1301934 攻、發明說明： 【發明所屬之技術領域】 本發明係有關一種移動棚的控 上可沪私u 去係在固定的方向 形成作複數台移動棚，且可在任意的移動棚間 =用通路’藉由距離感應器測定與鄰接移動棚之 離 以控制移動棚的移動。 【先前技術】 已知有-種可在^的方向上配置複數個藉由電動力米 動的移動棚’在任意台移動棚間可形成作業用的通路之彩 動棚裝置。習知的電動式移動棚之控制方法，係指定特哀 的移動棚間’在此下達應形成作業用的通路之主旨的指令 時’辨識應形成該作業用的通路之位置與具有㈣空間: 位置，判斷移動的移動棚與其移動方向，控制手段 判斷控制移動棚的移動。 3 然後，藉由各移動棚所具有之界限開關類與鄰接移動 棚、固定棚或壁、擋部等距離測定面接觸，檢測出移動界 限’控制手段使移動棚的驅動停止。 又’當開始移動時與停止時，以低速度移動，在移動範 圍的中間以快的速度移動，進行速度控制。 習知的電動式移動棚係在下達作業用通路形成指令時， 必須辨識構成移動棚裝置之各台移動棚的現在位置，從與 該各移動棚的現在位置與應形成作業用通路之位置的關係 判斷移動之移動棚與其移動方向，亦須在各移動棚相互間 進行h號的拍:文，使控制變為複雜，導致控制手段變為複 89335 1301934 雜。又’由於移動棚相互間必須連接用以接收傳送信號的 欖線，因此將使配線煩雜化。 【發明内容】 【發明所欲解決的課題】 本發明係用以解決上述習知技術的問題點而研創者，目 的在於提供一種移動棚的控制方法，其係各移動棚或彼此 鄰接的移動棚之至少一方具有測量與彼此鄰接的另一方之 移動棚之距離的距離感應器，因應該距離感應器的檢測信 號’換S之’藉由因應鄰接的移動棚之動作控制動作，可 使控制及控制手段構成簡化且使移動相互間的配線單純 化。 【發明所欲解決的手段】 申Μ專利範圍第1項之發明係一種移動棚的控制方法，其 係在規足的方向上可移動地配置有複數台移動棚，在任意1301934 Attack and invention description: [Technical field to which the invention pertains] The present invention relates to a mobile shed that can be formed in a fixed direction as a plurality of mobile sheds, and can be used in any mobile shed = The passage 'measures the movement of the moving shed by measuring the distance from the adjacent moving shed by the distance sensor. [Prior Art] There is known a color moving shed apparatus in which a plurality of movable sheds by electrodynamic force can be disposed in the direction of ^, and a working passage can be formed between any of the moving sheds. The control method of the conventional electric mobile shed is to specify the position of the passage for the work to be formed and to have (4) space when the mobile shed between the special sorrows is designated as 'the instruction to form the passage for the work. The position determines the moving mobile shed and the moving direction thereof, and the control means determines the movement of the mobile shed. 3 Then, by the distance switch type of each moving shed, the distance measurement surface contact with the adjacent moving shed, the fixed shed, the wall, the stopper, and the like is detected, and the movement limit' control means is detected to stop the driving of the moving shed. Further, when the movement starts and stops, the movement is performed at a low speed, and at a high speed in the middle of the movement range, the speed control is performed. In the conventional electric movable shed, when the operation path forming command is issued, it is necessary to identify the current position of each of the moving sheds constituting the moving shed device, and the current position of each moving shed and the position at which the working path should be formed. The relationship judges the movement of the mobile shed and its moving direction, and it is necessary to perform the h-number shooting between the moving sheds: the text becomes complicated, and the control means becomes complex 89335 1301934. Moreover, since the mobile sheds must be connected to each other to receive the ray wires for transmitting signals, the wiring will be complicated. SUMMARY OF THE INVENTION [Problems to be Solved by the Invention] The present invention has been made in order to solve the problems of the above-mentioned prior art, and aims to provide a control method for a mobile shed, which is a mobile shed or a mobile shed adjacent to each other. At least one of the distance sensors has a distance sensor that measures the distance from the other moving shed adjacent to each other, and the detection signal of the distance sensor is 'changed S', and the control can be controlled by the action of the adjacent moving shed. The control means constitutes a simplification and simplifies the wiring between the movements. [Means for Solving the Invention] The invention of claim 1 is a control method for a mobile shed, which is movably arranged with a plurality of mobile sheds in a direction of regulation
動棚係藉由操作設於該移動棚的指令開 的指令開The shed is opened by operating an instruction set in the mobile shed.
的移動棚之至少_ 一方的移動棚特定的距離時，彼此鄰接 方所具有的距離感應器檢測出來，使彼 89335 1301934 此鄰接的上述另—^ , 至與上述一方動棚的控制手段使該移動棚移動 、 力棚相同的移動方向，且，與上述一方 的移動棚之距離保持在固定。 〃 申請：利範圍第2項之發明係一種移動棚的控制方法，其 係在規疋的万向上可移動地配置有複數台移動棚，在任意 的移動棚間可开彡# Μ 4 、 成作業用的通路，其特徵在於，在各移動 棚汉置可測疋在孩移動方向所存在的鄰接移動棚之距離的 巨離ϋ态、以及將該距離感應器所測定的鄰接移動棚之 離保持在固走使移動棚移動之控制手段，藉由控制手 朝向〃備有謔技制手段的移動棚使鄰接移動棚接近固 、勺巨離使具備有扭制手段之移動棚移動至與鄰接移動 棚的移重力方向相同方向，且以與鄰接㈣棚之距離保持為 固走之方式進行控制。 個個的移動棚係藉由操作設於該移動棚的指令開 關，可使移動至特定的方向。當距離感應器檢測出鄰接的 移動棚接近特定的距離時，具有該距離感應器之移動棚的 控制手段使該移動棚移動至與鄰接移動棚之移動方向相同 的方向，且，與鄰接移動棚之距離保持為固定之方式控制。 申請專利範圍第3項之發明，係在第1或2項之發明中，控 制手段係具備有該控制手段之移動棚與鄰接移動棚或與位 於移動棚之移動方向的距離測定面之距離至接近特定的停 止距離為止時，使具備有控制手段之移動棚停止。 任一移動棚若沒有移動2間則停止，控制各移動棚的控 制手段之動作。 89335 1301934 動義巧之發明，係在第〗或2项之發明中，移 f、：’其移動万向觀看左右獨立被旋轉驅動之複數 = 區動輪’距離感應器從移動棚的移動方向觀看左右設置 子丈個&制手段係因應上述距離感應器的輸出，獨立旋 轉控制與此對應的㈣輪，使移動棚平行移動。 人、心:移動方向觀看移動棚設置在左右的距離感應器之 &出藉由獨讀轉制從移動方向觀看移動棚左右獨立 而設置的驅動輪，可防止移動棚的斜行。 申請專利範圍第5項之發明，係在第…項中任一項之發 明中，距離感應器係非接觸式感應器。 申清專利範圍第6項之發明’係在第1、2或3項中任-項 〈發明巾’移動㈣被導？丨軌道導引而移動之形式的移動 棚0 申請專利範圍第7項之發明，係在第4項之發明中，移動 棚係不具有導引軌道之$式的移動棚。 由於k移動棚的移動方向觀看在左右設置有距離感應 叩，根據左右的距離感應器之測定結果，可檢測出移動棚 的斜仃。當檢測出斜行時，控制手段根據檢測結果獨立旋 轉控制與左右的距離感應器對應的左右之驅動輪，修正移 動棚的斜彳’使移動棚平行移動。•奢由具有該在牛行修正功 能，移動棚即使為軌道型亦可平行移動。 【發明之功效】 根據申請專利範圍第丨項之發明，彼此鄰接的移動棚之至 少—方具有可測定彼此鄰接的另一方之移動棚的距離之距 89335 1301934 離感應器，各移動棚在上述感應器檢測出鄰接移動棚接近 固定的距離時，使該移動棚移動至與上述鄰接移動棚的移 動方向相同的方向，且’由於具有將與鄰接移動棚的距離 保持為固疋之方式控制的控制手段，故因應所鄰接的移動 棚之動作，控制各台移動棚的動作。如習知的移動棚所示， 不需要從應形成各移動棚的位置與作業通路之指定的位置 之關係判斷應該移動的移動棚及其移動方向以控制移動 棚。因此，在各移動棚相!互間；^進行控制信號的授受， 可使控制動作及控制手段之構成簡單且使移動相互間的配 線單純化。 根據申請專利範圍第2項之發明，在各台移動棚設置測量 與所鄰接的移動棚之距離的距離感應器，因應該距離感應 器的檢測信號，換言之，由於因應相連接的移動棚之動作 以控制動作的方式構成，故如習知的移動棚所示，由不不 需要從應形成各移動棚的位置與作業通路之指定的位置之 關係判斷應該移動的移動棚及其移動方向，目&，在各移 動棚相互間不需進㈣制信號的授受，可使控制動作及控 制手/又〈構成商單且使移動相i間的配線單純化。 、又:如中凊專利範圍第顿之發明，設置從移動棚之移動 方向觀看左右獨互旋轉驅動之複數個驅動輪，從移動棚的 ㈣万向觀看左右設置複數個距離感應器，控制手段係因 應上述距離感應器的輸出，藉由獨立旋轉控制與此對應的 驅動輪之方式構成，可實現軌道式的移動棚，且即使是軌 道式的移動棚亦不會產生斜行。 89335 -10- 1301934 【實施方式】 j下參知、圖面說明本發明之移動棚的控制方法之實 形態。圖1係tl· & m 1 ^ ^ ^ 動作者侦 的移動棚之動作與本發明之移動棚的 :二::的移動棚之動作，本發明的移動 ， 制動作’⑷係本發明之移動棚的位置控制動作。 圖1(a)所π ’已知在地板上可移動地配置有複數 3台）之移動棚心心⑴全部的移動棚為 了收納，又，可*私# 士 一 i , 了禾成在任思的移動棚間存取收納物品之 丨業通路的移動棚裝置。習知，已知之-般的各移動棚U、 2、13係在展邵具有移動車輪，藉由該移動車輪載置於導 引軌通上可沿著導引軌道移動。但是，在圖^所示的例中， ^各移動棚11、12、13的底部組裝有無限軌道方式的移動 裝置2卜22、23 ’藉由無線軌道方式移動裝置2ι、22、^， 即使沒有導引軌道’亦可在地板上直接直線移動。 參照圖1(a)說明習知的移動棚之動作。在所期望之移動棚 間形成作業通路，例如當操作開指令開關時，如前所述， 從全部的移動棚的現在位置與與應形成作業通路之位置的 關係判斷應該移動的移動棚與其移動方向，依據判斷使移 動棚移動。在圖1(a)中，使移動棚u與移動棚12接近，在移 動棚12與移動棚13之間形成作業通路之狀態下，下達欲在 移動棚11與移動棚12之間形成作業通路的指令時，依據上 述判斷使移動棚12向左移動之方式進行控制。符號12A係表 示移動棚12移動的途中之狀態。又，藉由該控制使移動棚 12移動，當檢測出有與移動棚13接觸或適當的接近開關等 89335 -11 - 1301934 時，停止移動棚1 2的移動。 與上述習知的移動棚之動作相對，在圖l(b)所示的本發明 之移動棚的控制方法中，為了形成作業通路，下達移動指 令之移動棚本身的動作雖與f知相同，但是藉由相鄰^ -方之移動棚的移動，控制相鄰接的另一方移動棚的移動 之點不同。更具體說明時，圖物示的實施形態係與圖小) 所示的習知例相同’在地板上可移動地配置有三台移動棚 11、 12、13，全部的移動棚為可收納，又，在任意的移動 棚之間可形成儲存收納物品之作業通路。在各移動棚u、 12、 13的底部組裝有無限軌道方式的移動裝置2i、22、23， 藉由該無限軌道方式移動裝置21、22、23，即使沒有導引 執道’亦可在地板上直接直線移動。 現今’在圖1中，將各移動棚的移動方向設為左右方向 時，下達指令俾使在移動棚11的右側應形成作業通路之移 動棚11移動至左側。若暫時在移動棚u形成作業通路，則 僅移動棚11向左移動。然而，如圖1(b)所示，在移動棚η 的旁邊有移動棚12之現狀下，當下達使移動棚丨丨移動至左 側的^々時’使移動棚11接近移動棚丨2，移動棚12的距離 感應器檢測出移動棚U接近至固定的距離。或是，在移動 棚1114移動棚丨2距離變大的狀態下，移動棚12的距離感應 ασ知出移動棚1 1接近移動棚1 2。根據該檢測信號，以移 動棚12的控制手段使移動棚12向左移動之方式，驅動控制 移動棚12的驅動源即馬達。又，移動棚12的控制手段以使 移動棚11與移動棚12之距離保持在固定的方式控制移動棚 89335 -12 - 1301934 12的移動速度。符號12A係表示移動棚12在移動途中的狀 態。如此，以使移動棚12從移動棚丨丨逸退，反之移動棚u 追上移動棚12之方式，使移動棚相互間的距離保持在固定 的狀態下平行移動。 當移動棚12接近移動棚1 3至特定距離時，藉由移動棚i 3 的距離檢測器之檢測動作，亦使移動棚13在移動棚12之間 保持固定距離移動至左側，惟依照移動棚13、移動棚12、 移動棚11的順序達到移動界限。所謂移動界限係從各台移 動棚觀看，與位於移動棚的移動方向之尾端自動止車器等 的距離測定面之距離或與鄰接移動棚之距離至接近特定的 铋止距離為止。