TWI414920B - Mobile system - Google Patents

Abstract

The present invention provides a movable object system, two rows of magnetic signs (21, 22) are parallel arranged in the moving direction of the movable object (2), and the absolute location which uses each magnetic signs (21, 22) as reference is determined by two linear transducer (16, 17). Storing the absolute location of the origin reference of each magnetic signs (21, 22), at the same time switching the detected magnetic signs and determining the absolute location of the movable object (2). The absolute location of the movable object can be continuously detected by the magnetic signs which are dispersed arranged.

Description

Mobile system

The present invention relates to a stacker or overhead traveling vehicle, a system with a track trolley, a rotary table, and other moving bodies, and more particularly to the detection of its absolute position.

In the mobile body system, the detection of the absolute position of the moving body is important. In this regard, if the encoder value of the drive motor is originally converted to the absolute position, an error caused by the slip of the wheel occurs. Therefore, when the movement path is fixed, it is conceivable to set a mark such as a comb tooth along the movement path to count, but there is an error in the decomposition ability of the comb tooth, and a backlash is generated after the stop. , there will be errors. In this regard, Patent Document 1 proposes that a detected mark of a linear sensor is provided in the vicinity of a stop position, and a sensor is provided on the moving body to detect an absolute position based on each stop position. In this method, when the target is stopped, the deceleration starts. When the mark is detected, the remaining distance from the control obtained by the encoder or the like is switched to use a linear scale. . When the remaining distance is switched to use the linear scale, there is a sudden occurrence of an error corresponding to the encoder error in the control, and if forced control is applied, the vibration is caused. Therefore, it is necessary to sufficiently decelerate from the encoder to the linear scale, and it is possible to stop it with a small control gain. When the detection area is set to a linear scale of a wide area, although this problem can be solved, it is difficult to set a wide-area linear scale in the detection area.

[Patent Document 1] Japanese Patent Laid-Open No. 2005-202464

An object of the present invention is to obtain an absolute position of a moving body in a range that is wider than the detection scale of each linear sensor.

An additional object of the present invention is that it is not necessary to switch the linear sensor even if the absolute position of the moving body is swung.

An additional object of the present invention is to obtain the number of the detected mark from the signal of the linear sensor.

An additional object of the invention of claim 3 is that the absolute position of the mobile body can be obtained by covering the entire range of the movement path.

An additional subject of the fourth and fifth claims of the patent application is that it is possible to easily check the validity of the number of the detected mark to be detected when power failure or failure is resumed.

The moving body system of the present invention is characterized in that at least two columns of detected marks parallel to the moving direction of the moving body are provided, and the detected marks are discretely arranged in the respective columns, corresponding to the at least two columns of the detected marks. And arranging at least two linear perceptrons having different positions in a direction orthogonal to the moving direction to the moving body, so that the detection regions detecting the detected marks by the at least two linear perceptrons are continuous And a means for switching between the at least two linear perceptrons for the end of each of the detection regions, the linear perceptron used; and the signal for the linear perceptron used , means to detect the absolute position of the moving body.

It is preferable that the detection marks of the detected marks overlap each other by the at least two linear perceptrons, and it is preferable to arrange the at least two detected marks.

In particular, it is preferable to arrange the at least two detected marks in the entire range of the moving path covering the moving body.

Further, it is preferable to provide a means for incrementing or reciprocating the number of the detected mark of the detection target each time the linear sensor used is switched.

Further configured to: a memory means for memorizing the number of the detected mark of the detecting object when there is a problem with the moving body; and a detected mark for detecting at least the stored detecting object when the moving body is restored from the problem The number is the inspection means by which the linear sensor detects the detected mark to check the validity of the number of the detected mark of the detected test object; when the result of the inspection means is correct, the memory is used. The number of the marker is detected to find the starting value of the absolute position of the moving body.

