JP5827974B2 - Positioning control device for moving machine and positioning method for moving machine - Google Patents

Description

  The present invention relates to a positioning control device for a moving machine that travels on rails provided along a plurality of kilns in a coke oven, and a positioning method for the moving machine.

  In a coke oven, a large number of alternating carbonization chambers that coke the coal by heat from adjacent combustion chambers and combustion chambers that supply heat to adjacent carbonization chambers by combustion of fuel gas are arranged. Yes. In the coke oven, a so-called fire car that charges the coke discharged from the guide car, an extruder that extrudes the coke, a guide car that receives the extruded coke, or a charge car that charges the coke is used. A moving machine is used. The moving machine moves toward the target stop position on the rails extending along the plurality of kilns, stops at that position, performs a predetermined work (coke extrusion, etc.), and moves to the next target stop position. Move again towards.

  For this reason, there is a need for a positioning control method that can accurately position the mobile machine. As a conventional positioning control method for a mobile machine, for example, methods described in Patent Documents 1 and 2 can be cited.

  In Patent Document 1, a target stop position (kiln core) of a mobile device used in a coke oven is detected by an optical kiln core detecting device using a CCD line sensor, and the position of the mobile device is a free wheel of the mobile device. A method is disclosed in which the mobile device is detected at the target stop position by detecting with a pulse generator provided in the system.

  Patent Document 2 discloses absolute position data obtained from an induction radio line laid along a moving direction of a mobile machine used in a coke oven, and a relative position obtained from a synchro oscillator attached to a driven wheel of the mobile machine. A method of detecting a current position of a mobile machine in combination with data and stopping the mobile machine at a target stop position is disclosed.

  However, in the method of Patent Document 1, since it is optical, positioning may not be possible with dust in a coke oven or the like. Further, in the method described in Patent Document 2, since the final positioning is performed by the synchro-transmitter, the position of the mobile machine may be detected as being shifted due to slippage of the idler wheel or the driven wheel of the mobile machine. Therefore, according to these methods, the position of the mobile machine cannot be detected with high accuracy.

JP 7-63514 A Japanese Patent Laid-Open No. 9-13040

  The present invention has been made in view of such a problem, and provides a positioning control device for a moving machine and a positioning method for the moving machine that can position the moving machine with high accuracy.

  A positioning control device for a mobile machine according to the present invention is a positioning control device for a mobile machine that travels on rails provided along a plurality of kilns, and is in a connecting / disconnecting direction in which the moving machine and the plurality of kilns are connected / disconnected. The traveling direction of the mobile machine is determined by a position sensor that outputs a position information signal regarding a position away from a specific position in the traveling direction when the distance in the separation direction perpendicular to the traveling direction of the mobile machine is constant. A position detection unit that detects the upper position, and a stop command unit that outputs a stop command for stopping the mobile machine at a target position in the traveling direction using the result of the position detection unit, Calculates the amount of displacement of the mobile machine in the separation / contact direction based on the position information signal output from the position sensor, and corrects the position information signal according to the calculated amount of displacement of the mobile machine in the separation / contact direction. Characterized in that it comprises a signal correction unit.

  According to this configuration, the signal correction unit calculates the amount of displacement of the moving machine in the separation / contact direction based on the position information signal. Then, the signal correction unit corrects the position information signal according to the shift amount of the mobile machine. The stop command unit outputs a stop command to the mobile machine using this result. Therefore, the position detection unit detects the position in the traveling direction while corresponding to the displacement of the moving machine in the separation / contact direction, and thus positions the moving machine with high accuracy.

  As another aspect of the positioning control apparatus for a mobile machine according to the present embodiment, the position sensor is a first position sensor that detects the position of the mobile machine as an absolute position, and the position of the mobile machine is relative to a specific position. A position information signal for calculating the position of the mobile machine, and a position information signal output from the second position sensor from a position information signal output from the first position sensor. It is preferable that a signal switching unit that switches to a signal is provided.

  According to this configuration, the signal switching unit outputs the signal from the first position sensor at an appropriate time after moving the moving machine to the vicinity of the target position based on the position information signal output from the first position sensor. The position information signal that is output is switched to the position information signal that is output from the second position sensor, thereby switching to highly accurate positioning control. In other words, by controlling the mobile machine only when it is necessary to position the mobile machine with high accuracy, it is possible to reduce the burden on the processing capacity related to the control.

  As another aspect of the positioning control device for a mobile machine according to this embodiment, the position sensor outputs a position information signal having a specific value regardless of the position in the separation / contact direction when the position of the mobile machine is at a specific position. In addition to outputting, it is possible to adopt a configuration in which the specific value is used as a fixed point and a position information signal having a certain inclination according to the amount of displacement of the moving machine in the separation / contact direction is output.

