions as a drive unit that generates power. In the example shown in FIG. 2, the conveyance path unit 11 is equipped with nine coils 20. It is assumed that the number of coils 20 provided in the transport path unit 11 is arbitrary. In the linear conveyance path unit 11, the plurality of coils 20 are arranged in a linear direction. Note that in the curved conveyance path unit 11, the plurality of coils 20 are arranged in the direction of the curve.
  • An inverter circuit 21 is connected to each coil 20 of the transport path unit 11.
  • the inverter circuit 21 controls the current flowing through the coil 20.
  • the inverter circuit 21 is a single-phase full-bridge inverter circuit or a single-phase half-bridge inverter circuit.
  • the inverter circuit 21 may be a three-phase inverter circuit connected to the three coils 20.
  • the coil 20 generates electromagnetic force, which is the motive power for moving the trolley 16, by power supply from the inverter circuit 21.
  • a current sensor 22 is connected to each coil 20 of the conveyance path unit 11 .
  • the current sensor 22 detects a coil actual current value, which is the current value of the current flowing through the coil 20.
  • a current controller 24 that controls the inverter circuit 21 is connected to the inverter circuit 21 .
  • the current controller 24 calculates the voltage value of the voltage applied to the coil 20 based on the current command value of the current flowing through the coil 20 and the actual coil current value detected by the current sensor 22.
  • the current controller 24 transmits a pulse width modulation (PWM) signal obtained by comparing the calculated voltage value and the triangular wave to the inverter circuit 21 .
  • the current controller 24 causes the inverter circuit 21 to perform switching by transmitting a PWM signal to the inverter circuit 21.
  • the current controller 24 applies a voltage to the coil 20 to cause a current of a desired current value to flow through the coil 20.
  • the current controller 24 controls the voltage value of the voltage applied to the coil 20 by performing PID (Proportional Integral Differential) control of the voltage applied to the coil 20 based on the deviation between the current command value and the coil actual current value. You can also calculate it.
  • PID Proportional Integral Differential
  • the inverter circuit 21 is connected to the positive wiring of the DC power bus 15 and the negative wiring of the DC power bus 15.
  • the positive electrode wiring is a wiring connected to the positive electrode of the DC power supply 13.
  • the negative electrode wiring is a wiring connected to the negative electrode of the DC power supply 13.
  • a capacitor 23 is connected between the positive electrode side line of the DC power source 13 and the negative electrode side line of the DC power source 13 .
  • the conveyance path unit 11 includes a linear scale 25 and a processor 27.
  • the linear scale 25 is a detection unit that detects the position of the trolley 16 on the conveyance path unit 11.
  • the linear scale 25 is provided in the conveyance path 10 by connecting a plurality of conveyance path units 11 to each other to form the conveyance path 10.
  • the processor 27 is a CPU (Central Processing Unit, also referred to as a central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, processor, or DSP (Digital Signal Processor)).
  • CPU Central Processing Unit
  • processing unit also referred to as a central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, processor, or DSP (Digital Signal Processor)
  • the linear scale 25 includes a plurality of position sensors 26.
  • Each position sensor 26 is a sensor that detects a magnetic field, such as a Hall sensor or a magnetoresistive sensor.
  • Each position sensor 26 detects the magnetic field of the permanent magnet 30 or the magnetic field of the permanent magnet 31.
  • the position sensor 26 is a Hall sensor equipped with two Hall elements. The distance between the two Hall elements is equivalent to half the magnetic pole pitch of the permanent magnet 31.
  • Each Hall element converts a magnetic field into an electrical signal and outputs the electrical signal.
  • the electrical signals output by each Hall element change as the trolley 16 moves.
  • the waveform of the electrical signal output by one of the Hall elements is a sine wave.
  • the waveform of the electric signal output by the other Hall element is a cosine wave.
  • An AD (Analog to Digital) converter provided in the processor 27 detects sine waves and cosine waves.
  • the processor 27 detects the position of the cart 16 with respect to the position sensor 26 by calculating arctan based on the sine wave information and the cosine wave information. Thereby, the processor 27 acquires position information indicating the position of the trolley 16.
  • the transport path unit 11 includes a communication slave station 28.
  • the communication slave station 28 is a communication slave station on the conveyance path unit 11 side.
