JP2009187239A - Moving body system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent interference between moving bodies, using linear motor coordinates from a linear scale. <P>SOLUTION: A coil on the primary side of a linear motor is arranged along a running route, and also the secondary side of the linear motor is provided on the moving body. By dividing the running route into a plurality of zones, the coil in each zone is controlled by the zone controller of the zone. The coordinates of the moving bodies referenced from the linear scale of the coil are converted into coordinates referenced from the running route, so that the speed of the moving body and the distance from a preceding moving body are obtained. From the obtained distance and the speed of the preceding moving body, an interference prevention speed between the preceding moving body is obtained, so as to control the coil. As a result, it becomes unnecessary to make an interval with the preceding moving body uselessly large, and system efficiency is improved. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a moving body system using a linear motor, and more particularly to controlling the speed of a moving body by obtaining coordinates with respect to a travel route of the moving body.

  2. Description of the Related Art A system that moves a moving body using a linear motor that is primary on the ground side and secondary on the machine side is known for conveying articles in a clean room or the like. The type of linear motor is, for example, LSM (linear synchronous motor), a coil is provided on the ground side, and a secondary member such as a diamagnetic material, a magnetic material, or a magnet is provided on the upper side of the machine. Since a large-scale system has a long travel route and includes a plurality of loops and crossing portions between loops, the travel route is divided into a plurality of zones, and a linear motor is controlled by a zone controller for each zone.

The zone controller can recognize the coordinates of the moving body based on the linear scale by using a linear scale provided on the primary side coil of the linear motor. However, it is not known that the coordinates of the moving body with respect to the travel route are obtained by connecting these coordinates. Here, related art is shown. Patent Document 1: Japanese Patent Laid-Open No. 2002-337037 proposes detecting the position of a moving body using a linear scale.
JP2002-337037

  An object of the present invention is to prevent interference between moving bodies using coordinates from a linear scale of a linear motor.

According to the present invention, the primary side coil of the linear motor is arranged along the travel route, the secondary side of the linear motor is provided on the moving body, the travel route is divided into a plurality of zones, and the zone controller for each zone Is a mobile system that controls the coil of the linear motor in the zone,
Coordinate calculation means for converting the coordinates of the moving body based on the linear scale from the linear scale of the coil into coordinates based on the travel route;
A speed calculating means for calculating the speed of the moving object from the time change of the coordinates based on the linear scale or the coordinates based on the travel route;
A target speed setting means for obtaining a distance from the preceding moving body from coordinates based on the travel route and obtaining an interference prevention speed with the preceding moving body from the obtained distance and the speed of the preceding moving body; ,
Motor control means for controlling the coil according to the obtained interference prevention speed,
Are provided in the zone controller.

Preferably, the target speed setting means is
A speed limit at the upstream boundary of the zone to prevent interference with moving objects in the zone;
・ The speed limit at the upstream boundary of the zone to protect the downstream speed limit at the boundary with the downstream zone notified from the downstream zone controller,
Is notified to the upstream zone controller as the speed limit at the upstream boundary of the zone,
The lower speed of the speed for protecting the downstream speed limit and the interference prevention speed is output to the motor control means.

More preferably, the target speed setting means is
If the boundary with the downstream zone is a bifurcation, obtain the downstream speed limit for each of the straight side and the bifurcation side of the bifurcation,
Different downstream speed limits are applied to moving objects in the zone depending on whether the vehicle travels straight or branches.
Particularly preferably, the target speed setting means is for the junction where the traveling routes merge from the straight traveling side and the merging side.
Normally, the speed limit on the merging side is set to 0, and when passing the moving body from the merging side, the speed limit on the straight traveling side is gradually decreased, and then the speed limit on the merging side is gradually increased.

  In the present invention, the objective position of the moving body is obtained by converting the coordinates based on the linear scale into coordinates based on the travel route. And since the speed of a mobile body is controlled based on the position and speed of a mobile body, a mobile body system can be operated efficiently. In particular, it is not necessary to increase the distance between the moving bodies more than necessary to prevent interference.

