JPH11205911A - Carriage of plurality of bodies in linear traveling equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make it possible to stop a plurality of bodies without malfunction in a zone where they need to be stopped, in a linear traveling equipment. SOLUTION: When a traveling carriage enters a station 10 in a zone divided into a plurality of sections, a power supply for exciting coils and a power supply for magnetic sensors in a section A turn ON and the traveling carriage travels in the section A. After it passes through the section A, both of the power supplies turn OFF. In such manner, the traveling carriage passes through a section B and then a power supply for exciting coils and power supply for magnetic sensors in the section B turn OFF and finally the traveling carriage stops in a section C which is at the head of the zone, and then a power supply for exciting coils and a power supply for magnetic sensors in the section C turn OFF. Then, a next traveling carriage enters the stations 10 and then stops in the section B in such a manner. Traveling carriages travel from backward to forward successively and stop in the order they entered the station 10 and become stand-by state. Before they stop in the sections, regenerative brakes start working when they enter the zone so that they may be stopped by braking in respective sections. Then, the traveling carriages start traveling forward again one after another, from the one at the head.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transport method for efficiently stopping and starting a plurality of traveling bodies of a linear traveling apparatus using a linear motor.

[0002]

2. Description of the Related Art In a traveling apparatus in which a plurality of traveling bodies are traveling at the same time, when a traveling control of a plurality of traveling bodies is performed in one section, a driving device or a control device is provided for each traveling body. Remote control by radio or trolley current collection cable was required.

[0003]

A transfer facility using a linear traveling device of a magnet synchronous linear motor type driven synchronously by a magnetic sensor is a traveling object such as a bogie to which a plurality of magnets having a predetermined width are attached. (Hereinafter referred to as a “transportation trolley”), a running track such as a rail, an exciting coil of a predetermined width (same as the center interval of the electromagnets and the magnet width) attached to the rail, and a magnetic flux direction for position detection. The traveling body travels in a section (section) control system. In other words, in the section, one drive carriage is driven by one drive control device. The magnetic sensor is connected to the series every plural numbers, and is formed into an excitation pattern in which a current flowing through the excitation coil is determined according to a detection method of the magnetic sensor.

[0004] For this reason, when two or more running bodies enter one section, pattern control is disturbed and a malfunction may occur. At a station (transfer place) etc., a plurality of traveling bodies stop there for standby,
When there are a plurality of such sections, a drive device is required for each section, so that the equipment is enormous.

Accordingly, an object of the present invention is to stop and start each of the traveling bodies without malfunction in a section (section) where a plurality of traveling bodies need to wait, such as a station. An object of the present invention is to provide a method of transporting a plurality of traveling bodies in a linear traveling device.

[0006]

According to the first aspect of the present invention,
A traveling orbit, an exciting coil having a predetermined width whose polarity can be converted, provided for each predetermined zone over the longitudinal direction of the traveling orbit, and attached to a traveling body attached to each position of the exciting coil. A linear trajectory composed of a detection magnetic sensor having a magnetic flux directionality for detecting the position of the permanent magnet, a traveling body capable of traveling along the linear trajectory, and a plurality of vehicles having a predetermined width attached to the traveling body Transporting a plurality of traveling bodies in a linear traveling device including a permanent magnet having a pole, a polarity conversion mechanism for converting the polarity of the excitation coil based on an output pattern from the magnetic sensor, and a control device for the polarity conversion mechanism. In the method, a zone is set in the linear trajectory, the inside of the zone is divided into a plurality of sections, and one of the control devices is provided in the zone. A mechanism for operating the polarity conversion mechanism and the regenerative brake is provided for each section, and the power supply of the polarity conversion mechanism is turned on and off for each section, and the next traveling before the traveling body stops at a predetermined position. When the body enters the zone, stop by the operation of the regenerative brake, drive the next running body after the running body stops at the predetermined position and the section and the sensor are turned off, and stop at the predetermined position. The feature is that collision is prevented by using

In a linear traveling apparatus, in a normal zone not including a station or the like, the zone length is divided at substantially equal intervals. In a zone including a station, the station section is set as one zone, and the section is defined as a section (section) of about the entire length of a traveling body (such as a transport vehicle).
For example, the section is divided into three sections, and each section is connected in parallel to a power cable of a plurality of phases and a corresponding power switch (configured with a thyristor and a transistor). In addition, a regenerative brake mechanism including a switch for short-circuiting the exciting coil and a resistance for electromotive absorption is provided so that the regenerative brake operates when the power of the exciting coil is turned off. In addition, a multi-phase synchronous magnetic sensor attached to the excitation coil position is also wired in series for each phase, and a relay (switching device) is also provided here so that the power can be turned on and off by remote control. (Hereinafter, turning on / off the power of the excitation coil and the magnetic sensor is referred to as “ON / OFF”). A plurality of traveling bodies can be stopped by enabling ON / OFF control of these excitation power cables and signal cables by a controller for each section.

