TW201034919A - Movable shelf equipment - Google Patents

Abstract

An objective of the invention is to provide a movable shelf equipment capable of performing the width discrepancy control of the movable shade without using the detected object with sheet rail shaped. The movable shelf equipment is provided, wherein a magnet as a detected object is disposed on the floor at the stopping position of each moving shelf, and a magnetic sensor for detecting the foregoing magnet is disposed at each moving shelf. Once the moving shelf 11 stops its travel, the magnet is detected by the magnetic sensor. If the detected magnetic sensitivity has changed above a predetermined value or more from the magnetic sensitivity detected at the previous travel stopping time, that is, if a width discrepancy larger than a predetermined value is detected, the traveling orbit of the moving shelf for eliminating the width discrepancy is taken, and the rotating speed of each driving motor is controlled by following the traveling orbit at the next traveling time.

Description

201034919 VI. Description of the Invention: [Technical Field] The present invention relates to a mobile shed device that is disposed, for example, in a small space within a warehouse, that is, a plurality of devices that can be placed on a walking path via wheels A mobile shed device made of a reciprocating walking shed, in particular, relates to a mobile shed device that can be reciprocated without a track guide and without a track (trackless strip).

[Prior Art] An example of a conventional mobile shed apparatus which can be reciprocated in a railless manner has been disclosed in the patent document 。.

That is, a device has been disclosed in which a plurality of moving sheds that can reciprocate on a walking path (trackless strip) via wheels are provided between the fixed sheds, and by moving the moving sheds, Adjacent fixed sheds - between moving sheds or between adjacent moving sheds, the passages are opened, and items can be moved in or out of the road-oriented stationary phase H + machi 疋 shed or moving shed. Further, among the wheels, the fish are located in the left and right directions perpendicular to the traveling path side 6 of each of the moving sheds, and the wheels of the knives are respectively provided with drive motors to constitute the driving wheels, and further 'Lian and 々崎士】The two sides are equipped with a pulse encoder; in addition, there is a mobile shed controller with a rotation amount. The mobile shed controller is controlled by the two-drive motor from the cutter, and the pulse of each pulse encoder is used to determine the driving force of the two sides of the drive unit. The walking distance, and the deviation of the walking distance and the variation of the walking distance are obtained, and then the deviation of the prediction = distance predicted by the variation of the walking distance and the walking distance can be eliminated by 3 201034919. The mode 'to control the catch of each drive motor (rotation drive makes the transmission shed not tilt while walking, while τ maintains the posture (for posture control). μ potential c, when reciprocating along the walking path In the case of the trackless bar, the formed path may not be narrowed, and the "exercise posture control" when the mobile shed controller is walking, even if the moving shed does not tilt during walking, does not hinder the loading and unloading of the article. .

Further, a width deviation detecting means is provided on the ground, and this means is to detect the left and right direction of the moving shed by detecting the detected shape of the thin track in the shape of a thin track. The shifting controller is configured to control the speed of each driving motor (the amount of driving rotation) by eliminating the width deviation if the detected width shift exceeds a predetermined value The moving shed is not offset in the left and right direction (for width shift control). [Patent Document 1] Japanese Patent Publication No. 38〇4462 [Draft of the Invention] [Problems to be Solved by the Invention] However, conventional mobile shed equipment uses a sheet-like track to be inspected in order to eliminate the width deviation. It is difficult to lay out such a thin track-shaped object to be detected along a certain path and horizontally on the ground. Further, since the object to be detected in the shape of the sheet track appears on the path at the path where the passage is formed, it is necessary to make it not to be damaged even if the operator steps on or the vehicle for carrying the article passes through 2010. However, it is difficult to lay such a strong one. Therefore, it is an object of the present invention to provide a mobile shed apparatus capable of performing width shift control of a moving shed without using a sheet track-like object to be detected. [Technical means for solving the problem] In order to achieve the above object, the invention described in the first aspect of the invention is a mobile shed apparatus equipped with a plurality of wheels that can be traveled via a wheel. a moving shed for reciprocating walking, wherein the wheels on both sides of the width direction of the traveling path are respectively provided with a driving motor to constitute a driving wheel, and a control means for driving each driving of the moving shed is provided The motor controls the walking of the moving shed, and the moving shed equipment is designed to: set the detected object at the stop position of each of the moving sheds on the ground; and set a width offset detecting means on each of the moving sheds, The width of the movement path of the moving shed is detected by the detection of the detected object, and the degree of deviation (toward the left-right direction perpendicular to the traveling path) is detected. If the walking is stopped, the control means First, the width shift is detected by the width shift/detection means', and when a width shift larger than a predetermined value is detected, the width shift is reduced. Moving trajectory movable shed, and in the next walking, traveling in a manner traveling along the trajectory controlling the rotational speed of each drive motor. According to the above configuration, when the moving shed stops walking, the detected object is detected, and if the detected width shift exceeds a predetermined value, the traveling trajectory of the moving shed for canceling the width deviation of 201034919 is obtained. At the time of the next walk, the rotational speed of each drive motor is controlled so that the width shift of the moving shed is corrected. At this time, since there is no light reflection tape or a magnetic tape or the like along the traveling path, the traveling path in which the width shift is reduced is first obtained, and then the rotational speeds of the two driving motors are controlled in such a manner that the trajectory can be tracked. In this way, the width deviation control of the moving shed can be performed without using the object to be detected in the form of a sheet, and the detected ridges in the shape of the sheet track become unnecessary. Further, the invention described in claim 2 is directed to the invention described in claim 1, wherein the control means causes a moving shed to be based on the trajectory in which the width shift is reduced. When walking, make his • moving shed 'delay for a certain period of time before starting to walk. According to the above configuration, when one of the moving sheds is caused to perform the walking with the width offset canceled, the other moving sheds are delayed for a certain period of time before starting to travel. Thereby, the subsequent moving shed can be prevented from contacting (colliding) the previous moving shed; the previous moving shed, in order to perform the walking for eliminating the width deviation, temporarily turns to the direction for eliminating the width deviation, and presents the inclination shape. The invention described in the third application of the patent application is directed to the invention described in the first or second aspect of the patent application, wherein the above-mentioned walking is performed, and the two driving motors are expressed at a predetermined rotational speed or higher. It is activated and continues to drive the difference in the rotational speed to drive 'and the trajectory of the width offset can be eliminated when moving the specified distance. According to the above configuration, the two drive motors are activated at a predetermined rotational speed or higher, and the drive is further driven by adding a difference to the rotational speed. When the predetermined distance is moved, the width shift of the movable shed can be eliminated. At start-up, 201034919 can be activated by the two drive motors above the specified rotation speed, which can eliminate the following conditions: that is, the drive wheel of the square is stopped as the center, and if the drive wheel of the other side is moved, When one of the driving wheels is pulled and moves freely, it is impossible to walk along the walking track. The invention described in the fourth aspect of the invention is the invention described in the first aspect or the second aspect, wherein the travel track is activated by the two drive motors at a predetermined rotational speed or higher. And continue to drive (4) the speed difference difference, and by multiple times U, eliminate the trajectory of the width offset. According to the above configuration, the two drive motors are driven at a predetermined rotational speed or higher and continue to drive the difference in the rotational speed, and the width shift of the movable shed can be eliminated while the predetermined distance is moved. The invention of claim 5 is directed to the invention described in any one of the above-mentioned claims, wherein the control means first determines the frequency at which the width-shifted walking is performed. Or the number of times, if the frequency exceeds the specified frequency or the number of times exceeds the specified number of times, an alarm is issued. According to this configuration, when the frequency or the number of times of the width shift of the moving shed increases, an alarm is issued to notify that the moving shed always has a width shift of zero, and the invention described in claim 6 is In the invention according to any one of the first to fifth aspects of the invention, wherein the object to be detected is disposed at each of the stop positions before and after the moving shed moves along the traveling path. Magnet; 7 201034919 As the width deviation detecting means, a magnetic sensor is disposed facing the magnet; ° The control means, if the walking stops, the magnetic force detected by the previous magnetic sensor The strength (magnetic sensitivity) and the current change in the magnetic strength detected by the magnetic sensor are used to detect the width shift of the moving shed, and then the walking of the moving shed that reduces the width shift of the moving shed is performed. control. ^ ❹ 根据 According to this configuration, the width deviation of the moving shed is detected by comparing the magnetic sensitivities of the magnets respectively arranged at the respective stop positions detected by the magnetic sensors, and then can be reduced The detected width deviation is performed to perform the walking control of the moving shed. The magnet can be placed in the stop position of the shed, and it is not necessary to lay the p && The invention described in the seventh aspect of the patent application is to sigh the invention of the invention, and is directed to the invention described in the first to sixth items of the patent application, wherein a walking amount detecting means is provided to detect the running amount of each of the driving wheels on the both side portions; and the control means, the base (4) is detected by the first detecting means of the driving wheel, and the deviation of the running amount is detected. The way to correct the control is to move the shed posture correction control by each of the *. According to the above configuration, the control time of the mobile shed is based on the work means, and the walking of the mobile shed is based on the amount of walking of the two moving wheels on both sides, and the drive WU detected by the mi means can eliminate the two bottles. Described by 4 people, ^ and the amount of travel of the boat wheel 8 201034919 The driving rotation method generated by the motor to perform the walking control method to correct the control by the various driving, and can move the shed posture There is no tilt system. 'L effect> The mobile shed equipment of the present invention, when the mobile shed stops walking, if the offset exceeds a predetermined value, the trajectory of the mobile shed for canceling the θ visibility offset is obtained, and the next trajectory is taken. At the same time, the rotational speed of each of the drive motors is controlled in such a manner as to be able to travel along this trajectory, whereby the wide displacement of the mobile shed can be corrected. Therefore, the following effects are obtained: that is, there is no need to follow the travel path Laying light reflection tape or magnetic material on the way can eliminate the bad situation of the shop. [Embodiment] Hereinafter, embodiments of the present invention will be described based on the drawings. As shown in Fig. 1 and Fig. 3, in the mobile shed equipment according to the embodiment, 〇 is composed of six (a plurality of examples), and the traveling path of the moving shed 11 group is arranged here. The fixed shed 3 at the outer position of both ends of the 10 is formed; between the pair of fixed sheds 3, the six moving sheds U are arranged to reciprocate in the direction A of the traveling path (reciprocating walking) In order to transfer the goods to the moving shed 11 or the fixed shed 3, between the 11 or between the moving shed 11 and the fixed shed 3, a working passage S is formed. In the present embodiment, the width of the travel path direction A of the work path S is "c" the width of the travel path direction a of the mobile shed. In addition, hereinafter, the direction 'the direction perpendicular to the traveling path direction of the moving shed U Μ front and rear 9 201034919) is referred to as the width direction (left-right direction) B. In addition, the surface of the moving shed 11 and the control panel 20 (described later) is the front side, and the right direction is the front direction (FW) and the direction moving to the right direction is the forward direction. The direction is set to the rear direction (RE) and the direction of moving to the left direction is set to the backward direction. Further, one side (back side) of the width direction (left-right direction) 8 of the moving shed 11 is referred to as the HP side, and the other side (front side) of the width direction β is referred to as the 0P side. Further, in order to form the position where the work channel S' is stopped after traveling, the moving shed is set to the rv stop position and the forward side to the FW stop position. [Fixed shed] The fixed shed 3' is composed of a lower casing 4 that is placed and fixed to the floor, and a shed portion 5 that is attached to the lower casing 4. In the shed portion 5, a plurality of compartments accommodating spaces 5a are formed in the vertical direction and the horizontal direction. Further, between the lower portions of the two fixed booths 3, an optical detector 6 for detecting obstacles is provided. The photo-sensing device 6, in the width direction B, is spaced apart by a plurality of intervals. Here, the photodetector 6 is a transmissive photoelectric switch in which the light projector 7 and the photodetector 8 face each other, and constitutes the detection light 7a from each of the light projectors 7, and can pass through the lower part of the moving shed 11 group. The space between the bottom surface of the frame 12 (described later) and the ground ia is received by the light receiver 8 at the opposite position. By using a pair of fixed sheds 3, it is possible to effectively use the installation space to protect the objects, and by using the photo-sensing device 6, even if the operator enters the working path S, he wants When the moving shed 11 is moved 10 201034919 t, such a W condition can be detected by the illuminating light traverse of the working path s, and the control of stopping the movement of the moving shed 11 can be performed. In addition, the detection light ray 7a S is set at a position lower than the ground la, so that it is not only an operator, but also falls from the shed portion 5 of the fixed shed 3 or the shed portion 13 (described later) of the moving shed 11 for work. Small foreign objects in the path S can also be detected in a non-contact manner. • In addition, as another detection method, it is also possible to use a photo-electrical sensor,