  Here, it is preferable that the zone controller notifies the upstream zone controller of the speed limit at the upstream boundary of the zone. Then, the upstream zone controller does not need to consider the position and speed of the moving body in the downstream zone, and can simplify the request from the downstream zone to the speed limit at the boundary.

In addition, it is preferable to obtain different speed limits for the straight traveling and branching of the branch part from the zone controller on the downstream side and to determine which speed limit is applied according to the destination of the moving body. In this case, for example, when the speed limit on the branch side is 0, it is not necessary to limit the speed of the moving body that travels straight.
For the merging section, the speed limit on the merging side is always set to 0, and when the moving body is passed from the merging side, the speed limit on the straight side is gradually decreased, and then the speed limit on the merging side is gradually increased. It is preferable to make it. The larger the rate of change of the speed limit, the more efficient the system, and the lower the rate of change, the lower the risk of interference at the junction. Thus, by gradually changing the speed limit, it is possible to operate a mobile system with a balance between efficiency and safety.

  In the following, an optimum embodiment for carrying out the present invention will be shown.

  1 to 7 show a mobile system according to an embodiment. FIG. 1 shows a basic concept in the embodiment. The travel route is divided into a plurality of zones from zone 1 to zone 6, of which zones 1 to 4 are interbay routes, and zones 5 and 6 are intrabay routes. The inter-bay route is a basic or parent sub-route, and the intra-bay route is a branch or child sub-route. Each sub-route is in the form of a loop in principle, and the route is connected by a crossover 24.

  Zone controllers C1 to C6 are provided for each zone, and these are controlled by a controller 30 that controls the entire system. A part of the traveling route of zone 1 is enlarged and shown on the lower side of FIG. The primary side coils 42 of the linear synchronous motor are arranged at a predetermined pitch, for example, along the traveling route, and the moving body 44 including the secondary side magnet 45 of these linear synchronous motors moves. Each coil 42 is provided with a linear scale 43, and magnetically detects the magnet 45 of the moving body 44 or reads an optical scale provided on the moving body 44. The coordinates of the moving body 44 to be output are output.

  The controller C1 stores the offset of the coil 42 in each travel route in the coordinate system in units of subroutes, and adds the offset and the coordinates from the linear scale to obtain the coordinates in the subroute. As described above, the zone controller C1 obtains the position of the moving body on the sub-route, converts it to absolute coordinates with the sub-route ID and type added, and outputs the absolute coordinates to the surrounding zone controller and controller 30. Here, it is preferable that the arrangement pitch of the coils 42 and 42 is made shorter than the measurement span determined by the combination of the moving body 44 and the linear scale 43 and the coordinates of the moving body are continuously measured without a gap.

  FIG. 2 shows a layout of the mobile system. The same reference numerals as those in FIG. 1 represent the same elements, and the zone 1 to zone 4 and the zone 8 to zone 9 constitute a two-lane backbone loop 20. Further, the lanes 14 and 15 constitute a lane backbone loop 21. The intrabay routes 22 and 22 are configured by the zones 12 and 13. A one-dot chain line in the figure indicates a zone boundary, 24 is a crossover, and the intra-bay routes 22 and 22 are connected to the main loops 20 and 21, and the two lanes are connected between the lanes. Reference numeral 26 denotes a shortcut which allows the loops 20 and 21 to travel in a shorter time.

  The zone controllers C1 to C15 manage the corresponding zones, and each zone is provided with at least one ID reader I1 to I45 to read the ID of the moving body. Here, ID readers I1 to I45 are provided on the inlet side of the zone and on the upstream side of the branch, but may be provided for each coil of the linear motor. In addition, the arrow of FIG. 2 represents the traveling direction of a moving body.

