JP2007010535A - Movable body system - Google Patents

Movable body system Download PDF

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JP2007010535A
JP2007010535A JP2005193409A JP2005193409A JP2007010535A JP 2007010535 A JP2007010535 A JP 2007010535A JP 2005193409 A JP2005193409 A JP 2005193409A JP 2005193409 A JP2005193409 A JP 2005193409A JP 2007010535 A JP2007010535 A JP 2007010535A
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plate
linear sensor
detected
sensor
curve
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JP4513673B2 (en
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Koichiro Oshiumi
幸一郎 鴛海
Akihiko Ishiura
明彦 石浦
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Murata Machinery Ltd
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Murata Machinery Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a movable body capable of recognizing the position even the curved interval with a small noise influence from the feeder. <P>SOLUTION: The plate 14 to be inspected arranged with the permanent magnets 48 to 50 in a running direction on the rail side is provided. The over head running truck side keeps the coils 54 arranged in the running direction. The linear sensor 12 provided with optical sensors 51 to 53 for detecting the plate 14 to be detected is opposed to the detection plate 14 in the vertical direction, and the effective range of the linear sensor is changed by discriminating between the curved interval and the straight interval by the optical sensors 51 to 53. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

この発明は、被検出プレートと検出側のコイルとの磁気結合の変化から、被検出プレートとコイル間の位相を検出して、移動体の位置を求めるシステムに関する。この発明は特に、移動体が直線運動中でもカーブ中でも、位置を認識できるようにした位置認識システムに関する。   The present invention relates to a system for detecting a phase of a moving body by detecting a phase between a plate to be detected and a coil from a change in magnetic coupling between the plate to be detected and a coil on the detection side. In particular, the present invention relates to a position recognition system that can recognize a position even when a moving body is linearly moving or curved.

特許文献１は複数のコイルを直線状に配列したリニアセンサを設け、磁性体からなる被検出プレートとリニアセンサ間の相対的な位置を求めることを開示している。被検出プレートとリニアセンサの相対的な位置を位相と呼ぶと、位相によって各コイルと磁性体との磁気結合が変化する。そこで例えば直列に接続された複数のコイルの、各コイルの電圧の振幅やその位相から、被検出プレートに対するリニアセンサの位置を求めることができる。   Patent Document 1 discloses that a linear sensor in which a plurality of coils are linearly arranged is provided to obtain a relative position between a detected plate made of a magnetic material and the linear sensor. When the relative position between the plate to be detected and the linear sensor is called a phase, the magnetic coupling between each coil and the magnetic material changes depending on the phase. Therefore, for example, the position of the linear sensor with respect to the plate to be detected can be obtained from the amplitude and phase of the voltage of each of a plurality of coils connected in series.

発明者は、天井走行車や地上走行の有軌道台車、地上を無軌道で走行する無人搬送車等などの位置認識に、この技術を用いることを検討した。このような用途では搬送車は、直線運動の他にカーブ運動を行う。そこで直線状のリニアセンサをカーブ区間で使用すると、カーブの曲率のためセンサの一部が被検出プレートと向き合う位置から外れてしまう。このことは、直線運動とカーブ運動とを組み合わせた運動をする他の移動体でも同様である。
特開２００１−１７４２０６号公報 The inventor has examined the use of this technology for position recognition of overhead traveling vehicles, grounded tracked carriages, automatic guided vehicles traveling on the ground without a track, and the like. In such an application, the conveyance vehicle performs a curve motion in addition to a linear motion. Therefore, when a linear linear sensor is used in a curve section, a part of the sensor deviates from a position facing the plate to be detected due to the curvature of the curve. The same applies to other moving bodies that perform a combination of linear motion and curve motion.
JP 2001-174206 A

この発明の課題は、直線区間でもカーブ区間でも移動体の位置を認識できるようにすることにある。
請求項２の発明での課題は、リニアセンサの有効範囲を的確に変更することにある。
請求項３の発明での課題は、カーブ区間で、リニアセンサと被検出プレートとの干渉を避けながら、これらの間隔を縮め、高感度で位置を検出できるようにすることにある。 An object of the present invention is to make it possible to recognize the position of a moving object in a straight section or a curved section.
The subject of the invention of claim 2 is to accurately change the effective range of the linear sensor.
The object of the invention of claim 3 is to reduce the distance between the linear sensor and the plate to be detected in the curve section and to detect the position with high sensitivity.