  • Data communication line 14 is connected to communication slave station 28 .
  • the communication slave station 28 is configured to be able to connect two data communication lines 14.
  • the communication slave station 28 receives from the controller 12 a current command indicating a current command value of the current flowing through the coil 20 for each of the plurality of coils 20 provided in the transport path unit 11.
  • the communication slave station 28 acquires the position information acquired by the position sensor 26 from each of the plurality of position sensors 26 provided in the linear scale 25 .
  • the communication slave station 28 transmits the acquired position information to the controller 12.
  • the communication slave station 28 for example, performs fixed-cycle communication in which it receives a current command and transmits position information at a fixed cycle. Instead of such fixed-period communication, the communication slave station 28 may receive the current command and transmit the position information aperiodically.
  • the transport path unit 11 mainly has the function of controlling the energization of the coil 20 and the function of acquiring position information. All of the plurality of conveyance path units 11 constituting the conveyance path 10 perform energization control of the coil 20 in the same way, and acquire position information in the same way.
  • FIG. 3 is a diagram showing a configuration example of the inverter circuit 21 provided in the transport path unit 11 of the first embodiment.
  • the inverter circuit 21 is a single-phase full-bridge inverter circuit is taken as an example.
  • the inverter circuit 21 includes four switching elements 40A, 40B, 40C, 40D, four insulated gate drivers 41A, 41B, 41C, 41D, two bootstrap circuits 42A, 42B, and a secondary power supply 44. Equipped with.
  • the inverter circuit 21 also includes a positive wiring 45, a negative wiring 46, and a signal line 47.
  • the positive wiring 45 is a wiring connected to the positive wiring of the DC power bus 15.
  • the negative electrode wiring 46 is a wiring connected to the negative electrode wiring of the DC power supply bus 15.
  • the signal line 47 is a signal line to which a PWM signal from the current controller 24 is input.
  • the switching elements 40A and 40B are connected to the positive electrode wiring 45.
  • Switching elements 40A and 40B are switching elements connected between the positive electrode of DC power supply 13 and coil 20.
  • Switching elements 40A and 40B are power switching elements for the upper arm.
  • Switching elements 40C and 40D are connected to negative electrode wiring 46.
  • Switching elements 40C and 40D are switching elements connected between the negative electrode of DC power supply 13 and coil 20.
  • Switching elements 40C and 40D are power switching elements for the lower arm.
  • Switching elements 40A, 40B, 40C, and 40D constitute a full bridge type circuit.
  • Each of the switching elements 40A, 40B, 40C, and 40D is, for example, a FET (Field Effect Transistor).
  • Each switching element 40A, 40B, 40C, 40D may be an IGBT (Insulated Gate Bipolar Transistor) or the like.
  • the insulated gate drivers 41A and 41B are insulated gate drivers for the upper arm.
  • the insulated gate drivers 41A and 41B are switching driver circuits that drive the upper arm.
  • a gate signal line of the insulated gate driver 41A is connected to the switching element 40A.
  • a gate signal line of the insulated gate driver 41B is connected to the switching element 40B.
  • Insulated gate drivers 41C and 41D are insulated gate drivers for the lower arm.
  • the insulated gate drivers 41C and 41D are switching driver circuits that drive the lower arm.
  • the gate signal line of the insulated gate driver 41C is connected to the switching element 40C.
  • a gate signal line of the insulated gate driver 41D is connected to the switching element 40D.
  • the inverter circuit 21 switches the current flowing through the coil 20 between positive and negative. Further, the inverter circuit 21 turns on and off the gate signals of the insulated gate drivers 41A, 41B, 41C, and 41D at a high frequency according to the PWM signal. The inverter circuit 21 adjusts the coil actual current value by turning on and off the gate signal.
  • the coil 20 When all switching elements 40A, 40B, 40C, and 40D of the inverter circuit 21 are turned off, the coil 20 is in an open state. That is, the current supply to the coil 20 is cut off. When switching elements 40A and 40D are turned on and switching elements 40B and 40C are turned off, coil 20 forms a closed circuit. When switching elements 40A and 40D are turned off and switching elements 40B and 40C are turned on, coil 20 forms a closed circuit.
  • Each of the switching elements 40A, 40B, 40C, and 40D generates noise when switching from off to on or from on to off.
