KR101653645B1 - Multi moving rack control method - Google Patents

Abstract

The present invention relates to a multi-moving rack control method which constructs a moving rack device in which moving racks are separated as modules and installed, groups the moving racks to synchronize a longitudinal direction, a transverse direction, or the longitudinal and transverse directions to transport the moving racks. The multi-moving rack control method includes moving racks (15) modularized in a plurality of rows, a control unit (11) to control the moving racks (15), a moving rack control unit (14), and a communication unit (13) to reduce operating costs by modularizing the moving racks (15), and comprises a moving rack grouping step (s101), a reference point calculation step (s102), a moving speed map calculation step (s103), a cargo weight distribution calculation step (s104); a moving rack acceleration and deceleration pattern correction step (s105), and a control parameter setting step (s106) to perform synchronization control for obtaining a constant drive speed even if weights of the moving racks (15) are different to minimize shaking and twisting and facilitate movement to shorten overall work time.

Description

[0001] MULTI MOVING RACK CONTROL METHOD [0002]

The present invention relates to a control method of a multi-moving rack for synchronously transporting a moving rack used in a distribution center, and more particularly, to a multi-moving rack apparatus in which a moving rack is separated as a module, The present invention relates to a control method of a multi-mobile rack for grouping racks and transporting the same in a longitudinal direction, a lateral direction, or a vertical and a horizontal direction.

In general, a mobile rack module refers to a standard pallet-type mobile rack module rack made up of two rows, three columns, and five columns of moving racks conforming to the Korean standard pallets. Synchronization control means that a plurality of mobile rack modules are moved longitudinally or transversely To synchronize with each other and to move in unison.

When a plurality of mobile rack modules are installed in the distribution center, in order to process the cargo in the corresponding location, each mobile rack module must be moved to form a passage for the forklift to enter the corresponding location. In order to move each mobile rack module, it is necessary to remotely issue a command to the corresponding column or move the mobile rack by directly operating the switch.

Conventionally, in order to move a mobile rack module having a fixed order, a mobile rack is moved through a direct command to the corresponding column or to a remote location. However, there are limitations in remote and manual operation by the operator to drive a mobile rack composed of multiple rows (two rows, three columns or five rows).

In order to solve the problems of the related art, a prior art for implementing automation for remote support is disclosed in Korean Patent Laid-Open Publication No. 2000-0066060 entitled " Electric Rack I / O System and Method "in which an electric rack and a crane are combined, A stacker crane moves between the racks along the guide rails provided at the lower left and right sides of each rack and the running rails provided at the upper portions of the racks to provide an electric rack entry and exit system that automates the entire loading and unloading process of articles in a large warehouse, Registered patent publication No. 10-0698010 entitled " Pallet cargo loading and unloading control device using electric rack "is aimed at inventory control and full automation for first-in-first-out selection of a logistics management system using an electric rack, The present invention provides an apparatus capable of efficiently performing the goods entry and exit work of the logistics, And an input / output control device which can prevent the safety of the operator in advance. It is also possible to provide a variable installation space in which the installed electric rack can respond to various loads, To provide a motorized rack that can be operated to

However, even if automation is applied in the above-described prior art, in the mobile rack, even when the cargo located at the farthest side of the mobile rack, that is, the farthest from the passageway, is picked up or the cargo closest to the passageway is picked, And time and power loss are expected accordingly.

Referring to FIG. 1, when the cargo is picked at A and the cargo B is picked, it is necessary to move all of the mobile racks 2, 3 and 4 and pick up the cargo B as shown in the right figure.

In addition, although the operator moves one mobile rack or an adjacent mobile rack through remote and direct operation, it is difficult for the operator to control the mobile rack composed of a plurality of rows through remote or manual operation. It is necessary to do.

