200413873 玫、發明說明： 【發明所屬之技術領域】 本發明係有關一種移動棚 ^ 係在固疋的方向 了私動地配置有複數台移動 形成作营阳s 且了在任思的移動棚間 “的料，藉w料應 距離’以控制移動棚的移動。 叫動棚( 【先前技術】 動=1—種可在固定的方向上配置複數個藉由電動力移 #i棚，在任意台移動棚間可形成作業用的通路之移 _裝置。習知的電動式移動棚之控制方法，係指定各= 的私動棚間’在此下達應形成作業用的通路之主 2 了’辨識應形成該作業用的通路之位置與具有移“二 “置，判斷移動的移動棚與其移動方 、 判斷控制移動棚的移動。 …制手段依據該 棚然：：藉由各移動棚所具有之界限開關類與鄰接移動 限，控制手段使移動棚的驅動停止接觸’檢剛出移動界 又，當開始移動時與停止時’以低速度移動 圍的中間以快的速度移動，進行速度控制。 力耗 習知的電動式移動棚係在下達作業用通路形成产 必須辨識構成移動棚裝置之各台移動棚的現在位置曰 孩各移動棚的現在位置與應形成作業用通路之位置的關係 =移動之移動棚與其移動方向’亦須在各移動棚相互間 進仃信號的授受’使控制變為複雜，導致控制手段變為複 89335 200413873 雜。又，由於移動棚相互間必須連接用以接收傳送信號的 纜線，因此將使配線煩雜化。 【發明内容】 【發明所欲解決的課題】 本發明係用以解決上述習知技術的問題點而研創者，目 的在於提供一種移動棚的控制方法，其係各移動棚或彼此 鄰接的移動棚之至少一方具有測量與彼此鄰接的另一方之 移動棚之距離的距離感應器，因應該距離感應器的檢測信 號，換言之，藉由因應鄰接的移動棚之動作控制動作，可 使控制及控制手段構成簡化且使移動相互間的配線單純 化。 ' 【發明所欲解決的手段】 申請專利範圍第1項之發明係一種移動棚的控制方法，其 係在規定的方向上可移動地配置有複數台移動棚，在任意 的移動棚間可形成作業用的通路，其特徵在於，在彼此鄰 接的&動棚 < 至少_方中’冑由距離感應器測定與互相鄰 接的其他移動棚之距離，各移動㈣在感應H㈣㈣接 2棚接近固定的距離為止時，#由控制手段使該移動棚 ’力至與鄰接移動棚的移動方向相同的方向，JL，使盥鄰 接移動棚的距離保持為固定之方式進行控制。 、 -個-個的移動棚係藉由操作設於該移動棚的 關：可使該移動棚移動至特定的方向。當彼此相鄰接的一 多動棚接近另—方的移動棚特定的距離時，彼此鄰接 動棚之至少—方所具有的距離感應器檢測出來，使彼 89335 200413873 此鄰接的上述另一方之移動棚的控制手段使該移動棚移動 土與上述一方的移動棚相同的移動方向，且，與上述一方 的移動棚之距離保持在固定。 申請專利範圍第2項之發明係一種移動棚的控制方法，其 係在規定的方向上可移動地配置有複數台移動棚，在任意 的移動棚間可形成作業用的通路，其特徵在於，在各移動 棚設置可測定在該移動方向所存在的鄰接移動棚之距離的 距離感應备、以及將該距離感應器所測定的鄰接移動棚之 距離保持在固定使移動棚移動之控制手段，藉由控制手 段，朝向具備有該控制手段的移動棚使鄰接移動棚接近固 定的距離，使具備有控制手段之移動棚移動至與鄰接移動 棚的移動方向㈣方向，且以與鄰接移動棚之距離保持為 固定之方式進行控制。 -個-個的移動棚係藉由操作設於該移動棚的指令開 關可使和動至特疋的方向。當距離感應器檢測出鄰接的 移動棚接近特定的距離時，具有該距離感應器之㈣㈣ 控制手段使該移動棚移動至與鄰接移動棚之移動方向相同 的方向’且’與鄰接移動棚之距離保持為固定之方式 中請專利範圍第3项之發明，係在第…項之發明中工，抄 料段係減有該控制手段之移動棚與鄰接移動棚或與: 万；和動棚（㈣万向的距離測定面之距離至接近特定 止距離為止時’使具備有控制手段之移動棚停止。- 任一移動棚若沒有移動 制手段之動作。f力二間則停止’控制各移動棚的控 89335 200413873 申請專利範圍第4項之發明，係在第1或2項之發明中，移 動棚係具有從其移動方向觀看左右獨立被旋轉驅動之複數 辱品動輪距離感應、器從移動棚的移動方向觀看左右設置 複數個，㈣手段係因應上述距離感應器的輸出，獨立旋 轉控制與此對應的驅動輪，使移動棚平行移動。 入因應從移動方向觀看移動棚設置在左右的距離感應器之 知出藉由獨ϋ旋轉控制從移動方向觀看移動棚左右獨立 而設置的驅動輪，可防止移動棚的斜行。 申明專利範圍第5項之發明，係在第丨至4項中任一項之發 明中’距離感應器係非接觸式感應器。 申凊專利範圍第6項之發日月，係在第1、2或3項中任一項 《發明中’移動棚係被導引執道導引而移動之形式的移動 棚。 申清專利範圍第7項之發明，係在第4項之發明中，移動 棚係不具有導引軌道之形式的移動棚。 %由於從移動棚的移動方向觀看在左右設置有距離感應 卜根據左右的距離感應器之測定結果，可檢測出移動棚 的斜行。當檢測出斜行時，控制手段根據檢測結果獨立旋 轉控制與左右的距離感應器對應的左右之驅動輪，修正移 動棚的斜仃，使移動棚平行移動。藉由具有該斜行修正功 此，私動棚即使為軌道型亦可平行移動。 【發明之功效】 根據申請專利範圍第丨項之發明，彼此鄰接的移動棚之至 V 方/、有可’則走彼此鄭接的另一方之移動棚的距離之距 89335 200413873 離感應器，各移動棚在上述感應器檢測出鄰接移動棚接近 固定的距離時’使該移動棚移動至與上述鄰接移動棚的移 動方向相同的方向，且，南#人1古 由万；具有將與鄰接移動棚的距離 保持為固定之方式控制的控制手段，㈣應所鄰接的移動 棚彻，控制各台移動棚的動作。如習知的移動棚所示， 不需要從應形成各移動棚的位置與作業通路之指定的位置 〈關係判斷應該移動的移動棚及其移動方向以控制移動 棚。因此’在各移動棚相互間不需進行控制信號的授受， 可使控制動作及控制手段之構成簡單且使移動相互間的配 線單純化。 根據申請專利範圍第2福之菸 币男〈毛明，在各台移動棚設置測量 與所鄰接的移動棚之距離的 声J此離感應态，因應該距離感應 器的檢測信號’換言之’由於因應相連接的移動棚之動作 以控制動作的方式構成，故如習知的移動棚所示，由不不 需要從應形成各移動棚的位置與作業通路之指定的位置之 關係判斷應該移動的移動棚及其移動方向，因&，在各移 動棚相互間不需進行控制信號的授受，可使控制動作及控 制手段之構成簡單且使移動相互間的配線單純化。 又，如申請專利範圍第4項之發明，設置從移動棚之移動 方向觀看左右獨立旋轉驅動之複數個驅動輪，從移動棚的 移動方向觀看左右設置複數個距離感應器，控制手段係因 上述距離感iC »。的‘出’ II由獨立旋轉控制與此對應的 驅動輪之方式構成’可實現軌道式的移動棚，JL即使是軌 道式的移動棚亦不會產生斜行。 89335 -10- 200413873 【貫施方式】 下，參照圖面說明本發明之移動棚的控制方法之實施 幵〜B 1係比較習知的移動棚之動作與本發明之移動棚的 動作者：⑷係習知例的移動棚之動作、⑻係本發明的移動 相 < 速度&制動作’⑷係本發明之移動棚的位置控制動作。 如圖1(a)所不’已知在地板上可移動地配置有複數台（在 圖丁〈例中為3 口 )之移動棚i i、12、13，全部的移動棚為 1 、内又可开y成在任意的移動棚間存取收納物品之作 業通路的移動棚裝置。習知，已知之一般的各移動棚u、 12、13係在履部具有移動車輪，藉由該移動車輪載置於導 引軌道上可沿著導引軌道移動。但是，在圖丨所示的例中， 在各移動棚11、12、13的底部組裝有無限軌道方式的移動 裝置21、22、23，藉由無線軌道方式移動裝置21、22、23， 即使沒有導引軌迢，亦可在地板上直接直線移動。 參照圖1 (a)說明習知的移動棚之動作。在所期望之移動棚 間形成作業通路，例如當操作開指令開關時，如前所述， 從全部的移動棚的現在位置與與應形成作業通路之位置的 關係判斷應該移動的移動棚與其移動方向，依據判斷使移 動棚移動。在圖1(a)中，使移動棚u與移動棚12接近，在移 動棚12與移動棚13之間形成作業通路之狀態下，下達欲在 移動棚11與移動棚12之間形成作業通路的指令時，依據上 述判斷使移動棚12向左移動之方式進行控制。符號UA係表 示移動棚12移動的途中之狀態。又，藉由該控制使移動棚 12移動，當檢測出有與移動棚13接觸或適當的接近開關等 89335 -11 - 200413873 時，停止移動棚1 2的移動。 與上述習知的移動棚之動作相對， τ在圖1(b)所示的本發 之移動棚的控制方法中，為了形成 入、i丄 F果通路，下達移動指 私動棚本身的動作雖與習知相 ^ t j，但疋藉由相鄰接的 一万 < 移動棚的移動，控制相鄰接 径的另一万移動棚的移動 心點不同。更具體說明時，圖1(b)所 、的貫施形態係與圖1(a) 所π的習知例相同，在地板上可 」不夕勒地配置有三台移動棚 11、 12、"，全部的移動棚為可收納，又，在任意的移動 棚疋間可形成儲存收納物品之作業通路。在各移動棚η、 12、 13的底部组裝有無限軌道方式的移動裝置2丨、u、u , 藉由該無限軌道方式移動裝置21、22、23，即使沒有導引 軌道，亦可在地板上直接直線移動。 現今，在圖1中，將各移動棚的移動方向設為左右方向 時，下達指令俾使在移動棚u的右側應形成作業通路之移 動棚11移動至左側。若暫時在移動棚u形成作業通路，則 僅移動棚11向左移動。然而，如圖1(b)所示，在移動棚u 的旁邊有移動棚12之現狀下，當下達使移動棚丨丨移動至左 側的指令時，使移動棚丨丨接近移動棚12，移動棚12的距離 感應备檢測出移動棚11接近至固定的距離。或是，在移動 棚11與移動棚12距離變大的狀態下，移動棚丨2的距離感應 器檢測出移動棚11接近移動棚12。根據該檢測信號，以移 動棚12的控制手段使移動棚12向左移動之方式，驅動控制 移動棚12的驅動源即馬達。又，移動棚丨2的控制手段以使 移動棚Π與移動棚丨2之距離保持在固定的方式控制移動棚 89335 -12- 200413873 1 2的移動速度。符號丨2 A係表示移動棚丨2在移動途中的狀 態。如此，以使移動棚12從移動棚丨丨逸退，反之移動棚u 追上移動棚12之方式，使移動棚相互間的距離保持在固定 的狀態下平行移動。 當移動棚12接近移動棚13至特定距離時，藉由移動棚 的距離檢測器之檢測動作，亦使移動棚13在移動棚12之間 保持固定距離移動至左側，惟依照移動棚13、移動棚12、 移動棚11的順序達到移動界限。所謂移動界限係從各台移 動棚觀看，與位於移動棚的移動方向之尾端自動止車器等 的距離測定面之距離或與鄰接移動棚之距離至接近特定的 如止距離為止。具有各台移動棚的距離感測器檢測出上述 的和動界限時，各台移動棚的控制手段使其移動棚停止在 该處之方式，使驅動源即馬達的驅動停止。 在圖1 (c)所示的本發明之移動棚的其他動作例中，具有兩 口的移動棚11、1 2 ’在移動棚12的左側存在有距離測定面 之壁14。在移動棚丨丨與移動棚丨2之間形成有由大的空間構 成的作業通路，在移動棚12與壁14之間形成有比上述作業 通路小’但使移動棚12可向左充分移動的空間。現在，在 移動棚11的右側應形成作業通路，下達使移動棚1丨向左移 動之指令。移動棚丨丨朝向移動棚丨2側開始移動。當移動棚 Π接近移動棚丨2至特定的距離時，移動棚12的距離感應器 ^測出來’移動棚12的控制手段因應距離感應器的檢測信 號旋轉驅動移動棚12的驅動馬達。此時，移動棚以的控制 手段因應來自距離感應器的檢測信號控制驅動馬達的速 89335 -13- 200413873 度’將移動棚1 1與移動棚1 2的距離保持在固定。 藉由Μ移動使移動棚12接近壁14。當移動棚12的距離感 應器檢測出壁14的距離接近固定的停止距離a為止時，移動 棚12的控制手段係使應停止移動棚12的移動棚12之驅動馬 達停止。又，當移動棚丨丨的距離感應器檢測出移動棚丨二的 距離至接近固定的停止距離b為止時，移動棚12的控制手 &，係使應停止移動棚12的移動棚丨2之驅動馬達停止。如 此，在各移動棚中，各台移動棚的控制手段使與鄰接移動 棚之距離或是位於移動棚的移動方向之壁14或示尾端自動 止車器等所構成的距離測定面之距離至接近特定的停止距 離為止時，使具備上述控制手段的移動棚停止，在移動棚 彼此間及移動棚與距離測定面之間形成特定的空間。藉由 形成有上述空間，可確保移動棚内的空氣之循環。 ;、:、後參知、圖2說明與本發明之移動棚的控制手段聯繫的 距離感應器之例。圖2所示的距離感應器係利用超音波之非 接觸式的距離感應器。該距離感應器係具有脈衝發信機、 計數電路30。脈衝發信機係在產生超音波信號之部分，使 所產生的超音波從相當於擴音器的發音體3丨朝向反射體33 放射查^體3 1具有兩的指向性。又，上述脈衝發信機、 計數電路30的計數電路連接有與麥克風相當的感音體32。 感音體32係以接受以反射體33反射之超音波並變換為電性 L號秦〗入至上述計數電路之方式構成。發音體3 1與感音體 32配置在相同面上。在脈衝發信機、計數電路3〇中，從發 音體31發射超音波之後，以感音體32計數至接受該反射波 89335 -14- 200413873 為止的時間。遠汁數值係輸入至包含上述控制手段的微電 腦或微處理機等以進行處理，藉此，可計測出發音體31與 感甘體32及反射體33之距離。利用這種超音波之距離感應 益係為週知，因此省略詳細說明。 將利用上述超晋波之距離感應器設置在移動棚。使距離 ‘ iC。。的上述务音體3 1與感骨體3 2朝向相鄰接的移動棚之 對向面且，使發骨體3 1與感音體32的前面與移動棚的前 面（間口面）一致之方式設置。相鄰接的移動棚之上述發音體 31及感音體32之相對面設置反射體33。惟，亦可將移動棚 本身設為反射體33。 距離感應器係在-台移動棚之鄰接棚或與距離測定面之 相對面最低設置—個一個，或在—台移動棚設置兩個兩 個。或是，如之後說明的實施形態般，導引軌道方式的移 動棚之情況，係與在彼此相對向的移動棚之至少一側之相 對面設置-個距離感應器亦可。然而，在鄰接棚或與距離 測定面之相對面上從移動棚的移動方向觀看距離感應器在 左右亦即與移動棚的物品存放面相對在觀看移動棚時的移 動棚之左右（若觀看棚間的作業通路之人口則為正前側與 深側)設置複數個時，可有效防止移動棚的斜行。特別是對 於軌道式的移動棚最為有效。更具體說明時，如上所述， 從移動棚的移動方向觀看，亦即在與物品存放面正對時的 移動棚之左右設置複數台時，從移動方向觀看移動棚亦在 左右設置複數個被旋轉驅動的移動棚之驅動輪。然後，各 移動棚的控制手段係因應上述左右的距離感應器的輸出， 89335 -15- 200413873 :卢铍軺拴制與此對應的驅動輪。因1¾，過度移動移動棚 丄工右方而斜订時’以過度移動側的距離感應器之檢測 仏戒可^測出琢狀況，控制手段控制過度移動側的驅動輪 <驅動速度，修正從平面（上面）方向觀看的移動棚的姿勢， 使和動棚平仃移動。此外，亦有因為移動棚的左右一方過 k而斜订 < 情況’因為可以過慢側的距離感應器感應出該 狀/兄因此’此時’控制手段控制過慢侧的驅動輪之驅動 速度，以修正移動棚的斜行。 然後，參照圖3說明本發明之移動棚的控制手段之動作 例。在圖3中，動作步驟以rsi」「S2」…表示。依據動作 <開始，首先進行各種參數的讀取（S1)。參數之一係連動 距離。所謂連動距離係使複數台移動棚保持特定的距離而 平行私動時的上述特定的距離，換言之，當鄰接棚接近時， 以邊控制移動棚的速度一邊逸退之方式移動的移動棚彼 此的距離。參數之二係制動距離。所謂制動距離係移動棚 與鄰接移動棚或壁或尾端自動止車器等距離測定面接近而 到達移動界限，為使移動棚的移動速度變慢開始施加制動 時的距離。另一參數係停止距離。所謂停止距離係移動棚 到達移動邊界，使移動棚的移動停止時之距離。上述參數 係預先設定，讀取上述參數並將之記憶在記憶體。 然後，測量從移動棚的移動方向觀看的左右之距離 (S 2 )。所謂左右的距離係從相對向的移動棚或從與距離測 定面之移動方向觀看的左側及右側之鄰接棚的距離，左右 的距離不同的情況下如上所述，將有使移動棚斜行之情 89335 -16 - 200413873 況。孩左右的距離測量係從移動棚的移動方向觀看驅動輪 必須左右獨立設置，以獨立速度控制上述驅動輪進而修正 然後’進行動作線誤差測量（S3)。動作線誤差測量在移 動棚/;口著導引軌道移動之形式的情況下雖不需要，惟如圖1 所說明’具有無限軌道方式的移動裝置，在不需要導引軌 道的移動棚中為需要。亦即，所謂動作線誤差測量係在設 置有移動棚的地板或移動棚的上方標記掃描線，係以一邊 追縱違動作線一邊使移動棚移動之方式構成，測量此時與 動作線相對的移動棚之追蹤誤差。 在從移動棚的移動方向觀看的左右之距離測量（S2)中， 可知移動棚斜行，又，動作線誤差測量（S3)的結果，若與 動作線相對使移動棚左右偏移，則在運算出在下一個動作 模式運异（S4)中，以更快的速度驅動彼此獨立而驅動之左 右的驅動輪中任—個。再者，依據上述運算結果，在控制 里運算中（S5)，一邊參照最初讀取的各種參數資料一邊運 异各台移動棚的移動速度，再運算是否到達應制動的位置。 ^據上述運算結果，輸出速度控制信號（S6)，依據該控 ^ L號個4制驅動馬達，藉以修正移動棚的斜行、動作 、泉H更在應到達特定的控制位置時，減速控制各個 ㈣馬達以進行制動。然後，到達特定之目標位置時(S7)， 停止驅動馬達（s8)，以結束動作。 以上所說明之實施形態’係以單獨即各台移動棚獨立檢 測個別的移動棚中相鄰接的移動棚之相對位置的獨立辨識 89335 200413873 型。