具有各台移動棚的距離感測器檢測出上述 |多動界限時，各台移動棚的控制手段使其移動棚停止在 孩處之方式，使驅動源即馬達的驅動停止。 在圖1(0所示的本發明之移動棚的其他動作例中，具有兩 台的移動棚il、12，在移動棚丨2的左側存在有距離測定面 <壁14。在移動棚u與移動棚12之間形成有由大的空間構 成的作業通路，在移動棚12與壁14之間形成有比上述作業 通路小，但使移動棚12可向左充分移動的空間。現在，在 移動棚11的右側應形成作業通路，下達使移動棚！丨向左移 動之指令。移動棚U朝向移動棚12側開始移動。當移動棚 2接近移動棚12至特疋的距離時，移動棚12的距離感應器 右“則出來’移動棚i 2的控制手段因應距離感應器的檢測信 號旋轉驅動移動棚12的驅動馬達。此時，移動棚以的控制 手奴因應來自距離感應器的檢測信號控制驅動馬達的速 89335 -13- 1301934 度’將移動棚11與移動棚丨2的距離保持在固定。 藉由m移動使移動棚12接近壁14。當移動棚12的距離感 應咨檢測出壁14的距離接近固定的停止距離a為止時，移動 棚12的控制手段係使應停止移動棚12的移動棚12之驅動馬 達停止。又’當移動棚Η的距離感應器檢測出移動棚12的 距離至接近固定的停止距離b為止時，移動棚丨2的控制手 長’係使應停止移動棚丨2的移動棚丨2之驅動馬達停止。如 此在各移動棚中’各台移動棚的控制手段使與鄰接移動 棚 < 距離或是位於移動棚的移動方向之壁14或示尾端自動 止車器等所構成的距離測定面之距離至接近特定的停止距 離為止時，使具備上述控制手段的移動棚停止，在移動棚 彼此間及移動棚與距離測定面之間形成特定的空間。藉由 开y成有上述空間，可確保移動棚内的空氣之循環。 然後，參照圖2說明與本發明之移動棚的控制手段聯繫的 距離感應器之例。圖2所示的距離感應器係利用超音波之非 接觸式的距離感應器。該距離感應器係具有脈衝發信機、 計數電路30。脈衝發信機係在產生超音波信號之部分，使 所產生的超晋波從相當於擴音器的發音體3丨朝向反射體33 放射。發音體31具有高的指向性。又，上述脈衝發信機、 計數電路30的計數電路連接有與麥克風相當的感音體32。 感音體32係以接受以反射體33反射之超音波並變換為電性 信號輸入至上述計數電路之方式構成。發音體31與感音體 32配置在相同面上。在脈衝發信機、計數電路川中，從發 音體31發射超|波之後，以感音體32計數至接受該反射波 89335 -14- 1301934 為止的時間。該計數值係輸入至包含上述控制手段的微電 細或微處理機等以進行處理，藉此，可計測出發音體3 1與 感音體32及反射體33之距離。利用這種超音波之距離感應 器係為週知，因此省略詳細說明。 將利用上述超音波之距離感應器設置在移動棚。使距離 感應器的上述發音體3 1與感音體32朝向相鄰接的移動棚之 對向面且，使發甘骨豆3 1與感晋體3 2的前面與移動棚的前 面（間口面）一致之方式設置。相鄰接的移動棚之上述發音體 31及感音體32之相對面設置反射體33。惟，亦可將移動棚 本身設為反射體33。 距離感應器係在一台移動棚之鄰接棚或與距離測定面之 相對面最低設置一個一個’或在一台移動棚設置兩個兩 個。或是，如之後說明的實施形態般，導引軌道方式的移 動棚之情況，係與在彼此相對向的移動棚之至少一侧之相 對面設置-個距離感應器亦可。然而，在鄰接棚或與距離 測足面之相對面上從移動棚的移動方向觀看距離感應器在 左右亦即與移動棚的物品存放面相對在觀看移動棚時的移 動棚之左右（若觀看棚間的作業通路之人口則為正前側盘 深側）設置複數個時’可有效防止移動棚的斜行。特別是對 於軌道式的移動棚最為有效。更具體說明時，如上所述， 從移動棚的移動方向觀看’亦即在與物品存放面正對時的 移動棚之左右設置複數台0辛，作孩^， 敷口 f仗移動万向觀看移動棚亦在 左右設置複數個被旋轉驅動的移動棚之驅動輪。蚨後，各 移動棚的控制手段係因應上述左右的距離感應器的輸出， 89335 -15- 1301934 獨三旋轉控制與此對應的驅動輪。因而，過度移動移動棚 的左右一方而斜行時，以過度移動侧的距離感應器之檢測 信5虎可檢測出該狀況，控制手段控制過度移動側的驅動輪 之驅動速度’修正從平面（上面）方向觀看的移動棚的姿勢， 使移動棚平行移動。此外，亦有因為移動棚的左右一方過 慢而斜行之情況，因為可以過慢側的距離感應器感應出該 狀況’因此’此時，控制手段控制過慢側的驅動輪之驅動 速度，以修正移動棚的斜行。 然後’參照圖3說明本發明之移動棚的控制手段之動作 例。在圖3中，動作步驟以「S1」「S2」…表示。依據動作 I開始’首先進行各種參數的讀取（S1)。參數之一係連動 距離。所謂連動距離係使複數台移動棚保持特定的距離而 平仃移動時的上述特定的距離，換言之，當鄰接棚接近時， 以邊控制移動棚的速度一邊逸退之方式移動的移動棚彼 此的距離。參數之二係制動距離。所謂制動距離係移動棚 與鄰接移動棚或壁或尾端自動止車器等距離測定面接近而 到達移動界限，為使移動棚的移動速度變慢開始施加制動 時的距離。另一參數係停止距離。所謂停止距離係移動棚 到達移動邊界，使移動棚的移動停止時之距離。上述參數 係預先設定，讀取上述參數並將之記憶在記憶體。 然後，測量從移動棚的移動方向觀看的左右之距離 (S2)。所謂左右的距離係從相對向的移動棚或從與距離測 定面之移動方向觀看的左側及右側之鄰接棚的距離，左右 的距離不同的情況下如上所述，將有使移動棚斜行之情 89335 -16- 1301934 況。該左右的距離測量係從移動棚的移動方向觀看驅動輪 必須左右獨立設置’以獨立速度控制上述驅動輪進而修正 斜行。 然後，進行動作線誤差測量（S3)。動作線誤差測量在移 動棚沿著導引軌道移動之形式的情況下雖不需要，惟如圖i 所說明，具有無限軌道方式的移動裝置，在不需要導引軌 道的移動棚中為需要。亦即，所謂動作線誤差測量係在設 置有移動棚的地板或移動棚的上方標記掃描線，係以一邊 追縱該動作線一邊使移動棚移動之方式構成，測量此時與 動作線相對的移動棚之追蹤誤差。 在從移動棚的移動方向觀看的左右之距離測量（S2)中， 可知移動棚斜行，又，動作線誤差測量（S3)的結果，若與 動作線相對使移動棚左右偏移，則在運算出在下一個動作 模式運算（S4)中，以更快的速度驅動彼此獨立而驅動之左 右的驅動輪中任一個。再者，依據上述運算結果，在控制 量運算中（S5)，一邊參照最初讀取的各種參數資料一邊運 算各台移動棚的移動速度，再運算是否到達應制動的位置。 依據上述運算結果，輸出速度控制信號（S6)，依據該控 制信號個別控制驅動馬達’藉以修正移動棚的斜行、動作 線之偏移’更在應到達特定的控制位置時，減速控制各個 驅動馬達以進行制動n到達特定之目標位置時㈣， 停止驅動馬達（S8)，以結束動作。 以上所說明之實施形態，係以單獨即各台移動棚獨立檢 測個別的移動棚中相鄰接的移動棚之相對位置的獨立辨識 89335 -17- 1301934 型。更具體表示該獨立辨識型的移動棚者為圖4。在圖4中， 左端的棚5 1與右端的棚54係固定棚、配置於上述固定棚間 的棚5 2、5 3係移動棚。各棚係使物品的收納取出面即間口 面成為彼此平行之方式，且，移動棚5 2、5 3接近固定棚5 ! 或54而收納，又，亦可以各棚離散且在各棚間形成有物品 儲存用的第1通路、第2通路、第3通路之方式配置。固定棚 5 1、54間亦可收納、離散地配置有多數台移動棚。 移動棚52係在固定棚15的對相面側之與該對相面正對時 的左右具有由超音波感應器構成的距離感應器A1、A2，可 左右獨立測定與固定棚5 1之距離亦即第1通路的寬度。移動 棚52係在與移動棚53的對相面側之左右具有由超音波感應 器構成的距離感應器A3、A4，可左右獨立測定與固定棚53 之距離亦即第2通路的寬度。移動棚5 3係在與移動棚5 2的對 相面側之左右具有由超音波感應器構成的距離感應器、 B2 ’可左右獨立測定與移動棚52之距離亦即第2通路的寬 度。又’移動棚53在與移動棚54的對相面側之與該對相面 正對時的左右具有由超音波感應器構成的距離感應器b3、 B4，可左右獨立測定與固定棚54之距離亦即第3通路的寬 度。又，移動棚52、移動棚53係具有作為獨立旋轉驅動從 移動方向觀看之左右驅動輪的驅動源即馬達，且，具有獨 乂控制上述馬達的旋轉之控制手段。控制手段係例如可以 微處理機或以邏輯Ic等構成。 上述5她形態的動作係如下述。當移動棚52在圖4中向左 牙夕動時，藉由在與固定棚5丨之相對面從移動方向觀看左右 89335 -18 - 1301934 叹置的距離感應奋A丨、A2，檢測出與固定棚$ 1之距離，在 距離感應咨A1、A2之檢測值具有差值而斜行時，以使上述 檢測值之差值消失的方式，由微處理機等構成的控制手段 係獨互控制左右的馬達。藉由距離感應器A1、八2檢測出與 固定棚5 1之距離成為預先設定的停止距離，移動棚52的控 制手&使左右的馬達之驅動停止，使移動棚52的移動停止。 然後，在圖4中移動棚52向右移動時，藉由在與固定棚53 之相對面從移動方向觀看左右設置的距離感應器A3、A4， 檢測出與固定棚53之距離，在距離感應器A3、八4之檢測值 具有差值時，以使該差值消失的方式，由微處理機等構成 的控制手段獨立控制左右的馬達以修正斜行。另外，移動 棚53藉由上述左右的距離感應器B1、B2測定與移動棚52之 距離，測定第2通路的寬度，當檢測出接近預先設定移動棚 52之特定距離為止時，在移動棚53藉由與固定棚54之相對 面側的距離感應器B3、B4，測定與固定棚54之距離即第3 通路的I度。測足弟3通路1度之結果，可知具有可移動移 動棚53之距離，則移動棚53的控制手段旋轉控制從移動棚 53的移動方向觀看之左右的馬達，使移動棚53朝向固定棚 54，在圖4中向右移動。此時的移動棚53之移動速度係以與 移動棚52的移動速度大致相同之方式設計。 當藉由移動棚53之距離感應器B3、B4所測定之與固定相月 54之距離成為預先設定的停止距離時，移動棚53的控制手 段依據距離感應器B 3、B 4的檢測信號使移動棚w停止。然 後，藉由移動棚52之距離感應器A3、A4所測定之與固定棚 89335 -19- 1301934 止，使移動棚52停止。在此，移動棚52 收納的狀態下停止。 53之距離成為預先設定的停止距”，移餘η的控制手 段依據距離感應器A3、A4的檢測信號使移動棚Μ之馬達停 53在固定棚54為 根據以上所說明之實施形態，各移動棚52、53以移動棚 本身辨識各移動棚本身的位置，依據辨識結果控制該馬達 的旋轉’故在移動棚彼此間不需進行信號的往來，可省略 料棚相互間㈣路或錄通料段等資訊傳達手段，或 fl各化X &於藉由從移動方向觀看移動棚在左右上獨 上測疋通路I度檢測出斜行，根據檢測結果獨立控制左右 的驅動馬達以修正斜行，因此可應用在上述的軌道方式之 移動棚。 如此，本發明係可應用在軌道方式之移動棚。然而，本 發明的本質係彼此相鄰接的移動棚之一方漸漸接近另一方 時，藉由將該另一方的移動棚移動至與上述一方的移動棚 相同方向之方式，謀求各移動棚的控制電路構成及控制動 作之單純化。因而，本發明係不限定於軌道方式的移動棚， 斫可應用在導引軌道上被導引而移動的移動棚，藉此，可 達成所期望的目的。在具有導引軌道的移動棚應用本發明 的技術思想時，可大幅縮減距離感應器。圖5所示的實施形 態係將本發明應用在導引軌道方式的移動棚者，以下說明 該實施形態。 在圖5中，兩台固定棚5 1、54之間可移動地配置有兩台的 移動棚52、53。該點係與圖4所示的實施形態相同。雖未圖 89335 -20- 1301934 示，惟在固定棚51、54間設置有導引軌道，沿著該導引軌 道可移動地配置有移動棚52、53。導引軌道係敷設於地板， 將移動棚移動在該導引軌道上之方式亦可，在移動棚的上 方固定有導引軌道，以懸掛在該導引軌道之形式移動移動 棚52、53之方式亦可。各移動棚52、53係具有一台一台作 為驅動源的馬達，以一台馬達一體旋轉驅動從移動棚的移 動方向觀看的左右之驅動輪之方式構成亦可，不必具有獨 立旋轉驅動左右的驅動輪之複數台馬達。 移動棚5 2係在與固定棚5 1的相對向面側具有由超音、皮感 應器所構成的距離感應器A1，可測定出與固定棚51之距離 亦即第1通路的寬度。又，移動棚52係在與移動棚53的相對 向面側具有由超音波感應器所構成的距離感應器A2，可測 定出與移動棚53之距離亦即第2通路的寬度。移動棚53係在 與移動棚52的相對向面側具有由超音波感應器所構成的距 離感應器6丨，可測定出與移動棚52之距離亦即第2通路的寬 度。又，移動棚53係在與固定棚54的相對向面側具有由超 青波感應器所構成的距離感應器B2，可測定出與固定棚Μ 之距離亦即第3通路的寬度。如此，各移動棚係在與彼此相 鄰接的移動棚或固定棚等相對向之面側具有一個一個與圖 4所示之5訑开y也比軚為半數的距離感應器。各移動棚之距 離感應€從移動棚的移動方向觀看偏向右側或左側而配 且’ f隹亦可配置於中央邵。又，移動棚52、53係具有從移 動棚的移動方向觀看獨立旋轉控制左右的驅動輪之驅動源 之馬達’且具有獨立控制上述馬達的旋轉之控制手段。 89335 * 21 - 1301934 固5所示的μ施开^怨之動作係沒有如圖&所示的實施形態 般的斜行修正動作，其他的動作係如以下所說明，與圖4的 貫施形態大致相同。移動棚52在圖5中向左移動時，藉由與 固足棚5 1 <相對向面所設置的距離感應器A1，檢測出與固 足棚51之距離。藉由距離感應器A1檢測出與固定棚^之距 離成為預先設定的停止距離，移動棚52的控制手段使馬達 之驅動停止，使移動棚52的移動停止。然後，在圖5中移動 棚52向右移動時，藉由在與移動棚兄之相對面所設置的距 離感應森A2，測定與移動棚53之距離。另外，移動棚53藉 由距離感應器B 1檢測出與移動棚52之距離，測定第2通路的 寬度’當檢測出移動棚52接近預先設定的停止距離時，移 動棚53藉由與固定棚54之相對向面側的距離感應器B2，測 定固定棚54之距離亦即第3通路的寬度。測定第3通路之結 果’可知若為可移動移動棚53之距離，則移動棚53的控制 手段旋轉控制移動棚53的馬達，使移動棚53朝向固定棚54 向右移動。 當藉由移動棚53的距離感應器B2所測定的固定棚54之距 離成為預先設定之停止距離時，移動棚5 3的控制手段依據 距離感應器B2的檢測信號使移動棚53的馬達停止，使移動 棚53停止。然後，當藉由移動棚52的距離感應器A2所測定 的固疋棚5 3之距離成為預先設定之停止距離時，移動棚5 2 的控制手段依據距離感應器A2的檢測信號使移動棚52的馬 達停止，使移動棚52停止。在此，移動棚52、53在收納固 定棚54的狀態下停止。 89335 -22- 1301934 如以上所說明的圖5所示之實施形態般，在具有導引軌道 之形式的移動棚的情況下，藉由導引軌道機械性且強制性 地矯正移動棚的斜行，因為沒有到達某程度以上的斜行， 故不需進行斜行之檢測及修正斜行的控制。因而，在圖5所 不的實施形態中，在各移動棚之與作業通路的對向面上一 個一個配置距離感應器，降低距離感應器的數量。又，亦 可簡略化各移動棚的控制流程或控制系統。圖6係表示控制 "IU私之例，由數讀取步驟s丨丨、距離測量步驟s 2、控制量 運算步驟S13、控制輸出S14、是否為目標位置之判斷步驟 S15、以及停止步驟S16所構成。該控制流程與上述圖〕所示 的拴制⑽私之不同點在於沒有動作線誤差測量步驟與動作 模式運算步驟，又，在距離測量步驟S12中，不是從移動棚 的移動方向觀看的左右之距離測量，是單純的距離測量之 點。這種動作流程的不同因為是導引軌道方式的移動棚， 故可以不考慮斜行即動作線的誤差。 然後’更具體說明圖7所示的其他實施形態。該實施形態 係形成在彼此相鄰接的移動棚間傳送距離資訊之形成。棚 的構成係與圖4、圖5之實施形態相同，由兩台的固定棚η、 5績兩台的移動棚52、53所構成。在圖7中，移動係在 拜固^棚5 1相對向面側具有由超音波感應器所構成的距離 ’!：、£抑A 1可測定與固定棚5丨之距離亦即第1通路的寬度。 又’移動棚52係在與移動棚53相對向面側具有由超音波感 應：所構成的距離感應器A2，可剛定與移動棚兄之距離亦 即第2通路的寬度。移動棚53係在與移動棚μ相對向面側具 89335 -23- 1301934 有由超音波感應器所構成的距離感應器B 1，可測定與移動 棚54之距離亦即第3通路的寬度。 移移動棚52為主棚，其他移動棚為分散棚時，在主棚配 置兩個距離感應器，在分散棚配置一個距離感應器。移動 棚52的距離感應器A2之檢測輸出亦即第2通路寬度測定資 料亦傳送到與距離感應器A2的配置側相鄰接的移動棚53。 在圖7所示的例中，分散棚雖僅有一台，惟分散棚的數量原 理上係無限制，亦可在各分散棚配置一個距離感應器。因 而，可大幅降低距離感應器的數量。又，如上述移動棚52、 53之例般，在彼此相鄰接的移動棚間，形成藉由距離感應 器使通路寬度測量資料通信。移動棚52、53係具有獨力旋 轉驅動左右的驅動輪之驅動源的馬達，且，具有獨立控制 上述馬達之旋轉的控制手段。 說明圖7所示的實施形態之動作。當棚52朝向固定棚51 移動時，藉由距離感應器A1一邊測定與固定棚51之距離， 一邊測疋第1通路寬度而移動。