SUMMARY OF THE INVENTION Accordingly, the present invention has been made in order to solve the above problems, and it is an object of the present invention to provide a mobile rack having a movable rack, The present invention aims to provide a control method of a new type of multi-mobile rack in which each mobile rack module is synchronously and accurately transferred in the lateral direction and the longitudinal and transverse directions.

According to an aspect of the present invention for achieving the above object, there is provided a driving unit 15a that is modularized by one row, two columns, three columns, and a plurality of columns so that each module is provided with one or more symmetrical left and right sides, A mobile rack 15 having a wired / wireless communication module; A control unit (11) for monitoring a real-time job status and providing a control command and controlling the mobile rack (15) by indicating the control command; A mobile rack controller (14) having a controller operated by a command of the controller (11) and a synchronization controller for causing the mobile rack (15) to move in grouping in the longitudinal direction, the lateral direction, the longitudinal direction and the lateral direction; A communication unit (13) connected to the control unit (11) and capable of wireless and wired communication, for transmitting a work instruction to the mobile rack (15) and receiving an operation state of the mobile rack (15); The mobile rack 15 can communicate with nearby mobile racks 15 to share location information and enable synchronization control using the location information.

The multi-mobile rack construction apparatus may further include a drive control unit for controlling the torque of the driving unit 15a by controlling the speed and correcting the speed of the moving rack 15 by estimating the weight of the moving rack 15.

In the multi-movement rack construction apparatus, the mobile rack 15 includes a sensor unit 12 for detecting obstacles and checking the status at all times, a panel switch for selecting manual control, a remote controller capable of remote control, An emergency stop switch may be provided.

The mobile rack controller 14 controls the manual control, the synchronization control, the remote control, and the emergency stop in the multi-mobile rack construction apparatus and can be connected to the communication unit 13, the sensor unit 12, and the driving unit 15a. have.

In the multi-mobile rack construction apparatus, the position information further includes a laser emitting unit and a light receiving unit to measure the position of the mobile rack 15, and the laser emitting unit is disposed at the leftmost or rightmost end of the mobile rack 15 And the light receiving unit is mounted in the longitudinal direction so as to measure the position through which the light of the laser emitting unit passes, thereby measuring the relative position.

In such a multi-mobile rack construction apparatus, the synchronization control transmits a constant torque in synchronization with the movement rack 15 even if the loads of the mobile racks 15 are different from each other in the longitudinal direction of the driving unit 15a So that it is possible to make a straight running with the drive speed being constant.

According to an aspect of the present invention for achieving the above object, there is provided a driving unit 15a that is modularized by one row, two columns, three columns, and a plurality of columns so that each module is provided with one or more symmetrical left and right sides, A mobile rack 15 having a wired / wireless communication module; A control unit (11) for monitoring a real-time job status and providing a control command and controlling the mobile rack (15) by indicating the control command; A mobile rack controller (14) having a controller operated by a command of the controller (11) and a synchronization controller for grouping and moving the mobile racks (15) in the longitudinal direction, the lateral direction, and the longitudinal and transverse directions; A communication unit (13) connected to the control unit (11) and capable of wireless and wired communication, for transmitting a work command to the mobile rack (15) and receiving an operation state of the mobile rack (15); A laser emitting unit mounted laterally at the leftmost or rightmost end of the mobile rack 15 for measuring the position of the mobile rack 15 and providing positional information and a position measuring light passing through the laser emitting unit 15 A photodetector for measuring a relative position by mounting in the longitudinal direction; The mobile rack 15 can communicate with nearby mobile racks 15 to share location information and enable synchronization control using the location information.

The multi-mobile rack construction apparatus may further include a drive control unit for controlling the torque of the driving unit 15a by controlling the speed and correcting the speed of the moving rack 15 by estimating the weight of the moving rack 15.

In the multi-movement rack construction apparatus, the mobile rack 15 includes a sensor unit 12 for detecting obstacles and checking the status at all times, a panel switch for selecting manual control, a remote controller capable of remote control, An emergency stop switch may be provided.