この発明の移動体システムは、移動体の走行経路に沿って被検出プレートを設けると共に、移動体に複数のコイルを直線状に配置したリニアセンサを搭載して、被検出プレートとリニアセンサのコイルとの磁気結合の変化から、被検出プレートに対する位置を検出するようにすると共に、直線区間とカーブ区間とで、リニアセンサの有効範囲を変更するための手段を設けたものである。   The moving body system according to the present invention includes a plate to be detected along a traveling path of the moving body, and a linear sensor in which a plurality of coils are linearly arranged on the moving body. And a means for changing the effective range of the linear sensor between the straight section and the curve section.

好ましくは、リニアセンサに、直線区間とカーブ区間とを識別して有効範囲を変更するためのセンサを設ける。直線区間とカーブ区間との識別は、走行経路上の位置を移動体がエンコーダなどで求めることで行っても良いが、エンコーダなどで求めた現在位置には誤差が伴う。またカーブ区間の出入口などにマークを設けて、移動体がマークを認識するようにしても良いが、移動体からリニアセンサへの信号の送信が必要になる。   Preferably, the linear sensor is provided with a sensor for identifying the straight section and the curve section and changing the effective range. The straight section and the curve section may be identified by the position of the travel route obtained by the moving body using an encoder or the like, but the current position obtained by the encoder or the like involves an error. In addition, a mark may be provided at the entrance / exit of the curve section so that the moving body recognizes the mark, but it is necessary to transmit a signal from the moving body to the linear sensor.

また好ましくは、被検出プレートとリニアセンサとを、移動体の運動面に垂直な方向に間隔を置いて対向させる。例えば運動面が水平であれば、鉛直方向に間隔をおいて対向させる。   Preferably, the detection plate and the linear sensor are opposed to each other with an interval in a direction perpendicular to the moving surface of the moving body. For example, if the motion surface is horizontal, they are opposed to each other with an interval in the vertical direction.

この発明では、被検出プレートとリニアセンサとを組み合わせて、移動体の位置を求める。またカーブ区間では、被検出プレートとリニアセンサとが所定の間隔で対向する範囲が直線区間と異なるので、直線区間とカーブ区間とを識別してリニアセンサの有効範囲を変更する。このため、直線区間でもカーブ区間でも移動体の位置を認識できる。   In the present invention, the position of the moving body is obtained by combining the detected plate and the linear sensor. In the curve section, the range in which the plate to be detected and the linear sensor face each other at a predetermined interval is different from that in the straight section. Therefore, the effective range of the linear sensor is changed by identifying the straight section and the curve section. For this reason, the position of the moving body can be recognized in both the straight section and the curve section.

請求項２の発明では、リニアセンサが直線区間かカーブ区間かを識別できるので、リニアセンサの有効範囲を的確に変更できる。   In the invention of claim 2, since it is possible to identify whether the linear sensor is a straight section or a curved section, the effective range of the linear sensor can be accurately changed.

請求項３の発明では、被検出プレートとリニアセンサは運動面に垂直な向きに対向しているので、移動体がカーブしても被検出プレートとリニアセンサが干渉しない。このため被検出プレートとリニアセンサとの間隔を小さくでき、カーブ区間でも移動体の位置を高感度で認識できる。   In the invention of claim 3, since the plate to be detected and the linear sensor face each other in a direction perpendicular to the moving surface, the plate to be detected and the linear sensor do not interfere even if the moving body curves. For this reason, the space | interval of a to-be-detected plate and a linear sensor can be made small, and the position of a moving body can be recognized with high sensitivity also in a curve area.

以下に本発明を実施するための最適実施例を示す。   In the following, an optimum embodiment for carrying out the present invention will be shown.

図１〜図８に、実施例とその変形とを示す。図において、２は天井走行車システムで、地上走行の有軌道台車システムや、スタッカークレーンのシステム、あるいは地上を無軌道で走行する無人搬送車システムなどとしてもよい。またこれ以外に工作機械のヘッドやコンベヤなど、直線区間とカーブ区間とを備えた移動経路に沿って運動する各種の移動体の位置認識に適用できる。   1 to 8 show an embodiment and its modifications. In the figure, reference numeral 2 denotes an overhead traveling vehicle system, which may be a grounded track system, a stacker crane system, or an automatic guided vehicle system that travels on the ground without a track. In addition, the present invention can be applied to position recognition of various moving bodies that move along a moving path having a straight section and a curved section, such as a machine tool head and a conveyor.

