JPH08289415A - Collision controller for magnetic levitation conveyance vehicle - Google Patents

Abstract

PURPOSE: To provide a collision controller which can surely prevent a collision between magnetic levitation conveyance vehicles. CONSTITUTION: A light transmitter 8-2A and a light receiver 8-1B for detecting an inter-vehicle distance are provided in the front of a vehicle 1, and further a light receiver 8-2B for receiving light from the light transmitter 8-2A of a succeeding vehicle and a light transmitter 8-1A for transmitting light to the light receiver 8-1B of a preceding vehicle are provided in the rear of the vehicle 1. When a succeeding vehicle unusually comes nearer to a preceding vehicle, it is detected by the light receiver 8-1B to make a rail attract the succeeding vehicle, thereby stopping the succeeding vehicle, and on the other hand, when the preceding vehicle comes backward and unusually comes nearer to the succeeding vehicle, it is detected by the light receiver 8-2B to make the rail attract the preceding vehicle, thereby stopping the preceding vehicle. Therefore, a collision owing to the coming-backward of a preceding vehicle which was concerned in a prior art device can be avoided.

Description

【発明の詳細な説明】Detailed Description of the Invention

【０００１】[0001]

【産業上の利用分野】この発明は、磁気浮上搬送車が適
正車間距離の下限を超えて近づいたとき、近づき過ぎた
搬送車を停止させて搬送車同士の衝突を防止する装置に
関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for preventing a collision between vehicles when the magnetically levitated vehicles approach each other beyond a lower limit of an appropriate inter-vehicle distance by stopping the vehicles that are too close to each other.

【０００２】[0002]

【従来の技術】磁気浮上搬送システムは、例えば半導体
製造工場等において非常に高い清浄度を要求される場合
に、磁気で搬送車をレールに吸引浮上させ、摩擦による
発塵を防止しつつ非接触に支持して被搬送物を搬送する
ものである。2. Description of the Related Art A magnetic levitation transfer system magnetically lifts a transfer vehicle onto a rail when a very high level of cleanliness is required, for example, to prevent dust generation due to friction, and to prevent contact. The object to be transported is carried by being supported by.

【０００３】このシステムでは、地上からの遠隔操作で
搬送車の電源をＯＮにし、その後、浮上信号、走行制御
信号を送って浮上、走行を制御する。浮上制御は、ギャ
ップセンサにより車体とレールとのギャップを検出し、
その検出信号に基づいて浮上制御回路により浮上用コイ
ルの励磁電流をフィードバック制御して搬送車とレール
とのギャップを所定間隔に保っている。In this system, the power of the carrier vehicle is turned on by remote control from the ground, and then a levitation signal and a traveling control signal are sent to control the levitation and traveling. The levitation control detects the gap between the car body and the rail with a gap sensor,
Based on the detection signal, the levitation control circuit feedback-controls the exciting current of the levitation coil to maintain the gap between the carriage and the rail at a predetermined interval.

【０００４】また、走行制御は、地上側の走行レールに
所定間隔で設けられたリニアモータの一次コイルに通電
し、搬送車に設けられたリアクションプレート（二次導
体）に推進力、逆推進力（制動力）を加えて速やかに減
速され、その後更に、浮上制御を止め、搬送車をレール
に吸着させて完全停止が図られる。The traveling control is performed by energizing the primary coil of a linear motor provided on the traveling rail on the ground side at a predetermined interval to cause a reaction plate (secondary conductor) provided on the transport vehicle to generate a propulsive force and a reverse propulsive force. (Braking force) is applied to quickly decelerate, and after that, the levitation control is further stopped, and the transport vehicle is attracted to the rail to complete stop.

【０００５】ところで、この種の搬送システムは、搬送
車の走行・浮上を制御する制御回路を備えているが、地
震や停電事故等が突発して地上側の一次コイル駆動系が
故障すると、搬送車の２次導体を利用しての制動が不能
になる。By the way, this type of transfer system is provided with a control circuit for controlling the traveling / floating of a transfer vehicle. However, if an earthquake or power failure accident suddenly occurs and the primary coil drive system on the ground side fails, the transfer system is transferred. Braking using the car's secondary conductor is disabled.