The mobile rack controller 14 controls the manual control, the synchronization control, the remote control, and the emergency stop in the multi-mobile rack construction apparatus and can be connected to the communication unit 13, the sensor unit 12, and the driving unit 15a. have.

In such a multi-mobile rack construction apparatus, the synchronization control transmits a constant torque in synchronization with the movement rack 15 even if the loads of the mobile racks 15 are different from each other in the longitudinal direction of the driving unit 15a So that it is possible to make a straight running with the drive speed being constant.

According to an aspect of the present invention for achieving the above object, there is provided a mobile rack including a drive unit (15a) provided at one or more left and right sides of each module with respect to a traveling direction and grouping mobile racks (s101); A reference point calculating step (s102) based on the module on the foremost left side in the moving direction among the moving rack groups after the moving rack grouping step (s101); A moving speed diagram calculating step (s103) of calculating a speed according to a moving position of the movable rack group after the reference point calculating step (s102); Calculating a weight distribution of mobile racks considering the weight of the mobile rack group (s104); A mobile rack acceleration and deceleration pattern correction step (s105) for performing acceleration and deceleration correction of the driving unit (15a) in consideration of the cargo weight distribution; A control parameter setting step (s106) for setting the setting differently according to a load characteristic of the mobile rack; It is possible to perform synchronization control to make the driving speed constant even if the loads of the mobile racks are different from each other.

The multi-mobile rack control method further includes a target location moving step (s200) for performing the synchronization control, wherein the target location moving step (s200) measures a position of the mobile rack, Calculates a moving target position and an error of the moving rack to measure a distance between the moving rack and the adjacent moving rack, initializes a variable by calculating an adjacent moving space, and then, when a lateral error and an adjacent space are sufficient, (15a), and if the torsional error and the adjacent space are sufficient, the drive unit (15a) is operated to adjust the torsional error and the adjacent space after adjusting the error in the lateral direction and the adjacent space, To adjust the right or left error, and to check whether the longitudinal error and the adjacent space are sufficient after adjusting the twist error and the adjacent space, When the vertical error and the adjacent space are sufficient, the magnitude of both sides of the driving unit 15a may be adjusted to transmit the torque to the driving unit 15a by applying a control input to each driving unit 15a.

Such a multi-mobile rack control method can confirm the torsional error and the adjacent space when the lateral error and the adjacent space are insufficient.

The multi-mobile rack control method can confirm the longitudinal error and the adjacent space when the twist error and the adjacent space are insufficient.

The multi-mobile rack control method may transmit a torque to the driving unit 15a by applying a control input to each driving unit 15a when the longitudinal error and the adjacent space are insufficient.

According to the control method of the multi-mobile rack according to the present invention, the control unit 11, the mobile rack control unit 14, and the communication unit 15, which control the mobile rack 15 and the mobile rack 15, 13 can reduce the operating cost due to the modularization of the mobile rack 15 and can be used for grouping the moving racks (s101), calculating the reference point (s102), calculating the traveling speeds (s103) (s104), a mobile rack acceleration and deceleration pattern correction step (s105), and a control parameter setting step (s106) are performed to perform synchronization control to make the driving speed constant even if the loads of the mobile racks 15 are different from each other Shaking and twisting are minimized, and movement is facilitated, thereby reducing the entire working time.

1 is a view showing a conventional moving rack moving method;
2 is a view illustrating a method of moving a modular mobile rack according to a technical idea of the present invention;
FIG. 3 is a view showing a moving rack construction apparatus according to a preferred embodiment of the present invention; FIG.
4 is a block diagram and block diagram of a mobile rack arrangement according to a preferred embodiment of the present invention;
5 is a block diagram of a mobile rack controller according to a preferred embodiment of the present invention;
6 illustrates a laser for position measurement of a mobile rack according to a preferred embodiment of the present invention;
FIG. 7 illustrates an example of a command code of a mobile rack according to a preferred embodiment of the present invention; FIG.
FIG. 8 illustrates an example of synchronous operation of a mobile rack according to a preferred embodiment of the present invention; FIG.
9 is a view showing a symbol definition of a synchronization controller of a mobile rack according to a preferred embodiment of the present invention;
10 is a flowchart showing a control method of a multi-mobile rack according to a preferred embodiment of the present invention.