４はレールで、例えばクリーンルーム内の天井空間に沿って設置され、６はその直線区間、８はカーブ区間で、９ａはカーブ入口、９ｂはカーブ出口である。１０は天井走行車で、例えばレール４に懸垂するようにして走行し、天井走行車本体には横送り部と水平面内での回動部、及び昇降駆動部と昇降台とを設け、昇降台で半導体カセットなどの物品を把持して搬送する。   4 is a rail, for example, installed along the ceiling space in the clean room, 6 is a straight section, 8 is a curve section, 9a is a curve entrance, and 9b is a curve exit. Reference numeral 10 denotes an overhead traveling vehicle that travels so as to be suspended from the rail 4, for example, and the overhead traveling vehicle main body is provided with a lateral feed portion, a rotating portion in a horizontal plane, a lifting drive portion and a lifting platform. To grip and transport articles such as semiconductor cassettes.

１２はリニアセンサで、天井走行車１０の側部に設けられ、１４は被検出プレートで、レール４の側部に設けてあり、リニアセンサ１２と被検出プレート１４は鉛直方向に間隔をおいて対向する。天井走行車１０の運動面は水平で、リニアセンサ１２と被検出プレート１４を鉛直方向に間隔を置いて対向させると、カーブ区間でも干渉せず、従って被検出プレート１４をカーブ区間にも設置できる。１６はロードポートで、例えば処理装置１８の物品の搬出入口であり、ここでは天井走行車１０の停止位置をロードポート１６で代表して示す。   A linear sensor 12 is provided on the side of the overhead traveling vehicle 10, 14 is a plate to be detected, and is provided on a side of the rail 4. The linear sensor 12 and the plate 14 to be detected are spaced apart in the vertical direction. opposite. The moving surface of the overhead traveling vehicle 10 is horizontal, and if the linear sensor 12 and the plate 14 to be detected are opposed to each other with an interval in the vertical direction, they do not interfere even in the curve section, and therefore the plate 14 to be detected can be installed in the curve section. . Reference numeral 16 denotes a load port, for example, an article carry-in / out entrance of the processing apparatus 18. Here, the stop position of the overhead traveling vehicle 10 is representatively shown by the load port 16.

リニアセンサと被検出プレートを水平方向に間隔をおいて配置した例を、天井走行車を１０'として示す。ここではリニアセンサ１２'が図示しない被検出プレートと水平方向に向き合い、これらの対向面は鉛直を向いている。このようにすると、リニアセンサ１２'の干渉範囲１３は図１の鎖線のようになり、被検出プレートとリニアセンサ１２'との間に大きな間隔をおく必要が生じる。従ってリニアセンサ１２'の感度は低く、カーブ区間では位置を検出できなくなる。例えば天井走行車１０'がカーブ出口９ｂよりも完全に下流側に脱出した際に、リニアセンサ１２'が走行レール４に平行になるとする。すると処理装置のロードポート１６などを設置できる位置は図１の鎖線９ｃよりも下流側となり、カーブ入口９ａやカーブ出口９ｂの付近、並びにカーブ区間８にはロードポートなどを設置できない。このためクリーンルームのスペース効率が低下する。なお、天井走行車１０'やリニアセンサ１２'の場合も、カーブ区間８では被検出プレートに対するリニアセンサ１２'の位置が両端部で不適正になり、ここでは両端部で間隔が開きすぎる。そこで実施例と同様に、リアセンサ１２'の有効範囲を直線区間６とカーブ区間８とで変更する。   An example in which the linear sensor and the plate to be detected are arranged at an interval in the horizontal direction is shown as 10 '. Here, the linear sensor 12 'faces a detected plate (not shown) in the horizontal direction, and these facing surfaces face the vertical direction. If it does in this way, the interference range 13 of linear sensor 12 'will become like the chain line of FIG. 1, and it will be necessary to leave a big space | interval between to-be-detected plate and linear sensor 12'. Therefore, the sensitivity of the linear sensor 12 'is low, and the position cannot be detected in the curve section. For example, it is assumed that the linear sensor 12 ′ is parallel to the traveling rail 4 when the overhead traveling vehicle 10 ′ escapes completely downstream from the curve exit 9 b. Then, the position where the load port 16 or the like of the processing apparatus can be installed is on the downstream side of the chain line 9c in FIG. 1, and a load port or the like cannot be installed in the vicinity of the curve inlet 9a and the curve outlet 9b and the curve section 8. For this reason, the space efficiency of a clean room falls. In the case of the overhead traveling vehicle 10 ′ and the linear sensor 12 ′, the position of the linear sensor 12 ′ with respect to the plate to be detected is not appropriate at both ends in the curve section 8, and here, the interval is too wide at both ends. Therefore, as in the embodiment, the effective range of the rear sensor 12 ′ is changed between the straight section 6 and the curve section 8.