  • Each of the switching elements 40A, 40B, 40C, and 40D generates energy loss when switching from off to on or from on to off.
  • a secondary power source 44 is connected to the secondary side of the insulated gate drivers 41C and 41D.
  • a bootstrap circuit 42A is connected to the secondary side of the insulated gate driver 41A.
  • a bootstrap circuit 42B is connected to the secondary side of the insulated gate driver 41B.
  • the bootstrap circuit 42A is a bootstrap type power supply circuit that drives the insulated gate driver 41A.
  • the bootstrap circuit 42B is a bootstrap type power supply circuit that drives the insulated gate driver 41B.
  • each of the plurality of conveyance path units 11 of the conveyance system 1 determines whether or not the cart 16 is present in the conveyance path unit 11 based on the detection result by the linear scale 25.
  • the conveyance path unit 11 in which it is determined that the carriage 16 is not present in the conveyance path unit 11 stops switching in the inverter circuit 21 .
  • one or more transport path units 11 in the portion of the transport path 10 where the trolley 16 is not present stop switching in the inverter circuit 21 .
  • each conveyance path unit 11 will be described using the case where the conveyance system 1 is in the state shown in FIG. 1 as an example.
  • the trolley 16A is present in the transport path unit 11A.
  • the trolley 16B exists astride the transport path unit 11C and the transport path unit 11D.
  • the trolley 16C exists across the transport path unit 11E and the transport path unit 11F.
  • FIG. 4 is a diagram for explaining the operation of each conveyance path unit 11 provided in the conveyance system 1 according to the first embodiment.
  • the table shown in FIG. 4 indicates the presence or absence of the trolley 16 and execution of switching or stopping of switching for each of the plurality of transport path units 11.
  • "A", "B", . represent.
  • the processor 27 of the conveyance path unit 11B determines that there is no carriage 16 in the conveyance path unit 11B.
  • the conveyance path unit 11B is a conveyance path unit 11 in which it has been determined that the cart 16 is not present based on the detection result by the linear scale 25.
  • the processor 27 of the transport path unit 11B stops switching in the inverter circuit 21 of the transport path unit 11B.
  • the transport path unit 11B stops the current to the coil 20 by stopping switching.
  • the conveyance path units 11G and 11H are conveyance path units 11 that are recognized as not having the cart 16 based on the detection result by the linear scale 25, similar to the conveyance path unit 11B.
  • the transport path units 11G and 11H stop switching in the inverter circuit 21.
  • the conveyance path units 11G and 11H stop the current to the coil 20 by stopping switching.
  • the processor 27 may generate a switching stop instruction when determining that the trolley 16 is not present in the transport path unit 11. In this case, the conveyance path unit 11 stops switching in the inverter circuit 21 in accordance with the switching stop instruction.
  • the processor 27 of the transport path unit 11A identifies the presence of the cart 16 based on the position information.
  • the conveyance path unit 11A is the conveyance path unit 11 in which it has been determined that the trolley 16 is present based on the detection result by the linear scale 25.
  • Each of the conveyance path units 11C, 11D, 11E, and 11F is a conveyance path unit 11 that is recognized as having a cart 16 based on the detection result by the linear scale 25, similarly to the conveyance path unit 11A.
  • Each transport path unit 11A, 11C, 11D, 11E, 11F executes switching in the inverter circuit 21. In each of the transport path units 11A, 11C, 11D, 11E, and 11F, current flows to the coil 20 by performing switching.
  • the conveyance path unit 11 for which it is determined that the trolley 16 is not present based on the detection result by the linear scale 25 is connected to the inverter circuit 21. Stop switching at. Further, among the plurality of conveyance path units 11 of the conveyance system 1 , the conveyance path unit 11 in which it is determined that the trolley 16 is present based on the detection result by the linear scale 25 executes switching in the inverter circuit 21 . Each conveyance path unit 11 performs switching and stops switching depending on whether or not the trolley 16 is present.
  • the conveyance path unit 11 stops switching, it fixes the switching elements 40A, 40B, 40C, and 40D in the off state and puts the coil 20 in the open state. Alternatively, when stopping switching, the conveyance path unit 11 fixes the switching elements 40A, 40B, 40C, and 40D in the on state, and forms a closed circuit including the coil 20.