2 is a view showing a method of moving a modular mobile rack according to a technical idea of the present invention.

Referring to FIG. 2, in the case where the moving rack is configured by a module, that is, a multi-moving rack, the power and time are wasted by moving only the corresponding row by the method of moving the modular mobile rack using the improvement method described above with reference to FIG. . That is, only two rows are required to be moved forward of the mobile racks 2, 3 and 4. As a result, the movable rack modules can be moved synchronously and precisely in the longitudinal direction, the lateral direction, and the longitudinal and lateral directions through the post-movement control method.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to FIGS. 2 to 10. On the other hand, workers in the fields commonly applied to the present invention, such as motor related technology for controlling the driving wheels of the mobile rack, technologies related to cargo picking, and related techniques of various operation methods, and workers in related fields, The present invention will be more fully understood from the detailed description and examples, given with reference to the accompanying drawings, in which: FIG.

3 is a view showing a mobile rack construction apparatus according to a preferred embodiment of the present invention. 4 is a block diagram of a mobile rack construction apparatus according to a preferred embodiment of the present invention. 5 is a block diagram of a mobile rack controller according to a preferred embodiment of the present invention.

3 to 5, the multi-mobile rack construction apparatus includes a control unit 11 for controlling the mobile rack 15 modularized in a plurality of rows and the mobile rack 15, a mobile rack control unit 14, 13).

The multi-mobile rack configuring apparatus according to the embodiment of the present invention includes a driving unit 15a modularized into one row, two rows, three columns and multiple columns so that each module is provided with one or more symmetrical left and right sides, And a mobile rack 15 having a wired / wireless communication module. The mobile rack 15 includes a control unit 11 for monitoring a real-time job status and providing and instructing a control command and controlling the mobile rack 15, A mobile rack control unit 14 having a controller for operating by command and a synchronization controller for moving the mobile racks 15 in grouping in the longitudinal direction, And a communication unit 13 capable of communicating with the mobile rack 15 and transmitting an operation command to the mobile rack 15 and receiving the operation state of the mobile rack 15 so that the mobile rack 15 can communicate with the adjacent mobile rack 15 in close proximity Sharing reciprocal location information and location information To enable synchronization control.

The mobile rack 15 further includes a drive control unit for controlling the torque of the drive unit 15a by controlling and correcting the speed by predicting the weight of the load, and includes a sensor unit 12 for detecting an obstacle and checking the status at all times, A panel switch to be selected, a remote controller capable of remote control, and an emergency stop switch for use in an emergency stop.

The control unit 11 is provided as a desktop which can be easily used by an operator and can be applied to any terminal equipped with a notebook or network according to the user's needs and generates a control order of the mobile rack 15, So as to control the multi-mobile rack 150 or transmit it to the communication unit 13 to control the remote key input.

The mobile rack control unit 14 controls manual control, synchronization control, remote control, and emergency stop, and is connected to the communication unit 13, the sensor unit 12, and the driving unit 15a. The mobile rack controller 14 can detect a piece of material by the sensor unit 12 and monitor the state of the mobile rack equipment. Such monitoring of the mobile rack equipment can be confirmed by the driving unit 15a and can be interfaced with the forklift.

The communication unit 13 can be used for both wireless and wired communication. The communication unit 13 provides real time operation status monitoring, mobile rack equipment status monitoring, and emergency notifications to the control unit 11. At this time, a signal for crisis management response is also provided in an emergency notification.