In the present invention, at least two columns of detected marks are arranged, and a linear sensor is provided in each column, and the absolute position of the moving body is obtained while switching the linear sensor to the detected mark. Therefore, the absolute position along the moving direction can be continuously detected, and it is not necessary to provide a long and large detected mark or a long and large linear sensor. The absolute position can be continuously detected, so there is no need to interpolate the absolute position by an auxiliary sensor such as an encoder or a comb sensor or a laser range finder.

Here, at least the detection areas of the two linear perceptrons are overlapped, and after switching from one linear perceptron to the other linear perceptron, even if a backlash or the like occurs, the moving body returns to the detection area of the original linear perceptron. There is also no need to switch the linear perceptron. Further, when the moving body is twisted between the two detected marks, when the detection areas of the two linear sensors do not overlap, any area that the linear perceptron cannot detect can be generated. In this case, when the detection areas of at least two linear perceptrons are overlapped, it is not necessary to frequently switch the linear perceptron.

When the detected mark column is arranged covering the entire moving path of the moving body, the linear sensor can be used to obtain the absolute position at any position on the moving path, and the position where the absolute position needs to be estimated by other auxiliary sensors is not generated.

If you set a complex detected tag column, you need to identify which tag is being detected. Therefore, a mark indicating an ID such as an RFID or the like is provided in the vicinity of the detected mark, and a mark for an ID different from the detected mark may be read. However, when the detected detected mark is counted up or down according to the moving direction of the moving body, the number of the detected mark can be discriminated from the signal of the linear sensor.

The mobile body sometimes stops due to power outages or other problems. When the detected flag is counted by the linear perceptron, and it is determined autonomously which of the detected marks is being used, the position of the moving body becomes unclear when recovering from a problem or the like. Therefore, when a memory means for storing the number of the detected mark of the detection target is also provided when the problem of the moving body is set, the number of the detected mark used before the occurrence of the problem can be discriminated. Is the problem correct? Is this number correct? If the detected flag is placed in the complex column and the linear sensor is set in each column, the linear sensor from which column is detecting the detected flag can confirm the number of the detected detected mark to the unit of the marked column. Between problems and the like, the moving body moves the detected mark by more than 2 copies, which is difficult to imagine. For example, when the pair of markers is detected, the memory value of the detected mark can be regarded as correct, and the moving body can be made old. . Therefore, each time there is a problem, it is not necessary to move the moving body to a point at which the absolute position of the origin or the like can be confirmed, and the work can be resumed from the stop.

Hereinafter, preferred embodiments for carrying out the invention will be described.

[Examples]

Figures 1 through 12 show the mobile body system of the embodiment. In each figure, there are 2 series of moving bodies, here a stacker crane, an overhead traveling vehicle or a railcar, a rotary table or other moving body. Further, the moving body 2 is determined by its traveling path. 4 series trolley, 6 series lifting platform, 8 and 9 series front and rear columns, 10, 11 series walking motors. The 12 and 13 series lifting motors are used to raise and lower the lifting table 6 via a suspension material such as a belt, a wire, or a rope through a drum, a pulley, a gear, or the like, which is not shown. Further, the number or arrangement of the travel motors 10 and 11 or the lift motors 12 and 13 may be arbitrary. A transfer device such as a slide fork 14 or the like is provided on the lift table 6, and a rotary table or the like may be mounted between the transfer device and the lift table 6. Further, at least one pair of right and left linear sensors 16 and 17 are provided in the bogie 4, and at least a pair of left and right linear perceptrons 18 and 19 are provided along the column 8 on the elevating table 6.