When the first (leading) traveling body enters one section, the section is turned on by position inspection, and when passing, the sensor is turned off and the power supply is turned off. Repeat this for each section. When the transfer operation is performed in a section where one of the traveling bodies is present, first, the vehicle is decelerated and stopped at a predetermined position by a positioning sensor, for example, an optical encoder or the like, and a forced braking mechanism. In the stopped section, the switch of the exciting coil and the relay (switch) of the magnetic sensor are turned off. This allows the next vehicle to enter this zone. In the same manner as described above, other sections other than the stop of the traveling body are turned on when the traveling body enters, and turned off when passing.

In this way, the next (subsequent) traveling body is decelerated and can be stopped at a predetermined position by the positioning sensor.
After stopping, the power supply and the sensor of this section are also turned off. In this way, the plurality of traveling bodies sequentially stop rearward from the leading stop position, and can be stopped side by side without malfunction by switching off the power supply and the magnetic sensor. As soon as the transfer operation is completed (detected by the presence sensor), a traveling command is issued and the vehicle starts traveling in the same traveling direction as the leading traveling body has traveled, that is, in the forward direction. When the vehicle is no longer in the section at the tip, the next vehicle sequentially moves forward. If transfer work is necessary, stop here. This is repeated. In this way, a plurality of traveling bodies can stop and start.

[0010] The speed of the next traveling body is controlled so as to enter one section at a time, but if the traveling body enters before stopping, the traveling body will travel until the preceding traveling body stops at a predetermined position. The power is turned off and the regenerative brake mechanism operates. As a result, the traveling body that has entered is braked and stopped, so that collision can be prevented.

In the station (set section), a stop position (a plurality of divided sections) is set in the middle of the linear track of the linear transport device for horizontal conveyance.
The luggage (containers, etc.) mounted on the traveling body stopped here is transferred to a standby conveyor (consisting of an accumulation conveyor, a buffer conveyor, etc.) provided in the station, and is transferred to a vertical traveling linear traveling device. It is transported to the front and stops. The traveling body of the vertical traveling linear traveling device is stopped at a predetermined position by the positioning device. The traveling body is a transport trolley or the like, in which a conveyor is mounted, and the power is collected at a pole position at the transfer position, driven in synchronization with the standby conveyor, and the load is transferred. The package is transported to a predetermined position in the station, similarly stopped, and transferred out of the system in synchronization with the station conveyor. A plurality of packages (containers) can be placed on standby by using an accumulator or the like for the station conveyor. After unloading, the luggage is transferred to the station for loading. here,
The luggage is loaded, the destination instruction is recorded in the container ID (wireless response recognition means), and is communicated to the integrated system. The luggage is sequentially transferred to the traveling body of the linear traveling device for vertical transportation by the standby conveyor, transferred to the traveling body of the linear traveling device for horizontal transportation through the station conveyor, and transported to the next station.

[0012]