更具體表示該獨立辨識型的移動棚者為圖4。在圖4中， 左端的棚5 1與右端的棚54係固定棚、配置於上述固定棚間 的棚5 2、5 3係移動棚。各棚係使物品的收納取出面即間口 面成為彼此平行之方式，且，移動棚52、53接近固定棚5工 或54而收納’又，亦可以各棚離散且在各棚間形成有物品 儲存用的第1通路、第2通路、第3通路之方式配置。固定棚 5 1、54間亦可收納、離散地配置有多數台移動棚。 和動棚5 2係在固定棚1 5的對相面側之與該對相面正對時 的左右具有由超音波感應器構成的距離感應器A1、A2，可 左右獨立測定與固定棚5丨之距離亦即第1通路的寬度。移動 棚52係在與移動棚53的對相面側之左右具有由超音波感應 器構成的距離感應器A3、A4，可左右獨立測定與固定棚53 <距離亦即第2通路的寬度。移動棚53係在與移動棚52的對 相面側之左右具有由超音波感應器構成的距離感應器B1、 B2 ’可左右獨立測定與移動棚52之距離亦即第2通路的寬 度 又和動棚5 3在與移動棚5 4的對相面側之與該對相面 正對時的左右具有由超音波感應器構成的距離感應器B3、 B4 ’可左右獨立測定與固定棚54之距離亦即第3通路的寬 度。又，移動棚52、移動棚53係具有作為獨立旋轉驅動從 移動方向觀看之左右驅動輪的驅動源即馬達，且，具有獨 立控制上述馬達的旋轉之控制手段。控制手段係例如可以 微處理機或以邏輯1C等構成。 上述實施形態的動作係如下述。當移動棚52在圖4中向左 移動時，藉由在與固定棚5丨之相對面從移動方向觀看左右 89335 -18- 200413873 汉置的距離感應器A丨、A2，檢測出與固定棚5 1之距離，在 距離感應器Al、A2之檢測值具有差值而斜行時，以使上述 桕測值 < 爰值消失的方式，由微處理機等構成的控制手段 係獨乂控制左右的馬達。藉由距離感應器A1、八2檢測出與 固足棚5 1之距離成為預先設定的停止距離，移動棚w的控 制手段使左右的馬達之驅動停止，使移動棚52的移動停止。 然後，在圖4中移動棚52向右移動時，藉由在與固定棚53 之相對面從移動方向觀看左右設置的距離感應器A3、M， 檢測出與固定棚53之距離，在距離感應器A3、八4之檢測值 具有差值時，以使該差值消失的方式，由微處理機等構成 的控制手段獨立控制左右的馬達以修正斜行。另外，移動 棚53藉由上述左右的距離感應器B1、B2測定與移動棚^之 距離，測定第2通路的寬度，當檢測出接近預先設定移動棚 5 2足特疋距離為止時，在移動棚53藉由與固定棚54之相對 面側的距離感應器B3、B4，測定與固定棚54之距離即第3 通路的寬度。測定第3通路寬度之結果，可知具有可移動移 動棚53之距離，則移動棚53的控制手段旋轉控制從移動棚 53的移動方向觀看之左右的馬達，使移動棚53朝向固定棚 5 4 ’在圖4中向右移動。此時的移動棚5 3之移動速度係以與 移動棚52的移動速度大致相同之方式設計。 當藉由移動棚53之距離感應器B3、B4所測定之與固定棚 5 4之距離成為預先设足的停止距離時，移動棚$ 3的控制手 段依據距離感應器B3、B4的檢測信號使移動棚53停止。然 後，藉由移動棚52之距離感應器A3、A4所測定之與固定棚 89335 -19- 200413873 53足距離成為預先設定的停止距離時，移動棚“的控制手 段依據距離感應器A3、A4的檢測信號使移動棚52之馬達停 止，使移動棚52停止。在此，移動棚52、53在固定棚54為 收納的狀態下停止。 根據以上所說明之實施形態，各移動棚52、53以移動棚 本身辨識各移動棚本身的位置，依據辨識結果控制該馬達 的旋轉，故在移動棚彼此間不需進行信號的往來，可省略 連接棚相互間的線路或無線通信手段等資訊傳達手段，或 簡各化又，由於藉由從移動方向觀看移動棚在左右上獨 亙測定通路寬度檢測出斜行，根據檢測結果獨立控制左右 的驅動馬達以修正斜行，因此可應用在上述的軌道方式之 移動棚。 如此，本發明係可應用在軌道方式之移動棚。然而，本 發明的本質係彼此相鄰接的移動棚之一方漸漸接近另一方 時，藉由將該另一方的移動棚移動至與上述一方的移動棚 相同方向t方式，謀求各移動棚的控制電路構成及控制動 作4早純化。因而，本發明係不限定於軌道方式的移動棚， 亦可應用在導引軌道上被導引而移動的移動棚，藉此，可 達成所期望的目的。在具有導引軌道的移動棚應用本發明 的技術思想時，可大幅縮減距離感應器。圖5所示的實施形 心係知本發明應用在導引軌道方式的移動棚者，以下說明 該實施形態。 在圖5中，兩台固定棚51、54之間可移動地配置有兩台的 移動棚52、53。該點係與圖4所示的實施形態相同。雖未圖 89335 -20- 200413873 示，惟在固定棚51、54間設置有導引軌道，沿著該導引軌 道可移動地配置有移動棚52、53。導引軌道係敷設於地板， 將移動棚移動在該導引軌道上之方式亦可，在移動棚的上 方固疋有導引軌道，以懸掛在該導引軌道之形式移動移動 棚52、53之方式亦可。各移動棚52、53係具有一台一台作 為驅動源的馬達，以一台馬達一體旋轉驅動從移動棚的移 動方向觀看的左右之驅動輪之方式構成亦可，不必具有獨 立旋轉驅動左右的驅動輪之複數台馬達。 移動棚52係在與固定棚51的相對向面侧具有由超音波感 應器所構成的距離感應器A1，可測定出與固定棚51之距離 亦即第1通路的寬度。又，移動棚52係在與移動棚53的相對 向面側具有由超音波感應器所構成的距離感應器A2，可測 定出與移動棚53之距離亦即第2通路的寬度。移動棚兄係在 與移動棚52的相對向面側具有由超音波感應器所構成的距 離感應器B1，可測定出與移動棚52之距離亦即第2通路的寬 度。又，移動棚53係在與固定棚54的相對向面側具有由超 音波感應器所構成的距離感應器B2，可測定出與固定棚54 之距離亦即第3通路的寬度。如此，各移動棚係在與彼此相 鄰接的移動棚或固定棚等相對向之面側具有一個一個與圖 4所示之實施形態比較為半數的距離感應器。各移動棚之距 離感應咨從移動棚的移動方向觀看偏向右側或左側而配 置，惟亦可配置於中央部。又，移動棚52、53係具有從移 動棚的移動方向觀看獨立旋轉控制左右的驅動輪之驅動源 之馬達，且具有獨立控制上述馬達的旋轉之控制手段。 89335 -21 - 200413873 圖5所的實施形態之動作係沒 ,,ΛΛ 口 4所不的實施形態 讀 +仃修正動作，其他的動作係如以下所說明 實施形態大致㈣。移動棚52在圖5中向左移動時，藉由虚 =疋棚51<相對向面所設置的距離感應器Ai，檢測出與固 =棚51〈距離。藉由距離感應器A1檢測出與固定棚51之距 離成為預先設定的停止距離，移動棚52的控制手段使馬達 之驅動停止’使移動棚52的移動停止。然後，在圖$中移動200413873 Description of the invention: [Technical field to which the invention belongs] The present invention relates to a mobile shed ^ It is arranged in the direction of solids, and a plurality of mobiles are arranged to form Yingyangs, and in the mobile shed of Rensi " To control the movement of the mobile shed, you should use the distance between the materials to control the movement of the shed. Called the shed ([Prior Art] = 1 = a kind that can be configured in a fixed direction to move a number of sheds by electric force. The moving shed can form a working path. The conventional control method of the electric moving shed is to designate the private moving sheds of each = 'Issuing the master 2 that should form the working path.' The position of the path for the operation should be formed and the mobile shed should be judged to move and its moving party, and the movement of the mobile shed should be controlled.… The means are based on the shed: Limit switches and adjacent movement limits. The control means stops the drive of the mobile shed. 'Detects the movement just outside the movement circle, when it starts and stops.' It moves at a low speed in the middle of the moving area at a fast speed. It is necessary to identify the current position of each mobile shed that constitutes the mobile shed device when the electric-powered mobile shed is used to form a working path. The relationship between the mobile shed and its moving direction must also be given to each mobile shed to give and receive signals. This complicates the control and causes the control method to be complicated. 89335 200413873 Miscellaneous. Moreover, the mobile sheds must be connected to each other The cable used to receive the transmission signal complicates the wiring. [Summary of the Invention] [Questions to be Solved by the Invention] The present invention is a researcher who solves the problems of the conventional technology described above, and aims to provide a mobile The control method of the shed is that at least one of the moving sheds or the moving sheds adjacent to each other has a distance sensor that measures the distance from the moving sheds of the other adjacent sheds. In response to the detection signals of the distance sensors, in other words, by According to the movement control action of the adjacent mobile shed, the control and control means can be simplified and the movements between each other can be simplified. Line simplification. '[Means to be solved by the invention] The first invention of the scope of patent application is a control method of a mobile shed, which is movably arranged in a predetermined direction with a plurality of mobile sheds, and can be moved at random. A path for work can be formed between the sheds, which is characterized in that the & moving sheds < at least _ fang 'adjacent to each other are used to measure the distance from other moving sheds adjacent to each other. When the two sheds are close to a fixed distance, #control the means to make the moving shed 'force to the same direction as the moving direction of the adjacent moving shed, JL, to control the distance between the bathroom and the moving shed in a fixed manner. Each mobile shed is operated by closing the mobile shed: the mobile shed can be moved to a specific direction. When a multi-moving tent next to each other approaches a specific distance of another mobile tent At the same time, the distance sensors of at least one side adjacent to the moving shed are detected, so that the other 8935 200413873 control means of the adjacent moving shed of the other party moves the moving shed. And, maintaining the distance of movement of the one shed the same movement of the one movement direction of the fixed roof. The invention of item 2 of the scope of patent application is a method for controlling a moving shed. A plurality of moving sheds are movably arranged in a predetermined direction, and an operation path can be formed between any of the moving sheds. Each mobile shed is provided with a distance sensing device capable of measuring the distance between adjacent mobile sheds existing in the moving direction, and a control means for keeping the distance of the adjacent mobile shed measured by the distance sensor fixed to move the mobile shed is provided. By the control means, the adjacent mobile shed is moved to a fixed distance toward the mobile shed equipped with the control means, and the mobile shed equipped with the control means is moved to the direction ㈣ of the movement direction of the adjacent mobile shed, and at a distance from the adjacent mobile shed. Keep control in a fixed way. Each of the mobile sheds can be moved to a special direction by operating a command switch provided in the mobile shed. When the distance sensor detects that the adjacent mobile shed is close to a specific distance, the control means with the distance sensor moves the mobile shed to the same direction as the movement direction of the adjacent mobile shed 'and' the distance from the adjacent mobile shed The invention in item 3 of the patent scope in the method of keeping fixed is the work in the invention of item No .. The material copy section is reduced by the mobile shed with the control means and the adjacent mobile shed or with: 10,000;时 When the distance from the universal distance measurement surface is close to the specified stop distance, 'stop the mobile shed equipped with control means.