【０００６】そこで、このような場合は、緊急停止信号
を搬送車内の浮上制御回路に与え、搬送車をレールに吸
着させて走行を停止させる。ところが、搬送車はその慣
性によってある程度走行を続ける。Therefore, in such a case, an emergency stop signal is given to the levitation control circuit in the transport vehicle so that the transport vehicle is attracted to the rail and the traveling is stopped. However, the carrier continues to run to some extent due to its inertia.

【０００７】先行車と後続車の吸着開始から停止までの
慣性走行量は必ずしも一致するとは限らず、このような
場合、先行車と後続車があまりにも接近していると衝突
事故等が発生し危険である。搬送物の中には極めて高価
な部品があり、そのような荷物の落下破損を無くすため
に衝突事故は完全に防止しなければならない。The amount of inertial running from the start to the stop of the preceding vehicle and the following vehicle does not always match. In such a case, if the preceding vehicle and the following vehicle are too close to each other, a collision accident or the like may occur. It is a danger. There are extremely expensive parts in the package, and collision accidents must be completely prevented in order to prevent such drop damage of the package.

【０００８】この衝突防止に関する従来技術としては、
例えば、特開平４−１０５５０２号公報や特開平６−４
６５０９号公報に示されるものがある。これ等は、後続
車が先行車に近づき過ぎたとき、これをセンサで検出
し、後続車をレールに吸着させて先行車に対する後続車
の衝突を回避するようにしてある。[0008] As a conventional technique for preventing the collision,
For example, JP-A-4-105502 and JP-A-6-4
There is one disclosed in Japanese Patent No. 6509. When the following vehicle is too close to the preceding vehicle, these are detected by a sensor, and the following vehicle is attracted to the rail to avoid the collision of the following vehicle with the preceding vehicle.

【０００９】[0009]

【発明が解決しようとする課題】上記の従来技術では、
先行車が逆走してきたときには、その動きを制限するこ
とができず、先行車の逆走による衝突を防止できない。
先行車が逆走して後続車との間の車間距離が所定値以下
になると、後続車がレールに吸着して停止するので、先
行車の逆走による衝突回避に関しては衝突防止装置の設
置が逆効果となって衝突の可能性がかえって高まる。し
かも、この場合は、後続車が吸着することによって衝突
の衝撃が加速されるので荷物損傷の危険性が高い。SUMMARY OF THE INVENTION In the above prior art,
When the preceding vehicle runs in the reverse direction, its movement cannot be restricted, and the collision due to the reverse running of the preceding vehicle cannot be prevented.
When the preceding vehicle runs in reverse and the inter-vehicle distance between it and the following vehicle falls below a specified value, the following vehicle will stick to the rails and stop. The adverse effect is increased and the possibility of collision increases. Moreover, in this case, the impact of the collision is accelerated due to the fact that the following vehicle is adsorbed, so that the risk of baggage damage is high.

【００１０】そこで、この発明は、先行車の逆走に対し
ても衝突回避の効果が発揮される信頼性の高い衝突防止
装置を提供することを課題としている。Therefore, it is an object of the present invention to provide a highly reliable collision prevention device which exhibits the effect of avoiding a collision even when the preceding vehicle runs in reverse.

【００１１】[0011]

【課題を解決するための手段】上記の課題を解決するた
め、この発明においては、各搬送車が後続車に信号を送
る第１送信器と、先行車からの信号を受ける第１受信器
を備え、車間距離が所定値以下となったとき、それを検
出した第１受信器からその受信器を有する後続車の浮上
制御回路に信号を流して後続車をレールに吸着させるよ
うにしてある磁気浮上搬送システム用搬送車の衝突防止
装置において、各搬送車に、先行車に対して信号を送る
第２送信器と、後続車から信号を受けて車間距離が所定
値以下となったとき、先行車の浮上制御回路にレールに
対する車体吸着の指令信号を出す第２受信器を付加した
のである。In order to solve the above-mentioned problems, according to the present invention, a first transmitter that sends a signal to each succeeding vehicle and a first receiver that receives a signal from a preceding vehicle are provided. When the inter-vehicle distance becomes less than or equal to a predetermined value, a signal is sent from the first receiver that detects it to the levitation control circuit of the following vehicle having the receiver so that the following vehicle is attracted to the rail. In a collision prevention device for a carrier vehicle for a floating carrier system, a second transmitter that sends a signal to a preceding vehicle to each carrier, and a preceding signal when the vehicle-to-vehicle distance falls below a predetermined value when a signal is received from a following vehicle. A second receiver that outputs a command signal to attract the vehicle body to the rail is added to the levitation control circuit of the vehicle.