In the front and rear of the moving shed 11, the detection light is disposed in the width direction B. Further, the contact damper may be provided in the lower portion of the front and rear sides of the movement _U. [Moving shed] As shown in Fig. 1 to Fig. 7, the moving shed 11 is reciprocally and arbitrarily arranged on the traveling path 1 via the traveling wheels (the walking support device, an example of the wheel) 14 . These moving sheds are composed of a lower casing 12, a shed portion 13 attached to the lower casing 12, and the like.

The lower frame 12 is connected to the side lower frame 12a on both sides in the width direction (left-right direction) B, the middle lower frame 12b at the inner side (the plurality), and the middle lower frame 12a and the middle The connecting member 12c in the width direction (left-right direction) B between the lower frames 12b, the frame member i2d in the front-rear direction between the plurality of connecting members 12c, and the plurality of arms 12e and the like are formed. Rectangular frame shape. Further, the side lower frame 12a and the middle lower frame 12b are formed in a shape of a gate shape having an open lower surface by a pair of side plate portions and a plate portion connected between the upper ends of the side plate portions. Further, the connecting member 12c and the frame member 12d have a cylindrical shape in the shape of a cross section 201034919. The shed portion 13 is formed in a frame shape by the truss l3a, the beam l3b, the sub beam 13c, the support arm 13d, and the like which are vertically erected from the side lower frame 丄2a and the middle lower frame i, and thus is formed in the traveling path direction A. The open compartment storage compartment 13e is formed in plural in the vertical direction and the width direction B. In addition, the uppermost storage space 1 3 e ' is also open above. <Wheel> ❹ In the side lower frame 12a and the intermediate lower frame 12b, a pair of front and rear traveling wheels 14 are provided via the wheel axles 15, respectively. These traveling wheels 14 are composed of a metal inner wheel body 14a and an outer wheel body 14b made of a hard urethane rubber. For example, the outer wheel body 丄4b can be used to coagulate the earthen floor 1 On the ground 13, the composition is free to rotate. That is, the traveling wheels 14 are provided at seven (in plural) positions in the width direction B of the traveling path 1 , and at two places (in plural places) in the traveling path direction A. Further, the traveling wheel I4 located on both sides of the width direction B of the traveling path 1A is provided with a driving wheel (driving, driving support device) 14A in order to provide a rotational driving means. That is, the width of the traveling path 1 • and the two sides of the direction B are the traveling wheels of one side (at least one) of the traveling path direction A among the traveling wheels 14 at the side lower frame 12a. It is provided by driving the wheel axle 15A, thereby constituting the drive wheel 14A. At this time, the drive wheels 14A provided on both sides in the width direction B are disposed at two positions of the linear frame-oriented lower frame 12 in the width direction B. Further, the wheel axle 15A is driven to utilize the width 12

G Ο 201034919 The direction B extends to the inside. At the inner end portion, the lower frame is cut with the adjacent ten drive wheels 14A. Moreover, 1 wheel is taken, whereby the 'walking wheel also constitutes a machine, and the two driving wheel axles (5) are respectively connected with a deceleration example) 16, which: =, electric type driving motor (rotary driving means - frame 12b) 'Drive motor 16, is installed in the middle lower part

Rubber: In is placed on the upper portion of the front and rear ends of the side lower frame 123, and the rubber-mounted cylindrical stopper H is formed by the above-described members i2 to i7 and the like. An example of a mobile shed u that walks freely. [Pulse encoder]

Further, in the moving shed u, in the vicinity of the driving wheel (driving traveling support device) 14A inside the width direction B, = a pulse encoder (an example of the traveling amount detecting means) 21 is provided, and the pulse encoder is provided. 21' connects the control panel 20 that has been placed on the side of the mobile shed 11. That is, the 'pulse maker 2' is composed of the following members, that is, the bracket 22 from the side of the lower casing 12; and the support frame 24, which passes through the horizontal axis 23 along the width direction B', It is set to swing up and down freely; the detecting wheel body 2, 7 is supported by the auxiliary bearing; -B* «a j. The wheel body 26 is rotatably supported on the support frame 24 on the 'rotating body 28, which is mounted on the wheel body shaft 26' and the photoelectric switch 29, the surface of which has been formed on the rotating body The slit portions 28a and 28b' on the crucible are provided on the side of the support frame body 24. Here, in the rotating body 28, the concave outer slit portion 28a' and the angular inner slit portion 28b' are respectively formed with a set angle, and this 13 201034919