6 is a view illustrating a laser for measuring the position of a mobile rack according to a preferred embodiment of the present invention.

Referring to FIG. 6, in the embodiment of the present invention, the position information further includes a laser emitting unit and a light receiving unit to measure the position of the mobile rack 15. The laser emitting portion is mounted transversely to the left or rightmost end of the mobile rack 15 and the light receiving portion is mounted in the longitudinal direction to measure the position through which the light of the laser emitting portion passes to measure the relative position.

(The broken line in the drawing) is mounted on the both fixed racks and the light receiving portion is disposed in the movable rack 15 and the position where the laser light passes is measured so that the position in the longitudinal direction which is the y axis of each movable rack 15 . The laser emitting unit is mounted (in a dashed line in the drawing) in the transverse direction on the left or right end of the mobile rack in the transverse direction of the mobile rack 15, and the relative positions are set in the moving racks by mounting the light receiving unit in the longitudinal direction, .

7 is a view showing an example of a command code of a mobile rack according to a preferred embodiment of the present invention.

Referring to FIG. 7, in the embodiment of the present invention, the following synchronization control command code is used to issue a moving position command to each mobile rack 15.

The synchronization control command code uses the movement position (x value, y value), the left adjacent mobile rack code, the right adjacent mobile rack code, the front adjacent mobile rack code, and the rear adjacent mobile rack code. (However, if the value is 0, there is no adjacent mobile rack)

In Fig. 7, when the mobile racks A12, A13, A22 and A23 move from the current position to (6,2), (6,3), (7,2) and (7,3) (6, 2, 0, 1, 1, 0).

That is, from the current position to the (6,2) position, a value of 1 corresponds to a command to move synchronously, such as A13 and A22 on the right side and the front side of the current A12.

In the case of A23, the command value moves to (7,3) as (7, 3, 1, 0, 0, 1), which corresponds to moving synchronously with A22 and A13 located on the left and rear sides.

8 is a view illustrating an example of synchronous operation of a mobile rack according to a preferred embodiment of the present invention.

The driving unit 15a of each mobile rack 15 has at least one each of left and right sides per module relative to the running direction (longitudinal direction) of the mobile rack 15, and when the mobile rack 15 is an even row A driving unit 15a is provided in the middle.

In the state A, even if the load of the mobile rack 15 is different, if the synchronization control is performed, the state goes straight ahead and reaches the B state. However, unless the synchronization control is performed, a lot of torque is transmitted to the side where the load of the mobile rack 15 is small, The driving wheels rotate in different directions and travel in the form of curves.

Even if the load of the mobile rack 15 is different from that of the driving unit 15a in the longitudinal direction of the driving unit 15a, such a synchronization control transmits a constant torque in synchronization with the mobile rack 15, do.

9 is a view showing a symbol definition of a synchronization controller of a mobile rack according to a preferred embodiment of the present invention.

만큼 오차를 가지고 있고, 종방향(y축)으로는

만큼 오차를 지니고 있다고 할 수 있으며, 자세는 회전방향으로 θ만큼 오차가 있다고 하면, 식은 다음과 같이 표현된다.
Referring to Fig. 9, the movable rack A is moved in the lateral direction (x axis) with respect to the reference moving target value

And in the longitudinal direction (y-axis),

And the posture has an error by? In the rotational direction, the expression is expressed as follows.

θ = Twist angle (+ clockwise)

= 오른쪽 구동휠 입력 및

= 왼쪽 구동휠 입력를 나타낸다. 만일, 중간휠이 있는 경우에는

= 중간 구동휠 입력으로 나타낸다. 또한,

은 각각 x방향, y방향, θ의 허용 제어범위를 나타낸다.
Lt;

= Right drive wheel input and

= Represents the left drive wheel input. If there is an intermediate wheel

= Represents as intermediate drive wheel input. Also,

Represents an allowable control range of x direction, y direction, and?, Respectively.