【００１２】この装置の第１送・受信器と第２送・受信
器は、同種の送・受信器、異種の送・受信器のどちらで
あってもよい。なお、同種の送・受信器を用いる場合に
は、第１送・受信器と、第２送・受信器を同種の送・受
信器とし、搬送車の前部に設ける第１送信器と第２受信
器及び搬送車の後部に設ける第２送信器と第１受信器の
送・受信部をそれ等の間に所定の距離が保たれる位置に
配置する。The first transmitter / receiver and the second transmitter / receiver of this apparatus may be the same kind of transmitter / receiver or different kinds of transmitter / receiver. When the same type of transmitter / receiver is used, the first transmitter / receiver and the second transmitter / receiver are the same type of transmitter / receiver, and the first transmitter / receiver and the first transmitter / receiver provided in the front part of the vehicle are used. 2 The receiver and the second transmitter provided at the rear of the carrier and the transmitter / receiver of the first receiver are arranged at a position where a predetermined distance is maintained between them.

【００１３】[0013]

【作用】後続車が先行車に車間距離の設定下限を越えて
近づいたら（このような事態は、先行車が何らかのトラ
ブルで停止、或いは減速しているときに起こる）、第１
受信器がそれを検知し、その検知信号により浮上制御回
路が浮上用マグネットの励磁電流を強め、これにより後
続車がレールに吸着して停止する。When the following vehicle approaches the preceding vehicle by exceeding the set lower limit of the inter-vehicle distance (such a situation occurs when the preceding vehicle stops or decelerates due to some trouble), the first
The receiver detects it, and the detection signal causes the levitation control circuit to increase the exciting current of the levitation magnet, which causes the following vehicle to stick to the rail and stop.

【００１４】また、走行制御系のトラブル等で先行車が
逆走し、車間距離の設定下限を越えて後続車に近づいた
ら、第１送信器から信号を受けた第１受信器、及び第２
送信器から信号を受けた第２受信器がそれを検知し、先
行車、後続車とも浮上制御回路に吸着信号が流れて両搬
送車がレールに吸着して停止し、どちらのケースでも車
間距離がそれ以上縮まることがない。When the preceding vehicle runs backward due to a trouble in the traveling control system and approaches the following vehicle by exceeding the set lower limit of the inter-vehicle distance, the first receiver which receives the signal from the first transmitter, and the second receiver.
The second receiver, which received the signal from the transmitter, detects it and both the preceding vehicle and the following vehicle receive an adsorption signal to the levitation control circuit and both transport vehicles adsorb to the rails and stop. Will not shrink any further.

【００１５】なお、第１受信器と第２受信器が検出する
下限車間距離は、同じに設定してもよいし、少し差をつ
けてもよい。非接触搬送の効果を高めるには、緊急吸着
はやむを得ない場合を除いて極力減らすのが望ましく、
第１、第２受信器の検出下限車間距離に差がある場合に
は、先行車、後続車のどちらか一方のみの吸着で衝突を
回避できるケースも出てくる。The lower limit vehicle distances detected by the first receiver and the second receiver may be set to be the same or may be slightly different. In order to enhance the effect of non-contact transportation, it is desirable to reduce as much as possible except when emergency suction is unavoidable,
When there is a difference in the detection lower limit inter-vehicle distance of the first and second receivers, there are cases where a collision can be avoided by adsorbing only one of the preceding vehicle and the following vehicle.

【００１６】次に、第１、第２の送・受信器が同種のも
のであれば、コストや回路設計の面で有利になる。ま
た、第１送信器からの信号が前方の物体に当たり、反射
して第２受信器に受信された場合、又は第２送信器から
の信号が後方の物体に当たり、反射して第１受信器に受
信された場合には、誤認による自己吸着が起こる恐れが
あるが、異なる距離検出系の送・受信部を垂直或いは水
平方向に所定距離離しておけば他系からの反射信号が入
り込まず、自己吸着の問題が起こらない。Next, if the first and second transmitters / receivers are of the same type, it is advantageous in terms of cost and circuit design. Also, when the signal from the first transmitter hits a front object and is reflected and received by the second receiver, or when the signal from the second transmitter hits a rear object and is reflected and hits the first receiver. If it is received, self-adsorption may occur due to misidentification, but if the transmitting and receiving parts of different distance detection systems are separated by a predetermined distance in the vertical or horizontal direction, the reflected signals from other systems will not enter and No adsorption problems occur.

