Mobile body and mobile body system

Patent metadata

Field	Value
Publication number	US-9729100-B2
Application number	US-201615222160-A
Country	US
Kind code	B2
Filing date	Jul 28, 2016
Priority date	Aug 21, 2015
Publication date	Aug 8, 2017
Grant date	Aug 8, 2017

Abstract

A mobile body moves along a magnetic pole path having a magnetic pole section and a magnetic pole missing section. The mobile body includes a plurality of linear motors, a first detector, a second detector, and an estimator. The plurality of linear motors include a first linear motor. The first detector is disposed on one side with respect to the first linear motor in the path direction of the magnetic pole path, and detects a first phase angle. The second detector is disposed on the other side with respect to the first linear motor in the path direction of the magnetic pole path, and detects a second phase angle. The estimator compares a phase difference between the first phase angle and the second phase angle with a reference phase difference, to estimate whether or not the first linear motor is located in the magnetic pole missing section.

First claim

What is claimed is:

1. A mobile body that moves along a magnetic pole path having a magnetic pole section in which a plurality of pairs of magnetic poles, each including a north pole and a south pole, are arranged, and a magnetic pole missing section in which the magnetic pole is missing, the mobile body comprising:
a plurality of linear motors including a first linear motor that is driven by magnetic interaction with a magnetic flux of the magnetic pole path;
a first detector which is disposed on one side with respect to the first linear motor in a path direction of the magnetic pole path, and detects a first phase angle in accordance with the magnetic flux of the magnetic pole path;
a second detector which is disposed on the other side with respect to the first linear motor in the path direction of the magnetic pole path, and detects a second phase angle in accordance with the magnetic flux of the magnetic pole path; and
an estimator which compares a phase difference between the first phase angle and the second phase angle with a reference phase difference, to estimate whether or not the first linear motor is located in the magnetic pole missing section.

2. The mobile body according to claim 1 , further comprising a receptor for accepting a start signal of the mobile body,
wherein, when the receptor accepts the start signal and the mobile body is started, the estimator estimates whether or not the first linear motor is located in the magnetic pole missing section.

3. The mobile body according to claim 1 , wherein
in a stopped state where the mobile body is stopped, the estimator estimates whether or not the first linear motor is located in the magnetic pole missing section.

4. The mobile body according to claim 1 , wherein
when the phase difference between the first phase angle and the second phase angle is deviated from the reference phase difference, the estimator estimates that the first linear motor is located in the magnetic pole missing section.

5. The mobile body according to claim 4 , wherein
the estimator estimates a distance of the magnetic pole missing section based on an amount of deviation of the phase difference from the reference phase difference.

6. The mobile body according to claim 4 , wherein
when the mobile body moves in the magnetic pole missing section in a case where a section length of the magnetic pole missing section is in a predetermined range with a distance of the pair of magnetic poles taken as a reference, the first linear motor is driven in a reverse direction to an original thrust direction,
the mobile body further comprises a storage unit for storing a threshold that is a reference value to identify whether or not the section length of the magnetic pole missing section is in or out of the predetermined range, and
the estimator compares an amount of deviation of the phase difference from the reference phase difference with the threshold stored in the storage unit, to estimate whether or not the magnetic pole missing section has a length with which the first linear motor is driven in the reverse direction to the original thrust direction.

7. The mobile body according to claim 1 , further comprising a storage unit for previously storing, as the reference phase difference, a phase difference between the first phase angle detected by the first detector and the second phase angle detected by the second detector, the phase difference at the time when the first linear motor is located in the magnetic pole section.

8. A mobile body system comprising:
a magnetic pole path having a magnetic pole section in which a plurality of pairs of magnetic poles, each including a north pole and a south pole, are arranged, and a magnetic pole missing section in which the magnetic pole is missing;
a mobile body which moves along the magnetic pole path,
the mobile body including
a plurality of linear motors including a first linear motor that is driven by magnetic interaction with a magnetic flux of the magnetic pole path,
a first detector which is disposed on one side with respect to the first linear motor in a path direction of the magnetic pole path, and detects a first phase angle in accordance with the magnetic flux of the magnetic pole path, and
a second detector which is disposed on the other side with respect to the first linear motor in the path direction of the magnetic pole path, and detects a second phase angle in accordance with the magnetic flux of the magnetic pole path; and

an estimator which compares a phase difference between the first phase angle and the second phase angle with a reference phase difference, to estimate whether or not the first linear motor is located in the magnetic pole missing section.

9. The mobile body system according to claim 8 , further comprising a receptor for accepting a start signal of the mobile body,
wherein, when the receptor accepts the start signal and the mobile body is started, the estimator estimates whether or not the first linear motor is located in the magnetic pole missing section.

10. The mobile body system according to claim 8 , wherein
in a stopped state where the mobile body is stopped, the estimator estimates whether or not the first linear motor is located in the magnetic pole missing section.

11. The mobile body system according to claim 8 , wherein
when the phase difference between the first phase angle and the second phase angle is deviated from the reference phase difference, the estimator estimates that the first linear motor is located in the magnetic pole missing section.

12. The mobile body system according to claim 11 , wherein the estimator estimates a distance of the magnetic pole missing section based on an amount of deviation of the phase difference from the reference phase difference.

13. The mobile body system according to claim 11 , wherein
when the mobile body moves in the magnetic pole missing section in a case where a section length of the magnetic pole missing section is in a predetermined range with a distance of the pair of magnetic poles taken as a reference, the first linear motor is driven in a reverse direction to an original thrust direction,
the mobile body system further comprises a storage unit for storing a threshold that is a reference value to identify whether or not the section length of the magnetic pole missing section is in or out of the predetermined range, and
the estimator compares an amount of deviation of the phase difference from the reference phase difference with the threshold stored in the storage unit, to estimate whether or not the magnetic pole missing section has a length with which the first linear motor is driven in the reverse direction to the original thrust direction.

14. The mobile body system according to claim 8 , further comprising a storage unit for previously storing, as the reference phase difference, a phase difference between the first phase angle detected by the first detector and the second phase angle detected by the second detector, the phase difference at the time when the first linear motor is located in the magnetic pole section.

Assignees

• Murata Machinery Ltd

Inventors

• Hanaka Satoshi

Classifications

• G01D5/145

  influenced by the relative movement between the Hall device and magnetic fields (see G01R33/06) · CPC title

• H02K41/02

  Linear motors; Sectional motors · CPC title

• H02P25/06 Primary

  Linear motors · CPC title

• H02K11/215

  Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements · CPC title

• G01D5/2457

  Incremental encoders having reference marks · CPC title