The frame 24 is lowered. 'Staggered at a set angle. Further, the photoelectric switch 29, the inner photoelectric switch 2 rib group '29b' of the outer side photoelectric switch 28b of the unsealing portion 28a is connected to the aforementioned control panel 20. In the case of the connection, the members shown in Figs. 22 to 29 and the like are forced to be forced, and an example of the above-described component symbol punching encoder 21 is constructed. [Width Width Detection] On the floor 1, for each of the moving sheds, a circular magnet (detected body) for indicating the RV stop position is embedded in two places on the HP side and the 〇p side. In the case of the travel path direction (front-rear direction) A, the position is replaced by a circular magnet (the detected object is placed at two places on the HP side and the 0P side) to indicate the Fw stop position. An example) a magnetic sensor is disposed in each of the mobile sheds 11', and the magnetic sensor detects the magnets 31' at the HP position and the 〇p position and serves as a width shift for detecting the width deviation of the moving shed u Means to use. That is, a bracket 36 close to the floor panel 1 is attached to the pair of connecting members 12C at the center portion in the width direction B, and three magnetic bodies are disposed on the bracket 36 in the width direction (left-right direction) B. Sensor 35a (HP side), 35b (center), 35c (0P side). The central magnetic sensor 35b among the magnetic sensors 35a, 35b, 35c is configured to face the upper magnetic group of the magnet 31 when the moving shed 14 201034919 11 is not offset in the width direction β. The senses 35a, 35b, 35c are connected to the above-described control panel 20. [Proximity detection] In the front and rear of the lower casing 12 of the moving shed 11, respectively, a proximity sensor 37a for detecting that the adjacent moving shed 11 on the front side is close; and a proximity sensor 37b, which is used to detect that the adjacent moving sheds 11 on the rear side are close; these proximity sensors 37a, 37b, Ο are connected to the above-mentioned control panel 20. The proximity sensors 37a, 37b are formed by a magnetic sensor, a reflective photoelectric switch, an ultrasonic sensor, or the like. - [Main Control Panel] - The control panel 20' provided on each of the above mobile sheds 11 is connected to the main control panel 38. The main control panel 38 is used to control the entire mobile shed equipment, such as an open/close switch provided with a mobile shed device, a walking operation portion (button) of each mobile shed u, and the like. Further, by the operation of the walking operation portion, the traveling direction signal of the moving shed 11 which is desired to be moved is given as a walking command. For example, when stopping the stop position in the second to third figures, the moving shed 11 on the (e), after walking on the walking path ίο, stops at the -stop position (f), first, if the main operation The control panel 38 gives the walking command signal (traveling direction signal) to the control panel 2 of the mobile shed u stopped at the stop position (e). Further, when the plurality of mobile storage booths u are simultaneously traveling, the main control panel 38 is configured to sequentially control the ""n" in the set time (2 to 3 seconds). When the traveling direction signal is given, in the traveling direction, when winter 15 201034919 has the moving shed 11 for performing the width shift control described later, a signal having the "width shift control" is given to indicate that the width is biased. Move controlled shed. [Control panel of the mobile shed] Inside the control panel 20 of each mobile shed 11, as shown in the figure, there is: an operation panel 4 (Fig. 9); a mobile shed controlled by a computer. 11 (an example of the control means) 41; and corresponding to the speed command value output from the moving shed controller, vector control of the torque vector control for each of the 〇 drive motors 16 provided in the width direction B (left and right direction) The inverters 42a, 42b are provided with an alarm lamp 43 that illuminates when the offset in the width direction B (referred to as a width offset) cannot be automatically eliminated; and a width deviation occurs when moving the shed 11 The attention light 44 that will be illuminated when moving. The vector control inverter 42a'42b is configured to "high-speed calculation of the output of the corresponding load state by a high-speed arithmetic unit (CPU), and to control the voltage and current to an optimum value, and to increase the starting torque; These vector (4) inverters 42a and 42b perform torque vector control, and can perform rotational driving with less influence on load fluctuation, and can obliquely cause uneven load distribution of goods stored in the moving shed 11. Lines (tilt lines • walk) are suppressed to a minimum. <Operation panel> By moving the shed controller 4 when the width of the moving shed u is shifted in the width direction 6, it can be automatically performed to eliminate the width offset (four) correction control (width shift control) (described later) However, if such correction is not required, an operation surface for manual operation is provided. On the operation panel 16 201034919 40, as shown in FIG. 9, there is provided: an automatic-force selection switch 51 for selecting to automatically operate the mobile shed 11 or forcibly moving it by a switch to be described later; Rotating the switch (operating to operate one of the driving wheels 14A) 52, for the driving motor coupled to the driving wheel 14A on the HP side, pressing the switch to drive the driving wheel 14A; Manually operating the other drive wheel ι4Α switch 53' for the drive motor 16 coupled to the drive wheel 14A on the op side, pressing the switch to drive the drive wheel 1; HP moving the push button switch (using semi-automatic, An example of the first switch for correcting a certain distance on the Hp side) 54 for issuing a command for moving the moving shed toward the width direction (left and right direction) of the HP side by a predetermined value (for example, 10 mm); and 〇P moving the button A switch (an example of a second switch that corrects a certain distance to the Hp side by a semi-automatic) 55 is used to move the moving shed ii to the width direction (left-right direction) of the ◎ 0P side in advance. The set value (for example, 10mm) is the command. <Mobile Shed Controller 41 &gt; As shown in Fig. 11, on the mobile shed controller 41, the main control panel 38 is connected; the operation panel 4A; the pulse encoder 21 of the 〇p (photoelectrics 29a, 29b) ; HP, 〇P magnetic sense _35a, 35b, 35c, _ proximity sensor 37a, 37b; HP, op vector control inverter 仙, 仙; alarm light 43 and attention light 44. Moreover, the mobile shed controller... 17 201034919 is constructed as follows. In other words, the forced running control unit 61 (described later); the HP sensitivity detecting unit 62a adds the magnetic sensitivities detected by the respective magnetic sensors 35a, 35b, and 35c of the HP. The magnetic sensitivity of the liver position is obtained, and the width deviation direction of the moving shed u is detected by comparing the magnetic sensitivities of the magnetic sensor 35a on the HP side and the magnetic sensor 35c on the 〇p side (toward the liver) Shift or offset to the 0P side);

The 〇P sensitivity detecting unit 62b obtains the magnetic sensitivity at the 〇p position by adding the magnetic sensitivities detected by the magnetic sensors 353, 35b, and 35c of 01&gt;; the automatic walking determining unit 63 ( As will be described later in detail, when the walking apostrophe 'output from the automatic walking determining unit 63 is switched to the forward command or the reverse command, the travel start (start) signal is output as one pulse; The first leaf counter 65' inputs a reset signal to be described later, and 'when the forward command is output from the ί walking determination unit 63, 'will be reset (clear), and the pulse output from the left pulse encoder 21, And multiply each (four) momentum (pre-acquired) to measure the left drive wheel UA line; distance (walking amount - an example); second count n 66, input the reset signal described later, and when from From the right: break ° "3 output forward command, will be reset (reset), the movement of the game: the pulse of the pulse encoder 21, and multiply each pulse after the pulse (pre-acquisition), Measuring the walking distance of the driving wheel UA on the right side (an example of the amount of squatting); 67, by the line 201034919 from the walking reset unit (four), the pulse (彳) is reset (reset), and the number of pulses output from the left and right punch encoders 21 is counted, and two are detected. The difference between the right and the right difference exceeds the set value (the design can be changed in advance), then the control signal is turned on (on), and when the difference in the number of pulses is almost 〇, the predicted control execution signal is turned off (Off). ; Ο

The first differentiator 68' adds a reading point to the traveling distance of the left driving wheel 14A detected by the first counter 65, and multiplies the coefficient described later to obtain the driving wheel m generated by the left side - ( (advance) walking distance; a, the first adder 69', the walking distance of the left driving vehicle #14A detected by the 帛1 counter 65, plus the left side obtained by the 帛1 differentiator 左The predicted driving distance (the predicted value of the walking distance) after a certain period of time is obtained by the driving wheel &quot;A; the second differentiator 70 will be operated by the 帛2 counter 66. The detected right (4) of the drive wheel 14A is added (10) and multiplied by the coefficient described later to obtain a (forward) travel distance generated by the right drive wheel 14A for a certain period of time; The thief 71 'the walking distance of the right driving wheel UA detected by the second counter 66 is added by 帛 2 differential! | 70-derived drive from the right | The forward travel distance of a certain time (the forward travel distance) generated by the early morning 14A to obtain the predicted travel distance (predicted travel distance) after a master-set time The first subtraction thief 7 2, from the μ 士 , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , The distance traveled by the square drive rudder 14A is used to determine the deviation of the travel distance of the left and right drive wheels 14A; the second subtractor 73 is derived from the first! The predicted travel distance after a certain period of time generated by the left drive wheel 14A obtained by the adder 69 is subtracted from the right drive wheel 14A obtained by the second adder 71. The travel distance after the time is determined to obtain the predicted travel distance deviation of the left and right drive wheels 14A; _ - the tenth 74, by counting the travel start pulse signal output from the travel reset 胄 64, and counting the time The counting of the time is stopped by the predictive control execution signal outputted from the pulse error determining unit 2, and the time until the difference between the start of the walking and the number of generated pulses exceeds the set value is measured, and the inverse proportional time is rounded off. The coefficient, that is, the coefficient obtained by the tendency that the difference in the number of pulses exceeds the set value (the predetermined value of the running amount deviation), and the speed control unit 75 (described later). <Forced Travel Control Unit 61 &gt; As shown in Fig. 12, the forced travel control unit 61 is input with an operation signal of each of the switches 5! to 55 of the operation panel 40; and a proximity sensor 37a by the front and rear The proximity signal detected before and after 37b is detected by the automatic __ selection switch 51'. When the "forced" day is selected, the forced selection signal is outputted to the speed control unit 75 when "when _" automatic, the signal is automatically selected. The speed control unit 75 outputs the result. 20 201034919 In addition, when "Forced" is selected by the automatic-forced selection switch 51, if the HP rotary switch 52 is operated and is turned to the forward side (fw side), the time of the skin operation, the HP motor front side drive signal, When the speed control unit output is reversed to the retracted side (RE side), the operated time and the Hp motor rear side drive signal are output to the speed control unit 75. Further, if the rotary switch 53 is operated, the output is turned down. On the forward side (FW side), the time, the 〇p motor front side drive signal is output to the speed control unit 75, and if it is operated backward and backwards (grab side), the time to be operated, = The rear side drive signal is reached and output to the speed control unit 75. Further, when "forced" is selected by the above-described automatic-forced selection switch 51, when the HP moving button switch 54 is pressed (operated), when the proximity signal of the near-side sensor 37a of the current side is turned on (0N), Then, the rear side forced Hp width offset command signal (that is, the command to forcibly cancel the width shift to the liver side by the conventional rear side walking) is reset and output to the speed control unit 75; When the proximity signal of the proximity sensor 37b is turned on (〇n) 〇, the front side is forced to the HP width offset command signal (that is, the command for forcibly canceling the width offset to the HP side by the conventional front side walking) The reset is reset and output to the speed control unit 75. In addition, if the rear side forced 宽度p width offset command signal or the front side forced 〇p width offset command signal described later is reset, the operation of the HP moving button switch 54 cannot be received, and the previously operated operation is performed. 〇p The operation of the move button switch 5 5 is preferred. In addition, when "Forced" is selected by the above-described automatic-forced selection switch 51, if the 0P movement button switch 55 is pressed (operated), when the near side of the current side 21 201034919 is connected to the proximity signal of the n 37a (10), The rear side forcing the 0P width shift command signal (that is, the command for forcibly canceling the width shift to the 0P side by the conventional rear side travel) is reset, and is output to the speed control unit 75, and the back side of the field is connected. When the proximity signal of the sensor 37b is turned on, the side forced 0P width offset command signal (that is, the command for forcibly canceling the width offset to the 〇P side by the front side • walking) is reset (reset) And output to the speed control unit 75. If the rear side forced HP width shift command signal or the front side forced Hp width shift command signal is reset, the operation of the 〇p move button switch 55 cannot be received, and the previously operated Hp move button switch 54 The operation is prioritized. Further, the rear side forces the HP width offset command signal and the rear side forced 宽度p width offset command signal, and if the proximity signal of the rear proximity sensor 37b becomes ON (0N), it is reset; Further, the front side forced Hp width shift command signal and the front side forced 0P width shift command signal are reset if the proximity signal of the proximity sensor 37a of the front side ◎ is turned "on". <Automatic Walking Determination Unit 63> The above-described traveling direction signal and the signal having the width shift control are input by the main control panel 38', and the magnetic sensitivity 'in the HP position is input by the HP sensitivity detecting unit 62a' is detected by the 0P sensitivity The portion 62b inputs the magnetic sensitivity ' of the op position and inputs the proximity signal of the adjacent moving shed 11 of the proximity sensors 3 7 a, 3 7 b to determine whether the moving shed is used by the traveling direction signal. 11 forward or backward; when receiving the 22 201034919 signal with width offset control, 'delay the time to output the forward command or the reverse command, and sense the proximity signal of n 37a $ 37b according to the proximity of the walking direction, or HP The magnetic sensitivity of the position is detected or the magnetic sensitivity of the op bit is detected to output a stop command. X, although not shown, outputs a stop command if the photodetector 6 operates. <Speed Control Unit 75> The speed control unit 75' is a walking determination signal of the automatic travel determination unit 63 based on the forced travel command signal of the forced travel control unit 61, and the left and right signals obtained by the first subtractor 72. The deviation of the travel distance of the drive wheel UA, the predicted travel distance deviation of the left and right drive wheels ια obtained by the second subtractor 73, and the prediction control execution signal rotated by the pulse error determination unit 67, by The magnetic sensitivity and the width shift direction of the liver position obtained by the Hp sensitivity detecting unit 62a and the magnetic sensitivity of the 〇p position obtained by the 0P sensitivity detecting unit 62b are used to obtain the left and right vector control 〇 frequency conversion. The speed command values of the devices 42a and Cb (corresponding to the amount of driving rotation generated by the rotational driving means) are output and further, the alarm signal = the lamp 43 is turned "over" and the injection signal is output to the attention lamp, and The width shift control execution signal is output to the main control panel 38; as shown in Fig. 11, the forced drive unit 77, the semi-automatic width deviation control unit 78, the automatic posture control unit 79, and the automatic width deviation control are provided. 8〇 unit constituted. Further, as shown in Fig. 12, the relay RY-F0R that is operated (excited) by the forced selection signal output from the forced travel control unit 61, and the automatic selection output from the forced travel control unit 61 are provided. In response to the signal, the relay RY-AUT0 is formed as shown in Fig. 16. Further, as shown in Fig. 16, the relay RY-W is provided, and the relay RY-W-0P output from the automatic width offset control unit 8 described later is activated ( 0N) or when the relay RY_W-Hp is activated (caught), it will act (excitation). "Forced drive unit 77" In the forced drive unit U, as shown in Fig. 12, when the HP motor front side drive signal of the forced travel control unit 61 is input, the relay RY-HP~FW of the operation is activated; When the HP motor of the forcible travel control unit 61 inputs the 驱动-side drive signal, the relay RY_Hp to RE\ that will operate will be activated when the forced travel control 胄61 # 0P motor front drive signal is input, and the relay RY-0P- FW; and the relay RY_〇p_RE that will operate when the motor's rear side drive signal is input when the forced travel control unit is turned on. Further, as shown in FIG. 13, the forced driving unit 77 is provided with a liver speed setting unit 8 that has set a speed command value of the HP driving wheel UA at the time of manual operation, and a 〇p when the manual operation has been set. The speed command value of the wheel 14A is driven by the 速度p speed setter 82.