當與固定棚5丨之距離成為預 先設定之停止距離時，移動棚52的控制手段使驅動馬達停 止，使移動棚52之移動停止。當移動棚52在圖7中朝向右移 動時，藉由距離感應器A2一邊測定與移動棚53之距離，一 邊測疋第2通路寬度而移動。與該移動動作同時，移動棚w 係將與移動棚53之距離資料傳送到移動棚53 ,使移動棚^ ㈣識出與移動棚52之距離。在移動棚„中，藉由距離感 應器B1測定與固定棚54之距離，測定第3通路寬度。至移動 棚52接近移動棚53預先設定的距離為止，此時^動棚^可 89335 -24- 1301934 移動至第3通路的寬度，在固定棚54之間若為可移動移動棚 5 3之距離’則使移動棚5 3的控制電路旋轉控制移動棚5 3的 馬達’使移動棚53在與移動棚52的移動方向相同方向上且 以與移動棚52的移動速度大致相同的速度移動。當距離感 應器B 1檢測出移動棚53接近固定棚54至特定的停止距離為 止時，移動棚53的控制手段使其馬達停止，使移動棚53停 止。同樣地，當距離感應器A2檢測出移動棚52接近移動棚 53至特定的停止距離為止時，移動棚52的控制手段使其馬 達停止，使移動棚52停止。 圖7所示的實施形態係適用於沿導引軌道移動的形式之 私動棚的構成。根據該實施形態，具有可降低距離感應器 的數量。然而，在彼此相鄰接的移動棚間必須藉由距離感 應器傳送測定資料。該通信手段以單純的資料傳送手段較 佳。又，該通信手段以纜線亦可，以電波、光等之無線通 信亦可。 本發明所使用之距離感應器亦可為接觸式的距離感應 器。然而，為接觸式的距離感應器時，在移動棚與固定部 之間必須取得機械性的聯繫甚為繁雜，以非接觸較為便 利。又，非接觸式的距離感應器不限於圖2所示的超音波方 式，例如可使用利用光之三角測量方式、磁性檢測方式、 其他各種測距方式。 【產業上利用的可能性】 本發明係在各移動棚相互間不需進行信號的授受，一台 —台之移動棚觀看相鄰接的移動棚之動作以控制自己的動 89335 -25- 1301934 作，因此控制電路及控制動 成移動棚，在產業上相當有用。了以低成本提供電動 【圖式簡單說明】 圖1係比較習知的移動棚與本發 之實施形態，（a)係習知例的動作、 (c)係本發明之其他動作的側面圖。 明之移動棚的控制方法 (b)係本發明的一動作， 圖2係可應用在本發明之距離感應器之例的流程圖。 圖3係本發明之移動棚的控制方法的動作例之流程圖。 圖4係本發明之移動棚的控制方法之其他實施形態的平 面圖。 圖5係本發明之移動棚的控制方法之又/實施形態的平 面圖。 圖6係上述實施形態的流程圖。 圖7係本發明之移動棚的控制方法之其他實施形態的平 面圖。 【圖式代表符號說明】 1 移動棚 12 13 14 52 移動棚 移動棚 距離測定面 移動棚 53 移動棚 A1 A2 距離感應器 距離感應器 89335 -26 - 1301934 B1 B2 距離感應器 距離感應器 89335 27-At least one of the moving sheds is separated by a distance sensor that is adjacent to each other, so that the adjacent sensor of the 89335 1301934 is adjacent to the control means of the one of the movable sheds. The moving shed moves in the same moving direction as the force shed, and the distance from the moving shed of the above one is kept constant.申请 Application: The invention of the second item of the scope of interest is a control method for a mobile shed, which is movably arranged with a plurality of mobile sheds in the tens of thousands of meters, and can be opened between any mobile sheds. The working passage is characterized in that, in each mobile shed, a large deviation state of the distance between the adjacent moving sheds in the moving direction of the child and the distance of the adjacent moving shed measured by the distance sensor are measured. The control means for keeping the moving shed moving, and controlling the hand to move toward the movable shed equipped with the cymbal means, the adjacent moving shed is close to the solid, and the spoon is moved away to move the shed with the twisting means to the adjacent The moving shed moves in the same direction of gravity, and is controlled to maintain the distance from the adjacent (four) shed. Each of the mobile sheds can be moved to a specific direction by operating an instruction switch provided in the mobile shed. When the distance sensor detects that the adjacent moving shed is close to a specific distance, the control means of the moving shed having the distance sensor moves the moving shed to the same direction as the moving direction of the adjacent moving shed, and the adjacent moving shed The distance is kept in a fixed manner. The invention of claim 3, wherein the control means is provided with a distance between the moving shed having the control means and the adjacent moving shed or the distance measuring surface located in the moving direction of the moving shed to When the specific stopping distance is approached, the moving shed equipped with the control means is stopped. If any mobile shed does not move 2, it stops, and controls the action of the control means of each mobile shed. 89335 1301934 The invention of the syllabus is in the invention of the first or second item, shifting f,: 'the moving multi-directional view is independently rotated and driven by the complex number = the area moving wheel' distance sensor is viewed from the moving direction of the moving shed The left and right settings of the sub-control system are based on the output of the above-mentioned distance sensor, and the corresponding (four) wheels are independently rotated to move the movable shed in parallel. People, heart: moving direction to see the moving shed set in the left and right distance sensor & out by the so-called conversion from the moving direction to view the left and right of the moving shed independently set the drive wheel, can prevent the tilt of the moving shed. The invention of claim 5, wherein the proximity sensor is a non-contact sensor. The invention of the sixth paragraph of the patent scope is in the first, second or third item - the "invention towel" movement (four) is guided? The invention of the seventh aspect of the invention is directed to the invention of the fourth aspect of the invention, wherein the mobile shed does not have a movable shed of the guide rail. Since the distance sensing is provided on the left and right sides of the k moving shed, the slanting of the moving shed can be detected based on the measurement results of the left and right distance sensors. When the oblique line is detected, the control means independently rotates the left and right driving wheels corresponding to the left and right distance sensors according to the detection result, and corrects the tilting of the moving shed to move the moving shed in parallel. • The luxury has the function of correcting the cows, and the mobile shed can move in parallel even if it is a track type. [Effects of the Invention] According to the invention of claim </ RTI> of the invention, at least one of the moving sheds adjacent to each other has a distance of 89335 1301934 from the movable shed which can measure the other adjacent to each other, and the movable shed is in the above When the sensor detects that the adjacent moving shed is close to a fixed distance, the moving shed is moved to the same direction as the moving direction of the adjacent moving shed, and 'because it has a way to keep the distance from the adjacent moving shed as solid. The control means controls the movement of each mobile shed in response to the movement of the adjacent moving shed. As shown in the conventional mobile shed, it is not necessary to judge the moving shed which should be moved and the moving direction thereof from the position where the respective moving sheds should be formed and the designated position of the working path to control the moving shed. Therefore, the control signal can be transmitted and received in each of the mobile sheds, and the control operation and the control means can be simplified, and the distribution of the movements can be simplified. According to the invention of claim 2, in each mobile shed, a distance sensor for measuring the distance from the adjacent moving shed is provided, because the detection signal of the distance sensor, in other words, the movement of the moving shed due to the connection It is constructed in such a manner as to control the movement. Therefore, as shown in the conventional mobile shed, it is not necessary to determine the moving shed which should be moved and the direction of movement thereof from the relationship between the position at which each moving shed should be formed and the designated position of the working path. &, in the mobile sheds, there is no need to enter and receive the signal of the (four) system, so that the control action and the control hand can be combined to form a quotation and the wiring between the mobile phases i can be simplistic. And: In the invention of the patent scope of Zhongli, set up a plurality of driving wheels that are driven by the moving direction of the moving shed, and set a plurality of driving sensors from the (four) universal viewing of the moving shed, and the control means In response to the output of the above-mentioned distance sensor, the rail-type moving shed can be realized by independently rotating and controlling the corresponding driving wheel, and even the rail-type moving shed does not cause oblique lines. 