【００１７】第１、第２送・受信器が異種のものであれ
ば、他系からの反射信号が侵入しても正式信号として受
信されないので、反射信号での誤認による自己吸着防止
がより確実になる。If the first and second transmitters / receivers are of different types, even if a reflected signal from another system enters, it will not be received as a formal signal, so it is possible to prevent self-adsorption due to misidentification of the reflected signal. become.

【００１８】[0018]

【実施例】以下この発明の実施例について添付図を参照
して説明する。Embodiments of the present invention will be described below with reference to the accompanying drawings.

【００１９】図１、図２はこの発明に衝突防止装置を設
ける磁気浮上搬送システムの概略構成図である。1 and 2 are schematic configuration diagrams of a magnetic levitation transfer system provided with a collision prevention device according to the present invention.

【００２０】搬送車は、図示のように車体１に固定した
アーム２により荷台３を走行レールの上方に片持ちで支
持する形式のものが用いられている。荷台３上に搬送対
象の荷物Ｘが載置される。The transport vehicle is of a type in which the carrier 3 is cantilevered above the traveling rail by an arm 2 fixed to the vehicle body 1 as shown in the figure. A package X to be transported is placed on the platform 3.

【００２１】車体１上にはその前後４ヶ所に浮上用マグ
ネット４が設けられ、中央上方には水平なリアクション
プレート５が設けられ、さらに、浮上用マグネット４の
近傍にギャップセンサ６が４個設けられている。On the vehicle body 1, levitation magnets 4 are provided at four positions in front of and behind it, a horizontal reaction plate 5 is provided above the center, and four gap sensors 6 are provided in the vicinity of the levitation magnet 4. Has been.

【００２２】搬送車を磁気で支持して走行させる軌道１
０は、下側が開放した箱形のフレームを有し、そのフレ
ームの断面中央にレール長手方向に沿って適当なピッチ
でリニアモータの一次コイル１１が設けられ、両側部下
部にマグネットの磁気吸引力を作用させる強磁性体レー
ル１２が設けられている。A track 1 on which a carrier is magnetically supported for traveling.
No. 0 has a box-shaped frame with an open lower side, the primary coils 11 of the linear motor are provided at an appropriate pitch along the rail longitudinal direction at the center of the cross section of the frame, and the magnetic attraction force of the magnets at the lower parts of both sides. A ferromagnetic rail 12 is provided to act.

【００２３】軌道１０は、所要長さの支持アーム１３を
介して地上側に固定されている支持桁１４に片持で支持
されている。The track 10 is cantilevered by a support girder 14 fixed to the ground side via a support arm 13 of a required length.

【００２４】かかる搬送車が、車体中央の枠体７内に設
けた電気制御回路（後述する）により、浮上用マグネッ
ト４のコイル電流を制御してレール１２との間に所定の
間隙を保持しながら浮上支持され、その状態でリニアモ
ータの一次コイル１１を励磁し、リアクションプレート
５に推進力を生じさせて走行させる。The carrier vehicle controls the coil current of the levitation magnet 4 by an electric control circuit (described later) provided in the frame body 7 at the center of the vehicle body to maintain a predetermined gap with the rail 12. While being levitationally supported, the primary coil 11 of the linear motor is excited in this state to generate a propulsive force on the reaction plate 5 to drive the reaction plate 5.