  FIG. 3 shows the arrangement of ID readers and the crossovers 24 by taking the zone 1 as an example. The ID reader is placed at the entrance to the zone and before the branch. As a result, the ID can be read when the mobile body enters the zone 1, and the ID can be read before branching to control whether the vehicle travels straight or branches. In the embodiment, the moving body performs branching and merging by a mechanical mechanism, but branching and merging may be controlled by a linear motor. D1 to D4 are branching devices, and M1 to M3 are merging devices. It is provided for each branching section and merging section in FIG.

  Reference numeral 32 denotes a bus, which connects the controller 30 to each zone controller C1 and the like. The controller 30 transmits a conveyance command to the zone controller C1 and the like. And report the speed. Further, the zone controller C1 or the like notifies the upstream zone controller of the speed limit at the zone boundary, and the upstream zone controller regulates the speed of the moving object in consideration of the speed limit at the zone boundary.

  FIG. 4 shows the arrangement of the linear scale 43 and the configuration of the zone controller. The moving body 44 includes a magnet 45 such as a permanent magnet, travels in synchronization with the moving magnetic field from the coil 42, and supports gravity by a wheel (not shown). A linear scale 43 and a magnetic pole sensor 47 are provided integrally with the coil 42, for example, and the magnetic pole sensor 47 counts the number of magnetic poles of the magnet 45. The linear scale 43 detects the phase of the magnet 45 with respect to the linear scale 43 and combines with the signal of the magnetic pole sensor 47 to obtain the position of the moving body 44 with reference to the linear scale 43. The moving body 44 includes an ID 46 such as an RFID or a barcode, and is read by an ID reader I1 or the like. Reference numeral 40 denotes a power line, 41 denotes a signal line, and the zone controller C1 and the like control the coil 42 from the signal line 41 to receive data from the linear scale 43 and the ID reader. Then, a current is supplied from the power line 40 to the coil 42. In addition, the zone controller C1 and the like control the transfer device 50 and the like provided in the station, and control the branching device D1 and the junction device M1.

  Each of the zone controllers C1 and the like includes an absolute coordinate calculation unit 51. The signal from the linear scale 43 includes the ID of the coil 42, and the absolute coordinate calculation unit 51 generates a table for converting the coil ID into the ID of the subroute to which the coil belongs and the offset based on the origin of the subroute. I have. Therefore, by adding an offset to the coordinates from the linear scale 43 and adding the ID and type of the sub route to which the linear scale belongs, absolute coordinates that uniquely identify the position of the moving body 44 over the entire travel route can be obtained. The types of travel routes are, for example, large-scale backbone loops, medium-scale backbone loops, intrabay routes, and crossovers.

  The speed calculation unit 57 obtains the speed of the moving body from the time change of the absolute coordinates. Note that the speed may be obtained from the time change of the coordinates based on the linear scale.

  The target speed setting unit 52 sets the target speed of the moving body 44 and controls the coil 42 according to the target speed. For example, an upper limit of the traveling speed is defined for each segment having a size corresponding to the arrangement pitch of the coils 42. Next, the speed limit for preventing interference is determined by the distance between the moving bodies 44. Here, when the preceding moving body decelerates at the maximum deceleration, the speed at which interference can be avoided when the succeeding moving body decelerates at the maximum deceleration is defined as the speed limit. Further, each zone controller notifies the speed limit at the zone boundary to the upstream zone controller. The speed limit at the zone boundary does not interfere with the mobile body 44 in the downstream zone, and the mobile body enters from the upstream zone so that it can pass through the outlet of the downstream zone within the speed limit. For maximum speed. When the speed limit at the zone boundary is notified, the upstream zone controller may consider the speed limit at the zone boundary instead of considering the position and speed of the moving object in the downstream zone. This facilitates processing in the upstream zone controller.

  The motor control unit 53 controls the coil 42 that is the primary coil of the linear synchronous motor. The transfer control unit 54 controls the operation of the transfer device 50 with respect to the moving body 44 stopped at the station. The branch control unit 55 controls the branching device D1, the joining device M1, and the like, and controls the branching and joining of the moving body 44.