89335 -10- 1301934 [Embodiment] The actual embodiment of the control method of the mobile shed according to the present invention will be described with reference to the drawings. 1 is a motion of a mobile shed by the author and a mobile shed of the present invention: the action of the mobile shed of the present invention, the movement of the present invention, and the action '(4) is the invention The position control action of the mobile shed. Figure 1 (a) π 'known to move on the floor with a plurality of mobile shed hearts (1) all mobile sheds for storage, but also * private #士一i, Hecheng in Rensi A mobile shed device that accesses the industrial access space of the storage shed. It is known that each of the known mobile sheds U, 2, 13 has a moving wheel in the exhibition, and the moving wheel can be moved along the guiding track by being placed on the guide rail. However, in the example shown in FIG. 2, the mobile device 2, 22, 23' of the infinite orbital mode is assembled at the bottom of each of the mobile sheds 11, 12, and 13', even by the wireless track type moving means 2, 22, ^, even No guide track 'can also move straight in the line directly on the floor. The operation of the conventional mobile shed will be described with reference to Fig. 1(a). Forming a working path between the desired moving sheds, for example, when operating the opening command switch, as described above, judging from the relationship between the current position of all the moving sheds and the position at which the working path should be formed, the moving shed that should be moved and its movement Direction, according to the judgment, the mobile shed is moved. In Fig. 1(a), the moving shed u is brought close to the moving shed 12, and in the state where the working path is formed between the moving shed 12 and the moving shed 13, the working passage is formed between the moving shed 11 and the moving shed 12. When the command is made, the moving shed 12 is moved to the left in accordance with the above judgment. Reference numeral 12A denotes the state in the middle of the movement of the moving shed 12. Further, by the control, the moving shed 12 is moved, and when it is detected that there is contact with the moving shed 13 or an appropriate proximity switch or the like 89335 -11 - 1301934, the movement of the moving shed 12 is stopped. In contrast to the above-described operation of the mobile shed, in the control method of the mobile shed according to the present invention shown in FIG. 1(b), in order to form the work path, the movement of the mobile shed itself that issues the movement command is the same as that of the shed. However, by the movement of the adjacent moving shed, the point of controlling the movement of the adjacent moving shed is different. More specifically, the embodiment shown in the figure is the same as the conventional example shown in the drawings. 'Three mobile sheds 11, 12, and 13 are movably disposed on the floor, and all of the moving sheds are storable, and A working path for storing and storing articles can be formed between any moving sheds. Mobile devices 2i, 22, 23 of infinite orbital mode are assembled at the bottom of each of the mobile sheds u, 12, and 13, by means of the infinite track mode moving devices 21, 22, 23, even if there is no guide way' Move straight on the line. Now, in Fig. 1, when the moving direction of each moving shed is set to the left-right direction, the command 俾 is issued to move the moving shed 11 on the right side of the moving shed 11 to the left side. When the working path is temporarily formed in the moving shed u, only the moving shed 11 moves to the left. However, as shown in FIG. 1(b), in the current situation that there is a moving shed 12 beside the moving shed n, when the moving shed is moved to the left side, the moving shed 11 is brought close to the moving shed 2, The distance sensor of the mobile shed 12 detects that the mobile shed U is approaching a fixed distance. Alternatively, in a state where the distance of the moving shed 1114 moving shed 2 becomes large, the distance sensing ασ of the moving shed 12 knows that the moving shed 11 is close to the moving shed 12 . Based on the detection signal, the motor that controls the driving shed 12 is driven to move to the left by the control means of the moving shed 12. Further, the control means of the moving shed 12 controls the moving speed of the moving shed 89335 -12 - 1301934 12 in such a manner that the distance between the moving shed 11 and the moving shed 12 is kept constant. Symbol 12A indicates the state in which the moving shed 12 is moving. In this way, the moving shed 12 is retracted from the moving shed, and the moving shed u catches up with the moving shed 12, so that the distance between the moving sheds is kept parallel in a fixed state. When the moving shed 12 approaches the moving shed 13 to a certain distance, the moving shed 13 is moved to the left side by a fixed distance between the moving sheds 12 by the detecting action of the distance detector of the moving shed i 3 , but according to the moving shed 13. The order of the moving shed 12 and the moving shed 11 reaches the moving limit. The movement limit is viewed from each of the moving sheds, and is located at a distance from the distance measuring surface of the automatic stop or the like at the end of the moving direction of the moving shed or a distance from the adjacent moving shed to a specific stopping distance. When the distance sensor having each of the moving sheds detects the above-mentioned multi-motion limit, the control means of each of the moving sheds causes the moving shed to stop at the place of the child, and the driving of the driving source, that is, the motor is stopped. In the other operation example of the mobile shed according to the present invention shown in Fig. 1, there are two mobile sheds il and 12, and a distance measuring surface is present on the left side of the moving shed 2 <Wall 14. A working path formed by a large space is formed between the moving shed u and the moving shed 12, and a space smaller than the working path is formed between the moving shed 12 and the wall 14, but the moving shed 12 can be fully moved to the left. . Now, on the right side of the moving shed 11, a working path should be formed, and the mobile shed will be released!