Next, an embodiment of the present invention will be described with reference to the drawings. First, the linear motor will be described. FIG. 6 is a perspective view showing the operation principle of the linear motor, and FIG. 7 is a graph for explaining how to flow a current. In a synchronous linear motor for driving in a linearly driven transfer system, an elliptical coil (excitation coil) 2 is attached to a transfer path, and a position detection sensor 6 is attached to each coil. The position detection sensor 6 uses a unidirectional magnetic sensor. A predetermined width (3 / 5P) of the coil is mounted at a predetermined pitch (P), and a series wiring is performed for each of a plurality of phases by sequentially changing the current so that the current alternately becomes opposite to the positive direction. The sensor 6 is a magnetic sensor that detects only one direction, is mounted by sequentially changing the detection direction, and is wired for each of a plurality of phases (for example, three phases). A plurality of permanent magnets 5 having a plurality of poles are attached to the carrier (transportation vehicle) 4 so that the poles are sequentially changed and the magnetic field is generated in the coil direction. When the magnetic flux from the magnet 5 passes through the coil 2 through which the current flows, a magnetic force is generated in a direction perpendicular to the direction of the magnetic flux in accordance with the “Fleming's left-hand rule”. As described above, the traveling direction can be easily generated in the forward direction or the reverse direction depending on the current flow, and the carrier 4 provided with the magnets 5 can travel by this reaction force. FIG. 6 shows the configuration of the linear motor. By attaching a core made of a magnetic material that does not saturate the magnetic flux to the back of the permanent magnet 5 or the exciting coil 2, the magnetic flux increases and the efficiency can be increased. The driving method can pattern the magnet 5 having five poles every １ ／ of one cycle (F) by the detection method of the sensor 6. This is because the number of patterns can be further increased by increasing the number of sensors 6 and fine control can be performed. Depending on the position at which the pattern is switched, it is possible to set a current flow method corresponding to the pattern detected by the sensor 6 for the coils 2 of a plurality of phases (for example, three phases). The current flow is exactly 1 /
4 sections, 1/8 stop, 1/4 section on the opposite side, 1 / stop
It operates in the order of eight sections. FIG. 7 shows an example of the driving method.
As an example in which a five-pole magnet is used for a three-phase power supply, a current flow method for the pattern of the sensor 6 is shown.

In the case of a three-phase power supply, six IGBTs
By controlling such elements as ON and OFF in accordance with the pattern detected by the sensor, the current flowing through the coil can be patterned. FIG. 7 shows five pole permanent magnet positions, coil positions, sensor positions, detection patterns of the sensors, and current directions to the coils.

FIG. 4 is a wiring diagram showing one section of the linear traveling device, and FIG. 5 is a wiring diagram showing overall control of the linear traveling device. As shown in FIG. 4, the plurality of excitation coils 2 are divided into a plurality of sections (sections) 20, and each of the plurality of sections (sections) 20 is constituted by a polyphase cable 51 for a drive power source and a power transistor. Are connected in parallel by a cable 52 via a switch 23 to be switched. Cable 5 to each excitation coil 2 in section 20
The wiring 3 is a series connection for each phase, and is a polyphase star connection connecting terminals. Each one-way magnetic flux magnetic sensor 6 is also connected in series by a cable 53 for each phase, and its output is amplified by an amplifier 54 and sent to a control device 57. Further, a signal obtained by combining the output signals of the magnetic sensor 6 by the OR logic circuit 55 for each section 20 is sent to the switch 23, and is also amplified by the amplifier 54A and then converted to digital by the signal converter 56. Is transmitted to the control device 57 by the signal transmission means, so that it is possible to know which section 20 the traveling body (transportation vehicle) is in. The switch 23 is operated and connected only to the section 20 where the traveling body is traveling, and a current flows, and the power is cut off when the section 20 departs from the section 20.

As shown in FIG. 5, when a plurality of traveling bodies are driven in a line, the plurality of traveling bodies are divided into zones 21 having a predetermined length at least larger than the number of traveling bodies. 23, the wiring is divided into 20, 20, and is wired to the excitation coil 2 of each section 20, 20 through the CPU 28, the linear controller 26, the inverter 24, and the switches 23, 23, Control the body. 25 is an operation panel, 27 is a signal cable.

Next, a method of transporting a plurality of traveling bodies according to the present invention will be described. FIG. 1 is a perspective view showing a linear traveling device and a transfer device in a station according to an embodiment of the present invention, and FIG. 2 is a front view showing a suspension type transporting vehicle of a horizontal traveling linear traveling device.

As shown in FIGS. 1 and 2, in a horizontal traveling linear traveling apparatus, a plurality of exciting coils 2 are provided along two rails 1 provided horizontally in parallel with each other. Are provided in parallel at predetermined intervals. The two rails 1 have concave grooves whose opposing sides, that is, the exciting coil 2 side, are open. A magnetic sensor 6 is provided for each position of the exciting coil 2.

A support frame 32 is attached to a position corresponding to the rails 1 and 1 on the upper surface of the roof surface 31a of the transport carriage 31, and a support roller 33 and a side roller 34 are supported above the support frame 32. The roller 33 has a horizontal axis,
The side rollers 34 have their shafts set vertically, and are rotatably mounted on the respective shafts. The support roller 33 and the side roller 34 are disposed in the groove of the rail 1, and the support roller 33 contacts the bottom surface of the rail 1 to roll in the rail 1, and the side roller 34 contacts the inner surface of the rail 1. Rolling.