  The zone controller C 1 or the like includes a communication unit 56, and communicates with another zone controller C 2 or the like or the controller 30 via the bus 32. The communication between the zone controllers is notification of the speed limit to the upstream zone controller and notification of data such as the ID and destination of the moving mobile unit entering the downstream zone controller. In addition, between the controller 30 and the zone controller C1, the controller 30 is notified of the absolute coordinates and speed of the moving body from the zone controller side. The controller 30 notifies the zone controller C1 and the like of the moving body ID and the travel command. The travel command includes a moving body ID, a destination, and a list of sub-routes that pass to the destination.

  The controller 30 is provided with a simulation unit 31 for simulating the future state of the system from the position and speed of the carriage and the destination. As a result, a travel route is determined so as to avoid future traffic congestion, and the arrival time of the carriage is predicted. Then, if a transport command is assigned to an empty cart that arrives at the loading position at the specified arrival time, and the arrival time at the unloading location is too early, it is unloaded to the buffer in front of the unloading location, and another cart is used. The conveyance command is divided so as to be conveyed.

  FIG. 5 shows absolute coordinate data 60-62. Data 60 is data for a large-scale backbone loop. For example, 0 is assigned to the first 1 bit as the type, and the route ID and the coordinates in the route are described. The data 61 is for the medium-scale backbone, and the type is represented by 10 of 2 bits, for example, and describes the route ID and the coordinates in the route. The data 62 is for intrabay routes and crossovers, the type data is 11 bits, and describes the route ID and coordinates in the route. Data 60 to 62 have the same data length. In the same sub-route, the distance to the front position can be determined if the current position is known. The distance distance to the rear position in the same route can be determined if the total length of the route is known.

  A route table 64 is stored in the controller 30, for example, and may be stored in the zone controllers C1 to C15. When the route table 64 is shown in FIG. 6 for one sub route, the route ID and type, and the total length of the route are described. One sub route generally includes one to a plurality of connection source routes and a connection destination route. The connection source means the upstream side, and the connection destination means the downstream side. Therefore, the route ID and the connection position coordinates are described in both the connection source and the connection destination for each route of the connection source and the connection destination. In this way, the distance between any position on any travel route and any position can be determined.

  FIG. 7 shows an algorithm when the moving body moves from the upstream zone to the downstream zone. The downstream zone controller notifies the upstream zone controller of the speed limit at the zone boundary, for example, at a predetermined time interval. As a result, the upstream zone controller regulates the speed so as to prevent a situation such as interference with the preceding moving body when the moving body enters the downstream side. When there is a moving body that is going to move to the downstream zone, the upstream zone controller notifies the ID of the moving body and the destination (list of routes traveling to the destination). As a result, the zone controller on the downstream side can perform processing in preparation for the arrival of the moving object. When the ID of the moving object is detected by the ID reader at the entrance of the zone, the arrival of the moving object is detected along with the ID on the upstream side. Notify the zone controller. As a result, the moving body that has moved downstream is deleted from the management target of the upstream zone controller and added to the management target of the downstream zone controller.

8 to 15 show the determination of the speed limit (target speed). The zone controller controls the linear motor so that the moving body limits at the speed limit, and the acceleration and deceleration are constant. FIG. 8 shows the speed limit based on the stop position on the downstream side, where the speed limit to be obtained is V0 and the remaining travel distance to the stop position is S1. Further, the upper limit speed is Vmax, and the travel distance from the upper limit speed to the stop is S0. All moving objects are decelerated at a deceleration a, and the upper limit speed Vmax is stored for each zone or segment obtained by subdividing the zone, and the value of the travel distance S0 corresponding to the upper limit speed Vmax is set as a target speed setting unit of the zone controller. Remembers. The travel distances S1 and S0 are represented by hatched areas in FIG. 8, and have a relationship of V0 ² = Vmax ² × S1 / S0 according to the formula of equal acceleration motion. From this, the ratio between V0 and Vmax is obtained. For this purpose, it is only necessary to know the ratio of S1 and S0, and the target speed setting unit stores a table for outputting V0 with S1 as a headline, for example.