D is set in the HP catch setting unit 81 HP drive (four) 14A speed command value, is output by the action of the relay RY_Hp_Fff; when the HP drive wheel UA speed command value is negative, by The action of the relay RY-HP-re is output. The speed command value ' of the drive wheel UA of the 0P set in the 0P speed setter 82 is output by the action of the relay RY_〇p; when the speed command value of the drive wheel 14A of the 0P is negative by the relay RY - 〇 P-RE action is output. 24 201034919 In addition, when the speed command value is positive, it indicates the forward speed command value, and when it is negative, it indicates the skip command value. It is said that the month is caused by the configuration of the forced driving unit 77. • When "Forced" is selected by the automatic-forced selection switch 51, if the liver rotation switch 52 is operated and is turned to the forward side (Fff side), the relay RY-HP-FW operates during the period in which the operation is performed. The drive wheel "A speed command value (forward) of the positive value Hp set in the HP speed setter 81 is outputted", and the drive wheel 14A of the HP side drive motor 16' HP is driven to the forward side. Further, if the Hp rotation switch 52 is operated and is turned "backward side (RE side)", during the reverse period (during operation), the relay Is RY-HP-RE action ' is set to the Hp speed setting. The speed command value (reverse) of the HP drive wheel 14A of the negative value in the 81 is output, so that the drive wheel 16 of the HP side is driven by the drive wheel 16 of the HP side to the reverse side _ side. - When "Forced" is selected by forcibly selecting the switch 51, when the right turn P rotation switch 53 is operated and is turned to the forward side (FW side), the relay RY-OP-Ff is operated during the "operation" period, and is set to 0P speed setter 82 positive value of 0P drive wheel 14A speed command The value (input) is outputted. Then, the drive wheel 16 of the 〇p is driven to the forward side by the drive motor 16 on the 〇p side. Further, when the 〇p rotation switch 53 is operated and is reversed to the retreating side (RE side), the relay RY OP RE operates during the operation, and is set to a negative value of 25 in the 〇p speed setting unit 82. 201034919 OP The speed command value (reverse) of the drive wheel 14A is output, so that the drive wheel 16A of the 0P side is driven to the reverse side by the drive motor 16 of the 0P side. 0. The HP rotary switch 52 and the 0P rotary switch 53 are controlled by the above. The operation, as shown in Figs. 10(a) and (b), enables the moving shed n to rotate. That is, when "forced" is selected by the automatic-forced selection switch 51, as shown in Fig. 10(a), when the HP rotary switch 52 is operated, it is turned to the forward side (FW side), and 〇p is operated. When the switch 53 is turned to the reverse side 〇 ((10) side), the HP side drive motor 16 is directly driven during the operation, and the HP side drive wheel 14A is driven to the forward side. The drive motor 0 on the 0P side is directly driven, so that the drive/wheel on the 卯 side is driven to the reverse side, whereby the mobile shed U is tilted toward the Hp side. Further, conversely, as shown in Fig. 10 (8), if the HP rotary switch 52 is operated to be reversed to the retreating side (10) side, and the 〇p is rotated to open _ while being turned to the forward side (10) side), the moving shed is operated. Π will tilt to the 0P side. 〇 semi-automatic width shift control unit 78" has two halves: in the second width shift control unit 78, as shown in Fig. 12, when the rear side of the field "walking control unit 61 is forced to input the HP width number" The relay of the action is: the relay side of the two action _ width offset command signal is sent to the second time control = TMe; and when the forced travel control part 61 is two = 26 201034919 electrical RY-WS-0P- width bias 'When the k number is entered, it will follow the FW. Further, in the semi-automatic width shift control unit 78, as shown in Fig. 14, a relay RY_WS' is provided when the relay ry, _hp_re operates, when the electric appliance RY'-hp-fw operates, and when the relay RY, _〇p_RE : When it is working, or when the relay RY-WS_0P-FW is activated, it will be activated. Further, in the semi-automatic width shift control unit 78, 'the first speed index 83 is provided, and when the relay RY-WS operates, the execution is started, and the preset command value of the middle-side drive wheel UA is set in advance: When the relay RY_WS operates, the second speed command unit 84' starts execution, and the speed command value of the other drive vehicle 14A that is set in advance is rotated. When the relay RY-WS-0P-FW is activated (0N), the speed command value output from the second speed command unit 83; when the relay RY_ws_Hp_Fw is activated, the speed command output from the second speed command unit 84 Value; a negative speed command value output from the second speed command unit 83 when the relay RY4S-0P-RE is activated; and a negative output from the second speed command unit 84 when the relay RY-WS-ΗΡ-RE is activated The speed command value; these speed command values are output to the HP vector control inverter 42a. When the relay RY-WS-0P-FW is activated (0N), the speed command value output from the second speed command unit 84; when the relay RY-WS-HP-FW is activated, the speed output from the first speed command unit 83 Command value; a negative speed command value output from the second speed command unit 84 when the relay RY-WS-0P-RE is activated; and a speed command from the i 27th 201034919 when the relay RY-WS-HP-RE is activated The negative speed command value output by the unit 83; these speed command values are output to the vector control inverter 42b of the op. In addition, when the obscurity command value is a positive value, it indicates a forward speed command value, and when the field speed command value is a negative value, it indicates a reverse speed command value. The speed command value output from the first speed command unit 83 and the second speed command unit 84 will be described. As shown in Fig. 17 (a), it is assumed that the width lapse of the moving shed llx is as shown in Fig. 17 (b), and the movement is set while the width (front-rear direction) of the moving work path s is, for example, 2 m. The trajectory of the shed (track correction trajectory) is used to eliminate the width offset of the pre-set amplitude (at least one example of the width offset). As shown in Fig. 17(d), the first operation is used to achieve this. The rotational speed (speed command value) per unit time of the drive motor 16 on the HP side of the traveling path and the drive motor 16 on the 0P side is set to one of the first speed center 7 portions 83' (in the embodiment, Hp) The rotation speed (speed command value) per unit time of the drive motor 16 is set to the drive motor 16 of the other (in the embodiment, the op. side) of the second speed command unit 84. The rotational speed per unit time (speed command value). The predetermined amplitude (offset amount) is set to be outputted by the drive motor 16 when the moving shed 11 moves the distance of the width of the work path S. Rotation speed and acceleration and deceleration You can actually corrected magnitude less. The front walking track is set such that the moving shed 11 is first moved in parallel, that is, the two driving motors 16 are simultaneously rotated by the same regulation 28 201034919 speed (HP and 0P driving wheels UA do not slide) The rotation speed is started at the rotation speed of ^, and then the movement shed 11 is moved while moving at the inclination angle ' shown in Fig. (C), and is tilted in the direction of eliminating the width deviation. That is, the rotational speed of the two-turn drive motor 16 is driven in such a manner as to have a difference, and the electric operator u moves the moving shed 11 while setting the tilt angle to "〇" ( can