One portion (the right side surface in FIG. 2) of the side surface 31b of the transport trolley is opened and serves as an entrance for a load (a container or the like) 7. A belt conveyor 35 is provided on the upper surface of the bottom surface 31c of the transport vehicle. The load 7 placed on the conveyor 35 can be carried in and out of the entrance by driving the conveyor 35.

A plurality of permanent magnets 5 having a plurality of poles attached to a magnetic material are attached to a position corresponding to the exciting coil 2 attached to the magnetic material on the upper surface of the roof surface 31a of the carrier. Since the permanent magnet 5 and the excitation coil 2 constitute a magnet type synchronous linear motor, the permanent magnet 5 is mounted on the surface on which the excitation coil 2 is provided. The synchronous synchronous linear motor of the magnet type with the permanent magnet 5 and the exciting coil 2
The transport carriage 31 suspended by the suspension mechanism including the support frame 32, the support rollers 33, and the side rollers 34 is movable along the rail 1.

The carriage 31 travels by applying an excitation pattern to the permanent magnet 5 in accordance with the "Fleming's left-hand rule". That is, when the magnetic flux from the permanent magnet 5 returns to the permanent magnet 5 through the exciting coil 2,
When a current flows through the exciting coil 2 having a width of ／ of the pitch (P), a force is generated, and a repulsive force acts on the permanent magnet 5. When the permanent magnet 5 having a plurality of poles having a coil width is used, the direction of the magnetic flux is alternately switched. Therefore, a force is applied in a certain direction by switching the direction of the current. When the permanent magnet 5 has a plurality of poles, it is repeated for each pole, and the thrust is smoothed.
As described above, since the linear motor generates the force through the magnetic flux, it can be directly driven in a non-contact manner.

The permanent magnet 5 attached to the carrier 31
Passes through the one-way magnetic sensor 6, the sensor 6 detects this, and the power supply is switched between forward, stop, and reverse according to the detection pattern, and the exciting coil 2 in the forward direction of the transport vehicle 31 is connected to the permanent magnet 5. Current flows so as to have different polarities. Thus, the permanent magnet 5 generates a thrust in the exciting coil 2 in the traveling direction, and the carrier 31 moves in the traveling direction. Next, when the permanent magnet 5 passes the magnetic sensor 6 ahead in the next traveling direction, the sensor 6 detects this, and immediately after that, the current flowing in the exciting coil 2 stops and reverses, and the polarity of the exciting coil 2 is changed. A reverse thrust is generated between the permanent magnet 5 and the exciting coil 2. The traveling carriage 31 is pushed out in the traveling direction. By repeatedly performing this for each excitation coil 2 sequentially, the transport vehicle 31 travels continuously in the traveling direction. Thus, the position of the exciting coil 2 and the plurality of permanent magnets 5 is detected by the unidirectional magnetic sensor 6, and the current is applied so that the thrust by the linear motor can be applied in a fixed direction (running direction) by the detection pattern. Controlled.

As shown in FIG. 1, the transport vehicle 31 has a transfer position (provided in a section) set at a station 10 (set section) set in the middle of a linear track of a horizontal transport linear traveling device. In one of the sections (sections) divided into a plurality of sections, the operation is stopped by the method of the present invention. The station 10 is provided with a vertical conveyor linear traveling device including a standby conveyor 45 and a conveyor 41, and a station conveyor 44 on the floor. The luggage 7 mounted on the transport trolley 31 is
And transported to a position short of the transport trolley 41 of the linear transport device for vertical transport, and stopped. Standby conveyor 45
Consists of a buffer conveyor or an accumulation conveyor. Four rails 1 (two not shown) that constitute a linear track of a vertical type linear traveling device
Has a concave groove that is provided vertically from the floor surface and that is open on the side facing the carrier 41. A plurality of excitation coils 2 are provided between the rails 1 at predetermined intervals in parallel along the rails 1. A permanent magnet 5 is attached to a side surface of the carrier 41, and the permanent magnet 5 and the exciting coil 2 constitute a magnet type synchronous linear motor.