  FIG. 9 relates to the target speed V0 that allows the vehicle to decelerate to the speed limit Vr when traveling for the distance S2. When the speed limit Vr is determined, the travel distance S3 from here to the stop is determined, and the travel distance from the current position to the stop position is determined by the sum of S2 and S3. Therefore, if S1 = S2 + S3 is substituted into the result of FIG. 8, the speed limit V0 is determined. It is assumed that the moving body decelerates at the deceleration a.

FIG. 10 relates to the speed limit when there is a moving body preceding the distance S2 and the speed is Vf. When the distance S3 until the preceding moving body stops is obtained, this problem eventually results in obtaining a speed limit that can be stopped when the vehicle travels by S2 + S3 from the current position. Accordingly, the speed limit V0 can be obtained in the same manner as in FIG. Again, the deceleration is a, which is the same as in FIGS. If the deceleration is different between the preceding side and the following side due to the presence or absence of loading on the moving body, and the preceding side deceleration b is larger than the following deceleration a, the leading side moving body is at the initial speed vr. The travel distance S3 ′ from the start to the stop at the deceleration b is obtained, and the speed limit on the following side is determined so that the vehicle can travel and stop for S2 + S3 ′. When the deceleration b on the leading side is smaller than the deceleration a on the following side, the speed limit is determined so as not to interfere when the preceding side and the following side become the same speed. In this case, the speed limit V0 on the following side is V0 = Vf + (2 (ab) S2) ^1/2
Given in.

  FIG. 11 shows two speed limits VrF and VrD related to the branch portion. 11 to 13, F represents a straight traveling side, D represents a branching side, and M represents a joining side. Generally, the speed limit when passing through the branching portion is different between the straight traveling side and the branching side. For example, when straight traveling is permitted and branching is prohibited, the speed limit VrD on the branch side is zero. In addition, the position at which the preceding moving body is present at which speed after passing through the branching portion differs between the straight traveling side and the branching side. Therefore, the speed limit on the straight side is VrF, the speed limit on the branch side is VrD, and these are set to different values independently. Next, the target speed setting unit applies different speed limits to the moving body 44 on the upstream side of the branch depending on whether the branch goes straight or branches. That is, the target speed is calculated so that the speed at the branching portion is equal to or lower than VrF or VrD depending on whether the moving body 44 goes straight or branches. When the target speed of the upstream mobile body 44 closest to the branch is determined, the target speed of the upstream mobile body is determined in a chain manner. Speed limiting at a branch can be applied to both an exit branch of the zone as well as a branch within the zone. As a result, for example, when the speed limit on the branch side is kept low, it is not necessary to decelerate the moving body that travels straight on the branch.

  FIG. 12 shows an example in which there is a merging portion on the downstream side of the branching portion. When another moving body 44 ′ is about to pass through the merging portion and enters the merging portion from the branch side, the speed limit is 0 (no entry). Here, if the branching side speed limit of the branching unit is set to 0, a traffic jam may occur before the branching unit. Therefore, even if the speed limit is 0 at the downstream junction, the speed limit VrD is set to a value slightly larger than 0 for the connecting line between the branch and the junction and the branch side of the branch. When there is no more space for moving objects on the crossover, the speed limit VrD at the branching portion becomes 0 to prevent interference between the moving objects. If it does in this way, since it cannot pass the confluence | merging part of the downstream of a branch, it can prevent that the upstream of a branch becomes congested.

  13 and 14 show speed control at the junction. In general, the travel route is designed so that the straight side is a route with a large amount of traffic and the junction side is a route with a small amount of traffic. For this reason, the merging section always gives priority to the straight traveling side, and when passing through the merging section from the merging side, the permission of traveling is requested, and the target speed setting section operates the speed limits VrF and VrM at the merging section accordingly. To do. The upper part of FIG. 14 shows a travel permission request from the merging side. When this request is made, merging is permitted on the condition that there is no other moving body in the predetermined range upstream from the merging portion. . By allowing the merging, the speed limit on the straight side gradually decreases, and then the speed limit on the merging side gradually increases from 0 after a predetermined delay time. When it is detected that a time corresponding to the end of passing of the merging side moving body has passed or the merging side moving body has passed the merging portion, the speed limit of the merging side is gradually brought close to zero. Then, with a delay time again, the speed limit on the straight side is gradually increased from zero.