The second type 'is tilted', that is, the rotational speed of the two drive motors 16 is driven in such a manner as to provide an "opposite" difference, and finally the moving shed u is moved in parallel 'that is, the two drive motors are made 16 simultaneously moves at the same rotational speed to the end. Thus, the predetermined moving shed (four) walking trajectory can be realized by changing the speed command value over time after starting the walking. Further, in the present embodiment, the width shift that can be eliminated by the operation of the HP moving button switch 54 and the 0P moving button switch 55 is set to "one movement", that is, the width of the moving work path 3. At this distance, half of the amplitude (maximum amplitude) can be corrected. Thus, the maximum amplitude can be eliminated by using the operation twice. The action produced by the configuration of the semi-automatic width shift control unit 78 will be described. When "Forced" is selected by the above-described automatic-forced selection switch 51, if the HP moving button switch 54 is pressed (operated), the proximity sensor detected by the proximity sensors 37a, 37b not shown in Fig. 12 The signal determines the open side of the moving shed 11 (forming the working passage s, moving the side 2010 29 201034919 separately movable side), and forming a forced Hp width offset command on the front side or the rear side, so the relay RY-WS_HP- FW or relay RY~ws_Hp_RE action. When the relay RY-ffS-HP-FW is operated, the second speed command unit 84 outputs a speed command value for the traveling trajectory to the HP vector control inverter 42a, and goes from the first speed command unit 83 to the 0P. The vector control inverter 42b outputs a speed command value for the travel trajectory, and according to these speed command values, the drive motor 16 on the HP side and the 〇P side is driven, and moves along the first side along the first side. The walking track movement (walking) shown in Fig. 4 is then moved to the side of the Hp side to set the amplitude (width distance). In addition, when the relay RY_ws_Hp_RE is operated, the vector control inverter from the first speed command unit 83' to the HP is outputted, and the speed command value corresponding to the negative (reverse direction) of the travel track is outputted, and the second speed command unit is output from the second speed command unit. 8 heart to 0P vector control frequency conversion stomach 42b, output with the negative (reverse 0 direction) speed command value of the travel trajectory 'According to these speed command values, the HP side and the 卯 side drive motor 16 are driven, moving the shed 1 While retreating, the edge of the walking track in the opposite direction of the walking track shown in '10 mesh (4) moves ( ► the rear direction A), so that the moving shed u moves to the side of the Hp side by a predetermined amplitude. When the "force" is selected by the automatic-forced selection switch 51, if the liver movement button 54 is pressed, the moving shed 11 moves to the Hp side while walking on the side of the main passage S. Set value. 〃 'When the forcing 30 201034919 is selected by the above-described automatic-forced selection switch 51, the right OP moving button switch 55 is pressed (operated), and the proximity sensors 37a, 37b shown in Fig. 12 are used. The detected proximity signal determines the open side of the moving shed (forming the working passage s, the side on which the moving shed 11 can be moved separately), and forms a forced Hp width offset command on the front side or the rear side, so that the relay RY -WS-0P-FW or relay RY-WS-OP-re action. When the relay RY_WS-0P-FW operates, the first speed command unit 83' goes to the HP vector control inverter 42a to output a coordinated walk. The speed command value is output from the second speed command unit 84 to the vector control inverter 42b' of the 0P, and the speed command value for the travel trajectory is outputted. According to these speed command values, the drive motor 丨6 on the HP side and the 〇p side is Drive, the moving shed 11 enters and moves along the walking trajectory shown in Figure 10 (d), moving the preset amplitude in the direction of the moving shed 1 to the side of the 〇p. Again, once the relay rY_ws_ 〇p_re action, then from the third speed The command unit 83' outputs a speed command value corresponding to the negative (圯 direction) of the traveling rail track to the vector control inverter 42a of the HP, and controls the inverter 42b from the second speed command unit 84 to the 0P inward, and outputs Negative with the walking trajectory

The speed command value of the direction), according to these speed command values, the liver side and the 0P-side drive motor skin drive, the moving shed 11 retreats, and in the opposite direction to the walking track shown in Fig. 10(d) The traveling trajectory (refers to the front and rear direction A) is moved, so that the direction in which the shed U is moved to the P0P side is moved by a predetermined amplitude. In this way, when "Forced" is selected by the automatic-forced selection switch 51, if the 0P move button switch 55 is pressed, the mobile shed u is on the side of the path s in the work 31 201034919 - please move on the HP side. Setting value "Automatic posture control unit? 9" Walking judgment t-potential control 胄79' As shown in Fig. 15, it is provided that when the automatic deviation #抟P 63 is a forward command signal (when there is a width offset) When the control signal is delayed and the illusion is lost, it will move. ° 'Although the back command (when the signal has the width offset control)

When the time is delayed and output), the relay RY-B that will act; the relay stomach RY-s that will act when the command is stopped; and the predictive control execution signal of the pulse error judgment neighbor 67 is turned on. (0Ν), the relay RY-M will operate. Further, a speed setter 85 having a predetermined traveling speed of the moving shed U is provided. In addition, by the action of the relay (4), when the predictive control execution signal is not turned on (10), the travel distance deviation is selected #' (4) (4) Execution (4) is on ((6), the predicted travel distance deviation is selected; Further, "providing: an i-th function portion 86 for obtaining a speed correction amount of the HP driving wheel 14A by the selected deviation; and obtaining the driving wheel uA of (10) by the selected deviation The second function unit 87 of the speed correction amount. When the deviation exceeds a predetermined amount (dead band) of a positive value and becomes a positive value, the speed is corrected by a negative value. When the deviation exceeds a predetermined amount (non-inductive band) of a negative value and becomes a negative value, the second function unit 87 outputs a positive speed correction amount in proportion to the value. Further, if the selected deviation exceeds the positive value The predetermined amount (non-sensitive band) of the value or the negative value is outputted by the i-th function unit 86戍32 201034919, the second function unit 87, and the mobile-station posture correction control (tilt correction control) can be executed. In the speed setter 85, The third subtractor obtains the speed correction amount of the positive value output from the i-th function P 86 from the predetermined traveling speed of the mobile shed U that has been set, and obtains the driving wheel 14A of the Η? a speed command value; and an ith lower limit limiter 89 for limiting the minimum speed of the speed of the drive wheel UA of the Hp obtained by the third subtractor to ensure the minimum speed; the speed setter Μ, and configured to output the speed command value to Hp vector control inverter 42a. The speed command value is selected in the following manner: by the action of relay RY_F (advance command start), the lower limit has been defined The speed command value of the drive wheel 14A is selected; by the action of the relay ry b (the reverse command is activated), the lower limit has been limited to the speed command value of the negative value of the drive wheel 14 of the Hp; By the action of the relay RY_S (start of the stop command), the speed command value "〇" of the HP drive wheel 14A is selected.

Further, the speed controller 85 is provided with a fourth subtractor that subtracts the speed correction amount of the positive value output from the second function 邛86 from the predetermined traveling speed of the mobile storage U that has been set. The speed command value of the drive wheel 14A is taken; and the second lower limit limiter 91 is used to limit the lower limit of the speed of the drive wheel i 4A of the 〇p obtained by the fourth subtractor. The lowest speed; the speed setter 85 is configured to output a speed command value to the vector control inverter 42b of 〇p. The 忒 speed command value is selected in the following manner: by the action of the relay RY_F 33 201034919 (the forward command is started), the speed command value of the drive wheel 14A of the op that has the limited limit is selected; by the relay RY- The action of B (reverse command is activated) 'The speed command value of the negative value of the drive wheel 14A whose 下限p is limited by this lower limit is selected; and the action of the relay RY-S (start of the stop command), 〇P The speed command value "〇" for driving the wheel 14A is selected.

The action by the configuration of the automatic posture control unit 79 will be described. If a forward command or a reverse command is input from the main control panel 38, the speed command value output from the speed 5 and the counter 85 (positive value at the time of forward and negative at the time of backward) is output to the vector control inverter of HP. The vector 42a and the vector of the 〇p control the inverter 42b, so that the mobile shed u travels. When a stop command is input from the main control panel 38, the speed command value of "〇" is output to the vector control inverter 423 of HP and the vector control inverter 42b' of 〇1), and the mobile shed 11 is stopped. Further, when the moving shed 11 is traveling, the deviation of the traveling amount of the two driving wheels 14A is obtained based on the amount of travel of the driving wheels 14A detected by the two pulse encoders on both sides and the counters 65 and 66, and is input. In the control unit, in order to eliminate the deviation, the speed command value output from the speed receiver (10) is corrected, and a speed command value having a difference is obtained, and the vector control inverter 42a and the vector control inverter of Hp are outputted to the Hp vector, so that The amount of driving rotation generated by each of the driving horses 16 is corrected, so that the posture of the moving shed 11 is controlled. 34 201034919 In addition, the deviation of the amount of travel of the two driving wheels 14A is determined by the distance from the start of the movement, the time of the 'overtake' (four) travel distance, and the time from the start of the movement to the occurrence of a pulse difference exceeding the set value. On the other hand, the vector control inverter 42a of the drive motor 16 or the coffee machine is connected to the predictive travel (four) lead drive wheel 14A), and outputs a control signal for reducing the amount of drive rotation. As a result, the amount of driving rotation of the drive motor 16 on the leading side is lowered, so that the leading side is slowed down and proceeds at a low speed, and the inclination (four) can be gradually corrected correspondingly to eliminate the deviation. In the control using only the travel distance deviation, the deviation is excessive, and by this predictive control, the deviation can be eliminated and the travel control can be performed stably. In the automatic posture control unit 79, based on the detected running amount of the two driving wheels UA, the driving rotation amount generated by each driving motor 16 is corrected and controlled so as to eliminate the variation in the running amount of the two driving wheels m. To perform the posture correction control of the mobile shed U. "Automatic width deviation control unit 80" As shown in Fig. 16, the automatic width deviation control unit 80 is provided with a magnetic sensitivity of the Hp position obtained by the HP adder detecting unit 62a by the third adder 93'. And the sum of the magnetic sensitivities of the swollen positions obtained by the 0P sensitivity detecting unit 62b to obtain the total value of the magnetic sensitivities; and the previous sensitivity storage unit 93 for memorizing the passage of the travel for a certain period of time ( The relay RY_S is activated, and the total value of the magnetic sensitivities obtained in the third adder 92 is determined by a timer after a certain period of time. 35 201034919 The 'Settings and Degree Detection Section... and the t1 comparator 94 are used to detect the presence or absence of a liver sensor, to detect the magnetic sensitivity of the 1TP position; and the magnetic sense of the second comparison position by the GP When the sensibility detection unit 启动ρ is activated by this - centering relay 11RY-S (stop command), if the production is borrowed, 14 94 or the second comparator 95 detects that there is no magnetic sense to the alarm. Lamp 43 output; or, when the relay is tilted, if by the first comparator 94 or the second ratio