10 is a flowchart showing a control method of a multi-mobile rack according to a preferred embodiment of the present invention.

Referring to FIG. 10, the control method of the multi-mobile rack includes a grouping step s101 of a mobile rack, a reference point calculating step s102, a moving speed diagram calculating step s103, a cargo weight distribution calculating step s104, A deceleration pattern correction step (s105), and a control parameter setting step (s106).

The control method of the multi-moving rack according to the preferred embodiment of the present invention includes a driving unit 15a provided at each of left and right sides of each module with respect to the traveling direction, and includes a grouping of mobile racks (S101), a reference point calculation step s102 based on the module on the foremost left side in the moving direction of the following moving rack group, and a moving speed line calculation step (s102) for calculating a speed in accordance with the moving position of the moving rack group (s103). The moving rack acceleration and deceleration pattern correction step s105 for performing the acceleration and deceleration correction of the driving unit 15a in consideration of the weight distribution of the moving racks considering the weight of the moving rack group s104 and the weight distribution of the cargo And a control parameter setting step s106 for setting the setting differently according to the load characteristic of the mobile rack 15.

)하여 인접 이동랙(15)과의 간격을 측정하고 인접 이동공간을 산정하여 변수를 초기화(% :

)한다. 이 단계를 이동랙의 동기화 초기 단계(s201)라 한다.
At this time, the target location moving step (s200) is further provided to perform synchronization control. The target position moving step s200 measures the position of the mobile rack 15, measures the relative position of the mobile rack 15, calculates a moving target position and an error of the mobile rack 15

), Measures the distance from the adjacent moving rack 15, calculates the adjacent moving space, and initializes the variable (%:

)do. This step is referred to as an initial synchronization step (S201) of the mobile rack.

After the synchronization initial stage (s201) of the mobile rack, the errors in the lateral direction and the adjacent space, which are the steps of determining whether the lateral errors detected by the laser emitting unit and the light receiving unit described above and the adjacent space are sufficient, (S203) for adjusting the error of the right or left side of the driving unit 15a when the adjacent space is sufficient, and adjusting the lateral error and the adjacent space to adjust the torsional error and the adjacent space And a torsion adjusting step s205 for adjusting the error of the right or left by adjusting the driving unit 15a if the torsional error and the adjacent space are sufficient, (S206) to determine whether longitudinal error and adjacent space are sufficient after adjusting torsional error and adjacent space, A longitudinal adjustment step s207 for adjusting the size of both sides of the driving unit 15a when the difference between the vehicle and the adjacent space is sufficient and then transmitting a torque to the driving unit 15a by applying a control input to each driving unit 15a, (s208).

At this time, if the lateral error and the adjacent space are insufficient, check the twist error and the adjacent space. If the twist error and the adjacent space are insufficient, check the longitudinal error and the adjacent space. Further, when the vertical error and the adjacent space are insufficient, a control input is applied to each of the driving units 15a to transmit the torque to the driving unit 15a.

In the loop of performing the synchronization control applied to the embodiment of the present invention,

while (move target point) {

- Mobile rack self-positioning

- relative positioning around the mobile rack

)- Calculating the error from the moving target position of the mobile rack (

)

- Measure the distance from adjacent moving rack

- Estimate adjacent space

% Variable initialization

% Lateral position compensation

if (adjacent space enough) {

% When there is a positive error, increase the right side and decrease the left side

When the% sound error, decrease the right side and increase the left side

} end

} end

% Torsional Position Compensation

if (adjacent space enough) {

% When there is a positive error, increase the right side and decrease the left side

When the% sound error, decrease the right side and increase the left side

} end

} end

% Torsional Position Compensation

if (adjacent space enough) {

% When there is a positive error, increase both sides

% When the tone error, both sides are made smaller

} end

} end

- Apply control input to each drive to transmit torque to the drive wheel.

} end

to be.