  • the transport system 1 can significantly reduce the number of switching operations in the entire transport system 1 by stopping switching of the transport path unit 11 in which the trolley 16 is not present.
  • the transport system 1 can reduce noise caused by switching in the entire transport system 1 by reducing the number of times of switching. Further, by reducing the number of times of switching, the transport system 1 can reduce energy loss caused by switching in the entire transport system 1.
  • the inverter circuit 21 may fix the switching elements 40A and 40B in the OFF state and fix the switching elements 40C and 40D in the ON state. That is, the switching elements 40A and 40B, which are the upper arms, are in an open state during the period in which switching is stopped, and the switching elements 40C, 40D, which are the lower arms, are in a energized state during the period in which switching is stopped.
  • the inverter circuit 21 can charge the bootstrap circuits 42A and 42B using the period during which switching is stopped.
  • the insulated gate drivers 41A and 41B are activated immediately when the cart 16 enters the conveyance path unit 11 where the cart 16 was not present. can be done.
  • the inverter circuit 21 can immediately start controlling the current flowing to the coil 20 by immediately starting the insulated gate drivers 41A and 41B. Thereby, the transport system 1 can smoothly move the cart 16 between the transport path units 11.
  • the transport system 1 performs switching in each transport path unit 11 when the cart 16 straddles the transport path units 11 adjacent to each other. Thereby, the conveyance system 1 can prevent the thrust of the truck 16 from decreasing when the truck 16 straddles the conveyance path units 11 that are adjacent to each other.
  • the conveyance system 1 in the transport system 1, one or more transport path units 11 in a portion of the transport path 10 where no transport body is present stop switching. Thereby, the conveyance system 1 has the effect of being able to reduce noise and energy loss.
  • Embodiment 2 an example will be described in which switching is performed in a transport path unit 11 adjacent to a transport path unit 11 in which a trolley 16 is present, among transport path units 11 in which a trolley 16 is not present.
  • the communication cycle is the cycle of communication between the controller 12 and the transport path unit 11.
  • FIG. 5 is a diagram showing an example of the configuration of the transport system 2 according to the second embodiment.
  • the processing by the controller 12 is different from that in the first embodiment.
  • the configuration of the conveyance system 2 is similar to the configuration of the conveyance system 1 shown in FIG.
  • the transport system 2 has a configuration similar to that shown in FIG. 2 or 3.
  • the transport system 2 includes eight transport path units 11 and two carts 16. It is assumed that the number of transport path units 11 provided in the transport system 2 is arbitrary. That is, it is assumed that the number of conveyance path units 11 configuring the conveyance path 10 is arbitrary. The transport system 2 only needs to include a plurality of transport path units 11. It is assumed that the number of carts 16 moving on the conveyance path 10 is arbitrary. The transport system 2 only needs to include one or more carts 16.
  • the communication slave station 28 of the conveyance path unit 11 acquires the position information acquired by the position sensor 26 from each of the plurality of position sensors 26 provided in the linear scale 25.
  • the communication slave station 28 transmits the acquired position information to the controller 12 via the data communication line 14.
  • the controller 12 receives position information transmitted from the communication slave station 28 of each transport path unit 11.
  • the controller 12 obtains position information indicating the position of the cart 16 on the transport path 10 by combining the position information from the communication slave stations 28 of each transport path unit 11 .
  • the controller 12 determines the transport path unit 11 to perform switching and the transport path unit 11 to stop switching based on position information indicating the position of the trolley 16 on the transport path 10.
  • the controller 12 determines the first conveyance path unit and the second conveyance path unit among the plurality of conveyance path units 11 as the conveyance path units 11 to perform switching.
  • the controller 12 determines the transport path units 11 other than the first transport path unit and the second transport path unit among the plurality of transport path units 11 as the transport path units 11 whose switching is to be stopped.
  • the first conveyance path unit is a conveyance path unit 11 in which a trolley 16, which is a conveyance body, is present.
  • the second conveyance path unit includes M conveyance path units 11 located next to the first conveyance path unit at the front of the carriage 16 in the direction of movement in the conveyance path 10, and M conveyance path units 11 located next to the first conveyance path unit at the front in the direction of movement of the cart 16 on the conveyance path 10, and the first M conveyance path units 11 located at the rear in the direction of movement of the cart 16.