図２の２２は走行レールで、２４はその下部の給電レールであり、被検出プレート１４をブラケット２６により給電レール２４の側方に支持する。なお被検出プレート１４は、給電レール２４の底面などに設けて、リニアセンサ１２を天井走行車本体４４の上面に設けて上下に対向配置しても良い。走行ルート２２にはガイド２８を設けて、天井走行車１０の直進や分岐をガイドし、走行部３１には例えば左右の支持輪３２，３２と中央上部の駆動輪３４とを設ける。さらにガイド輪３６，３８を設けて、ガイド２８でガイドする。給電レール２４には例えば一対のリッツ線３０，３０を設け、１〜１０ｋＨｚ程度の高周波電流を流し、天井走行車１０のピックアップコイル４０により受電し、これと共にリッツ線３０を介して図示しない天井走行車コントローラや他の天井走行車との間で通信する。４２は軸で、天井走行車本体４４を支持し、本体４４には横送り部や水平回動部、昇降駆動部及び昇降台などを設ける。   In FIG. 2, reference numeral 22 denotes a travel rail, and reference numeral 24 denotes a lower power supply rail. The detected plate 14 is supported by a bracket 26 on the side of the power supply rail 24. The plate 14 to be detected may be provided on the bottom surface of the power supply rail 24 and the linear sensor 12 may be provided on the top surface of the overhead traveling vehicle main body 44 so as to be opposed to each other in the vertical direction. The travel route 22 is provided with a guide 28 to guide the straight traveling and branching of the overhead traveling vehicle 10, and the traveling unit 31 is provided with, for example, left and right support wheels 32, 32 and an upper central drive wheel 34. Further, guide wheels 36 and 38 are provided and guided by the guide 28. For example, a pair of litz wires 30, 30 are provided on the power supply rail 24, a high-frequency current of about 1 to 10 kHz is passed, and power is received by the pickup coil 40 of the overhead traveling vehicle 10. Communicate with car controllers and other overhead vehicles. Reference numeral 42 denotes a shaft that supports the overhead traveling vehicle main body 44, and the main body 44 is provided with a lateral feed portion, a horizontal rotation portion, a lift drive portion, a lift platform, and the like.

図３〜図７に、リニアセンサ１２や被検出プレート１４の構成を示し、各図の左向きの矢印は天井走行車の走行方向である。実際には被検出プレート１４に対してリニアセンサ１２が移動するが、図３ではリニアセンサ１２の位置を固定して、被検出プレート１４が運動するかのように図示する。また被検出プレート１４の付近で、天井走行車１０の運動面は水平で、リニアセンサ１２と被検出プレート１４の鉛直方向の高さは一定である。   3 to 7 show the configuration of the linear sensor 12 and the plate 14 to be detected, and the left-pointing arrow in each figure is the traveling direction of the overhead traveling vehicle. Actually, the linear sensor 12 moves relative to the plate 14 to be detected, but in FIG. 3, the position of the linear sensor 12 is fixed and the plate 14 to be detected is shown as moving. In the vicinity of the plate 14 to be detected, the moving surface of the overhead traveling vehicle 10 is horizontal, and the vertical height of the linear sensor 12 and the plate 14 to be detected is constant.