-If any mobile shed does not have a movement control means. Stop if the two forces are stopped' to control each movement Control of the shed 89335 200413873 The fourth invention of the scope of patent application is in the first or second invention. The mobile shed has a plurality of moving wheel distance sensors that are independently driven by rotation when viewed from the direction of its movement. Viewing the moving direction of the shed, there are a plurality of left and right. According to the output of the distance sensor, the driving means independently rotates and controls the corresponding driving wheel to make the moving shed parallel. It is known that the distance sensors installed on the left and right of the moving shed can be viewed from the moving direction. The independent rotation control of the driving wheels provided on the left and right of the moving shed from the moving direction can prevent the moving shed from tilting. The invention of the fifth item is the distance sensor in the invention of any one of the first to fourth items. The distance sensor is a non-contact sensor. The issue date of the sixth item of the patent application is on the first and second items. Or any one of the 3 "moving sheds in the invention is a form of moving sheds that are guided and guided by guides. The invention claimed in item 7 of the patent scope is the moving shed in item 4 of the invention. It is a mobile shed that does not have a form of guide rails.% As viewed from the moving direction of the mobile shed, distance sensors are installed on the left and right. Based on the measurement results of the left and right distance sensors, the oblique movement of the mobile shed can be detected. When detected When oblique running, the control means independently rotates and controls the left and right driving wheels corresponding to the left and right distance sensors according to the detection results, and corrects the slant of the moving shed to make the moving shed move in parallel. By having the oblique correction function, The moving shed can be moved in parallel even if it is a rail type. [Effect of the invention] According to the invention in the scope of the patent application, the moving sheds next to each other can be moved to the V side, and if there is a ok, then the other party can move with each other. The distance between the sheds 89335 200413873 and the sensors. When each of the moving sheds detects that the adjacent moving shed is close to a fixed distance, the moving shed moves the moving shed to the same direction as the moving direction of the adjacent moving shed. # 人 1 古 由 万; It has control means to control the distance from the adjacent mobile sheds in a fixed way, and controls the movement of each mobile shed in accordance with the adjacent mobile sheds. As shown in the conventional mobile sheds It is not necessary to judge the mobile shed that should be moved and its moving direction from the relationship between the position where each mobile shed should be formed and the designated position of the work path to control the mobile shed. Therefore, it is not necessary to issue and receive control signals between each mobile shed. , The structure of the control action and the control means can be simplified, and the wiring sheets between the movements can be purified. According to the second scope of the patent application, Fu Zhiyancoin male <Mao Ming, the sound of measuring the distance from the adjacent mobile shed is set in each mobile shed. This distance is due to the detection signal of the distance sensor, in other words, because Because the movement of the connected moving sheds is configured in a controlled manner, as shown in the conventional moving sheds, it is not necessary to judge whether the moving sheds should be moved from the relationship between the positions where each moving shed should be formed and the designated position of the work path. Because the mobile shed and its moving direction do not need to transmit and receive control signals between the mobile sheds, the configuration of the control action and control means can be simplified and the wiring sheet between the mobile sheds can be purified. In addition, according to the invention in the fourth item of the patent application, a plurality of driving wheels independently driven by left and right rotation are viewed from the moving direction of the moving shed, and a plurality of distance sensors are installed from the moving direction of the moving shed. Distance iC ». The “Out” II is composed of independent rotation control of the corresponding driving wheels. The track-type mobile shed can be realized. Even if it is a track-type mobile shed, JL will not produce oblique movement. 89335-10- [200 413 873] intersecting the embodiment is applied, with reference to the drawings illustrating operations of the mobile shelf movements Jian ~B embodiment of a mobile control method of the present invention a shelf-based comparison of the conventional mobile shed the present invention: ⑷ This is a conventional mobile shed operation, and the mobile phase < speed & control operation ' of the present invention is a position control operation of the mobile shed of the present invention. As shown in Fig. 1 (a), it is known that mobile sheds ii, 12, and 13 (three ports in the example of Tudin) are movably arranged on the floor. All the mobile sheds are 1, 2, and A mobile shed device that can be opened to access a work path for storing articles in any mobile shed. It is known that each of the general mobile sheds u, 12, 13 has moving wheels on the track portion, and the moving wheels can be moved along the guide rail by being placed on the guide rail. However, in the example shown in FIG. 