If the magnetic sensitivity is detected at =95, the above-mentioned reset ((4) (4) signal is output. Further, the width deviation detecting unit 96 is activated, and when the relay ry_s (stop command) is activated, 'based on the third adder 93. The total value of the magnetic sensitivity and the deviation of the total value of the previous magnetic sensitivity stored in the previous sensitivity storage unit 93 'determine the width direction B &amp; width deviation of the traveling path ι caused by the current walking (the foregoing The deviation of the total value of the magnetic sensation is converted into the width deviation ′′ and it is confirmed whether or not the obtained width deviation is equal to or larger than a predetermined width deviation. When the width deviation is greater than or equal to the set width deviation, the HP sensitivity detecting unit 62a is used. When the width deviation to the HP side is detected, the width deviation correction signal to the 〇p side is output, and when the width deviation to the 0P side is detected by the Hp sensitivity detecting unit 62a, the width deviation correction to the Hp side is output. In addition, a relay RY-W-0P that operates by the width deviation correction signal on the 0P side is provided, and a relay RY-W-HP that operates by the width deviation correction signal on the Hp side is provided. With: 3rd speed command unit 9 7. When relay RYn or relay RY-W-HP is activated, and relay RY_F (forward command) or following 36 201034919 appliance RY-B (backward refers to eight, &amp; ^ and 7), the execution starts and the output The speed command value of the drive wheel 14A of + of one of the presets; and the speed command value of the drive wheel 14A set by the fourth speed command unit 98 at φ π 面 face mountain. The vector to HP is also tender. The speed command value of the inverter 42a is output as follows. When the relay ητ7 - relay RY-W-0P is activated (ON), the rim rotation from the third speed command unit 97 is obtained. , Α Λ , . j out speed command value; when the relay RY-W-HP starts the speed command value output by the speed command 98; and selects the speed command value by the relay RY'F (forward command), Selecting the negative speed command value by relay RY B (reverse command), and selecting the speed command value "0" by the relay RY-SOa U, 4 b (stop command), and The speed command value of the vector control inverter 42b to the 0P vector is output as follows. When [[10] starts (10)), the speed command value output from the fourth speed buckle 7 σρ 98 is obtained; when the relay πυρ © starts, the speed command value output from the third catch command unit 97 is obtained; The speed command value is selected by the relay Μ (forward command), the speed command value of the negative value is selected by the relay RY-B (reverse command), and the speed command value is selected by the relay Μ, the stop command) "〇" and output it. Further, the frequency detection unit 99, the number of times the counting relay RY_w_〇p or the relay RY-W-HP operates, that is, the frequency at which the running of the width deviation is reduced is obtained, and if the frequency is larger than the predetermined frequency, Then, the attention signal is output to the attention lamp 44. Further, the frequency detecting unit 99 may be configured to: 37 201034919 to obtain the number of times the walking in which the width deviation is reduced is performed, and to output the attention signal if the number of times is larger than the predetermined number. The method of setting the speed command value outputted from the third speed command unit 97 and the fourth speed command unit 98 is outputted by the first speed command unit 83 and the second speed command unit 84 of the semi-automatic width deviation control unit 78. The speed heart 7 value is the same, but in the automatic width deviation control. P 〇 疋 set the elimination width deviation to: the width of the moving material path s at one time (four) The amount of correction (maximum amplitude) that can be corrected, and the deviation of the total value of the magnetic sensitivity for determining the width deviation of the width direction B of the traveling path ίο is set in accordance with the maximum amplitude set. Further, in the automatic width deviation control unit 80, the setting of the width deviation that can be eliminated is set to the maximum amplitude that can be corrected in one movement, but the semi-automatic width deviation control unit may be provided. 78 is also set to -half. At this time, the Q width shift control is executed at the next and next next walk, and the width shift is eliminated by 2 movements. Further, it is also possible to eliminate the width deviation by repeatedly moving three or more times. The shift 0 indicates the action caused by the configuration of the automatic width deviation control unit 80. When the moving shed 11 stops traveling, the magnets 31 are detected by the respective magnetic sensors 35 of ΗΡ and 〇ρ, and the total value of the detected magnetic sensitivities and the total value of the magnetic sensitivities stored when the traverse is stopped are detected. The difference between the deviations of 2010 and 201034919 exceeds the specified value, that is, if the width deviation of the mountain is larger than the specified value, then according to the width deviation direction, if the operation is to be performed, the correction to the op side is broken, then the drive is driven. Relay RY-W-0P, if the brakes are broken and the HP side is corrected, the relay RY-W-HP is driven. When the width deviation occurs, the width offset control execution signal is outputted to the main control panel 38, and the width offset is counted. If there is a certain frequency, the number is more than It is judged that the moving shed 11 frequently shifts in width and outputs the phonograph „%, 唬 唬, and the attention light 44 is lit. In addition, if the sensitivity of any of the 磁 Ο HP and the 0P magnetic sensor π is known, That is, if the magnet 31 is not detected, it is judged that φ ώ is in, and the automatic width shift control is defective, and the method automatically cancels the width offset, so that the output is urged to press the * HP moving button switch. 54 &lt; 〇ρ The alarm signal of the shift button π's alarm light 43 lights up. Thus, the relay RY-W-θρ or the relay RY_w_Hp operates, and if the next walking command, the relay RY_F (forward command) When the relay (reverse command) is operated, the speed command value is output from the third speed command unit 97 and the fourth degree command unit 98. When the field relay RY_W_0P is operated, the relay RY-F (forward command) is performed. (4) Output by the 3 speed command unit 97 The speed of the value refers to the vector control inverter output to HP, and the positive speed command value output from the first speed v rush 98 will be output to the vector control I inverter 42b of 0P. Then, according to these speed commands The value, the Hp side and the shift side drive motor 16 are driven to advance the moving shed n, so that the shed 11 is controlled to move to the 0P side @方1*^° by the moving shed controller 41. When the relay RY_B (reverse command) 39 201034919 is operated, the negative speed command value 'outputted from the third speed command unit 97 is output to the HP vector control inverter 42a, and the fourth speed command unit 98 is output. The output speed command value of the negative value is output to the vector control inverter 42b of 〇p. Then, according to these speed command values, the drive motor 16 on the Hp side and the 〇P side is driven to retract the moving shed 11, therefore, The moving shed 11 is controlled to move to a predetermined amplitude in the direction of the 0P side by the moving shed controller 41. ❹ When the relay RY-W-HP operates, the relay RY-F (forward command) operates. In the case of the fourth speed command unit 98 The output speed command value of the positive value is output to the HP vector control inverter 42a, and the positive speed command value output from the third speed command unit 97 is output to the vector control inverter 42b of the 〇p. Then, according to these speed command values, the drive motor 16 on the Hp side and the 〇P side is driven to advance the moving shed 11, and therefore, the moving shed 11 is controlled to be movable to the Hp side by the shed controller 41. The direction moves by a predetermined amplitude. When the relay RY__B (reverse command) ◎ is operated, the negative speed command value 'output from the fourth speed command unit 98 is output to the HP vector control inverter 42a, and is output from the third The speed command value of the negative value outputted by the speed command unit 97 is output to the vector control processor 42b of the 0P. Then, according to these speed command values, the drive motor 16 on the HP side and the 0P side is driven to move. The shed is retracted, so that the moving shed 11' is controlled to move the predetermined amplitude in the direction of the fairy side by the moving shed controller 4i. If the relay RY-S (stop command) is input, the vector control inverter 42a of the liver controls the speed of the inverter-like output speed index 40 201034919, and sets it to “0, so the mobile shed 1 1 stops. "Output from the speed control unit 75" and the speed control unit 75' is switched by the relay RY_F〇R (forced selection) relay ry-AUT0 (automatic selection) and relay m (width shift control) And outputting the speed command value of each of the vector control inverters to the Hp output from each of the forced driving unit 77, the semi-automatic width difference control #78, the automatic posture control unit 79, or the automatic width deviation control 480, and the vector to the 0P The speed command value of the inverter 42a is controlled. That is, the output signal of the forced driving unit 77 and the semi-automatic width deviation control unit 78 is output when the relay RY_F〇R operates; the output signal of the automatic posture control 邛79 'when the relay RY-AUTO is activated and the relay (four)^ has During operation, it is output; the output U of the automatic width deviation control unit 8 is output when the relay κγ_Αϋτ〇 operates and the relay ΜΙ also operates. ❹ [Effect of the whole] Hereinafter, the action in the above embodiment will be described. In Fig. 1 and Fig. 3, the working passage s can be formed in front of the target moving shed 11 by causing the squatting platform or the plurality of moving sheds 1 to be walked on the traveling path 1 From this work, you can use the path S to carry in and out the goods to the target area: the space 13e. The loading and unloading of the cargo is carried in the working passage s and is carried out via a pal let. 41 201034919 By the second, the ground 3 of the magnets 3b on both sides of the passage S is buried in the ground in the work path S, and there is no travel of a vehicle such as a two-way lift or the like. It is possible to perform two (four) walks in the direction of the work, and it is possible to carry out the work by the work of the s &amp; 隹 & &quot; 〇 shed 11: If you want to =1:, the stop position on the stop position (e) of Figure 3, walk on the path 10, stop at the stop position t #先' operation master control m, for The control panel 2〇 of the mobile shed u stopped at the stop position= is given a walking command signal (traveling direction signal). The moving fish: 疋 activates a pair of drive motors 16 of HP and 〇P to rotate the drive wheels 14A, respectively. Thereby, the traveling force can be imparted to the moving shed u, and the moving shed 11 is moved over the traveling path in &gt; 1 while the remaining traveling wheel 14 is rotated (idle). Moreover, by the detection control performed by the proximity sensor 37a or the like provided between the moving sheds, the moving shed does not collide with the mobile shed U that has stopped at the stop position (g), and can be stopped at the desired position. Stop position (|). When the moving shed 11 travels as described above, the movement of the cargo in the storage, the state of the ground la, the sliding of the driving wheel 14A with respect to the ground la, and the wear of the outer wheel body (10) in the driving wheel 14A, etc. When the squatting of 11 is not maintained, it is maintained in a right angle with respect to the traveling path 1 ′. For example, as shown by the imaginary line of FIG. 1 , an inclined posture in which one side is advanced and the other side is delayed is generated. 42 201034919 In such a case, by placing the pulse sterilizer 21 on both sides of the window sound &amp; η visibility direction β, to control the disk 20 to control the home by the former The rotation zone generated by the drive motor 由 is controlled by &amp;曰+. That is, as the moving shed is walking, the wheel body 27 is detected as a frictional ratchet. The salt mountain ^" moves to detect the rotation of the wheel body 27, and the rotating body 28 is rotated by the wheel body shaft. = By the rotation of the rotating body 28, the photoelectric switch _, Ο