  • M and N is an arbitrary integer of 1 or more.
  • each conveyance path unit 11 will be described using as an example the case where the conveyance system 2 is in the state shown in FIG.
  • the trolley 16A is present in the transport path unit 11A.
  • the trolley 16B exists astride the transport path unit 11C and the transport path unit 11D.
  • FIG. 6 is a diagram for explaining the operation of each conveyance path unit 11 provided in the conveyance system 2 according to the second embodiment.
  • the controller 12 identifies the first transport path unit from the acquired position information.
  • the transport path unit 11A in which the trolley 16A exists and the transport path units 11C and 11D in which the trolley 16B exists are the first transport path units.
  • each transport path unit 11B, 11E, 11H is a second transport path unit.
  • the controller 12 is a transport path unit that performs switching between each transport path unit 11A, 11C, 11D, which is a first transport path unit, and each transport path unit 11B, 11E, 11H, which is a second transport path unit. Decided to be 11.
  • the controller 12 transmits a switching execution instruction to each transport path unit 11A, 11B, 11C, 11D, 11E, and 11H.
  • the switching execution instruction is, for example, a signal in which a flag indicating execution of switching is turned on.
  • each of the transport path units 11F and 11G is a transport path unit 11 other than the first transport path unit and the second transport path unit.
  • the controller 12 determines each of the transport path units 11F and 11G as the transport path unit 11 whose switching is to be stopped.
  • the controller 12 transmits a switching stop instruction to each transport path unit 11F, 11G.
  • the switching stop instruction is, for example, a signal in which a flag indicating execution of switching is turned off.
  • the communication slave station 28 of each transport path unit 11A, 11B, 11C, 11D, 11E, 11H receives a switching execution instruction from the controller 12.
  • Each transport path unit 11A, 11B, 11C, 11D, 11E, 11H executes switching in the inverter circuit 21 according to the switching execution instruction.
  • the communication slave station 28 of each transport path unit 11F, 11G receives a switching stop instruction from the controller 12.
  • Each transport path unit 11F, 11G stops switching in the inverter circuit 21 in accordance with the switching stop instruction.
  • M which is the number of second conveyance path units located next to the first conveyance path unit at the front in the traveling direction
  • M which is the number of second conveyance path units located next to the first conveyance path unit at the rear in the traveling direction.
  • the number of road units, N is set in advance. At least one of M and N may be calculated based on the speed of the cart 16 on the conveyance path 10.
  • the path length of the transport path unit 11 is L
  • the maximum speed of the cart 16 is Vmax
  • the communication cycle between the controller 12 and the transport path unit 11 is Tcyc.
  • M and N is determined by rounding up the decimal point of L/(Vmax ⁇ Tcyc).
  • the conveyance system 2 performs switching not only in the first conveyance path unit in which the cart 16 is present, but also in the second conveyance path unit adjacent to the first conveyance path unit. Execute.
  • the cart 16 that was moving in the first transport path unit enters the second transport path unit next to it, the cart 16 enters the second transport path unit that is performing switching.
  • the transport system 2 prevents the trolley 16 from entering the transport path unit 11 whose switching is stopped during the communication cycle, so that the transport system 2 smoothly moves the trolley 16 in the portion where the transport path units 11 are adjacent to each other. be able to.
  • M and N are arbitrary integers greater than or equal to 1, but at least one of M and N may be zero. That is, the second conveyance path unit includes one or more conveyance path units 11 located next to the first conveyance path unit at the front in the traveling direction, and one or more conveyance path units 11 located next to the first conveyance path unit at the rear in the traveling direction. It suffices if at least one of the transport path units 11 is located at one or more transport path units 11 located at The transport system 2 may switch one of M and N between zero and an integer greater than or equal to one in each communication cycle based on the traveling direction of the trolley 16 in each communication cycle.
  • the transport system 2 can smoothly move the cart 16 by performing switching between the first transport path unit and the second transport path unit. Moreover, the conveyance system 2 stops switching in the conveyance path units 11 other than the first conveyance path unit and the second conveyance path unit among the plurality of conveyance path units 11. Switching is stopped in at least one of the one or more transport path units 11 in the non-existing portion. This allows the transport system 2 to reduce noise and energy loss.