丨, the mobile devices 21, 22, and 23 of the infinite track system are assembled at the bottom of each of the mobile sheds 11, 12, and 13, and the mobile devices 21, 22, and 23 of the wireless track system are assembled. Without guide rails, you can move straight on the floor. The operation of the conventional moving shed will be described with reference to FIG. 1 (a). A working path is formed between the desired moving sheds. For example, when the open command switch is operated, as described above, the moving sheds that should be moved and their movements are judged from the relationship between the current positions of all the moving sheds and the positions where the working paths should be formed. Direction, move the mobile shed according to the judgment. In FIG. 1 (a), the mobile shed u and the mobile shed 12 are brought close to each other, and a working passage is formed between the mobile shed 12 and the mobile shed 13, and it is issued to form a working passage between the mobile shed 11 and the mobile shed 12. At the time of the instruction, control is performed to move the moving shed 12 to the left according to the above-mentioned judgment. The symbol UA indicates the state during the movement of the moving booth 12. In addition, the mobile shed 12 is moved by this control, and when contact with the mobile shed 13 or an appropriate proximity switch or the like is detected 89335-11-200413873, the movement of the mobile shed 12 is stopped. In contrast to the above-mentioned conventional mobile shed operation, in the control method of the mobile shed of the present invention shown in FIG. 1 (b), in order to form the entrance and exit paths, the mobile shed itself is issued. Although it is similar to the conventional one, tj, the movement center of another 10,000 mobile sheds that controls the adjacent path is different by the movement of the adjacent 10,000 mobile sheds. For a more specific explanation, the implementation form shown in Fig. 1 (b) is the same as the conventional example shown in Fig. 1 (a). On the floor, three mobile sheds 11, 12, and ";, All mobile sheds can be stored, and in any mobile shed can be formed between the storage path of storage items. Infinite orbit moving devices 2 丨, u, u are assembled at the bottom of each moving shed η, 12, 13. With the infinite orbit moving devices 21, 22, and 23, even without a guide track, Move straight on the floor. Now, in FIG. 1, when the moving direction of each moving shed is set to the left-right direction, an instruction is given to move the moving shed 11 that should form a working path on the right side of the moving shed u to the left. When a working path is temporarily formed in the moving booth u, only the moving booth 11 moves to the left. However, as shown in FIG. 1 (b), when there is a mobile shed 12 next to the mobile shed u, when an instruction to move the mobile shed 丨 丨 to the left is issued, the mobile shed 丨 丨 approaches the mobile shed 12 and moves The distance sensing device of the shed 12 detects that the mobile shed 11 is approaching a fixed distance. Or, in a state where the distance between the mobile shed 11 and the mobile shed 12 is large, the distance sensor of the mobile shed 2 detects that the mobile shed 11 is close to the mobile shed 12. Based on this detection signal, the motor that is the driving source of the mobile shed 12 is driven and controlled by the control means of the mobile shed 12 to move the mobile shed 12 to the left. In addition, the control method of the mobile shed 2 controls the moving speed of the mobile shed 89335 -12- 200413873 1 2 in such a way that the distance between the mobile shed Π and the mobile shed 2 is fixed. The symbol 丨 2 A indicates the state of the mobile shed 2 during the movement. In this way, the mobile shed 12 is retreated from the mobile shed 丨, and the mobile shed u catches up with the mobile shed 12, so that the distances between the mobile sheds are kept parallel and moved in a fixed state. When the mobile shed 12 approaches the mobile shed 13 to a certain distance, the detection action of the distance detector of the mobile shed also causes the mobile shed 13 to move to the left side at a fixed distance between the mobile sheds 12, but according to the mobile shed 13, the movement The order of the shed 12 and the moving shed 11 reaches the moving limit. The so-called moving limit is viewed from each mobile shed, and the distance from a distance measuring surface such as an automatic stopper located at the end of the moving direction of the mobile shed or the distance from the adjacent mobile shed is close to a specific stopping distance. When the distance sensor having each moving shed detects the above-mentioned sum of moving limits, the control means of each moving shed stops the moving shed there, and the driving of the motor which is the driving source is stopped. In another example of operation of the mobile shed of the present invention shown in FIG. 1 (c), the mobile shed 11 and 12 'having two ports have a distance measuring wall 14 on the left side of the mobile shed 12. A working path formed by a large space is formed between the mobile shed 丨 丨 and the mobile shed 丨 2, and a smaller path is formed between the mobile shed 12 and the wall 14 than the above-mentioned work avenue, but the mobile shed 12 can be fully moved to the left Space. Now, a working path should be formed on the right side of the moving shed 11, and an instruction to move the moving shed 1 丨 to the left is issued. The mobile shed 丨 丨 moves towards the mobile shed 丨 2 side. When the moving shed Π approaches the moving shed 2 to a specific distance, the distance sensor of the moving shed 12 is measured. The control means of the moving shed 12 rotates and drives the driving motor of the moving shed 12 in response to the detection signal of the distance sensor. At this time, the control means of the moving shed controls the speed of the driving motor according to the detection signal from the distance sensor. 89335 -13- 200413873 degrees' keeps the distance between the moving shed 11 and the moving shed 12 fixed. The moving shed 12 is brought close to the wall 14 by the M movement. When the distance sensor of the moving shed 12 detects that the distance of the wall 14 is close to the fixed stopping distance a, the control means of the moving shed 12 stops the driving motor of the moving shed 12 that should stop the moving shed 12. In addition, when the distance sensor of the moving shed 丨 丨 detects the distance of the moving shed ② to a fixed stopping distance b, the control hand of the moving shed 12 & should stop the moving shed 12 of the moving shed 12 The drive motor stops. In this way, in each mobile shed, the control means of each mobile shed makes the distance to the distance measurement surface formed by the distance from the adjacent mobile shed or the wall 14 or the tail end automatic stopper located in the moving direction of the mobile shed. When a specific stopping distance is approached, the moving sheds provided with the control means are stopped, and a specific space is formed between the moving sheds and between the moving sheds and the distance measurement surface. By forming the above-mentioned space, the circulation of air in the mobile shed can be ensured. ;,:, Later reference, FIG. 2 illustrates an example of a distance sensor connected to the control means of the mobile shed of the present invention. The distance sensor shown in Fig. 2 is a non-contact distance sensor using an ultrasonic wave. The distance sensor includes a pulse transmitter and a counting circuit 30. The pulse transmitter is a part that generates an ultrasonic signal, so that the generated ultrasonic wave is radiated from the sounding body 3 of the loudspeaker toward the reflector 33, and the body 31 has two directivity. The pulse transmitter and the counting circuit of the counting circuit 30 are connected to a sound sensor 32 corresponding to a microphone. The sound