【００２５】この搬送車の車体の前後に、車間距離検出
用の光送信器８−１Ａ及び８−２Ａが（図は送信部のみ
を表示）偏光面を水平方向にずらして設けられている。
また、前後の搬送車の光送信器８−１Ａ、８−２Ａと向
き合う位置に光受信器８−１Ｂ、８−２Ｂ（図は受信部
のみを表示）が設けられている。ここで採用した光受信
器８−１Ｂ、８−２Ｂは、受けた光の強度がしきい値を
超えたかどうかで、異常接近即ち、車体距離が所定値以
下になったか否かを検知し、所定値以下になったとき
に、その受信器を有する搬送車の浮上制御回路に吸着指
令信号を出すものである。Optical transmitters 8-1A and 8-2A for detecting an inter-vehicle distance are provided in front of and behind the vehicle body of this transport vehicle (only the transmitting portion is shown in the drawing) with their polarization planes horizontally shifted.
Optical receivers 8-1B and 8-2B (only the receiving unit is shown in the figure) are provided at positions facing the optical transmitters 8-1A and 8-2A of the front and rear transport vehicles. The optical receivers 8-1B and 8-2B adopted here detect whether or not the intensity of the received light exceeds a threshold value to detect an abnormal approach, that is, whether or not the vehicle body distance has become a predetermined value or less, When the value becomes equal to or less than a predetermined value, a suction command signal is output to the levitation control circuit of the carrier vehicle having the receiver.

【００２６】なお、車間距離検出は、一方の系に例示の
光送・受信器による検出器を用い、他方の系に超音波な
どの送・受信器で構成される検出器を用いると、一方の
系の送信信号が反射して、他方の系の受信器に侵入して
も何ら問題は起こらず、従ってこの場合には、異なる系
の偏光面や偏波面を反射光侵入防止のために位置ずれさ
せることは不要である。For detecting the vehicle-to-vehicle distance, if one of the systems uses a detector including an optical transmitter / receiver and the other system uses a detector composed of transmitters / receivers such as ultrasonic waves, There is no problem even if the transmitted signal of the system is reflected and enters the receiver of the other system.Therefore, in this case, the polarization plane or polarization plane of the different system should be positioned to prevent reflected light intrusion. It is not necessary to shift it.

【００２７】２４は遠隔操作及び緊急停止制御用の受信
器（図はその受光部）である。Reference numeral 24 is a receiver for remote control and emergency stop control (the light receiving portion thereof is shown in the figure).

【００２８】このように構成した搬送車は、図３のブロ
ック図に示す浮上制御回路を有しており、この回路によ
る浮上制御が行なわれる。その浮上制御回路は、光受信
器８−１Ｂ、８−２Ｂから異常接近の検知信号を受けた
ら、浮上制御を止め、浮上マグネット４の励磁電流を強
めて搬送車をレール１２に吸着させる。The carrier constructed as described above has a levitation control circuit shown in the block diagram of FIG. 3, and levitation control is performed by this circuit. When the levitation control circuit receives an abnormal approach detection signal from the optical receivers 8-1B and 8-2B, the levitation control circuit stops the levitation control and intensifies the exciting current of the levitation magnet 4 to attract the carrier vehicle to the rail 12.

【００２９】以下に、この制御についての詳細説明を行
う。The details of this control will be described below.

【００３０】図３に示す浮上制御回路２０は、４組の浮
上用マグネット４とギャップセンサ６に対応して４組設
けられる。各浮上制御回路はギャップセンサ６からの信
号をギャップセンサ回路２１を介して演算回路２２へ送
り、その信号に基づいて、マグネット駆動回路２３から
浮上用マグネット４のコイルへの供給電流をフィードバ
ック制御して搬送車を図１のレール１２に対して所定の
間隔を保つように制御する。The levitation control circuit 20 shown in FIG. 3 is provided in four sets corresponding to the four sets of levitation magnets 4 and gap sensors 6. Each levitation control circuit sends a signal from the gap sensor 6 to the arithmetic circuit 22 via the gap sensor circuit 21, and feedback-controls the current supplied from the magnet drive circuit 23 to the coil of the levitation magnet 4 based on the signal. The carriage is controlled to maintain a predetermined distance with respect to the rail 12 of FIG.

【００３１】このような浮上制御は、外部光信号を遠隔
操作用受信器２４で受信し、電源回路２５のＯＮ／ＯＦ
Ｆ動作が行なわれた後に実行される。電源がＯＮの状態
で、浮上信号を送ると浮上制御回路２０に信号が与えら
れ、マグネット駆動回路２３が動作し、浮上用マグネッ
ト４へ制御信号が送られて、浮上が行なわれる。In such levitation control, an external optical signal is received by the remote control receiver 24, and the power circuit 25 is turned ON / OF.
It is executed after the F operation is performed. When the levitation signal is sent while the power is on, a signal is given to the levitation control circuit 20, the magnet drive circuit 23 operates, and a control signal is sent to the levitation magnet 4 for levitation.