  • Embodiment 3 In the third embodiment, an example will be described in which learning is applied to the generation of position commands that the controller 12 outputs to each transport path unit 11.
  • the controller 12 generates, based on the learned model, a position command that reduces the number of conveyance path units 11 that perform switching from the operation information of each trolley 16.
  • the position command pattern for moving the cart 16 can take any pattern.
  • One possible pattern is a pattern in which the cart 16 is moved by trapezoidal acceleration and deceleration from the starting point to the ending point during the two seconds.
  • Other patterns include a pattern in which the cart 16 is moved by trapezoidal acceleration/deceleration for 1 second from the starting point and then stopped for the remaining 1 second, or a pattern in which the cart 16 is stopped for 1 second from the starting point and the cart 16 is stopped for the remaining 1 second.
  • a machine learning method is used to derive a position command that reduces the number of transport path units 11 that perform switching.
  • the configuration of the conveyance system 2 according to the third embodiment is similar to the configuration of the conveyance system 2 shown in FIG.
  • the controller 12 of the transport system 2 according to the third embodiment acquires position information indicating the position of the trolley 16 on the transport path 10, as in the case of the second embodiment.
  • the third embodiment differs from the second embodiment in that a learning component is added to the controller 12.
  • FIG. 7 is a diagram showing a configuration example of the controller 12 provided in the transport system 2 according to the third embodiment.
  • the controller 12 includes a learning device 51, a learned model storage section 52, a position command generation section 53, and a coil drive command generation section 54.
  • the learning device 51 learns the relationship between the operation information of each of the plurality of carts 16 included in the transport system 2 and a position command that reduces the number of transport path units 11 that perform switching.
  • the operation information is information indicating a schedule for the movement of each of the plurality of carts 16 on the transport path 10.
  • the position command indicates the position to which the trolley 16 is to be moved.
  • the learning device 51 outputs a learned model that is a result of learning.
  • the learned model storage unit 52 stores learned models.
  • the position command generation unit 53 generates, for each of the plurality of carts 16 included in the transport system 2, a position command indicating the position to which the cart 16 is to be moved.
  • the position command generation unit 53 reads the learned model from the learned model storage unit 52.
  • the position command generation unit 53 infers a position command that reduces the number of transport path units 11 by inputting operation information to the learned model.
  • the position command generation unit 53 generates a position command based on this inference.
  • the coil drive command generation unit 54 generates a coil drive command based on the position command.
  • the controller 12 controls the movement of each cart 16 by outputting a coil drive command to each transport path unit 11.
  • FIG. 8 is a diagram showing a configuration example of the learning device 51 provided in the controller 12 of the third embodiment.
  • the learning device 51 includes a data acquisition section 61 and a model generation section 62.
  • the data acquisition unit 61 acquires learning data and creates a data set in which the learning data is combined.
  • the learning data is operation information and position commands. That is, the data acquisition unit 61 acquires learning data including operation information and position commands.
  • the model generation unit 62 generates a learned model using the learning data.
  • the model generation unit 62 generates a learned model used for inferring a position command from operation information based on learning data.
  • Reinforcement learning is a method in which an agent in an environment observes the current state and decides what action to take. Agents obtain rewards from the environment by selecting actions, and through a series of actions, they learn strategies that will yield the most rewards.
  • Q-learning, TD-learning, and the like are known as representative methods of reinforcement learning.
  • the action value table which is a general update formula for the action value function Q(s, a)
  • the action value function Q(s, a) represents the action value Q, which is the value of the action of selecting action "a" under environment "s".
  • equation (1) "s t " represents the environment at time “t”. “a t ” represents an action at time “t”. The action “a t “ changes the environment to “s t+1 “. “r t+1 ” represents the reward received due to the change in the environment. “ ⁇ ” represents a discount rate. “ ⁇ ” represents a learning coefficient. The operation information becomes the environment “s t “. The position command becomes the action "a t “.
  • the update formula expressed by equation (1) is that if the action value of the best action "a" at time “t+1" is greater than the action value Q of action "a" executed at time “t”, then the action Increase the value Q, and in the opposite case, decrease the action value Q.
  • the action value function Q(s, a) is updated so that the action value Q of action "a” at time “t” approaches the best action value at time "t+1".
  • the best action value in a certain environment is sequentially propagated to the action value in the previous environment.