sensing body 32 is configured to receive the ultrasonic wave reflected by the reflector 33 and convert it into electrical L number Qin and enter the counting circuit. The sound generator 31 and the sound sensor 32 are arranged on the same surface. In the pulse transmitter and the counting circuit 30, after the ultrasonic wave is transmitted from the sound generator 31, the time until the reflected wave is received by the sound sensor 32 is 89335-14-14200413873. The remote juice value is input to a microcomputer or a microprocessor including the above-mentioned control means for processing, whereby the distance between the vocal body 31 and the sense body 32 and the reflector 33 can be measured. The distance sensing benefit using such an ultrasonic wave is well known, so detailed description is omitted. The distance sensor using the above-mentioned super wave is installed in a moving shed. Make distance ‘iC. . The above-mentioned business sound body 31 and the sense body 32 are facing the opposite sides of the adjacent mobile shed, and the front of the hair body 31 and the sound body 32 are aligned with the front of the moving shed (intercalation surface). Way setting. A reflector 33 is provided on the opposite surface of the sounding body 31 and the sound sensing body 32 adjacent to the moving shed. However, the moving shed itself may be used as the reflector 33. The distance sensors are set at the lowest one of the adjacent sheds or opposite sides of the distance measurement surface—one one, or two or two at the mobile shed. Alternatively, as in the embodiment described later, in the case of a guide rail type moving shed, a distance sensor may be provided opposite to at least one side of the moving shed facing each other. However, when the distance sensor is viewed from the moving direction of the moving shed on the adjacent shed or the surface opposite to the distance measurement surface, that is, the distance sensor is opposite to the moving shed's article storage surface when the moving shed is viewed (if the viewing shed The population of the working path between the front side and the deep side) can effectively prevent the oblique movement of the mobile shed. This is especially effective for rail-type mobile sheds. More specifically, as described above, when viewed from the moving direction of the moving shed, that is, when a plurality of sets are installed on the left and right sides of the moving shed when facing the article storage surface, the moving shed is also provided with a plurality of covers on the left and right when viewed from the moving direction. Rotary drive wheels for mobile sheds. Then, the control means of each moving shed is based on the output of the left and right distance sensors, 89335 -15- 200413873: Lu Beryllium binds the corresponding driving wheel. Due to 1¾, when you move to the right of the mobile shed worker and skew it to the right, you can use the detection of the distance sensor on the side of excessive movement to detect the situation. The control means controls the driving wheel on the side of excessive movement. The posture of the mobile shed when viewed from the plane (upper) direction makes the mobile shed move horizontally. In addition, there are also cases where the left and right sides of the mobile shed are over-k, and the situation is "because the distance sensor on the slow side can detect the situation / brother, so at this time" the control means controls the drive of the slow side drive wheel. Speed to correct the oblique line of the moving shed. Next, an example of the operation of the control means of the mobile shed of the present invention will be described with reference to FIG. 3. In FIG. 3, the operation steps are indicated by rsi "" S2 ".... First, according to the operation <, various parameters are read (S1). One of the parameters is the linkage distance. The so-called interlocking distance refers to the above-mentioned specific distance when a plurality of mobile sheds maintain a specific distance and move privately in parallel. In other words, when the adjacent sheds approach, the mobile sheds move by controlling the speed of the mobile shed while retreating. distance. The second parameter is the braking distance. The braking distance refers to the distance when the moving shed is close to the adjacent moving shed, the wall, or the tail end automatic stopper, etc., and reaches the moving limit. When the moving speed of the moving shed is slowed, braking is started. Another parameter is the stopping distance. The stopping distance is the distance when the moving shed reaches the moving boundary and stops the movement of the moving shed. The above parameters are set in advance, the above parameters are read and stored in the memory. Then, the left-to-right distance viewed from the moving direction of the moving shed is measured (S 2). The left-right distance is the distance from the opposite moving shed or the adjacent sheds on the left and right when viewed from the direction of movement of the distance measurement surface. When the left and right distances are different, as described above, the moving shed may be inclined. Situation 89335 -16-200413873. The left and right distance measurement is viewed from the moving direction of the moving shed. The driving wheels must be set independently from left and right, the driving wheels must be controlled at independent speeds to be corrected, and then the motion line error measurement is performed (S3). The movement line error measurement is not necessary in the case of moving the shed /; in the form of moving the guide track, but as shown in Figure 1, the 'moving device with infinite track method, need. That is, the so-called motion line error measurement is to mark the scanning line on the floor where the moving shed is installed or above the moving shed, and is configured to move the moving shed while tracking the violation of the moving line. Tracking error of mobile shed. From the left-to-right distance measurement (S2) viewed from the moving direction of the moving shed, it can be seen that the moving shed is oblique, and the result of the movement line error measurement (S3), if the moving shed is shifted to the left and right relative to the movement line, In the next operation mode (S4), it is calculated that any one of the right and left driving wheels is driven at a faster speed. In addition, based on the above calculation results, in the control calculation (S5), while referring to various parameter data read initially, the moving speed of each mobile shed is changed, and then it is calculated whether or not the position to be braked is reached. ^ According to the result of the above operation, a speed control signal (S6) is output, and according to this control, L number 4 drive motors are used to correct the oblique travel, movement of the moving shed, and the spring H when it should reach a specific control position, deceleration control Each cymbal motor is used for braking. When the specific target position is reached (S7), the drive motor is stopped (s8) to end the operation. The embodiment described above is an independent identification of the relative positions of adjacent mobile sheds in individual mobile sheds, that is, each mobile shed is independently detected. More specifically, this independent