４６は強磁性体のヨークで、４８〜５０はそれぞれ永久磁石で、例えばフェライト系などの磁石を用い、希土類系などのより強い磁石でも良い。また永久磁石に代えて電磁石を用いても良く、あるいは強磁性体や磁石の板を被検出プレートとしても良い。磁石４８〜５０は天井走行車の走行方向に沿って好ましくは複数個直線状に配列され、それぞれのサイズは例えば一定で、磁化の向きは鉛直方向でもあるいは天井走行車の走行方向でも良い。そして隣り合った磁石の間で磁化の向きを逆にする。磁石４８〜５０の個数は２個以上が好ましく、上限は例えば１６個以下とする。   46 is a ferromagnetic yoke, and 48 to 50 are permanent magnets. For example, a ferrite magnet is used, and a stronger magnet such as a rare earth magnet may be used. In addition, an electromagnet may be used instead of the permanent magnet, or a plate of ferromagnetic material or magnet may be used as the detection plate. The magnets 48 to 50 are preferably arranged in a straight line along the traveling direction of the overhead traveling vehicle. Each of the magnets 48 to 50 has a constant size, and the direction of magnetization may be the vertical direction or the traveling direction of the overhead traveling vehicle. And the direction of magnetization is reversed between adjacent magnets. The number of magnets 48 to 50 is preferably 2 or more, and the upper limit is, for example, 16 or less.

リニアセンサ１２には複数個のコイル５４を直線状に配列し、例えばコイル５４を４個ずつで１組として、これを２組〜１６組程度配置する。５１〜５３は光センサで、リニアセンサ１２の前方（走行方向前側）から後方（走行方向後側）向きに直線状に配置され、その個数は例えば３個で、リニアセンサ１２の上部に被検出プレート１４が存在するかどうかを検出する。光センサ５１〜５３に代えて、超音波センサや磁気センサなどを用いても良い。   In the linear sensor 12, a plurality of coils 54 are linearly arranged. For example, four coils 54 are set as one set, and about 2 to 16 sets are arranged. Reference numerals 51 to 53 denote optical sensors, which are linearly arranged from the front (front side in the running direction) to the rear (back side in the running direction) of the linear sensor 12, and the number thereof is, for example, three. It detects whether the plate 14 is present. In place of the optical sensors 51 to 53, an ultrasonic sensor, a magnetic sensor, or the like may be used.

リニアセンサ１２に対する被検出プレート１４の通過範囲を図３の鎖線５６で示すと、カーブ区間では光センサ５１は被検出プレート１４を検出しないが、光センサ５２，５３は被検出プレート１４を検出する。また直線区間では光センサ５１〜５３は何れも被検出プレート１４を検出し、光センサ５１による検出の有無でカーブ区間と直線区間とを識別できる。そして直線区間では図３の範囲Ｌ１をリニアセンサ１２の有効範囲とし、カーブ区間では範囲Ｌ２を有効区間とする。またリニアセンサ１２はその長手方向に対する位置を検出し、天井走行車がカーブ区間を走行する際もこのことは変わらないので、位置センサなどの名称ではなく、リニアセンサと呼ぶ。   When the passing range of the detected plate 14 with respect to the linear sensor 12 is indicated by a chain line 56 in FIG. 3, the optical sensor 51 does not detect the detected plate 14 in the curve section, but the optical sensors 52 and 53 detect the detected plate 14. . Further, in the straight section, each of the optical sensors 51 to 53 detects the detected plate 14 and can discriminate between the curved section and the straight section by the presence or absence of detection by the optical sensor 51. In the straight section, the range L1 in FIG. 3 is the effective range of the linear sensor 12, and in the curve section, the range L2 is the effective section. The linear sensor 12 detects the position in the longitudinal direction, and this does not change even when the overhead traveling vehicle travels in a curve section. Therefore, the linear sensor 12 is not a name of a position sensor or the like but is called a linear sensor.