  • the model generation unit 62 includes a reward calculation unit 63 and a function update unit 64.
  • the remuneration calculation unit 63 calculates remuneration based on the data set.
  • the function update unit 64 updates the function for determining the operation plan according to the remuneration calculated by the remuneration calculation unit 63.
  • the reward calculation unit 63 calculates the reward "r" based on the number of transport path units 11 that perform switching for each control cycle. For example, when the number of transport path units 11 that perform switching is less than or equal to the number of carts 16 included in the transport system 2, the reward calculation unit 63 increases the reward "r". The reward calculation unit 63 increases the reward "r” by giving a reward value of "1". Note that the reward value is not limited to "1". On the other hand, when the number of transport path units 11 that perform switching is greater than the number of carts 16 included in the transport system 2, the reward calculation unit 63 decreases the reward "r". The reward calculation unit 63 decreases the reward "r” by giving a reward value of "-1". Note that the reward value is not limited to "-1".
  • the function update unit 64 updates a function that is a model for determining a position command according to the reward calculated by the reward calculation unit 63. Updating the function can be done according to the data set, for example by updating the action value table.
  • the action value table is a data set in which arbitrary actions and their action values are associated with each other and stored in a table format. For example, in the case of Q learning, the action value function Q (s t , a t ) expressed by the above equation (1) is used as a function for determining the position command.
  • FIG. 9 is a flowchart showing the processing procedure of the learning device 51 provided in the controller 12 of the third embodiment. A reinforcement learning method for updating the action value function Q(s,a) will be described with reference to the flowchart in FIG.
  • step S11 the learning device 51 uses the data acquisition unit 61 to acquire operation information and a position command. That is, the learning device 51 acquires learning data.
  • the data acquisition unit 61 outputs a data set of learning data to the model generation unit 62.
  • step S12 the learning device 51 calculates the reward using the reward calculation unit 63.
  • the remuneration calculation unit 63 calculates the remuneration for the combination of the operation information for each trolley 16 and the position command for each trolley 16.
  • the reward calculation unit 63 increases or decreases the reward based on the number of transport path units 11 that perform switching for each control cycle.
  • step S13 the learning device 51 updates the action value function using the function updating unit 64.
  • the function updating unit 64 updates the action value function Q(s, a) based on the reward calculated in step S12.
  • the learning device 51 updates the action value function Q(s t , at ) stored in the learned model storage unit 52 .
  • step S14 the learning device 51 uses the function updating unit 64 to determine whether the action value function Q(s, a) has converged.
  • the function updating unit 64 determines that the action value function Q (s, a) has converged because the action value function Q (s, a) is no longer updated in step S13.
  • step S14, No If it is determined that the action value function Q(s, a) has not converged (step S14, No), the learning device 51 returns the procedure to step S11. On the other hand, if it is determined that the action value function Q(s, a) has converged (step S14, Yes), the learning device 51 ends the process according to the procedure shown in FIG. Note that the learning device 51 may continue learning by returning the procedure from step S13 to step S11 without making the determination in step S14.
  • the learned model storage unit 52 stores the learned model that is the generated action value function Q(s, a).
  • reinforcement learning is applied to the learning algorithm used by the learning device 51, but learning other than reinforcement learning may be applied to the learning algorithm.
  • the learning device 51 may perform machine learning using a known learning algorithm other than reinforcement learning, such as deep learning, neural network, genetic programming, inductive logic programming, or support vector machine. good.
  • the learning device 51 shown in FIGS. 7 and 8 is a device built into the controller 12.
  • the learning device 51 may be a device external to the controller 12.
  • the learning device 51 may be a device connectable to the controller 12 via a network.
  • the learning device 51 may be a device existing on a cloud server.
  • the learning device 51 may learn position commands that reduce the number of transport path units 11 that perform switching according to data sets created for a plurality of transport systems 2.
  • the learning device 51 may acquire learning data from a plurality of transport systems 2 used at the same location, or may acquire learning data from a plurality of transport systems 2 used at different locations. Also good.
  • the learning data may be collected from a plurality of transport systems 2 that operate independently from each other at a plurality of locations. After starting the collection of learning data from a plurality of transport systems 2, a new transport system 2 may be added as a target for which learning data is collected. Further, after starting the collection of learning data from the plurality of transport systems 2, some of the plurality of transport systems 2 may be excluded from the targets for which learning data is collected.