  Here, if the speed limit is not changed gradually but changed stepwise, the number of movable bodies that can pass through the junction can be increased. However, if the movement of the moving body is slightly delayed, the speed limit at the junction changes to 0 and then enters the junction at high speed. On the other hand, if the speed limit is gradually changed, the risk of interference at the junction is reduced. Further, if one speed limit is set to 0 and then the delay time is increased while the other speed limit is increased from 0, the safety is further increased. Therefore, the balance between efficiency and safety when passing through the merging portion is achieved by using two parameters of the delay time and the gradient that changes the speed limit. Rather than simply setting a delay time by changing the speed limit stepwise, more sophisticated control can be performed by gradually changing the speed limit. Note that the inclination when reducing the speed limit and the inclination when increasing the speed limit are common, but they may not be equal. When the travel permission request is completed, the speed limit on the merging side may be brought close to 0 in a stepwise manner. Further, when the slope for changing the speed limit is small, the delay time may be negative.

  Returning to FIG. 2, the travel route includes a number of locations that merge after branching. When the interval between the junction and the branch is small, the speed limit process is facilitated when these are handled as one unit. The speed limit on the merge side is determined as shown in FIG. 13, and the speed limit on the upstream branch side is determined as shown in FIG. 12 based on the speed limit on the merge side.

  FIG. 15 shows an algorithm for determining the speed limit V0. Get the speed limit at the boundary with the downstream zone. Then, a speed limit V1 for passing the boundary at this speed is determined. When there are a plurality of exits in the zone, the speed limit varies depending on the exit, and therefore the speed limit varies depending on which exit is to be passed. Next, the interference prevention speed V2 for the preceding carriage (preceding moving body) is determined. The range considered as the preceding carriage is limited to the preceding carriage within the same zone. Further, a speed V3 for stopping at the target position is determined. In FIG. 8, V3 becomes the upper limit speed Vmax when the distance S0 or more is located upstream from the target position. The minimum speed of V1, V2, V3 and Vmax is set as the speed limit. When the speed limit is calculated for the carriage on the most upstream side of the zone, the speed limit at the upstream inlet of the zone is determined based on the speed limit, and is notified to the upstream zone controller. When there is no carriage (moving body) in the zone, the speed limit can be maintained at the boundary with the downstream zone, and the speed limit at the upstream inlet of the zone is determined within the range of the upper limit speed Vmax or less. When the most upstream side of the zone is a branching part or a joining part, for example, the speed limit on the branching part or the joining side is set to zero.

  In the embodiment, a moving body for conveying articles is shown, but the type of the moving body is arbitrary. The type of linear motor used is not limited to a linear synchronous motor.

In the embodiment, the following effects can be obtained.
(1) Using the linear scale of the coil, the position of the moving body with respect to all travel routes can be uniquely identified.
(2) The ID reader provided in the zone facilitates tracking of which mobile body has passed which zone, and facilitates processing when the mobile body passes the boundary between the zones. Also, when the system is restored from a power failure or the like, the state of the system can be determined by moving the moving body in the zone at a low speed and detecting the ID with the ID reader.
(3) Since the distance between the moving bodies can be easily obtained, the speed can be controlled so as to prevent interference between the moving bodies. Therefore, it is not necessary to make the distance between the moving bodies a problem, and the system can be operated efficiently.
(4) The request from the downstream zone can be simplified to the speed limit at the boundary. Therefore, the target speed of the moving body can be easily obtained.
(5) Since separate speed limits are set for the straight side and the branch side of the branching section, there is no need to limit the speed of the moving body that travels straight through the branching section when branching is prohibited.
(6) Since the speed limit at the junction is gradually switched, the efficiency and safety of the system can be balanced.