For the 20-series traveling track, at least two rows of magnetic marks 21 and 22 are provided on the left and right sides, and as shown in FIG. 3, for example, at least two rows of magnetic marks 31 and 32 are disposed on the left and right of the column 8. In the embodiment, the traveling directions of the linear sensors 16 and 17 are set to be the same, and the magnetic marks 21 and 22 are disposed at equal intervals from each other. When the positions of the linear sensors 16 and 17 in the traveling direction are different, the distance from the magnetic mark 21 to the magnetic marks 22 and the distance from the magnetic mark 22 to the magnetic marks 21 are also different. Although the magnetic marks 31 and 32 are arranged in two rows on the column 8, they may be arranged in one row on the column 8 side and the column 9 side. However, in this case, when the elevating table 6 is inclined to the moving direction of the moving body 2, the outputs of the linear sensors 18 and 19 become inconsistent in the overlapping portion of the detecting area, and correction is required. In the embodiment, the magnetic marks 21 and 22 are arranged in two rows, but they may be arranged in three or more rows. Similarly, the magnetic marks 31 and 32 may be arranged in three or more rows. Further, the magnetic marks 21, 22 and the like are detected by electromagnetic coupling with the linear sensors 16, 17 and the like, and a mark of a ferroelectric or the like may be used instead of the magnetic mark. The magnetic marks 21, 22 and the like are, for example, rod-shaped. In the embodiment, a rod-shaped magnet is used, but a magnetic body or a diamagnetic body may be used. One end of the traveling rail 20 has a walking origin and has an opposite origin at the other end.

Fig. 4 is a view showing an application example of the rotary table 40, a drive shaft of the 41-series rotary table 40, and a 42-series drive motor. On the side of the fixing portion around the turntable 40, the magnetic marks 45 and 46 are dispersed and arranged in at least two rows on the concentric circle, and two circular arrangement linear sensors are disposed corresponding to the magnetic marks 45 and 46 on the side of the rotary table 40. 43, 44. In each of the first to fourth figures, the magnetic markers 21, 22 and the like are placed on the fixed side, and the linear sensors 16, 17 and the like are placed on the moving side.

In the fifth drawing, the linear sensor 16 and the magnetic mark 21 are taken as an example to represent the linear scale, and the other linear sensors 17 and the like or the magnetic mark 22 are also the same. The 50-series AC power source outputs an alternating current proportional to sin ωt, and the plurality of coils 51 are, for example, arranged in series. The voltage applied to each coil is input to the signal processing unit 52, and is converted to sin θ in the arithmetic unit 53. Sinωt and cosθ. Cosωt. Here, θ is the phase of the magnetic marker 21 to the linear sensor 16, and the arithmetic unit 54 converts the output of the arithmetic unit 53 into a coordinate within one linear scale, that is, a linear scale coordinate LSC. In addition, LSCO indicates the origin in the linear scale, usually the absolute coordinate of the center of the linear scale, and +A indicates the upper end of the linear scale coordinate (the end of the detection area on the opposite side of the detection area), with -A Indicates the lower end (the end on the origin side of the detection area).

Fig. 6 shows the configuration of the absolute position calculating unit 60 by taking the processing of the signals from the linear sensors 16 and 17 as an example. The same absolute position calculating unit 60 is also provided for the linear sensors 18 and 19 or the linear sensors 43 and 44 to calculate the absolute value of the absolute position or the rotational angle of the lifting direction. For the input and output 61, the linear scale coordinates LSC1, LSC2 from the two linear perceptrons 16, 17 are interactively input. A linear perceptron that is close to the magnetic marker and is outputting a linear scale coordinate is called an effective linear perceptron. The linear scale switching unit 62 switches the linear scale to be used in accordance with the moving direction of the moving body at the end of each linear scale detection area. Further, the moving direction is a moving direction seen from the rotation direction of the driving motor, and does not include movement due to backlash or the like. The linear scale data storage unit 63 memorizes the current linear scale coordinate LSC and the current linear scale number LSCNo. and the current absolute coordinates. Here, the current linear scale number is represented by an additional word i, and 0 or 1 of the lowermost bit thereof represents a column of magnetic marks 21, 22. The absolute coordinate is a coordinate from the origin of the moving body, and the absolute coordinate is increased when the moving body moves toward the opposite side. The offset memory unit 64 stores the origin coordinates, that is, LSCi0 (offset) for each linear scale. Table 1 shows the terms of the examples.