図４，図５に示すように、リニアセンサ１２と被検出プレート１４は高さ位置が一定なので、これらの間の上下の間隔をごく小さくでき、コイル５４と永久磁石４８〜５０間の磁気結合を強くできる。また周囲のヨーク４６などにより、リッツ線などからの磁界が侵入することを制限できる。被検出プレート１４からの磁束は図５に示すように、磁石４８，５０とヨーク４６の間、並びに磁石４８，４９の間と磁石４９，５０の間で、リニアセンサ１２側へ漏れ出す。なおこのことは図５の右上側に示すように、磁石４８などでの磁化方向を鉛直方向としても、磁石４８'のように磁化の方向をレールの走行方向としても変わらない。そして磁石４８〜５０の個数を増すほど、例えば同時に検出に用いることができるコイル５４の数が増して、検出精度が向上する。被検出プレート１４からリニアセンサ１２側に漏れ出した磁束がコイル５４の磁束と干渉し、コイル５４の磁気抵抗を変化させて、位置の検出を可能にする。なお永久磁石４８〜５０からリニアセンサ１２へ漏れ出す磁束は、リッツ線３０から漏れ出す磁束よりも充分、例えば１０〜１０００倍程度、強くする。   As shown in FIGS. 4 and 5, since the height position of the linear sensor 12 and the plate 14 to be detected is constant, the vertical distance between them can be made extremely small, and the magnetic coupling between the coil 54 and the permanent magnets 48 to 50 can be achieved. Can be strong. In addition, the surrounding yoke 46 or the like can limit the intrusion of a magnetic field from a litz wire or the like. As shown in FIG. 5, the magnetic flux from the detection plate 14 leaks to the linear sensor 12 side between the magnets 48 and 50 and the yoke 46 and between the magnets 48 and 49 and between the magnets 49 and 50. As shown in the upper right side of FIG. 5, this does not change even if the magnetization direction in the magnet 48 or the like is the vertical direction, and the magnetization direction is the traveling direction of the rail as in the magnet 48 ′. As the number of magnets 48 to 50 is increased, for example, the number of coils 54 that can be simultaneously used for detection is increased, and the detection accuracy is improved. The magnetic flux leaking to the linear sensor 12 side from the plate 14 to be detected interferes with the magnetic flux of the coil 54, and the magnetic resistance of the coil 54 is changed to enable position detection. The magnetic flux leaking from the permanent magnets 48 to 50 to the linear sensor 12 is sufficiently stronger than the magnetic flux leaking from the litz wire 30, for example, about 10 to 1000 times.

実施例ではコイル５４を４個単位で１ブロックとして用いるので、各ブロックに対する位相を図６のように定義する。即ち１つのブロック内には４つの検出コイル５４ａ〜５４ｄがあり、被検出プレート１４が最も上流側の検出コイル５４ａの上部に表れる位置で位相θを０とし、被検出プレート１４が最後部のコイル５４ｄから脱出する位置で位相θを１８０°とする。位相が０°から１８０°へ変化する間に、コイル５４ａ〜５４ｄのそれぞれが磁石４８〜５０から受ける磁束の強弱とその向きが変化し、これにより位相θを検出できる。   In the embodiment, since the coils 54 are used as one block in units of four, the phase for each block is defined as shown in FIG. That is, there are four detection coils 54a to 54d in one block, the phase θ is set to 0 at the position where the detected plate 14 appears on the uppermost side of the upstream detection coil 54a, and the detected plate 14 is the last coil. The phase θ is set to 180 ° at the position where it escapes from 54d. While the phase changes from 0 ° to 180 °, the strength and the direction of the magnetic flux received by each of the coils 54a to 54d from the magnets 48 to 50 change, thereby detecting the phase θ.

位相θの検出回路の例を図７に示すと、６０は交流電源で、例えば１ブロックのコイル５４ａ〜５４ｄを直列に接続して、位相ωtでsin波の電流を加える。これに対して各コイルの電圧の絶対値とその位相とを演算部６２で処理すると、例えばsinθやcosθを求めることができる。なお複数のコイルの電圧や電流の位相から位置を求める演算手法は、特許文献１に種々のものが記載され、図７のものに限るものではない。   FIG. 7 shows an example of a phase θ detection circuit. Reference numeral 60 denotes an AC power supply. For example, one block of coils 54a to 54d is connected in series, and a sin wave current is applied at phase ωt. On the other hand, if the calculation unit 62 processes the absolute value of the voltage of each coil and its phase, for example, sin θ and cos θ can be obtained. Various calculation methods for obtaining positions from the voltages and current phases of a plurality of coils are described in Patent Document 1 and are not limited to those shown in FIG.