The principal part top view of the mobile body system of an Example The top view which shows the layout of the mobile body system of an Example The figure which shows typically the control range of the zone controller in an Example The block diagram which shows the structure of the zone controller in an Example The figure which shows the data structure of the absolute coordinate in an Example The figure which shows the data of the route table in one Example for 1 route | root The figure which shows the control when a mobile body passes the boundary between zone controllers in an Example. The figure which shows the determination of the speed limit based on the distance with the stop position in an Example The figure which shows the determination of the speed limit based on the speed limit of the downstream in the Example. The figure which shows the determination of the speed limit based on the distance with the preceding trolley | bogie in an Example. The figure which shows providing a separate speed limit with respect to the straight side and the branch side in an Example The figure which shows the meaning that the speed limit on the branch side is further affected by the speed limit at the downstream junction and that the speed limit on the branch side is not zero in the embodiment. The figure which shows providing a separate speed limit with respect to the straight-advancing side and the confluence | merging side in an Example. The figure which shows control of the speed limit of the junction part in an Example The flowchart which shows the determination algorithm of the speed limit in an Example

Explanation of symbols

1 to 15 Zones 20 and 21 Core loop 22 Intrabay loop 24 Crossover 26 Shortcut 30 Controller 31 Simulation unit 32 Bus 40 Power supply line 41 Signal line 42 Coil 43 Linear scale 44 Moving body 45 Magnet 46 ID
47 Magnetic pole sensor 50 Transfer device 51 Absolute coordinate calculation unit 52 Target speed setting unit 53 Motor control unit 54 Transfer control unit 55 Branch control unit 56 Communication unit 57 Speed calculation units 60 to 62 Absolute coordinate data 64 Route table

C1 to C15 Zone controller I1 to I45 ID reader D1 to D4 Branch device M1 to M3 Junction device F Straight side D Branch side M Junction side a Deceleration S0 to S3 Distance Vmax Upper limit speed V1 Restriction based on restriction on exit side of zone Speed V2 Speed limit for preventing interference with the preceding vehicle V3 Speed limit for stopping at the target position

Claims (4)

The primary side coil of the linear motor is arranged along the travel route, the secondary side of the linear motor is provided on the moving body, the travel route is divided into a plurality of zones, and the zone controller of each zone A mobile system that controls a coil of a linear motor,
Coordinate calculation means for converting the coordinates of the moving body based on the linear scale from the linear scale of the coil into coordinates based on the travel route;
A speed calculating means for calculating the speed of the moving object from the time change of the coordinates based on the linear scale or the coordinates based on the travel route;
A target speed setting means for obtaining a distance from the preceding moving body from coordinates based on the travel route and obtaining an interference prevention speed with the preceding moving body from the obtained distance and the speed of the preceding moving body; ,
Motor control means for controlling the coil according to the obtained interference prevention speed,
A moving body system, wherein a zone controller is provided. The target speed setting means is
A speed limit at the upstream boundary of the zone to prevent interference with moving objects in the zone;
・ The speed limit at the upstream boundary of the zone to protect the downstream speed limit at the boundary with the downstream zone notified from the downstream zone controller,
Is notified to the upstream zone controller as the speed limit at the upstream boundary of the zone,
2. The mobile system according to claim 1, wherein a lower speed of the speed for keeping the downstream speed limit and the interference prevention speed is output to the motor control means. The target speed setting means is
If the boundary with the downstream zone is a bifurcation, obtain the downstream speed limit for each of the straight side and the bifurcation side of the bifurcation,
The mobile body system according to claim 2, wherein different downstream speed limit is applied to the mobile body in the zone depending on whether the branching section goes straight or branches. The target speed setting means is for the junction where the traveling route merges from the straight line side and the merge side,
The speed limit for the merging side is normally set to 0, and when passing the moving body from the merging side, the speed limit on the straight traveling side is gradually decreased and then the speed limit on the merging side is gradually increased. The mobile system according to claim 3.

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