The number of movements (number of passes) of the slit portion formed on the rotating body 28 is input to the 柝 control panel 20. In this control panel 20, the pulse output from each of the driving wheels 14A is obtained from the pulses output from the two pulse codes 2 by the S-number, and the distance traveled by each of the driving wheels 14A is a &gt; ^ UD y And compare it, in this case, become

The travel distance generated by the HP side drive wheel UA is large (advanced), and is driven by the drive wheel 14A on the 〇P side; + i4A produces a small (delayed) state of the strike distance 0" 'b comparison The control panel 2()' is similar to the drive motor 16 that is linked to the drive wheel 14A on the leading side of the travel distance, that is, the vector control inverter that drives the stirrup 16 in conjunction with the drive wheel UA on the Hp side. The amount of control signal is reduced, whereby the amount of driving rotation of the drive motor 16 on the HP side is lowered, so that the Hp side advances at a low speed with respect to the other j, so that the tilt posture can be gradually corrected and eliminated. In the tilt state, the pulse outputted by the pulse encoder 21 in the control panel 20, if the pulse exceeds the set value and the pulse (four) is different from the start of the movement, the corresponding travel distance and the pulse from the start to the generation exceeding the set value are generated. The difference is 43 201034919 to obtain the predicted walking distance, and the vector control inverter 42a or 42b for driving the motor 16 (linked to the driving wheel 14A on the leading side of the predicted walking distance) The control signal for lowering the amount of rotation of the drive is output. Thereby, the amount of driving rotation of the drive motor 16 on the leading side is lowered, so that the leading side is advanced at a low speed with respect to the retard side, and the traveling distance can be predicted in advance. The tilt posture is gradually corrected to eliminate the deviation. With respect to the control using only the travel distance deviation, the deviation is excessive, and by this predictive control, the deviation can be eliminated and the travel control can be performed stably. Since the control panel 20 is controlled, the movement of the movable shed can be performed in a right angle state with respect to the traveling path 1 。. Further, when the moving shed 11 stops traveling, each of the magnetic sensors 35 is grasped by the 〇p. It is detected that a deviation between the total value of the magnetic sensitivity detected by the magnet 3 and the total value of the magnetic sensitivity stored in the previous stop of travel is considered to be a width shift, and the next time the walk is made , . &amp; cancels the width offset, for the vector control inverter of the drive motor 16. Like or 42b (linked to the drive wheel 14A), the output pair The rotation amount of the driving amount is increased by W. In this case, the width shift can be eliminated only during the movement of the working path 8. Further, at this time, after the moving shed U is executed, the width shift control is performed. Then, the moving shed u is moved after the predetermined time has elapsed. Further, if the sensitivity of any of the liver and the magnetic sensor 35 of the (10) becomes no, that is, the automatic width shift is judged without detecting the magnet 3 If the control is defective, the width deviation 44 cannot be automatically eliminated. The situation of the shift is changed. The alarm condition of the Hp moving button switch 54 or the op moving button switch 55 is turned on, and the warning light 43 is illuminated. When the frequency of the offset control exceeds the specified value, the attention light is on. Moreover, the operator can forcibly move the mobile shed 11 by operating the face &amp;

"Forcing" is selected by the above-described automatic-forcible selection switch 51, as shown in Fig. 10(a), by turning the HP rotary switch 52 to the forward side (FW • side), and by turning the 0P rotary switch 53 Backward to the retreating side (RE side), the drive horse S 1 6 on the Hp © side will be driven directly, so the HP ί (4) drive wheel 14Α will be driven to the front side, and the drive motor 丨6 on the 〇ρ side will be driven directly - Then, the drive wheel 14A on the 0P side is driven to the retreating side, whereby the moving shed 11 is tilted toward the HP side. Conversely, as shown in Fig. 10(b), by moving the HP rotary switch 52 to the retreating side (re side) and the 〇p rotation switch 53 to the forward side (Fw side), the shed is moved. It will tilt to the side of the 〇p. By the above-described automatic-forced selection switch 51, "Forced" is selected, as shown in Fig. 10(c), by pressing (operating) Hp to move the push button switch 54, moving the shed 11, moving to the HP side direction 'moving preset The amplitude; as shown in Fig. 10(d), 'by pressing (operating) the 0P moving button switch 55, moving the shed 11' toward the 0p side, moving the preset amplitude. As described above, according to the present embodiment, when the moving shed 11 stops traveling, the magnetic sensor 35 detects the HP 31 and the OP 31, and the detected total value of the magnetic sensitivity exceeds a predetermined value. To the degree offset, the traveling trajectory of the moving shed for eliminating the width deviation is obtained, 45 201034919 and the rotational speed of each driving motor 16 is controlled during the next walking, so that the moving shed can move along the walking trajectory; The width deviation of the moving shed 11 is corrected as 'the thin-track-shaped detected object' laid along the traveling path 1 变成 becomes unnecessary, and the problem associated with the laying can be eliminated. . Further, according to the present embodiment, when a moving shed 11 performs walking for eliminating the width deviation, the other moving shed 11' following (following) is delayed by a certain period of time before starting to walk. It is possible to prevent the subsequent moving shed 11 from contacting (colliding) the previous moving shed u; the previous moving shed 11 is temporarily turned to eliminate the width shifting direction, and is temporarily turned to tilt shape. Further, according to the present embodiment, when the HP and OP drive motors 16 are driven to eliminate the width deviation, the two drive motors 16 are activated at a predetermined rotational speed or higher, thereby eliminating the following problems, namely: When the side drive wheel 14A is stopped and the other drive wheel 14A is moved, one of the drive wheels 14a is pulled and moved freely, and it is impossible to travel along the traveling path. Further, according to the present embodiment, when the frequency (or the number of times) of the width shift control of the moving shed 11 is increased, the attention light is turned on, and the operator can recognize that the width of the movable shed 11 frequently shifts, which can prompt the urging. The amount of movement of each pulse set in the first counter 65 and the second counter 66 is obtained. Further, according to the present embodiment, the magnetic sensor 35 detects the magnets that have been placed at the respective stop positions of the moving shed U, thereby performing the width shift control of the transfer shed U. Stopping of the shed 46 201034919 Positioning the magnets can be simplified compared to the construction of the detected objects in the form of thin strips. Further, according to the present embodiment, when the liver moving button switch 54 is operated, by moving the shed controller 41 of the shed U, it is possible to follow the traveling path (which is set to reduce the width shift in the Hp direction). To control the rotational speed of the drive motor 16, then move the shed u to the width. Move the preset amplitude to the HP direction of B; if (10) move the 〇14 switch 55 is operated 'by moving the shed The moving shed controller 4 of 11 can control the rotational speed of the driving motor 16 along the traveling path (which is set to be 可p丨 to reduce the width offset), so that the moving shed 1 is moved to the op direction. The predetermined amplitude is moved; thereby, the operator, for the operation of the HP rotary switch 52 and the 〇p rotary switch 53, it is difficult to eliminate the width shift, and only the HP moving button switch 54 or the 〇p moving button switch 55 is operated. It can be easily removed, so the operability can be improved. also. When the corresponding HP move button switch 54 or 〇p move button switch

When the Q operation is performed, the side shift is performed by moving the shed 11 toward the work path S. The width shift can be surely eliminated. Further, according to the present embodiment, the amplitude of the width deviation which can be eliminated by operating the HP moving button switch 54 or the 0P moving button switch 55 is further reduced by the movement of the working path S by &quot; Within the predetermined range (range) of the correction, during the period of the width offset correction, it is possible to avoid the stoppage caused by the detection of the moving shed in the initial traveling direction or the stop of the posture. When the posture of the moving shed 11 is inclined, the width of the front and rear direction A of the work path S is narrowed, and it is difficult to carry in and carry out the goods. 47 201034919 Further, according to this embodiment, the movable button switch 54 or 0 is moved to make the moving OPP move button switch 55 or HP move based on one of the liver sheds u(4)(4)=^_55_: 'Switch 54 The operation will be invalid 'then semi-automatic width offset control, on the way will: break 'can avoid the situation caused by the tilt of the posture.