図８に変形例のリニアセンサ７０と変形例の被検出プレート７４とを示す。リニアセンサ７０ではその上下の各々に、コイル７２を直線状に複数配置する。被検出プレート７４ではヨーク７６により永久磁石７８を支持し、永久磁石７８の上下を上下のコイル７２，７２と対向させる。この場合カーブ区間では、リニアセンサ７０を固定して考えた場合の被検出プレート７４の干渉範囲は図８の８０のようになり、水平方向でリニアセンサ７０と被検出プレート７４との間に間隔をおくと、干渉を防止できる。また図８とは逆に、被検出プレートをゲート状に構成し、ゲートの隙間をリニアセンサが通過するようにしても良い。   FIG. 8 shows a modified linear sensor 70 and a modified detection target plate 74. In the linear sensor 70, a plurality of coils 72 are linearly arranged above and below the linear sensor 70. In the plate 74 to be detected, a permanent magnet 78 is supported by a yoke 76, and the upper and lower coils 72, 72 are opposed to the upper and lower sides of the permanent magnet 78. In this case, in the curve section, the interference range of the detected plate 74 when the linear sensor 70 is fixed is as shown by 80 in FIG. 8, and the interval between the linear sensor 70 and the detected plate 74 in the horizontal direction. If this is set, interference can be prevented. In contrast to FIG. 8, the plate to be detected may be configured in a gate shape, and the linear sensor may pass through the gap between the gates.

実施例では以下の効果が得られる。
1) 被検出プレート１４等には永久磁石４８〜５０等を用いるので、リニアセンサ１２等のコイル５４等との磁気結合が、鉄板やニッケル板の場合よりもはるかに強い。このためリッツ線３０等のため、磁気ノイズが強い環境下でも、高いＳ／Ｎ比で位置を検出できる。
2) またこれに伴い、リニアセンサ１２と被検出プレート１４のように、これらの対向部を開放でき、シールドする必要がない。なお図８のように、リニアセンサ７０と被検出プレート７４のいずれかにより対向部を囲むようにしてシールドし、Ｓ／Ｎ比を更に向上させても良い。
3) リニアセンサ１２等と被検出プレート１４等は鉛直方向に間隔を開けて水平に対向するので、天井走行車１０がカーブ走行しても、これらが干渉することがない。
4) この結果、リニアセンサ１２等と被検出プレート１４等との間隔を小さくし、磁気結合をさらに大きくできる。
5) 直線区間６のみでなく、カーブ区間８でも天井走行車１０の位置を検出できる。このためロードポート１６等をカーブ区間８やその周囲の直線部に配置でき、クリーンルームを有効利用できる。
6) 光センサ５１〜５３で、直線区間かカーブ区間かをリニアセンサ１２，７０内で検出できる。このためリニアセンサ１２，７０の有効範囲を的確に切り換えることができる。
In the embodiment, the following effects can be obtained.
1) Since permanent magnets 48 to 50 are used for the plate to be detected 14 and the like, the magnetic coupling with the coil 54 and the like of the linear sensor 12 is much stronger than in the case of an iron plate or a nickel plate. For this reason, because of the litz wire 30 or the like, the position can be detected with a high S / N ratio even in an environment with strong magnetic noise.
2) Further, along with this, like the linear sensor 12 and the plate 14 to be detected, these opposed portions can be opened, and it is not necessary to shield them. As shown in FIG. 8, the S / N ratio may be further improved by shielding either the linear sensor 70 or the detected plate 74 so as to surround the facing portion.
3) Since the linear sensor 12 and the detected plate 14 are horizontally opposed to each other with a gap in the vertical direction, they do not interfere even when the overhead traveling vehicle 10 travels in a curve.
4) As a result, the distance between the linear sensor 12 and the detected plate 14 can be reduced, and the magnetic coupling can be further increased.
5) The position of the overhead traveling vehicle 10 can be detected not only in the straight section 6 but also in the curved section 8. For this reason, the load port 16 etc. can be arrange | positioned in the curve area 8 and the linear part of the circumference | surroundings, and a clean room can be used effectively.
6) The linear sensors 12 and 70 can detect whether the light sensor 51 to 53 is a straight section or a curve section. For this reason, the effective range of the linear sensors 12 and 70 can be switched accurately.