Table 1 Terminology LS Linear scale: scale achieved by a combination of magnetic markers and magnetic perceptrons: the scale number is represented by the additional word i, and the linearity from the origin (center) within the linear scale is represented by LSCi The inner coordinates of the scale indicate the upper limit by +A, the lower limit by -A, and the point of switching the linear scale by A. The effective range of the linear scale is called the detection area.

LSC linear scale inner coordinate LSCNo. The number of the linear scale (additional word i), specifically the number of the magnetic mark: the linear scale with the origin of the moving body, i=1 increases toward the anti-origin side number, the number The parity indicates which column of the two columns.

Absolute coordinates of the origin within the linear scale of LSCi0: with offset.

a represents the parameter of the overlap of the linear scales, and the distance of the linear scale end from the adjacent linear scale is about 1/2 of the distance a: the linear scale is switched from the margin a of the upper or lower limit of the LSC.

t Absolute coordinates based on the origin of the moving body: Absolute coordinates and absolute positions are synonymous, both indicating the coordinates or position of the origin reference.

Lines 65 and 66 of Figure 6 are input and output. 67 is an offset acquisition unit for obtaining an absolute coordinate (offset) of the origin coordinates LSCi0 of each linear scale. The validity check unit 68 checks the validity of the linear scale number stored in the backup memory 70, etc. from the time of the power failure or the problem of the moving body 2. The rear spare memory 70 stores the data of the linear scale data storage unit 63 and the offset storage unit 64 by a battery or an uninterruptible power supply or the like, and can maintain the memory even when the power of the mobile unit 2 is turned off. When the power of the mobile unit 2 is turned off, the data of the backup memory 70 is not updated, and the linear sensors 16, 17 and the like also stop operating. The encoder 71 memorizes and outputs the accumulated value of the number of rotations of the traveling motor, and operates by a battery or an uninterruptible power supply, and also continues to operate when the power of the moving body is turned off. The encoder-backed memory 72 is a memory of the data of the backup encoder 71. When the power of the mobile body is turned off, the memory value is not updated, and the output of the encoder before the power is turned off can be memorized.

Figure 7 shows the switching of the linear perceptron between the linear scale LSi and the next linear scale LSi+1. The length of each magnetic marker system is, for example, about 10 mm, and the detection range of each linear sensor is, for example, about 100 mm to 1000 mm. The linear scale has a width of about 100 mm to 1000 mm, and the detection area overlaps between adjacent linear scales, for example, about 10 mm. Moreover, when 1/2 of the overlapping target value is used as the margin, when switching from the linear scale LSi to the linear scale LSi+1, the switching point A which is smaller than the linear scale LSi above the limit value +A is switched to the linear scale LSi+1. . When switching from the linear scale LSi+1 to the linear scale LSi, switching is performed at a linear scale coordinate point having a larger margin a than the lower limit -A of the detection range of the linear scale LSi+1.

In the case where the magnetic mark or the like is ideally set, the two switching points are identical, and there is no need to make them uniform. The switching of the linear scale is performed by the direction in which the traveling motor or the lifting motor or the like is driven. For example, the moving body is driven from the left side to the right side of FIG. 7, and when the point A is switched, the linear scale is switched. Then, the moving body is stopped, and the moving body moves backward toward the left side of Fig. 7 based on the backlash or the like, and the linear scale is not switched even if the switching point is again passed. The magnetic marks are arranged, for example, in two rows. When the moving body is twisted, the switching point based on one magnetic mark and the switching point based on the other magnetic mark are different. Therefore, there is also a switching point of the magnetic mark that passes through one of the magnetic marks, but does not pass through the switching point of the other magnetic mark. In this case, the linear scale is no longer switched. As a result of this, it is possible to prevent frequent switching of the linear scale.