A carriage 4 of a vertical traveling linear traveling device
1, a support roller 43 is provided with its axis horizontal, and the support roller 43 is arranged in the concave groove of the rail 1 and rolls in contact with the rail 1, and thus, the carrier 41
Moves up and down along the rail 1. A conveyor 42 including a plurality of drive rolls is provided on the floor of the transport vehicle 41. In addition, both sides of the conveyor 41 (the standby conveyor 4).
5 and the side of the station conveyor 44) are 7
It is the entrance of.

The carriage 3 of the horizontal traveling linear traveling device
1 is, when stopped at a predetermined position by the positioning mechanism,
The conveyor 35 is collected at the transfer position, and the standby conveyor 45
, And the load 7 is transferred. Carriage 41
The conveyor 42 is also driven in synchronization with the standby conveyor 45, and the load 7 is mounted on the transport carriage 41. The transport trolley 4 carrying the load 7 and descending to the floor with the station conveyor 44
1 stops there. Then, the load 7 placed on the conveyor 42 of the transport trolley 41 is carried in / out from the entrance / exit, and is discharged here in synchronization with the station conveyor 44 to be transported by the conveyor 44. The station conveyor 44 can also wait for a plurality of packages by using the accumulation rate conveyor. After unloading the luggage, the luggage is transferred for loading at the station. here,
The luggage is loaded, the destination instruction is recorded on the ID tag of the container, and is communicated to the integrated system.

Next, a method of stopping a plurality of transport vehicles will be described. FIG. 3 is a wiring diagram showing a method of stopping a plurality of stations. As shown in FIG. 3, the station 10 (set section) includes three sections (sections) A, B, and C.
(In the present embodiment, the number of sections is three of A, B, and C.
), And is a stop position at which the transfer cart 31 stops and performs a transfer operation. The number of this section is arbitrary and may be higher.

Each of the sections A, B, and C includes a transport cart 31.
The length is set to be approximately the same as the total length of. Therefore, the number of sections is equal to the number of transportable carriages 31 that can be stopped.
In the present embodiment, each of the sections A, B, and C has a length in which three exciting coils 2 can be installed, that is, three sections of the magnetic sensor 6.
Each section is one section.

As a drive system, the drive control device 12 is wired to each power supply switch 13 via a power cable 16 and is wired to each excitation coil 2 of each section A, B, C. Further, when the excitation coil and the magnetic sensor power supply are OFF, the regenerative brake mechanism 9 including a switch for short-circuiting the excitation coil 2 operates so that the regenerative brake operates.

As a control system, the control unit 11 is wired to each switch 14 via a signal cable 15 and is wired to each magnetic sensor 6 of each section A, B, C. From the control device 11, each switch 1 is connected via a control cable 17.
3 and each switch 14 via the control cable 18
The switches 14 and 13 are wired via a control cable 19. The multi-phase synchronous magnetic sensor 6 attached to the position of the exciting coil 2 is also wired in series for each phase.
The excitation coil and the magnetic sensor power supply can be turned on and off by remote control such as a relay provided here. The excitation power supply cable 16 and signal cable 15 are turned ON / OFF by a controller for each section.
, A plurality of transport vehicles can be stopped.

As described above, the ON / OFF of the excitation coil power supply and the magnetic sensor power supply can be simultaneously switched on and off for each of the sections A, B, and C, and one drive control device (drive device position 12 and control device In 11), a plurality of transport vehicles 31 can be driven.

Next, the operation of the carriage in the station will be described. In the station 10, the section A is the last and the section C is the first. When the first carriage 31 enters the station 10, section A
The excitation coil power supply and the magnetic sensor power supply are turned on, and the carrier 31 travels in the section A. After the transport vehicle 31 has passed through section A, the two power supplies of section A are turned off. The transport vehicle 31 similarly passes through the section B, and stops at the section C in the first section C by the regenerative braking mechanism 9. When stopped, the excitation coil power supply and the magnetic sensor power supply in section C are turned off.

When the next carriage 31 enters the station 10, the power supply of the section A is repeatedly turned on and off in the same manner as described above, and stops at the section B. As described above, in an empty section where the transport vehicle 31 is not stopped, when the transport vehicle 31 comes, the power is turned on, and the transport vehicle 31 and the transport vehicle 31 are stopped in a section next to the section where the transport vehicle 4 is stopped. This section decelerates to the touch, and after stopping, this section is also powered off. In this way,
The transport vehicle 31 travels from the rear to the top, stops in order without malfunction, and enters a standby state. Here, if the trolley enters the zone before stopping at the section,
The regenerative brake mechanism 9 operates to stop braking.