identification type mobile shed is shown in FIG. 4. In FIG. 4, the shed 51 at the left end and the shed 54 at the right end are fixed sheds, and the sheds 5 2, 5 3 arranged between the fixed sheds are mobile sheds. Each shed is such that the storage and take-out surfaces of the articles are parallel to each other, and the mobile sheds 52 and 53 are stored close to the fixed shed 5 or 54, and the sheds may be separated and each shed may be formed with articles The first channel, the second channel, and the third channel for storage are arranged. The fixed sheds 51 and 54 can also be accommodated, and a plurality of mobile sheds are arranged discretely. The moving shed 5 2 is located on the opposite side of the fixed shed 15 and faces the opposite side. The distance sensors A1 and A2 composed of ultrasonic sensors can be left and right. The distance 丨 is the width of the first path. The moving shed 52 has distance sensors A3 and A4 composed of ultrasonic sensors on the left and right sides of the side opposite to the moving shed 53, and can independently measure the distance from the fixed shed 53 < The moving shed 53 has distance sensors B1 and B2 made of ultrasonic sensors on the left and right sides of the opposite side to the moving shed 52. The distance to the moving shed 52, that is, the width of the second passage, and The moving shed 53 is provided with distance sensors B3 and B4 composed of ultrasonic sensors on the left and right sides of the facing surface side opposite to the moving shed 54, and can be measured left and right independently of the fixed shed 54. The distance is the width of the third path. The moving shed 52 and the moving shed 53 each have a motor as a driving source for driving the left and right driving wheels as viewed from the moving direction as independent rotation drives, and have control means for independently controlling the rotation of the motors. The control means may be constituted by, for example, a microprocessor or a logic 1C. The operation of the above embodiment is as follows. When the moving shed 52 moves to the left in FIG. 4, by looking at the left and right 89335 -18- 200413873 Chinese distance sensors A 丨 and A2 from the moving direction on the opposite side to the fixed shed 5 丨, the detection with the fixed shed is detected. The distance of 51 is controlled by a microprocessor or the like when the detection values of the distance sensors Al and A2 have a difference and the line is oblique, so that the above-mentioned measured value < Left and right motors. When the distance sensors A1 and 82 detect that the distance from the fixed foot shed 51 becomes a preset stop distance, the control means of the moving shed w stops the driving of the left and right motors and stops the movement of the moving shed 52. Then, when the moving shed 52 moves to the right in FIG. 4, the distance sensors A3 and M provided on the left and right sides are viewed from the moving direction on the opposite side to the fixed shed 53, and the distance from the fixed shed 53 is detected. When the detection values of the sensors A3 and 8 have a difference, the control means composed of a microprocessor or the like independently controls the left and right motors to correct the oblique movement so that the difference disappears. In addition, the moving shed 53 measures the distance to the moving shed ^ with the above-mentioned left and right distance sensors B1 and B2, and measures the width of the second path. When it detects that it is close to the preset moving shed 5 2 feet, it moves. The shed 53 measures the distance to the fixed shed 54, that is, the width of the third passage, with the distance sensors B3 and B4 on the side opposite to the fixed shed 54. As a result of measuring the width of the third passage, it can be seen that the distance between the movable shed 53 and the control means of the movable shed 53 rotates and controls the left and right motors viewed from the moving direction of the movable shed 53 so that the movable shed 53 faces the fixed shed 5 4 ′ Move right in Figure 4. The moving speed of the moving shed 53 at this time is designed to be substantially the same as the moving speed of the moving shed 52. When the distance from the fixed shed 54 to the fixed shed 54 measured by the distance sensors B3 and B4 of the moving shed 53 becomes a preset stop distance, the control means of the mobile shed $ 3 is based on the detection signals of the distance sensors B3 and B4. The moving shed 53 stops. Then, when the full-foot distance measured by the distance sensors A3 and A4 of the moving shed 52 and the fixed shed 89335 -19- 200413873 53 becomes the preset stopping distance, the control method of the "moving shed" is based on the distance sensors A3 and A4. The detection signal stops the motor of the moving shed 52 and stops the moving shed 52. Here, the moving sheds 52 and 53 are stopped with the fixed shed 54 stored. According to the embodiment described above, each of the moving sheds 52 and 53 are The mobile shed itself recognizes the position of each mobile shed itself, and controls the rotation of the motor according to the recognition result. Therefore, no signal communication is required between the mobile sheds, and information transmission means such as lines or wireless communication means connecting the sheds can be omitted. It can be simplified, and the oblique movement is detected by measuring the width of the path on the left and right by viewing the moving shed from the moving direction. The left and right drive motors are independently controlled to correct the oblique movement based on the detection result, so it can be applied to the above-mentioned track method. In this way, the present invention is applicable to a track-type moving shed. However, the essence of the present invention is the movement adjacent to each other. When one party is gradually approaching the other, the control circuit configuration and control operation of each mobile shed are sought to be purified early by moving the other mobile shed to the same direction t as the above-mentioned mobile shed. Therefore, the present invention relates to It is not limited to the moving shed of the track type, and can also be applied to a moving shed guided and moved on a guide rail, thereby achieving a desired purpose. The technical idea of the present invention is applied to a moving shed having a guide rail. The distance sensor can be greatly reduced. The centroid of the embodiment shown in FIG. 5 is known to those who apply the present invention to a guide track type mobile shed, and this embodiment will be described below. In FIG. 5, two fixed sheds 51 and 54 are provided. Two mobile sheds 52 and 53 are movably arranged between them. This point is the same as the embodiment shown in Fig. 4. Although not shown in Figures 89335-20-200413873, a guide is provided between the fixed sheds 51 and 54. The guide track is movably arranged along the guide track with mobile sheds 52 and 53. The guide track is laid on the floor, and the mobile shed can be moved on the guide track, and it can be fixed above the mobile shed. With guide rail It is also possible to move the mobile sheds 52 and 53 in the form of hanging on the guide rail. Each of the mobile sheds 52 and 53 has a motor as a driving source, and one motor is integrally