Figure 8 shows the calculation of the absolute position using a linear scale of 2 columns. The linear scale LS1 is set near the traveling origin of the moving body, and the origin coordinate LSC10 is the walking origin, and the absolute coordinate is O. For each linear scale, the origin coordinate LSCi0 is stored in the offset memory unit 64, and the linear scale coordinates based on the origin in each linear scale LSi are regarded as linear scale coordinates LSCi. And is output. Therefore, the coordinate of the linear scale (additional word i) that is currently being used can be discriminated. When the offset amount is discriminated, by adding the linear scale coordinate LSCi to the offset LSCi0, the absolute value can be discriminated. coordinate.

Figure 9 shows the algorithm for obtaining the origin coordinate LSCi0 of the linear scale. The moving body is started from the walking origin side toward the counter origin side. Further, the travel origin position is, for example, an origin position (center position) of the first linear scale, and when the origin position of the first linear scale (LSNo. = 1) is detected, the absolute coordinate t is at that position. Set to 0. The trolley is moved. If the next linear scale is detected, the absolute coordinate tAi of the switching point is memorized, and the linear scale coordinate LSCi+1 of the linear scale LSi+1 of the new switching is memorized, and the linear scale number i is added by 1. The linear scale number i has been incremented by 1. When the origin of the linear scale of the new linear scale LSCi+1 is detected, the change of the linear scale coordinates from the switching point A is added to the absolute coordinate tAi of the memory. It is remembered as the absolute coordinates of the origin within the linear scale. Here, the linear scale coordinate LSCi+1 obtained when the linear scale is switched is converted into the distance from the switching point A to the origin within the linear scale of the linear scale LSi+1, and the linear scale of the linear scale LSi+1 is obtained instantly. The absolute coordinates inside can also be used.

The above loop is repeated until the final linear scale, and the absolute values of the origin coordinates in the linear scale are obtained for all linear scales and are memorized. Further, by setting the linear scale according to the design data or the like, the absolute value of the origin coordinates in the linear scale can be obtained in a method other than moving the moving body.

Figure 10 is a diagram showing the switching algorithm for linear scaling. The adjacent linear scale has an overlap of the detection areas, which is valid for the left and right linear scales. Then find which side of the left or right side of the linear scale in use. When the linear scale in use is, for example, the left side, the rotation direction of the driving motor is the (+) direction, the linear scale coordinate is the (+) side, and the moving body has exceeded the margin a of the detection area. Then, the linear scale on the right side is made valid, and the linear scale number is incremented by 1. On the contrary, when the driving direction of the motor is (-) side, the linear scale coordinates are negative, and the margin of the (-) side has been exceeded, the linear scale number is subtracted by 1, and the effective linear scale is changed. Is the linear scale on the right. In other cases, it does not change in synchronization with the operation of the drive motor, and the linear scale is not switched.

In the case where the linear scale on the right side is in use, the drive direction of the motor is (+), the linear scale coordinates are (+), and when the (+) side linear scale coordinates have exceeded the margin a, Linear scale number plus one. The direction of rotation of the motor is (-), the linear scale is negative, and the linear scale is subtracted by 1 when the linear scale of the (-) side has exceeded the margin a. In the case of this, the linear scale number is maintained. This is used to switch the linear scale used.

As shown in Fig. 11, in the movement in the detection range of one linear scale, the current linear scale number and the absolute coordinate LSCi0 of the origin within the linear scale are used. Using the current position LSCi of the linear scale coordinates, the absolute coordinate t is found by t = LSCi0 + LSCi.