指令 Move to the left. The moving shed U starts moving toward the side of the moving shed 12. When the moving shed 2 approaches the distance from the moving shed 12 to the special shed, the distance sensor of the moving shed 12 right "is out" the control means of the moving shed i 2 rotationally drives the driving motor of the moving shed 12 in response to the detection signal of the distance sensor. At this time, the control hand slave of the mobile shed should control the speed of the drive motor from the detection signal of the distance sensor to control the speed of the drive motor 89335 -13 - 1301934 degrees to keep the distance between the mobile shed 11 and the mobile shed 2 fixed. The moving shed 12 approaches the wall 14. When the distance of the moving shed 12 senses that the distance of the wall 14 is close to the fixed stopping distance a, the control means of the moving shed 12 is such that the driving motor of the moving shed 12 of the moving shed 12 should be stopped. Stopping. In addition, when the distance sensor of the mobile shed detects the distance of the moving shed 12 to a fixed stopping distance b, the control hand length of the moving shed 2 is such that the moving shed 2 of the shed 2 should be stopped. The drive motor is stopped. In this way, in each mobile shed, the control means of each mobile shed makes the adjacent mobile shed < When the distance from the distance measuring surface formed by the wall 14 in the moving direction of the moving shed or the automatic end stop of the tail end is close to a specific stopping distance, the moving shed having the above control means is stopped. A specific space is formed between the moving sheds and between the moving shed and the distance measuring surface. By opening y into the above space, the circulation of air in the moving shed can be ensured. Next, an example of a distance sensor associated with the control means of the mobile shed of the present invention will be described with reference to FIG. The distance sensor shown in Fig. 2 is a non-contact type distance sensor using ultrasonic waves. The distance sensor has a pulse transmitter and a counting circuit 30. The pulse transmitter is in the portion where the ultrasonic signal is generated, and the generated super-wave is radiated from the sounding body 3丨 corresponding to the loudspeaker toward the reflector 33. The sound body 31 has high directivity. Further, the sounding body 32 corresponding to the microphone is connected to the counting circuit of the pulse transmitter and the counting circuit 30. The sound sensitive body 32 is configured to receive an ultrasonic wave reflected by the reflector 33 and convert it into an electrical signal to be input to the counting circuit. The sounding body 31 and the sound sensitive body 32 are disposed on the same surface. In the pulse transmitter and the counting circuit, after the super-wave is emitted from the sounding body 31, the sound-sensing body 32 counts up to the time until the reflected wave 89335 - 14 - 1301934 is received. The count value is input to a micro-micro or a microprocessor or the like including the above-described control means for processing, whereby the distance between the sound-sense body 3 1 and the sound-sensitive body 32 and the reflector 33 can be measured. The distance sensor using such an ultrasonic wave is well known, and thus detailed description thereof will be omitted. The distance sensor using the above ultrasonic waves is placed in the moving shed. The sounding body 3 1 and the sound sensitive body 32 of the distance sensor are oriented toward the opposite side of the adjacent moving shed, and the front side of the stalked bean 3 1 and the sensible body 3 2 and the front of the moving shed (the mouth) Face) set in a consistent manner. A reflector 33 is disposed on the opposite side of the sounding body 31 and the sound sensitive body 32 of the adjacent moving shed. However, the moving shed itself can also be used as the reflector 33. The distance sensor is placed in the adjacent shed of a moving shed or at least one opposite to the distance measuring surface or two or two in one moving shed. Alternatively, as in the embodiment described later, the guide rail type moving shed may be provided with a distance sensor on the opposite side of at least one side of the moving shed facing each other. However, the distance sensor is viewed from the moving direction of the moving shed on the opposite side of the adjacent shed or from the moving surface of the moving shed. The left and right sides of the moving shed are opposite to the moving storage shed of the moving shed. When the population of the working channel in the shed is the front side of the front side of the disk, when the number is set, it can effectively prevent the slanting of the moving shed. Especially effective for orbital mobile sheds. More specifically, as described above, viewing from the moving direction of the moving shed, that is, a plurality of sets of 0 sings are placed on the left and right sides of the moving shed when facing the storage side of the article, and the child is swaged. The moving shed also has a plurality of driving wheels that are driven by the rotating shed in the left and right. After that, the control means of each mobile shed is based on the output of the above-mentioned left and right distance sensors, and 89335 -15-1301934 alone controls the driving wheels corresponding to this. Therefore, when the left and right sides of the mobile shed are excessively moved and slanted, the detection signal of the distance sensor on the excessively moving side can detect the situation, and the control means controls the driving speed of the driving wheel on the excessive moving side to correct the plane from the plane ( The position of the moving shed viewed in the direction above causes the moving shed to move in parallel. In addition, there is also a case where the left and right sides of the moving shed are too slow and inclined, because the distance sensor on the slow side can sense the situation. Therefore, the control means controls the driving speed of the driving wheel on the slow side. To correct the oblique line of the moving shed. Next, an operation example of the control means of the moving shed according to the present invention will be described with reference to Fig. 3 . In Fig. 3, the operation steps are indicated by "S1", "S2". Starting from action I' first reads various parameters (S1). One of the parameters is the linkage distance. The so-called interlocking distance is a specific distance when the plurality of moving sheds are kept at a specific distance and is moved flat, in other words, when the adjacent sheds are approaching, the moving sheds are moved while retracting while controlling the speed of the moving shed. distance. The second parameter is the braking distance. The braking distance is a distance between the moving shed and the distance measuring surface such as the adjacent moving shed or the wall or the tail end automatic stop to reach the movement limit, and the braking speed is started when the moving speed of the moving shed is slowed. Another parameter is the stopping distance. The stop distance is the distance from which the moving shed reaches the moving boundary to stop the movement of the moving shed. The above parameters are preset, and the above parameters are read and memorized in the memory. Then, the distance from the left and right viewed from the moving direction of the moving shed is measured (S2). The distance between the left and right is the distance from the opposite moving shed or from the adjacent shed on the left and right sides viewed from the moving direction