  • the learning device 51 that has learned about one conveyance system 2 may also learn about other conveyance systems 2 other than that conveyance system 2.
  • the learning device 51 that performs learning on the other transport system 2 can update the learned model by relearning on the other transport system 2.
  • FIG. 10 is a diagram showing a configuration example of the position command generation section 53 provided in the controller 12 of the third embodiment.
  • the position command generation unit 53 has a function as an inference device that infers a position command from operation information.
  • the position command generation section 53 includes a data acquisition section 65 and an inference section 66.
  • the data acquisition unit 65 acquires inference data.
  • the inference data is operation information about each of the plurality of carts 16 included in the transport system 2.
  • the inference unit 66 reads out the learned model generated by the learning device 51 from the learned model storage unit 52.
  • the inference unit 66 infers a position command by inputting inference data to the learned model.
  • the inference section 66 outputs a position command, which is the inference result, to the coil drive command generation section 54 .
  • the coil drive command generation unit 54 generates a coil drive command based on the position command.
  • FIG. 11 is a flowchart showing the processing procedure of the position command generation section 53 and the coil drive command generation section 54 provided in the controller 12 of the third embodiment.
  • step S21 the position command generation unit 53 uses the data acquisition unit 65 to acquire operation information of each trolley 16.
  • the data acquisition unit 65 outputs the acquired operation information to the inference unit 66.
  • step S22 the position command generation unit 53 generates a position command by inputting the operation information of each trolley 16 to the learned model in the inference unit 66.
  • step S23 the inference section 66 outputs a position command to the coil drive command generation section 54.
  • step S24 the coil drive command generation unit 54 generates a coil drive command based on the position command.
  • the transport system 2 includes the learning device 51 and the position command generation unit 53, which is an inference device, so that the transport system 2 generates position commands that reduce the number of transport path units 11 that perform switching. can be derived. This allows the transport system 2 to reduce noise and energy loss.
  • Embodiment 3 may be applied to generation of a position command in the case of stopping switching of a transport path unit 11 in which a trolley 16 is not present, as in Embodiment 1.
  • the transport system 2 may generate the position command using a method other than learning.
  • the controller 12 is realized by a processing circuit.
  • the processing circuit may be a circuit on which a processor executes software, or may be a dedicated circuit.
  • FIG. 12 is a diagram showing a configuration example of control circuit 80 according to the first to third embodiments.
  • the control circuit 80 includes an input section 81, a processor 82, a memory 83, and an output section 84.
  • the input unit 81 is an interface circuit that receives data input from outside the control circuit 80 and provides it to the processor 82 .
  • the output unit 84 is an interface circuit that sends data from the processor 82 or memory 83 to the outside of the control circuit 80.
  • the controller 12 is realized by software, firmware, or a combination of software and firmware.
  • Software or firmware is written as a program and stored in memory 83.
  • the processing circuit realizes each function of the controller 12 by having the processor 82 read and execute a program stored in the memory 83. That is, the processing circuit includes a memory 83 for storing a program that results in the processing of the controller 12 being executed. It can also be said that these programs cause the computer to execute the procedures and methods of the controller 12.
  • the processor 82 is a CPU (Central Processing Unit, also referred to as a central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, processor, or DSP (Digital Signal Processor)).
  • the memory 83 is, for example, RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (registered trademark) (Electrically Erasable Programmable Read Only Memory). ), etc., non-volatile Alternatively, volatile semiconductor memory, magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disc), etc. are applicable.
  • FIG. 12 is an example of hardware in which the controller 12 is implemented by a general-purpose processor 82 and memory 83, the controller 12 may also be implemented by a dedicated hardware circuit.
  • FIG. 13 is a diagram showing a configuration example of the dedicated hardware circuit 85 according to the first to third embodiments.
  • the dedicated hardware circuit 85 includes an input section 81, an output section 84, and a processing circuit 86.
  • the processing circuit 86 is a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof.
  • Each function of the controller 12 may be realized by the processing circuit 86 for each function, or each function may be realized by the processing circuit 86 collectively. Note that the controller 12 may be realized by combining the control circuit 80 and the hardware circuit 85.

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