【００３２】また、停止するときは、遠隔操作用受信器
２４へ吸着信号が送られ、この信号により、ソフトラ
ンデング回路が作動し、演算回路は浮上用マグネット４
がレール１２に吸着するようにコイル電流を制御する。When stopped, an adsorption signal is sent to the remote control receiver 24, the soft landing circuit is activated by this signal, and the arithmetic circuit is operated by the levitation magnet 4
The coil current is controlled so that is attracted to the rail 12.

【００３３】さらに、何らかの事故により、緊急停止が
必要になると、前記同様に遠隔操作受信器２４へ停止信
号が送られる。Furthermore, if an emergency stop is required due to some accident, a stop signal is sent to the remote control receiver 24 as described above.

【００３４】また、搬送車自体の故障が発生し、通常の
設定電流よりも大きな電流が一定時間流れた時及び、定
格電流に近い電流が瞬時流れた時にも、レールに対する
吸着信号が演算回路２２に送られる。Further, when a failure occurs in the carrier vehicle and a current larger than the normal set current flows for a certain period of time or when a current close to the rated current instantaneously flows, the adsorption signal to the rail is output by the arithmetic circuit 22. Sent to.

【００３５】そして、更に、光受信器８−１Ｂ、８−２
Ｂが搬送車同士の異常接近（例えば、車間距離が５０ｃ
ｍ以下になったこと）を検知したときにも、その検知信
号に基づいて、ソフトランディングの後、演算回路２２
からの指令で浮上用マグネット４のコイル電流が強めら
れ、浮上用マグネット４をレール１２に吸着させる制御
が行われる。Further, the optical receivers 8-1B and 8-2 are further provided.
B is an abnormal approach between the transport vehicles (for example, the distance between vehicles is 50c).
m) or less) is detected, the operation circuit 22 performs soft landing based on the detection signal.
The coil current of the levitation magnet 4 is intensified by the command from the control unit, and control is performed to attract the levitation magnet 4 to the rail 12.

【００３６】従って、浮上用マグネット４の吸着は、後
続車が先行車に異常接近したときだけでなく、先行車が
逆走するなどして後続車に異常接近したときにも実行さ
れ、この吸着による搬送車の停止でいかなる場合にも車
間距離がゼロ以上に保たれて衝突が回避される。Therefore, the attraction of the levitation magnet 4 is performed not only when the following vehicle abnormally approaches the preceding vehicle, but also when the preceding vehicle reversely moves or approaches the following vehicle abnormally. In any case, the inter-vehicle distance is kept at zero or more by the stop of the carrier vehicle due to the collision, and the collision is avoided.

【００３７】[0037]

【発明の効果】以上説明したように、この発明の衝突防
止装置によれば、先行車との車間距離、後続車との車間
距離の両方を検出して吸着制御を行うので、後続車の先
行車に対する異常接近だけでなく、先行車の後続車に対
する異常接近も無くなり、衝突防止の信頼性が高まる。
即ち、予期せぬ事態、例えば、地震、停電或いは走行制
御系のトラブル等が生じて先行車が立ち往生した場合、
先行車が逆走した場合とも搬送車同士の衝突が防止さ
れ、衝突による荷物破損の可能性がゼロになる。As described above, according to the collision prevention device of the present invention, since the suction control is performed by detecting both the inter-vehicle distance to the preceding vehicle and the inter-vehicle distance to the following vehicle, the preceding vehicle of the following vehicle is detected. Not only the abnormal approach to the vehicle but also the abnormal approach of the preceding vehicle to the following vehicle is eliminated, and the reliability of the collision prevention is enhanced.
That is, in the event of an unexpected situation, such as an earthquake, power failure, or trouble in the travel control system, which leads to a stuck vehicle,
Even when the preceding vehicle runs in the reverse direction, the collision between the transport vehicles is prevented, and the possibility of the damage of the luggage due to the collision becomes zero.

【図面の簡単な説明】[Brief description of drawings]

【図１】磁気浮上搬送システムの軌道と搬送車を示す正
面図FIG. 1 is a front view showing a track of a magnetic levitation transfer system and a transfer vehicle.