According to the present invention, when the magnet 31 is not detected when the traveling is stopped, it is judged that the automatic width shift control is defective and the width shift cannot be automatically removed. The warning lamp 43 lights up. The operator can confirm the width shift direction of the moving shed according to the alarm, and prompt the operation of the liver movement button 54 or the 0P movement button switch 55. Further, according to the present embodiment, when the moving shed 11 is moved by the moving shed controller 4, the posture control is executed, whereby it is possible to avoid the occurrence of the stop due to the tilt of the moving shed.

Further, in the present embodiment, 'as the moving shed 11 or the fixed shed 3, 疋 denotes a form composed of the lower frames 12 and 4 and the sheds 13 and 5, but the sheds 13 and 5 may be omitted to become a trolley. The form of the mobile shed u or the fixed shed 3 in the form of a stand. In the present embodiment, the movable shed 11 or the fixed shed 3 is a form in which the uppermost storage spaces 13e and 5a are opened upward. However, the movable shed 11 may be provided with a roof. Fixed shed 3. Further, in the present embodiment, the magnet 31 is shown in a form of embedding, but the thin magnet 31 through which the vehicle can pass may be placed on the floor la or the like. Further, in the present embodiment, the drive motor 16 drives a pair of (2010) drive wheels 14A, but it is also possible to drive a drive wheel 14A by driving the motor Μ, and also The speed reducer can be directly coupled to one end portion of the drive shaft of one of the drive wheels 14A to form a direct drive type in which the drive motor 16 is directly coupled to the reducer. Further, in the present embodiment, the travel support device indicates travel. The wheel 14 may be a roller chain (track) or the like. In this case, the roller keys and the like are disposed on both sides in the width direction B of the moving shed 11 . One part is set in the entire length of the traveling path direction A; or the walking path is taken; the entire length of the U direction A is Split, and set a plurality. Further, in the present embodiment, as the traveling amount detecting means, a pulse squeezing device is used, and the outer slit portion 28 28 and the inner slit portion 28b ' are formed in the rotating body 28, and the outer side narrow portion is provided. Two sets of detection forms such as the outer side photoelectric switch 29a of the slit portion 28a and the inner photoelectric switch 29b' facing the inner slit portion; however, the group detection type or two or more sets of complex array detection forms may be used. . Further, in the present embodiment, the traveling amount detecting means indicates that the pulse encoder 21 having the detecting wheel body 27 or the like is provided; however, it may be used to measure the driving rotation amount of the driving wheel 14A. Form and so on. Further, the pulse encoder 2 is for detecting the rotation of the detecting wheel body 27; however, the rotation axis of the driving motor (an example of the rotational driving means) 16 may be connected to detect the amount of travel of the moving shed 11. Further, in the present embodiment, the magnetic sensor 35 is used as the width shift detecting means. However, it is also possible to provide a plurality of moving sheds 11 facing the opposite side of the moving shed. a retroreflective type 49 201034919 light sensor, and on the opposite moving shed 11, facing the light sensor to set the reflector, in such a configuration, according to the shifting of the moving shed 11 The width sensor is detected by turning the photo sensor off (〇ff)'. Further, in the present embodiment, when a plurality of moving sheds are simultaneously moved, the predetermined time is sequentially started (start), but a plurality of moving sheds 11 can be simultaneously started. .

In the present embodiment, the magnet 31 is disposed within the width (amplitude) of the moving shed u. However, the magnet 31 may be placed outside the width of the moving shed U. Door 13: In the present embodiment, the type of storage for the storage shed 11 is included in the storage compartment <== shed::zone::navailable from the cargo...box) Box (collection 201034919) BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a plan view showing a moving shed apparatus according to an embodiment of the present invention. Fig. 2 is a plan view showing the arrangement of magnets of the moving shed apparatus. Fig. 3 is a plan view of the moving shed. Figure 4 is a partial cross-sectional plan view of an important part of the moving shed in the mobile shed equipment. Fig. 5 is a view showing the rotational driving means of the moving shed in the moving shed equipment and the means for detecting the walking amount Partial longitudinal sectional side view. Fig. 6 is a longitudinal sectional side view of the width offset detection 4 + section of the moving shed in the moving shed equipment. Fig. 7 is the moving amount of the moving shed in the moving shed equipment A longitudinal sectional front view of the detection means and the width deviation detecting means portion. Fig. 8 is a longitudinal side view of the traveling wheel of the moving shed in the moving shed apparatus. Fig. 9 is a movement in the moving shed apparatus The switch 〇 configuration diagram of the shed's control panel. Figure 10 is for use An explanatory diagram illustrating the action produced by the switch of the control panel of the mobile shed in the mobile shed equipment. Fig. 11 is a control block diagram of the mobile shed in the mobile shed equipment. Fig. 12 is the mobile shed A block diagram of the forced travel control portion of the mobile shed controller in the device. Fig. 13 is a block diagram of the forced drive portion of the mobile shed controller in the mobile shed equipment. 51 201034919 Figure 14 is a view of the mobile shed equipment Block diagram of the semi-automatic width deviation control unit of the mobile shed controller. Fig. 15 is a block diagram of the automatic posture control unit of the mobile shed controller in the mobile shed equipment. Fig. 16 is a mobile shed control in the mobile shed equipment Automatic wide sound of the device. Block diagram of the deviation control unit. Fig. 17 is a diagram showing the speed of the semi-automatic width deviation control unit and the automatic width deviation control unit for forming the mobile shed controller to be set in the mobile shed equipment. An explanatory diagram of the speed command value in the command unit.

52

Ο 201034919 [Description of main components] 1 · Floor 3 : Fixed shed 4 : Lower frame 5 = Shed 5a : Compartment storage space 1 : Walking path 12 : Lower frame 13 : Shed 13e : Separate storage space Η : Traveling wheel (walking support device) 15 : Wheel axle 15 Α : Drive wheel axle 16 . Drive motor (rotary drive means) 20 : Control panel 21 : Pulse encoder (traveling amount detection means) 31 : Magnet (detected 35) Magnetic sensor (t-degree shift detection means) 37a, 37b: Proximity sensor 38: Main control panel 40: Operation panel 41: Mobile shed controller 42a, 42b: Vector control inverter 43: Alarm light 44: Attention light 51: Automatic-forced selection switch 52: HP rotary switch 53: 0P rotary switch 54: HP moving button switch 55: OP moving button switch 61: Forced travel control unit 62a: HP sensitivity detecting unit 62b: OP sensitivity detection unit 63: automatic travel determination unit 67: pulse error determination unit 75: speed control unit Ή: forced drive unit 78: semi-automatic width deviation control unit 79: automatic posture control unit 80: automatic width deviation control unit 81: HP Speed Setter 82: 0P Speed Setter 83 The first speed command unit 84: the second speed command unit 96: the width shift detecting unit 97: the third speed command unit 98: the fourth speed command unit 99: the frequency detecting unit A: the traveling path direction B: the width direction (left and right direction) S : working path 53

Claims (1)

201034919 VII. Patent application scope: 1. A mobile shed equipment 'equipped with a plurality of mobile sheds that can reciprocate on a walking road through wheels, 'the wheels on both sides of the width direction of the aforementioned walking path Each of the driving motor is provided with a driving motor to constitute a driving wheel, and a control means is provided for driving each driving motor of the moving shed to control the walking of the moving shed. The mobile shed equipment is designed to: the foregoing movements on the ground The stop position of the shed is provided with the detected object; the width shift detecting means is provided on each of the moving sheds, and the detection of the detected object is described before, and the travel path from the moving shed is detected. Width offset (toward the left-right direction perpendicular to the traveling path); the control means, if the walking stops, first detecting the width offset by the width offset detecting means, and detecting more than a predetermined value When the width is shifted, the walking trajectory of the moving shed which reduces the width deviation is obtained, and when walking for the next time, the walking can be performed along the walking trajectory Mode, controls the rotation speed of each drive motor. 〇2. The mobile shed equipment according to claim 1, wherein the control of the mobile shed is based on the above-mentioned operation of making the width shift less, and the other mobile sheds are delayed. Time begins to walk. 3. The mobile shed equipment according to claim 1 or 2, wherein the 'v walking trajectory' is that the two driving motors are driven at a predetermined rotational speed or higher, and the moving I continues to add a difference to the rotational speed. The deviation of the width offset can be eliminated when the distance is moved by 54 201034919. 4. If the mobile shed equipment described in item 1 or 2, +, &amp;# n of the patent application, the trajectory of the fascinating fascia in the basin is that the two driving motors are activated at a predetermined rotational speed or higher. And continue to drive the difference in the rotation speed to drive, and the deviation of the width offset can be eliminated by multiple movements. A. The mobile shed according to any one of the claims 帛i to 4: the history control method in which the above-mentioned control means first obtains the frequency or the number of times the walking of the width is shifted. If the frequency exceeds the specified frequency or the number of times exceeds the specified number of times, an alarm is issued. The mobile shed equipment according to any one of the items of the present invention, wherein: the object to be detected is each before and after the moving shed moves along the traveling path. a stop position, a magnet is disposed; as a width offset detecting means, a magnetic sensor is disposed facing the magnet; and if the control means 'when the travel is stopped, the previous magnetic sensor is used The magnetic intensity (magnetic sensitivity) is detected and the current magnetic intensity change detected by the magnetic sensor is used to detect the width shift of the moving shed' and then the movement of reducing the width of the moving shed is performed. The walking control of the shed. 55 201034919 7·If you apply for the equipment in the first to sixth items of the patent scope, among them: In the mobile shed where the escaping escapes, set the driving wheels to detect the driving wheels of the two sides: =: segment, used to separate the above-mentioned control means, based on the front wheel yoke, the inner, the measured drive wheel, _ θ θ "the deviation of the walking amount detected by each slap detection means is also removed Then the amount of driving rotation of the phase-driven wheel, / Λ 'positive control (four) is generated by each drive motor Thereby, the mobile shed posture correction control is performed. 56