of the measuring surface. When the left and right distances are different, as described above, there will be a slanting of the moving shed. Condition 89935 -16- 1301934 situation. The left and right distance measurement is such that the driving wheel is viewed from the moving direction of the moving shed. The left and right sides must be independently set to control the driving wheel at an independent speed to correct the oblique line. Then, the motion line error measurement is performed (S3). The motion line error measurement is not required in the case where the moving shed moves along the guiding track, but as illustrated in Fig. i, the mobile device having the infinite track mode is required in a moving shed where the guiding track is not required. In other words, the motion line error measurement is performed by marking the scanning line above the floor or the moving shed where the moving shed is provided, and is configured to move the moving shed while tracking the moving line, and measure the time opposite to the moving line. Tracking error of the mobile shed. In the distance measurement (S2) of the left and right viewed from the moving direction of the moving shed, it can be seen that the moving shed is skewed, and the result of the motion line error measurement (S3) is shifted to the left and right of the moving shed as opposed to the moving line. In the next operation mode operation (S4), any one of the left and right drive wheels that are driven independently of each other is driven at a faster speed. Further, based on the above calculation result, in the control amount calculation (S5), the moving speed of each moving shed is calculated while referring to the various parameter data read first, and then it is calculated whether or not the position to be braked is reached. According to the above calculation result, the speed control signal (S6) is output, and the drive motor is individually controlled according to the control signal to correct the skew of the moving shed and the offset of the action line. When the specific control position should be reached, the respective drive is decelerated. When the motor reaches the specific target position by the brake n (4), the motor is stopped (S8) to end the operation. The embodiment described above is an independent identification model 89335 -17-1301934 in which the relative positions of adjacent moving sheds in individual moving sheds are independently detected by separate mobile sheds. More specifically, the independent identification type mobile hanger is shown in FIG. In Fig. 4, the shed 5 1 at the left end and the shed 54 at the right end are fixed sheds, and the sheds 5 2, 5 3 disposed between the fixed sheds are moving sheds. Each shed system makes the storage take-out surface of the article, that is, the inter-mouth surface, be parallel to each other, and the movable sheds 5 2, 5 3 are stored close to the fixed shed 5 or 54 or the sheds can be separated and formed between the sheds. The first passage, the second passage, and the third passage for storing the articles are arranged. A fixed shed 5 1 and 54 can also be accommodated and discretely arranged with a plurality of mobile sheds. The movable shed 52 has distance sensors A1 and A2 composed of ultrasonic sensors on the right and left sides of the opposite sides of the fixed shed 15 and can directly and independently measure the distance from the fixed shed 5 1 . That is, the width of the first passage. The moving shed 52 has distance sensors A3 and A4 composed of ultrasonic sensors on the right and left sides of the moving shed 53, and the width of the second passage, which is the distance from the fixed shed 53, can be independently measured. The movable shed 53 has a distance sensor composed of an ultrasonic sensor on the side opposite to the opposite side of the moving shed 52, and B2' can measure the distance from the moving shed 52, that is, the width of the second passage. Further, the moving shed 53 has distance sensors b3 and B4 composed of ultrasonic sensors on the right and left sides facing the opposing faces of the moving shed 54, and can independently measure and fix the shed 54. The distance is the width of the third passage. Further, the moving shed 52 and the moving shed 53 have a motor that is a driving source that independently drives the left and right driving wheels viewed from the moving direction, and has a control means for controlling the rotation of the motor. The control means can be constituted, for example, by a microprocessor or by a logic Ic or the like. The above five forms of action are as follows. When the moving shed 52 moves to the left in the middle of FIG. 4, it detects the distance between the left and right 89235 -18 - 1301934 sighs from the moving direction on the opposite side from the fixed shed 5 感应, A2, A2, and detects The distance between the fixed sheds of $1 and the distance between the detection values of the distance sensing A1 and A2 is inclined, so that the control means composed of the microprocessor and the like are controlled by each other in such a manner that the difference between the detected values disappears. Left and right motors. The distance between the fixed shed 51 and the fixed shed 51 is detected by the distance sensors A1 and VIII, and the control hand of the moving shed 52 stops the driving of the left and right motors to stop the movement of the moving shed 52. Then, when the moving shed 52 is moved to the right in FIG. 4, the distance from the fixed shed 53 is detected by the distance sensors A3 and A4 disposed on the left and right sides from the moving direction on the opposite side from the fixed shed 53. When the detected values of the devices A3 and VIII have a difference, the control means composed of a microprocessor or the like independently controls the left and right motors to correct the oblique line so that the difference disappears. Further, the moving shed 53 measures the distance from the moving shed 52 by the left and right distance sensors B1 and B2, measures the width of the second path, and when detecting a certain distance close to the preset moving shed 52, the moving shed 53 The distance from the fixed shed 54, i.e., the first passage of the third passage, is measured by the distance sensors B3 and B4 on the side opposite to the fixed shed 54. As a result of measuring the degree of the passage of the footpath 3 degrees, it is understood that the distance of the movable movable shed 53 is such that the control means of the moving shed 53 rotationally controls the left and right motors viewed from the moving direction of the moving shed 53, so that the moving shed 53 faces the fixed shed 54. , moving to the right in Figure 4. The moving speed of the moving shed 53 at this time is designed to be substantially the same as the moving speed of the moving shed 52. When the distance from the fixed phase month 54 measured by the distance sensors B3 and B4 of the moving shed 53 becomes a preset stopping distance, the control means of the moving shed 53 is made based on the detection signals of the distance sensors B 3 and B 4 . The mobile shed w stops. Then, the movable shed 52 is stopped by the fixed sheds 89335 -19 - 1301934 measured by the distance sensors A3, A4 of the moving