【図２】搬送車の外観斜視図FIG. 2 is an external perspective view of a carrier vehicle.

【図３】浮上防止装置を含む浮上制御回路のブロック図FIG. 3 is a block diagram of a levitation control circuit including a levitation prevention device.

【符号の説明】[Explanation of symbols]

１ 車体 ４ 浮上用マグネット ５ リアクションプレート ６ ギャップセンサ ８−１Ａ、８−２Ａ 光送信器 ８−１Ｂ、８−２Ｂ 光受信器 １０ 軌道 １１ １次コイル １２ 強磁性体のレール ２０ 浮上制御回路 ２１ ギャップセンサ回路 ２２ 演算回路 ２３ マグネット駆動回路 ２４ 遠隔操作用受信器 ２５ 電源回路 DESCRIPTION OF SYMBOLS 1 Vehicle body 4 Levitating magnet 5 Reaction plate 6 Gap sensor 8-1A, 8-2A Optical transmitter 8-1B, 8-2B Optical receiver 10 Orbit 11 Primary coil 12 Ferromagnetic rail 20 Levitation control circuit 21 Gap Sensor circuit 22 Arithmetic circuit 23 Magnet drive circuit 24 Remote control receiver 25 Power supply circuit

Claims (3)

【特許請求の範囲】[Claims] 【請求項１】 ギャップセンサからの信号に基づくフィ
ードバック制御で浮上用コイルの励磁電流を調整してレ
ールからの車体浮上量を所定範囲に保ち、この状態で搬
送車を推力を加えて走行させる磁気浮上搬送システムに
設ける装置であって、各搬送車が後続車に信号を送る第
１送信器と、先行車からの信号を受ける第１受信器を備
え、車間距離が所定値以下となったとき、それを検出し
た第１受信器からその受信器を有する後続車の浮上制御
回路に信号を流して後続車をレールに吸着させるように
してある搬送車の衝突防止装置において、 各搬送車に、先行車に対して信号を送る第２送信器と、
後続車から信号を受けて車間距離が所定値以下となった
とき、先行車の浮上制御回路にレールに対する車体吸着
の指令信号を出す第２受信器を付加したことを特徴とす
る磁気浮上搬送車の衝突防止装置。1. A magnetic control system for controlling the exciting current of a levitation coil by a feedback control based on a signal from a gap sensor to maintain a floating amount of a vehicle body from a rail within a predetermined range, and applying a thrust force to a vehicle for traveling in this state. A device provided in a levitation transport system, wherein each transport vehicle includes a first transmitter that sends a signal to a succeeding vehicle and a first receiver that receives a signal from a preceding vehicle, and when the inter-vehicle distance becomes a predetermined value or less. In a collision preventing device for a carrier vehicle, which detects a signal from the first receiver to a levitation control circuit of the following vehicle having the receiver to attract the following vehicle to a rail, A second transmitter that sends a signal to the preceding vehicle,
A magnetically levitated vehicle characterized in that a second receiver that outputs a command signal for adsorbing a vehicle body to the rail is added to the levitation control circuit of the preceding vehicle when the inter-vehicle distance falls below a predetermined value in response to a signal from the following vehicle. Anti-collision device. 【請求項２】 第１送・受信器と、第２送・受信器を同
種の送・受信器とし、搬送車の前部に設ける第１送信器
と第２受信器及び搬送車の後部に設ける第２送信器と第
１受信器の送・受信部をそれ等の間に所定の距離が保た
れる位置に配置した請求項１記載の磁気浮上搬送車の衝
突防止装置。2. The first transmitter / receiver and the second transmitter / receiver are the same type of transmitter / receiver, and the first transmitter / second receiver and the rear part of the carrier are provided at the front of the carrier. 2. The collision prevention device for a magnetic levitation vehicle according to claim 1, wherein the second transmitter and the first receiver, which are provided, are arranged at positions where a predetermined distance is maintained between them. 【請求項３】 第１送・受信器と、第２送・受信器を異
種の送・受信器とした請求項１記載の磁気浮上搬送車の
衝突防止装置。3. The collision prevention device for a magnetic levitation vehicle according to claim 1, wherein the first sending / receiving device and the second sending / receiving device are different kinds of sending / receiving devices.