When the transfer carts 31 which have been aligned and stopped in this way discharge and load the luggage and the transfer work is completed, a traveling command is issued and the leading (section C) carrier cart 31 is moved forward. The vehicle starts traveling, starts, and leaves the station 10. When there is no transport vehicle in the first section C, the next transport vehicle sequentially advances. By stopping and waiting without an interval in order from the front in this way, and starting in order from the head, the space in the station can be used effectively.

[0034]

As described above, according to the present invention, a plurality of traveling bodies (transportation vehicles) are stopped at a station or the like in the middle of a linear track using a linear traveling device for horizontal transportation to transfer a load. In carrying out the loading work, one section including the station is set, and the predetermined unit of the magnetic sensor is set to one.
A section is divided into a plurality of sections, and a power switch, a regenerative braking mechanism, and a magnetic sensor that switch the power supply for each section are turned ON /
It is possible to use the space of the station effectively by stopping and starting a plurality of traveling bodies without malfunction by a single drive system, and a linear traveling device of vertical transport to the station, By providing a plurality of devices such as a standby conveyor and a station conveyor, a large amount of packages can be quickly conveyed, and the efficiency of the package transfer operation is improved, thus providing useful effects.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a linear traveling device and a transfer device in a station according to an embodiment of the present invention.

FIG. 2 is a front view showing a suspension type transport vehicle of the horizontal transport linear traveling device according to the embodiment of the present invention.

FIG. 3 is a wiring diagram showing a method for stopping a plurality of stations according to the embodiment of the present invention.

FIG. 4 is a wiring diagram showing one section of the linear traveling device.

FIG. 5 is a wiring diagram showing overall control of the linear traveling device.

FIG. 6 is a perspective view showing the operation principle of the linear motor.

FIG. 7 is a graph for explaining how to flow a current.

[Explanation of symbols]

 A, B, C: section (section) 1: rail 2: excitation coil 4: carrier 5: permanent magnet 6: magnetic sensor 7: luggage 9: regenerative braking mechanism 10: station 11: control device 12: control drive device 13 : Power switch 14: Sensor switch (relay) 15: Signal cable 16: Power cable 17-19: Control cable 20: Section 21: Zone 23: Switch 24: Inverter 25: Operation panel 26: Controller 27: Signal Cable 28: CPU 31: Carriage for horizontal conveyance 31a: Roof surface of conveyance car 31b: Side surface of conveyance car 31c: Bottom of conveyance car 32: Support frame 33: Support roller 34: Side roller 35: Belt conveyor 41: Vertical conveyance Transport cart 42: Conveyor 43: Supporting roller 44: Station conveyor 45: Standby conveyor 51 : Multi-phase cable 52, 53: Cable 54: Amplifier 55: Logic circuit 56: Signal converter 57: Control device

 ──────────────────────────────────────────────────の Continued on the front page (72) Inventor Masato Okuda 1-2-1 Marunouchi, Chiyoda-ku, Tokyo Nihon Kokan Co., Ltd.

Claims (1)

[Claims] 1. A traveling orbit, an exciting coil having a predetermined width whose polarity can be converted and provided for each predetermined zone in the longitudinal direction of the traveling orbit, and a traveling attached to each position of the exciting coil. A linear trajectory comprising a detection magnetic sensor having a directionality of magnetic flux for detecting a position of a permanent magnet attached to the body, a traveling body that can travel along the linear trajectory, and a traveling body attached to the traveling body. A linear traveling device including a plurality of permanent magnets having a predetermined width, a polarity conversion mechanism for converting the polarity of the excitation coil based on an output pattern from the magnetic sensor, and a control device for the polarity conversion mechanism. In the method of transporting a plurality of traveling bodies, a zone is set in the linear track, the zone is divided into a plurality of sections, and one controller is provided in the zone. And a mechanism for operating the polarity conversion mechanism and the regenerative brake is provided for each section, and the power supply of the polarity conversion mechanism is turned on and off for each section, and before the traveling body stops at a predetermined position, When the traveling body enters the zone, it is stopped by the operation of the regenerative brake, and after the traveling body stops at a predetermined position and the section and the sensor are turned off, the next traveling body is driven and stopped at the predetermined position. A method for transporting a plurality of traveling bodies in a linear traveling apparatus, wherein a collision is prevented by causing the collision.