shed 52. Here, the moving shed 52 is stopped in a state of being stored. The distance of 53 becomes a preset stop distance, and the control means of the shift η stops the motor of the mobile shed 53 in accordance with the detection signals of the distance sensors A3 and A4. The fixed shed 54 is in accordance with the embodiment described above, and each movement is performed. The sheds 52 and 53 identify the position of each mobile shed by the mobile shed itself, and control the rotation of the motor according to the identification result. Therefore, no signal exchange is required between the mobile sheds, and the sheds can be omitted (four) or recorded. Segments and other means of information transmission, or fluffing X & by viewing the moving shed from the moving direction, detecting the oblique line on the left and right side of the measuring path, and independently controlling the left and right driving motors according to the detection result to correct the oblique line Therefore, the present invention can be applied to a mobile shed in the above-described track mode. Thus, the present invention can be applied to a mobile shed in a track mode. However, the essence of the present invention is that when one of the moving sheds adjacent to each other gradually approaches the other side, The control circuit configuration and the control operation of each mobile shed are simplified by moving the other mobile shed to the same direction as the one of the mobile sheds. Accordingly, the present invention is not limited to a rail-mounted moving shed, and the cymbal can be applied to a moving shed that is guided and moved on a guiding track, whereby a desired object can be achieved. In a mobile shed application having a guiding track According to the technical idea of the present invention, the distance sensor can be greatly reduced. The embodiment shown in Fig. 5 is applied to a mobile hanger of a guided track type, and the embodiment will be described below. In Fig. 5, two sets are fixed. Two movable sheds 52 and 53 are movably disposed between the sheds 5 1 and 54. This point is the same as that of the embodiment shown in Fig. 4. Although not shown in the drawings 89335-20-1301934, the fixed shed 51, 54 is provided with a guiding track along which the moving sheds 52, 53 are movably disposed. The guiding track is laid on the floor, and the moving shed is moved on the guiding track, and the moving A guiding rail is fixed on the upper side of the shed to move the moving sheds 52 and 53 in the form of the guiding rail. Each of the moving sheds 52 and 53 has one motor as a driving source, one for each Motor rotary drive from the mobile shed The left and right driving wheels can be viewed in the moving direction, and it is not necessary to have a plurality of motors that independently drive the left and right driving wheels. The moving shed 52 is attached to the opposite side of the fixed shed 51 with supersonic and leather. The distance sensor A1 of the inductor can measure the distance from the fixed shed 51, that is, the width of the first passage. Further, the moving shed 52 is provided with an ultrasonic sensor on the side opposite to the moving shed 53. The distance sensor A2 is configured to measure the distance from the moving shed 53, that is, the width of the second path. The moving shed 53 has a distance sensor composed of an ultrasonic sensor on the side opposite to the moving shed 52. 6丨, the distance from the moving shed 52, that is, the width of the second passage can be measured. Further, the moving shed 53 has a distance sensor B2 composed of an ultra-green wave sensor on the side opposite to the fixed shed 54. The distance from the fixed shed, that is, the width of the third passage can be measured. In this way, each of the movable sheds has a distance sensor which is half the number of 訑 open y shown in Fig. 4 on the opposite side faces of the moving shed or the fixed shed which are adjacent to each other. The distance between the moving sheds is adjusted from the moving direction of the moving shed to the right or left side, and the 'f隹 can also be arranged in the central sho. Further, the moving sheds 52, 53 have a control means for independently controlling the rotation of the driving wheels of the left and right driving wheels from the moving direction of the moving shed, and have control means for independently controlling the rotation of the above-mentioned motors. 89335 * 21 - 1301934 The operation of the μ 施 ^ 所示 所示 所示 所示 没有 没有 没有 没有 没有 没有 没有 没有 动作 动作 动作 动作 动作 动作 动作 动作 动作 动作 动作 动作 动作 动作 动作 动作 动作 动作 动作 动作 动作 动作 动作 动作 动作The shape is roughly the same. When the moving shed 52 moves to the left in FIG. 5, with the solid foot shed 5 1 < The distance sensor A1 provided on the opposite side detects the distance from the fixed foot 51. The distance from the fixed booth is detected by the distance sensor A1 to be a predetermined stop distance, and the control means of the moving shed 52 stops the driving of the motor and stops the movement of the moving shed 52. Then, when the moving shed 52 is moved to the right in Fig. 5, the distance from the moving shed 53 is measured by the distance Sensen A2 set on the opposite side from the moving shed brother. In addition, the moving shed 53 detects the distance from the moving shed 52 by the distance sensor B1, and measures the width of the second path. When the moving shed 52 is detected to approach a predetermined stopping distance, the moving shed 53 is fixed by the shed. The distance sensor B2 on the opposite side of the 54 measures the distance of the fixed shed 54, that is, the width of the third passage. When the distance of the third passage is measured, it is understood that the control means of the moving shed 53 rotates and controls the motor of the moving shed 53 to move the moving shed 53 to the right toward the fixed shed 54 as long as the distance of the movable shed 53 is movable. When the distance of the fixed shed 54 measured by the distance sensor B2 of the moving shed 53 becomes a predetermined stopping distance, the control means of the moving shed 53 stops the motor of the moving shed 53 according to the detection signal of the distance sensor B2. The moving shed 53 is stopped. Then, when the distance between the solid sheds 5 3 measured by the distance sensor A2 of the moving shed 52 becomes a preset stopping distance, the control means of the moving shed 5 2 causes the moving shed 52 according to the detection signal of the distance sensor A2. The motor stops, causing the moving shed 52 to stop. Here, the moving sheds 52, 53 are stopped in a state in which the fixing shed 54 is housed. 89335 -22- 1301934 As in the embodiment shown in Fig. 5 described above, in the case of a moving shed having the form of a guiding track, the inclined track of the moving shed is mechanically and forcibly corrected by the guiding track Since the oblique line is not reached to a certain extent or more, the detection of the oblique line and the control of the oblique line are not required. Therefore, in the embodiment shown in Fig. 5, the distance sensors are arranged one by one on the opposite faces of the moving sheds and the working paths, and the number of distance sensors is reduced. Moreover, the control flow or control system of each mobile shed can also be simplified. 