Fig. 12 is a diagram showing the reset processing at the time of the blackout or the problem of the mobile body. Obtain the linear scale number i from the backup data and the linear scale coordinate LSC of the backup. Similarly, the encoder value of the motor is taken from the encoder with the backup data. Then, if the power is turned on, the linear scale starts to operate, and at least one of the left and right linear scales is valid, thereby discriminating the lowest bit of the linear scale number. When there is a problem with the mobile body or when the power is off, if the wireless scale is moved by 2 or more, the mobile station stays from the lowest digit of the linear scale number of the backup and the linear scale that is currently valid is the left or right side. Whether it has moved to another linear scale on the same linear scale, during a problem, etc. In addition, when the left and right linear scales are valid together, the linear scale corresponding to the lowest bit of the linear scale number obtained from the back-end data should be valid. Next, in the case of backing up the linear scale coordinates themselves, it is checked whether the error is within the allowable range as compared with the newly determined linear scale coordinates at the time of reset. Further, it is checked whether the error between the encoder value of the spare memory and the actual encoder value is within the allowable range. Further, the encoder is operated by a battery or an uninterruptible power supply or the like, and the encoder value is updated even when the power of the moving body is cut off, such as when the drive shaft rotates. In addition, the linear scale coordinates LSC are not backed up.

The linear scale number is appropriate, the linear scale coordinates are appropriate, and when the encoder value is appropriate, the movement amount of the moving body after the power is cut off is within the allowable range. Therefore, in this case, the absolute coordinates are restored based on the current linear scale coordinates and the linear scale number, so that the moving body moves again. If the information of one of the foregoing is inappropriate, for example, the moving body is moved to the origin, and the correct absolute coordinates are obtained again. In addition, when there is no reliability in the data of the backup, it is not necessary to uniformly move the mobile body to the origin, and it is possible to set a plurality of complex processing of the reliability of the data in accordance with the backup.

In the embodiment, the following effects can be obtained.

(1) Covering the entire moving path of the moving body, absolute coordinates can be obtained.

(2) It is substantially impossible to set a linear perceptron covering the entire moving path of the moving body, but in the embodiment, as long as the two linear perceptrons are alternately switched, it is not necessary to provide a large linear perceptron.

(3) An absolute coordinate can be obtained for any type of movement such as movement, lifting, or rotation of the moving body.

(4) The end portions of the detection regions of the linear scale are overlapped, and it is not necessary to frequently switch the linear scale due to the backlash of the moving body or the twist of the moving body between the magnetic marks of the two columns.

(5) The absolute coordinates of the origin within each linear scale can be automatically obtained.

(6) It is possible to find out which linear scale is used by the signal of the linear perceptron itself.

(7) When resetting the moving body, if the linear scale number of the backup is correct, it is not necessary to reset the moving body to the origin again.

In the embodiment, although the magnetic marks are arranged in two rows, they may be arranged in three or more columns. In this case, the number of linear sensor pairs of the magnetic mark columns is set to the moving body. Further, in the embodiment, both the linear scale coordinates and the encoder values are backed up, but for example, only one of them may be backed up. The type of the moving body to be used is not limited to the stacking crane, and may be arbitrarily an overhead traveling vehicle or a railing trolley, a rotary table, a conveyor belt, a circulating scaffold, or the like. Instead of switching the switching point of the overlapping portion of the detection area to the linear sensor 100%, the absolute position obtained by the left and right linear sensors in the overlapping portion may be weighted and averaged to be converted into an absolute position. The weight gradually changes within the overlap.

2. . . Moving body

4. . . Trolley

6. . . Lifts

8, 9. . . column

10, 11. . . Travel motor

12, 13. . . Lifting motor

14. . . Sliding fork

16, 17. . . Linear perceptron

18, 19. . . Linear perceptron

20. . . Walking track

21, 22. . . Magnetic mark

31, 32. . . Magnetic mark

40. . . Rotary table

41. . . Drive shaft

42. . . Drive motor

43, 44. . . Linear perceptron

45, 46. . . Magnetic mark

50. . . AC power

51. . . Coil

52. . . Signal processing unit

53, 54, . . Computing department

60. . . Absolute position calculation unit

61. . . input Output

62. . . Linear scale switching unit

63. . . Linear scale data memory

64. . . Offset memory

65, 66. . . input Output

67. . . Offset acquisition unit, justification inspection unit

68. . . Legitimacy inspection department, post-backup memory

70. . . Post-backup memory

71. . . Encoder

72. . . Encoder backup memory

Fig. 1 is a plan view of an important part of a moving body system of an embodiment.