The control method of the multi-mobile rack according to the preferred embodiment of the present invention includes a control unit 11 for controlling the mobile rack 15 modularized by a plurality of columns and the mobile rack 15, a mobile rack controller 14, It is possible to reduce the operating cost by modularizing the mobile rack 15 with the communication unit 13 and it is possible to reduce the operation cost of the moving rack by grouping the moving racks s101, the reference point calculating step s102, the moving speed diagram calculating step s103, The mobile rack acceleration and deceleration pattern correction step s105 and the control parameter setting step s106 are performed to perform the synchronization control for making the driving speed constant even if the loads of the mobile rack 15 are different from each other The swinging and twisting are minimized and the movement is facilitated, thereby shortening the entire working time.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the invention. It will be understood by those skilled in the art that changes and modifications may be made.

11: control unit 12: sensor unit
13: communication unit 14: mobile rack control unit
15: mobile rack 15a:
s101: Step of grouping mobile racks
s102: calculation step of reference point
s103: Moving speed calculation step
s104: Cargo weight distribution calculation step
s105: Mobile rack acceleration and deceleration pattern correction step
s106: Control parameter setting step
s201: Initial phase of synchronization of mobile rack
s202: error in lateral direction and determination of sufficient adjacent space
s203: lateral adjustment step
s204: Torsional error and adjacent space sufficiency determination step
s205: torsion adjustment step
s206: longitudinal direction error and sufficient adjacent space determination step
s207: longitudinal adjustment step
s208: Delivery step

Claims (16)

delete delete delete delete delete delete delete delete delete delete delete A grouping step (s101) of a mobile rack having a driving unit (15a) provided at each of left and right sides of each module with respect to a traveling direction and grouping mobile racks (15) to be moved;
A reference point calculating step (s102) based on the module on the foremost left side in the moving direction among the moving rack groups after the moving rack grouping step (s101);
A moving speed diagram calculating step (s103) of calculating a speed according to a moving position of the movable rack group after the reference point calculating step (s102);
Calculating a weight distribution of mobile racks considering the weight of the mobile rack group (s104);
A mobile rack acceleration and deceleration pattern correction step (s105) for performing acceleration and deceleration correction of the driving unit (15a) in consideration of the cargo weight distribution;
A control parameter setting step (s106) for setting the setting differently according to a load characteristic of the mobile rack; Including,
Wherein synchronization control is performed so that the driving speed is constant even if the loads of the mobile racks are different from each other.
13. The method of claim 12,
Further comprising a target location moving step (s200) for performing the synchronization control, wherein the target location moving step (s200) measures a position of the mobile rack, measures a relative position around the mobile rack, The moving target position and the error are calculated, the gap between the moving rack and the adjacent moving rack is measured, the adjacent moving space is calculated to initialize the variable,
The right or left error of the driving unit 15a is adjusted when the lateral error and the adjacent space are sufficient,
After adjusting the lateral error and the adjacent space, it is checked whether the torsional error and the adjacent space are sufficient,
If the torsional error and the adjacent space are sufficient, the driver 15a is adjusted to adjust the right or left error,
After adjusting the torsional error and the adjacent space, it is checked whether the longitudinal error and the adjacent space are sufficient,
Wherein when the longitudinal error and the adjacent space are sufficient, both sides of the driving unit (15a) are adjusted to transmit a torque to the driving unit (15a) by applying a control input to each driving unit (15a) Control method.
14. The method of claim 13,
Wherein the torsional error and the adjacent space are checked when the error in the lateral direction and the adjacent space are insufficient.
14. The method of claim 13,
Wherein the longitudinal error and the adjacent space are confirmed when the torsional error and the adjacent space are insufficient.
14. The method of claim 13,
Wherein when the longitudinal error and the adjacent space are insufficient, a control input is applied to each driving unit (15a) to transmit the torque to the driving unit (15a).

Images