6 is a diagram showing an example of the control "IU private, the number reading step s丨丨, the distance measuring step s 2, the control amount calculating step S13, the control output S14, whether it is the target position determining step S15, and the stopping step S16 Composition. The control flow differs from the control (10) shown in the above figure in that there is no action line error measurement step and operation mode operation step, and in the distance measurement step S12, it is not viewed from the moving direction of the moving shed. Distance measurement is the point of simple distance measurement. This difference in the flow of motion is because it is a moving shed that guides the track mode, so the error of the oblique line, that is, the motion line can be ignored. Then, other embodiments shown in Fig. 7 will be described more specifically. This embodiment is formed by the formation of distance information between moving sheds adjacent to each other. The structure of the shed is the same as that of the embodiment of Figs. 4 and 5, and is composed of two fixed sheds η and five movable sheds 52 and 53. In Fig. 7, the mobile system has a distance '!:, and the A 1 can be measured from the opposite side of the shackle 5 1 by the ultrasonic sensor, and the distance from the fixed shed 5 亦 can be measured. The width. Further, the moving shed 52 is provided with a distance sensor A2 which is constituted by ultrasonic waves on the side facing the moving shed 53 and can be set to a distance from the moving shed brother, that is, the width of the second path. The moving shed 53 is provided on the side opposite to the moving shed μ. 89335 -23- 1301934 A distance sensor B1 composed of an ultrasonic sensor can measure the distance from the moving shed 54, that is, the width of the third passage. When the moving shed 52 is the main shed, and the other moving sheds are the sheds, two distance sensors are arranged in the main shed, and a distance sensor is arranged in the shed. The detection output of the distance sensor A2 of the mobile shed 52, that is, the second path width measurement data is also transmitted to the mobile shed 53 adjacent to the arrangement side of the distance sensor A2. In the example shown in Fig. 7, although there is only one dispersing shed, the number of dispersing sheds is not limited in principle, and a distance sensor can be disposed in each of the dispersing sheds. Therefore, the number of distance sensors can be greatly reduced. Further, as in the case of the above-described moving booths 52, 53, the path width measurement data communication is formed by the distance sensor between the moving booths adjacent to each other. The moving sheds 52, 53 have a motor that independently rotates the driving source for driving the left and right driving wheels, and have control means for independently controlling the rotation of the motor. The operation of the embodiment shown in Fig. 7 will be described. When the shed 52 moves toward the fixed shed 51, the distance from the fixed shed 51 is measured by the distance sensor A1, and the width of the first passage is measured and moved. When the distance from the fixed shed 5 turns into a preset stop distance, the control means of the moving shed 52 stops the drive motor and stops the movement of the moving shed 52. When the moving shed 52 moves to the right in Fig. 7, the distance from the moving shed 53 is measured by the distance sensor A2, and the width of the second path is measured while moving. Simultaneously with the moving action, the mobile shed w transmits the distance data from the moving shed 53 to the moving shed 53, so that the moving shed (4) recognizes the distance from the moving shed 52. In the mobile shed, the distance from the fixed shed 54 is measured by the distance sensor B1, and the width of the third passage is measured. Until the moving shed 52 approaches the predetermined distance of the moving shed 53, the shed can be 89335-24. - 1301934 moves to the width of the third passage, and if the distance between the fixed sheds 54 is the movable moving shed 5 3, the control circuit of the moving shed 53 is rotated to control the motor of the moving shed 53 to make the moving shed 53 Moving in the same direction as the moving direction of the moving shed 52 and at substantially the same speed as the moving speed of the moving shed 52. When the distance sensor B 1 detects that the moving shed 53 approaches the fixed shed 54 to a specific stopping distance, the moving shed The control means of 53 stops the motor and stops the moving shed 53. Similarly, when the distance sensor A2 detects that the moving shed 52 approaches the moving shed 53 to a specific stopping distance, the control means of the moving shed 52 stops the motor. The moving shed 52 is stopped. The embodiment shown in Fig. 7 is suitable for the configuration of a private shed in the form of moving along the guiding track. According to this embodiment, there is a number of distance sensors that can be reduced. The measurement data must be transmitted between the mobile sheds adjacent to each other by the distance sensor. The communication means is preferably a simple data transmission means. Moreover, the communication means can also be wirelessly communicated by radio waves, light, or the like. The distance sensor used in the present invention may also be a contact type distance sensor. However, in the case of a contact type distance sensor, it is complicated to obtain a mechanical connection between the moving shed and the fixed portion. In addition, the non-contact distance sensor is not limited to the ultrasonic method shown in FIG. 2, and for example, a triangulation method using light, a magnetic detection method, and various other ranging methods can be used. Possibility of the present invention, the mobile shed does not need to transmit and receive signals to each other, and the mobile shed of one station can watch the movement of the adjacent moving shed to control the movement of the 89335 - 25 - 1301934, thus controlling The circuit and control move into a mobile shed, which is quite useful in the industry. It provides electric power at low cost. [Simplified description of the drawing] Figure 1 is a comparison between the conventional mobile shed and the present invention. Embodiments (a) are diagrams of conventional operations, and (c) are side views of other operations of the present invention. The control method (b) of the mobile shed is an operation of the present invention, and FIG. 2 is applicable to the present invention. Fig. 3 is a flow chart showing an operation example of the control method of the moving shed according to the present invention. Fig. 4 is a plan view showing another embodiment of the control method of the moving shed according to the present invention. Fig. 6 is a plan view of the embodiment of the present invention. Fig. 7 is a plan view showing another embodiment of the method for controlling a moving shed according to the present invention. 1 Mobile shed 12 13 14 52 Mobile shed moving shed distance measuring surface moving shed 53 Moving shed A1 A2 Distance sensor distance sensor 89335 -26 - 1301934 B1 B2 Distance sensor distance sensor 89335 27-