rotated to drive the mobile sheds from the mobile shed. The left and right drive wheels viewed from the moving direction may be configured, and it is not necessary to have a plurality of motors that independently rotate and drive the left and right drive wheels. The moving shed 52 has an ultrasonic sensor on the side opposite to the fixed shed 51. The distance sensor A1 can measure the distance from the fixed shed 51, that is, the width of the first passage. The moving shed 52 has a distance sensor made of an ultrasonic sensor on the side opposite to the moving shed 53. A2 can measure the distance from the moving shed 53, that is, the width of the second passage. The moving shed brother has a distance sensor B1 composed of an ultrasonic sensor on the side opposite to the moving shed 52, and can measure The distance between the exit and the moving shed 52 is the width of the second passage. The moving shed 53 has a distance sensor B2 composed of an ultrasonic sensor on the side facing the fixed shed 54, and the distance from the fixed shed 54, that is, the width of the third passage can be measured. In this way, each of the moving sheds has one or more distance sensors compared to the embodiment shown in FIG. 4 on the opposite side of the moving shed or fixed shed adjacent to each other. The distance of each moving shed is arranged to the right or left when viewed from the moving direction of the moving shed, but it can also be placed in the center. The moving sheds 52 and 53 have motors for driving the drive wheels of the left and right independent rotation controls when viewed from the moving direction of the moving shed, and have control means for independently controlling the rotation of the motors. 89335 -21-200413873 The operation of the embodiment shown in Fig. 5 is not. The implementation mode of ΛΛ mouth 4 is not shown. Read + 动作 Correction operation, other operations are as described below. The implementation is roughly ㈣. When the moving shed 52 moves to the left in FIG. 5, the distance from the solid shed 51 ≦ is detected by the distance sensor Ai provided on the opposite side of the imaginary shed 51 < When the distance sensor A1 detects that the distance from the fixed shed 51 is a preset stop distance, the control means of the moving shed 52 stops the driving of the motor 'to stop the movement of the moving shed 52. Then, move in figure $
棚52向㈣動時’藉由在與移動棚53之相對面所設置的距 離感應器A2 ’測定與移動棚53之距離。另外，移動棚η藉 由距離感應器B1檢測出與移動棚52之距離，測定第〕通路的 寬度，當檢測出移動棚52接近預先設定的停止距離時，移 動棚53藉由與固定棚54之相對向面側的距離感應器，測 足固疋棚54之距離亦即第3通路的寬度。測定第3通路之結 果，可知若為可移動移動棚53之距離，則移動棚53的控制When the shed 52 is swung inward, the distance from the moving shed 53 is measured by a distance sensor A2 provided on the side opposite to the moving shed 53. In addition, the moving shed η detects the distance from the moving shed 52 by the distance sensor B1, and measures the width of the third path. When it is detected that the moving shed 52 is close to a preset stopping distance, the moving shed 53 passes through the fixed shed 54. The distance sensor on the opposite side measures the distance of the foot-fixing shed 54, that is, the width of the third passage. As a result of measuring the third path, it can be seen that if the distance of the movable shed 53 is controlled, the control of the movable shed 53
手段旋轉控制移動棚53的馬達，使移動棚53朝向固定棚54 向右移動。 當藉由移動棚53的距離感應器B2所測定的固定棚54之距 離成為預先設定之停止距離時，移動棚5 3的控制手段依據 距離感應器B2的檢測信號使移動棚53的馬達停止，使移動 棚53停止。然後，當藉由移動棚52的距離感應器A2所測定 的固定棚5 3之距離成為預先設定之停止距離時，移動棚5 2 的控制手段依據距離感應器A2的檢測信號使移動棚52的馬 達停止，使移動棚52停止。在此，移動棚52、53在收納固 定棚54的狀態下停止。 89335 -22- 200413873 如以上所說明的圖5所示之實施形態般，在具有導引軌道 之形式的移動棚的情況下’ #由導引軌道機械性且強制性 地矯正移動棚的斜行，因為沒有到達某程度以上的斜行， 故不需進行斜行之檢測及修正斜行的控制。因而，在圖5所 示的5施形怨中，在各移動棚之與作業通路的對向面上— 個一個配置距離感應器，降低距離感應器的數量。又，亦 可簡略化各移動棚的控制流程或控制系統。圖6係表示控制 "Ιϋ私之例，由數謂取步驟s丨i、距離測量步驟s 12、控制量 運算步馭S 1 3、控制輸出s 14、是否為目標位置之判斷步驟 S15、以及停止步驟S16所構成。該控制流程與上述圖3所示 的控制流程之不同點在於沒有動作線誤差測量步驟與動作 模式運算步驟，又，在距離測量步驟si2中，不是從移動棚 的移動方向觀看的左右之距離測量，是單純的距離測量之 點。這種動作流程的不同因為是導引軌道方式的移動棚， 故可以不考慮斜行即動作線的誤差。 然後，更具體說明圖7所示的其他實施形態。該實施形態 係形成在彼此相鄰接的移動棚間傳送距離資訊之形成。棚 的構成係與圖4、圖5之實施形態相同，由兩台的固定棚51、 54與兩台的移動棚52、53所構成。在圖7中，移動棚52係在 與固足棚51相對向面側具有由超音波感應輯構成的距離 感應益A1 ’可測定與固定棚51之距離亦即第丨通路的寬度。 又，移動棚52係在與移動棚53相對向面側具有由超音波感 應器所構成的距離感應器A2，可測定與移動棚53之距離亦 即第2通路的寬度。移動棚53係在與移動棚52相對向面側具 89335 -23- 200413873 有由超音波感應器所構成的距離感應器B 1，可測定與移動 棚5 4之距離亦即第3通路的寬度。 移移動棚52為主棚，其他移動棚為分散棚時，在主棚配 置兩個距離感應器，在分散棚配置一個距離感應器。移動 棚52的距離感應器A2之檢測輸出亦即第2通路寬度測定資 料亦傳送到與距離感應器A2的配置側相鄰接的移動棚53。 在圖7所示的例中，分散棚雖僅有一台，惟分散棚的數量原 理上係無限制，亦可在各分散棚配置一個距離感應器。因 而，可大幅降低距離感應器的數量。又，如上述移動棚52、 53之例般，在彼此相鄰接的移動棚間，形成藉由距離感應 器使通路寬度測量資料通信。移動棚52、53係具有獨力旋 轉驅動左右的驅動輪之驅動源的馬達，且，具有獨立控制 上述馬達之旋轉的控制手段。 备 W朝向固定棚51 說明圖7所示的實施形態之動作 移動時，藉由距離感應器A1 一邊測定與固定棚51之距離 —ίϋ定第1通路寬度而移動。#與μ棚5丨之距離成為預 先設足之停止距離時，移動棚52的控制手段使驅動馬達停 止’使移動棚52之移動停止。當移動棚52在圖7中朝向右移 動時’藉由距離感應器八2 一邊測定與移動棚53之距離，一 邊測定第2通路寬度而移動。與該移動動作同時，移動棚52 係將與移動棚53之距離資料傳送卿動㈣，使移動棚^ ^辨識出與移動棚52之距離。在移動棚53中，藉由距離感 應器扪測定與固定棚54之距離，測定㈣路寬度。至移動 ㈣接近移動棚53預先設定的距離為止，此時移動棚讲 89335 -24- 200413873 移動至第3通路的寬度，在固定棚μ之間若為可移動移動棚 5 3之距離’則使移動棚5 3的控制電路旋轉控制移動棚5 3的 馬達’使移動棚5 3在與移動棚5 2的移動方向相同方向上且 以與移動棚52的移動速度大致相同的速度移動。當距離感 應器B1檢測出移動棚53接近固定棚54至特定的停止距離為 止時’移動棚5 3的控制手段使其馬達停止，使移動棚5 3停 止。同樣地，當距離感應器A2檢測出移動棚52接近移動棚 5 3至特定的停止距離為止時，移動棚52的控制手段使其馬 達停止，使移動棚52停止。 圖7所示的實施形態係適用於沿導引軌道移動的形式之 移動棚的構成。根據該實施形態，具有可降低距離感應器 的數量。然而，在彼此相鄰接的移動棚間必須藉由距離感 應器傳送測定資料。該通信手段以單純的資料傳送手段較 佳。又，該通信手段以纜線亦可，以電波、光等之無線通 信亦可。 本發明所使用之距離感應器亦可為接觸式的距離感應 器。然而，為接觸式的距離感應器時，在移動棚與固定部 之間必須取得機械性的聯繫甚為繁雜，以非接觸較為便 利。又，非接觸式的距離感應器不限於圖2所示的超音波方 式，例如可使用利用光之三角測量方式、磁性檢測方式、 其他各種測距方式。 【產業上利用的可能性】 本發明係在各移動棚相互間不需進行信號的授受，一台 一台之移動棚觀看相鄰接的移動棚之動作以控制自己的動 89335 -25· 200413873 可以低成本提供電動 作，因此控制電路及控制動作簡單 式移動棚’在產業上相當有用。 【圖式簡單說明】 圖1係比較習知的移動棚與本發明之移動棚的控制方法 〈實施形態’⑷係習知例的動作、(b)係本發明的一動作， (C)係本發明之其他動作的側面圖。 圖2係可應用在本發明之距離感應器之例的流程圖。 圖3係本發明之移動棚的控制方法的動作例之流程圖。 圖4係本發明之移動棚的控制方法之其他實施形態的平 面圖。 圖5係本發明之移動棚的控制方法之又一實施形態的平 面圖。 圖6係上述實施形態的流程圖。 圖7係本發明之移動棚的控制方法之其他實施形態的平 面圖。 【圖式代表符號說明】 i- 1 移動棚 12 移動棚 13 移動棚 14 距離測定面 52 移動棚 53 移動棚 A1 距離感應器 Λ2 距離感應器 89335 200413873 B1 B2 距離感應器 距離感應器The means rotates and controls the motor of the moving shed 53 to move the moving shed 53 to the right toward the fixed shed 54. When the distance of the fixed shed 54 measured by the distance sensor B2 of the moving shed 53 becomes the preset stop distance, the control means of the moving shed 53 stops the motor of the moving shed 53 according to the detection signal of the distance sensor B2. The moving shed 53 is stopped. Then, when the distance of the fixed shed 53 measured by the distance sensor A2 of the moving shed 52 becomes a preset stop distance, the control means of the moving shed 52 makes the moving shed 52 based on the detection signal of the distance sensor A2. When the motor is stopped, the moving shed 52 is stopped. Here, the moving sheds 52 and 53 are stopped while the fixed shed 54 is stored. 