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1. 发明公开

KR1020090086143A 이동체 시스템 有权
标题翻译：移动身体系统
公开(公告)号：KR1020090086143A
公开(公告)日：2009-08-11
申请号：KR1020080090702
申请日：2008-09-16
申请人： 무라다기카이가부시끼가이샤
发明人： 쿠보히데키
IPC分类号： B65G43/08 , B65G1/137
CPC分类号： B60L13/00
摘要： A moving body system is provided to drive a moving body in a zone by calculating the coordinate of the moving body about the covering route with a sensor. A moving body system comprises a zone controller(30), a moving body distance calculation unit(44) and a coordinate calculation unit. The coordinate production unit is installed at the zone controller. The coordinate calculation unit converts the coordinate of the moving body based on a linear scale(43) into the coordinate based on the covering route. The moving body distance calculation unit operates the driving of the moving body within one zone. The moving body has an ID. An ID reader, at least one, is installed within each zone in order to read the ID of the moving body. The coordinate based on the covering route is consisting of the ID of a sub-route dividing the row root and the coordinate within the sub-route.
摘要翻译：提供移动体系，通过用传感器计算围绕覆盖路线的移动体的坐标来驱动区域中的移动体。移动体系包括区域控制器（30），移动体距离计算单元（44）和坐标计算单元。坐标生成单元安装在区域控制器上。坐标计算单元基于覆盖路线将基于线性刻度（43）的移动体的坐标转换为坐标。移动体距离计算单元在一个区域内操作移动体的驱动。移动体具有ID。至少有一个ID阅读器安装在每个区域内，以便读取移动体的ID。基于覆盖路径的坐标由划分行根和子路径内的坐标的子路径的ID组成。

2. 发明授权

KR101301167B1 이동체 시스템 有权
标题翻译：移动身体系统
公开(公告)号：KR101301167B1
公开(公告)日：2013-09-03
申请号：KR1020080090702
申请日：2008-09-16
申请人： 무라다기카이가부시끼가이샤
发明人： 쿠보히데키
IPC分类号： B65G43/08 , B65G1/137
CPC分类号： B60L13/00
摘要： (구성) 주행 루트를 따라 리니어 모터의 1차측 코일을 배열함과 아울러, 이동체에 리니어 모터의 2차측을 설치한다. 주행 루트를 복수의 존으로 분할해서 각 존의 존 컨트롤러에 의해 존 내의 리니어 모터의 코일을 제어한다. 코일의 리니어 스케일로부터의 리니어 스케일을 기준으로 하는 이동체의 좌표를 주행 루트를 기준으로 하는 좌표로 변환한다.
(효과) 이동체의 위치를 주행 루트를 기준으로 표현하면 이동체간의 거리를 구할 수 있고, 하나의 존에 복수대의 이동체를 주행시킬 수 있다.
이동체 시스템

3. 发明公开

KR1020080050293A 주행대차와 주행대차 시스템 无效
标题翻译：旅行卡车和旅行卡车系统
公开(公告)号：KR1020080050293A
公开(公告)日：2008-06-05
申请号：KR1020070095568
申请日：2007-09-19
申请人： 무라다기카이가부시끼가이샤
发明人： 쿠보히데키
IPC分类号： B60T8/28 , B61B13/00
CPC分类号： G05D1/027 , B60K23/0808 , B60L3/102 , B60L15/20 , B60L15/2009 , B60L15/2072 , B60L2220/46 , B60L2240/14 , B60L2240/463 , B60L2240/465 , B60W2520/105 , B60W2520/26 , B60W2710/1055 , B60Y2200/14 , G05D1/0234 , G05D1/024 , G05D1/0261 , G05D1/0272 , Y02T10/645 , Y02T10/646 , Y02T10/72 , Y02T10/7275
摘要： A traveling truck and a traveling truck system are provided to measure slip precisely by detecting absolute position with linear sensors continuously and precisely with high responsiveness. A traveling truck comprises a sensor, a torque distribution unit, and a motor driving unit. The sensor measures the acceleration of the running vehicle. The torque distribution unit determines a distribution rate of torque to each of front and rear driving wheels in accordance with the found acceleration. The motor driving unit changes driving torque to each of the front and rear driving wheels based on the found distribution rate to control driving motors driving the front and rear driving wheels.
摘要翻译：提供行驶卡车和行驶卡车系统，通过连续准确地检测绝对位置，以高响应度测量滑差。行驶车包括传感器，扭矩分配单元和马达驱动单元。传感器测量行驶车辆的加速度。扭矩分配单元根据发现的加速度确定前驱动轮和后驱动轮中的每一个的转矩分配率。基于所发现的分配率，马达驱动单元将驱动扭矩改变到前驱动轮和后驱动轮中的每一个，以控制驱动前驱动轮和后驱动轮的驱动马达。

4. 发明公开

KR1020080050287A 주행대차와 그 시스템 无效
标题翻译：旅行卡车及其系统
公开(公告)号：KR1020080050287A
公开(公告)日：2008-06-05
申请号：KR1020070093030
申请日：2007-09-13
申请人： 무라다기카이가부시끼가이샤
发明人： 쿠보히데키
IPC分类号： G05D1/02
CPC分类号： G05D1/0223
摘要： An auto carriage and a system thereof are provided to prevent the sliding by executing a feedback operation on a motor through the detection of sliding amounts. Marks are arranged in at least two rows along a traveling route(4) of an auto carriage(2). The auto carriage includes a first detection unit, two or more linear sensors(13,14), a second detection unit, a third detection unit, and a controller. The first detection unit detects the driving amounts of wheels and the variation amounts per time of the auto carriage. The linear sensors detect the marks. The second detection unit detects the absolute position of the auto carriage and the variation amounts of the absolute position based on outputs of the linear sensors. The third detection unit detects the sliding amounts of the auto carriage by comparing the variation amounts of the driving amounts with the variation amounts of the absolute position. The controller controls a motor of the wheels to compensate for the sliding amounts.
摘要翻译：提供自动车厢及其系统，以通过检测滑动量来执行对电动机的反馈操作来防止滑动。标记沿着自动滑架（2）的行进路线（4）排列成至少两排。自动托架包括第一检测单元，两个或更多个线性传感器（13,14），第二检测单元，第三检测单元和控制器。第一检测单元检测车轮的行驶量和自动车厢每次的变化量。线性传感器检测标记。第二检测单元基于线性传感器的输出来检测自动托架的绝对位置和绝对位置的变化量。第三检测单元通过将驱动量的变化量与绝对位置的变化量进行比较来检测自动托架的滑动量。控制器控制车轮的电动机以补偿滑动量。

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