実施例の天井走行車システムの要部平面図The principal part top view of the overhead traveling vehicle system of an Example 実施例でのレールと被検出プレート及び天井走行車を示す部分切欠部付き要部正面図The principal part front view with a partial notch which shows the rail in an Example, to-be-detected plate, and an overhead traveling vehicle 実施例での、リニアセンサと被検出プレートとを示す平面図The top view which shows a linear sensor and a to-be-detected plate in an Example. 実施例でのリニアセンサと被検出プレートとを示す側面図Side view showing a linear sensor and a plate to be detected in the embodiment 実施例でのリニアセンサの検出コイルと被検出プレートからの磁束とを模式的に示す図The figure which shows typically the detection coil of the linear sensor in an Example, and the magnetic flux from a to-be-detected plate. 実施例でのリニアセンサの位相を示す図The figure which shows the phase of the linear sensor in an Example 実施例でのリニアセンサのブロック図Block diagram of the linear sensor in the embodiment 変形例のリニアセンサと被検出プレートとを示す図The figure which shows the linear sensor and to-be-detected plate of a modification

符号の説明Explanation of symbols

２ 天井走行車システム
４ レール
６ 直線区間
８ カーブ区間
９ａ カーブ入口
９ｂ カーブ出口
１０ 天井走行車
１２ リニアセンサ
１３ 干渉範囲
１４ 被検出プレート
１６ ロードポート
１８ 処理装置
２２ 走行レール
２４ 給電レール
２６ ブラケット
２８ ガイド
３０ リッツ線
３１ 走行部
３２ 支持輪
３４ 駆動輪
３６，３８ ガイド輪
４０ ピックアップコイル
４２ 軸
４４ 天井走行車本体
４６ ヨーク
４８〜５０ 永久磁石
５１〜５３ 光センサ
５４ コイル
５６ 被検出プレートの通過範囲
６０ 交流電源
６２ 演算部
７０ リニアセンサ
７２ コイル
７４ 被検出プレート
７６ ヨーク
７８ 永久磁石
８０ 干渉範囲

Ｒ 曲率中心
Ｌ１ 直線区間の有効範囲
Ｌ２ カーブ区間の有効範囲
θ 位相 2 Overhead traveling vehicle system 4 Rail 6 Straight section 8 Curve section 9a Curve entrance 9b Curve exit 10 Overhead traveling vehicle 12 Linear sensor 13 Interference range 14 Detected plate 16 Load port 18 Processing device 22 Travel rail 24 Feed rail 26 Bracket 28 Guide 30 Litz wire 31 Traveling portion 32 Support wheel 34 Drive wheel 36, 38 Guide wheel 40 Pickup coil 42 Shaft 44 Ceiling traveling vehicle body 46 Yoke 48-50 Permanent magnets 51-53 Optical sensor 54 Coil 56 Passing range 60 of plate to be detected AC power supply 62 arithmetic unit 70 linear sensor 72 coil 74 detected plate 76 yoke 78 permanent magnet 80 interference range

R Center of curvature L1 Effective range of straight section L2 Effective range of curve section θ Phase

Claims (3)

移動体の走行経路に沿って被検出プレートを設けると共に、移動体に複数のコイルを直線状に配置したリニアセンサを搭載して、
被検出プレートとリニアセンサのコイルとの磁気結合の変化から、被検出プレートに対する位置を検出するようにすると共に、
直線区間とカーブ区間とで、リニアセンサの有効範囲を変更するための手段を設けた、移動体システム。 While providing a plate to be detected along the traveling path of the moving body, the moving body is equipped with a linear sensor in which a plurality of coils are linearly arranged,
While detecting the position with respect to the plate to be detected from the change in magnetic coupling between the plate to be detected and the coil of the linear sensor,
A mobile system provided with means for changing the effective range of a linear sensor between a straight section and a curved section. リニアセンサに、直線区間とカーブ区間とを識別して有効範囲を変更するためのセンサを設けたことを特徴とする、請求項１の移動体システム。 The mobile system according to claim 1, wherein the linear sensor is provided with a sensor for identifying a straight section and a curve section and changing an effective range. 被検出プレートとリニアセンサとを、移動体の運動面に垂直な方向に間隔を置いて対向させたことを特徴とする、請求項１または２の移動体システム。
The moving body system according to claim 1 or 2, wherein the plate to be detected and the linear sensor are opposed to each other with an interval in a direction perpendicular to the moving surface of the moving body.
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