89335 -22- 200413873 As in the embodiment shown in FIG. 5 described above, in the case of a moving shed in the form of a guide rail '# The oblique movement of the mobile shed is mechanically and compulsorily corrected by the guide rail Because there is no oblique line above a certain level, there is no need to perform oblique line detection and correct oblique line control. Therefore, in the five applications shown in FIG. 5, the distance sensors are arranged one by one on the opposite sides of the moving sheds to the working path to reduce the number of distance sensors. In addition, the control flow or control system of each mobile shed can be simplified. FIG. 6 shows an example of control. The number of steps is s i, the distance measurement step s 12, the control amount calculation step S 1 3, the control output s 14, the judgment step S15 of whether it is the target position, And stop by step S16. This control flow differs from the control flow shown in FIG. 3 described above in that there is no movement line error measurement step and operation mode calculation step, and in the distance measurement step si2, it is not the left-right distance measurement viewed from the moving direction of the mobile shed. , Is the point of pure distance measurement. The difference in this action flow is the moving shed of the guide track method, so it is not necessary to consider the error of the oblique line, that is, the action line. Next, another embodiment shown in FIG. 7 will be described more specifically. This embodiment is formed to transmit distance information between mobile sheds adjacent to each other. The structure of the shed is the same as that of the embodiment shown in Figs. 4 and 5, and is composed of two fixed sheds 51 and 54 and two mobile sheds 52 and 53. In Fig. 7, the moving shed 52 has a distance formed by an ultrasonic sensor on the side opposite to the fixed shed 51, and the sensor A1 'can measure the distance from the fixed shed 51, that is, the width of the first passage. The moving shed 52 has a distance sensor A2 composed of an ultrasonic sensor on the side opposite to the moving shed 53, and can measure the distance to the moving shed 53, that is, the width of the second passage. The moving shed 53 is on the side opposite to the moving shed 52. 89335 -23- 200413873 There is a distance sensor B 1 composed of an ultrasonic sensor, and the distance from the moving shed 54 can be measured, that is, the width of the third passage. . When the moving shed 52 is the main shed, and the other moving sheds are scattered sheds, two distance sensors are arranged in the main shed, and one distance sensor is arranged in the scattered shed. The detection output of the distance sensor A2 of the moving shed 52, that is, the second path width measurement data is also transmitted to the moving shed 53 adjacent to the disposition side of the distance sensor A2. In the example shown in FIG. 7, although there is only one decentralized shed, the number of decentralized sheds is not limited in principle, and a distance sensor can be arranged in each decentralized shed. As a result, the number of distance sensors can be significantly reduced. In addition, as in the above-mentioned examples of the moving sheds 52 and 53, the path width measurement data is communicated between the moving sheds adjacent to each other by a distance sensor. The moving sheds 52 and 53 are motors having drive sources for driving the left and right drive wheels independently, and have control means for independently controlling the rotation of the motors. The device W is moved toward the fixed shed 51 to explain the operation of the embodiment shown in FIG. 7. When moving, the distance sensor A1 measures the distance from the fixed shed 51 to determine the width of the first passage and moves. When the distance between #shed and #shed 5 丨 is a preset stopping distance, the control means of the moving booth 52 stops the driving motor 'to stop the movement of the moving booth 52. When the moving shed 52 moves to the right in FIG. 7 ', the distance sensor 8 2 measures the distance from the moving shed 53 while measuring the second passage width and moves. At the same time as the moving action, the moving shed 52 transmits the distance data to the moving shed 53 to make the moving shed ^^ recognize the distance from the moving shed 52. In the moving shed 53, the distance from the fixed shed 54 is measured by the distance sensor 扪, and the width of the road is measured. Until the moving ㈣ approaches the preset distance of the moving shed 53, at this time the moving shed talks 89335 -24- 200413873 to move to the width of the third passage, and if the fixed shed μ is the distance of the movable moving shed 5 3 ', then The control circuit of the moving shed 53 controls the motor ′ of the moving shed 53 to rotate the moving shed 53 in the same direction as the moving direction of the moving shed 52 and at a speed substantially the same as the moving speed of the moving shed 52. When the distance sensor B1 detects that the moving shed 53 approaches the fixed shed 54 to a certain stopping distance, the control means of the moving shed 53 stops its motor to stop the moving shed 53. Similarly, when the distance sensor A2 detects that the moving shed 52 is close to the moving shed 53 to a specific stopping distance, the control means of the moving shed 52 stops its motor and stops the moving shed 52. The embodiment shown in Fig. 7 is a structure suitable for a moving shed that moves along a guide rail. According to this embodiment, the number of distance sensors can be reduced. However, the measurement data must be transmitted by the distance sensor between the mobile sheds adjacent to each other. This communication method is preferably a simple data transmission method. The communication means may be a cable or wireless communication using radio waves or light. The distance sensor used in the present invention may also be a contact type distance sensor. However, in the case of a contact type proximity sensor, it is complicated to obtain a mechanical connection between the moving shed and the fixed part, and it is more convenient to use non-contact. The non-contact distance sensor is not limited to the ultrasonic method shown in FIG. 2, and for example, a triangulation method using light, a magnetic detection method, or various other ranging methods can be used. [Possibility of industrial use] The present invention does not need to transmit and receive signals between the mobile sheds. One by one mobile sheds watch the actions of adjacent mobile sheds to control their own movements. 89335-25 · 200413873 Since the electric operation can be provided at low cost, the control circuit and the simple mobile shed for controlling the operation are very useful in the industry. [Brief description of the figure] FIG. 1 is a comparison between a conventional mobile shed and a control method of the mobile shed of the present invention. [Embodiment mode 'is a conventional example of operation, (b) is an operation of the present invention, and (C) is a A side view of another operation of the present invention. FIG. 2 is a flowchart of an example of a distance sensor applicable to the present invention. FIG. 3 is a flowchart of an operation example of the control method of the mobile shed of the present invention. Fig. 4 is a plan view of another embodiment of the control method of the moving shed of the present invention. Fig. 5 is a plan view of still another embodiment of a control method of a moving shed according to the present invention. Fig. 6 is a flowchart of the embodiment. Fig. 7 is a plan view of another embodiment of the control method of the mobile shed of the present invention. [Illustration of Symbols in the Figure] i- 1 Mobile Shed 12 Mobile Shed 13 Mobile Shed 14 Distance Measurement Surface 52 Mobile Shed 53 Mobile Shed A1 Distance Sensor Λ2 Distance Sensor 89335 200413873 B1 B2 Distance Sensor Distance Sensor
89335 -27 -89335 -27-