Fig. 2 is a side view showing an important part of a moving body system of the embodiment.

Fig. 3 is a view schematically showing the arrangement of magnetic marks for the columns of the examples.

Fig. 4 is a view schematically showing the arrangement of the magnetic marks of the rotary table of the embodiment.

Figure 5 is a block diagram of a linear perceptron of an embodiment.

Fig. 6 is a block diagram of the coordinate calculation unit of the embodiment.

Fig. 7 is a diagrammatically showing a switching diagram of the linear scale of the embodiment.

Fig. 8 is a model diagram showing the switching of the linear scale and the offset correction map of the embodiment.

Fig. 9 is a flow chart showing the algorithm for obtaining the offset LSCi0 of the linear scale of the embodiment.

Figure 10 is a flow chart showing the switching algorithm of the linear scale of the embodiment.

Figure 11 is a flow chart showing the motion algorithm within the linear scale of the embodiment.

Figure 12 is a flow chart showing the reset algorithm of the embodiment.

2. . . Moving body

4. . . Trolley

6. . . Lifts

8, 9. . . column

10, 11. . . Travel motor

12, 13. . . Lifting motor

16, 17. . . Linear perceptron

18, 19. . . Linear perceptron

20. . . Walking track

21, 22. . . Magnetic mark

Claims (5)

A moving body system is characterized in that at least two columns of detected marks parallel to a moving direction of a moving body are provided, and the detected marks are discretely arranged in each column, corresponding to at least two columns of detected marks, At least two linear perceptrons having different positions in a direction orthogonal to the moving direction are disposed on the moving body, and detection areas that detect the detected marks by the at least two linear perceptrons overlap each other. And arranged to: at the end of the detection area, according to the moving direction of the moving body, the number of the detected mark of the detection object is counted or counted, and between the at least two linear perceptrons, the switch Means of using a linear perceptron; and means for detecting the absolute position of the moving body by the signal of the linear perceptron used. The mobile body system according to claim 1, wherein the moving body moves between the origin and the origin, and the moving direction of the moving body is configured such that the direction away from the origin is +, and the origin is The direction of the approach is -, the signal of the linear perceptron is based on the linear inner origin, the direction away from the origin of the moving body is +, and the direction toward the origin of the moving body is -, and will be detected When the number of the detected mark of the object is increased from the origin side of the moving body toward the origin side, the means for switching is such that the moving direction of the moving body and the linear sensor signal used are both + The number of the detected mark of the detection object is counted, and in the case where the moving direction of the moving body and the linear perceptron signal used are -, The number of the detected mark of the test object is counted down. The mobile body system according to claim 1 or 2, wherein the at least two columns of detected marks are arranged to cover the entire moving path of the moving body. The mobile body system as described in claim 1 or 2, further comprising: a memory means for memorizing the number of the detected mark of the detecting object when there is a problem with the moving body; and for causing the moving body to When the problem is restored, at least by which linear detected device detects the detected mark by the number of the detected mark of the detected object, the checking means for checking the validity of the detected mark of the detected object is checked; When the inspection result of the inspection means is correct, the initial value of the absolute position of the moving body is obtained using the number of the detected detected mark. The mobile body system as described in claim 3, further comprising: a memory means for memorizing the number of the detected mark of the detecting object when the moving body has a problem; and for recovering the moving body from the problem At least the inspection means for checking the validity of the number of the detected mark of the detected detection object by at least which linear sensor detects the detected mark by the number of the detected mark of the detected object; When the inspection result of the means is correct, the starting value of the absolute position of the moving body is obtained by using the number of the detected detected mark.