  According to such a configuration, the signal correction unit calculates the position of the mobile machine in the separation / contact direction using the inclination of the change in the position information signal based on the position information signal obtained from the position sensor.

  As another aspect of the positioning control device for a mobile machine according to the present embodiment, the signal correction unit moves based on the position information signal output from the second position sensor when the mobile machine is moved at a constant speed. It is preferable to calculate the amount of deviation of the machine.

  According to such a configuration, the degree of change (trend) of the position information signal output from the second position sensor according to the relative distance from the target position is constant, and positioning control of the mobile machine is easy. Become.

  A positioning method of a mobile machine according to the present invention is a method of controlling a mobile machine using the mobile machine positioning control device, wherein the mobile machine is brought to a target position in the traveling direction based on a result of a position detection unit. It is characterized by being stopped.

  According to this configuration, the signal correction unit calculates the amount of displacement of the moving machine in the separation / contact direction based on the position information signal. Then, the signal correction unit corrects the position information signal according to the shift amount of the mobile machine. The stop command unit outputs a stop command to the mobile machine using this result. Therefore, the position detection unit detects the position in the traveling direction while corresponding to the displacement of the moving machine in the separation / contact direction, and thus positions the moving machine with high accuracy.

  As described above, according to the present invention, the mobile machine can be positioned with high accuracy.

The block diagram of the positioning control apparatus of the moving machine which concerns on this embodiment is shown. The figure showing the relationship between the position and speed of a mobile machine is shown. The figure showing the positional relationship of a mobile machine and a proximity switch is shown. The output waveform figure of a proximity switch is shown. The A section enlarged waveform figure of FIG. 4 is shown. An explanatory view of a correction method of a position information signal is shown. The flowchart of the same position control apparatus is shown. The flowchart of the same position control apparatus is shown. The block diagram of the positioning control apparatus of the moving machine which concerns on other embodiment is shown.

  Hereinafter, an embodiment of a positioning control apparatus for a mobile machine according to the present invention will be described with reference to the drawings.

  First, the configuration of the positioning control device for a mobile machine according to the present embodiment will be described with reference to FIGS. The positioning control device 1 for a mobile machine according to the present invention controls the position of a mobile machine that travels on rails provided along a plurality of kilns.

  The positioning control device 1 travels the moving machine and stops it at a predetermined target stop position on the rail determined for each of the kilns. The target stop position in the present embodiment will be described as the kiln core position P0. Specifically, as shown in FIG. 2, the moving machine moves between adjacent kilns at a high speed V1. When approaching a position P1 near the kiln core position P0, the mobile machine decelerates to a brakeable speed V2 [m / sec] (hereinafter, this position P1 is referred to as a “deceleration start position”). The speed V2 at this time is constant at about 3 [m / sec]. The moving machine moves at a constant speed from the kiln core position P0 to a position P3 before the braking distance Da, receives a stop command at the position P3, and starts braking (hereinafter, this position P3 is referred to as a “stop command”). Called "position"). The drive unit 3 of the mobile machine brakes the electric motor 4 that drives the wheels of the mobile machine at the stop command position P3. For this reason, the positioning control device 1 is configured to detect the stop command position P3 and transmit information to that effect to the drive unit 3.

  As shown in FIG. 1, the position sensor 2 used in the positioning control device 1 includes an encoder 21 (corresponding to the “first position sensor” of the present invention) that detects the position of the moving machine as an absolute position, a specific position, And a proximity sensor 22 (corresponding to the “second position sensor” of the present invention).

  The encoder 21 is an absolute rotary encoder that can detect the position of the moving machine as an absolute position by counting the amount of rotation of the wheel of the moving machine. The encoder 21 detects the approximate traveling position of the mobile machine in the traveling direction.

  As shown in FIG. 3, the proximity sensor 22 is a kind of non-contact sensor, and includes a plurality of transmitters 23 that generate a magnetic field, and a magnetoresistive element that detects a magnetic field generated by the transmitters 23. And two built-in receivers 24. The proximity sensor 22 outputs a position information signal regarding a position away from a specific position P0 in the traveling direction when the distance in the separating direction that is perpendicular to the traveling direction of the mobile machine and is separated from or contacting the plurality of kilns is constant. Output. This position information signal indicates a relative positional relationship with the specific position P0 in the traveling direction. In this embodiment, the transmitter 23 is installed so that this specific position becomes the kiln core position P0, and the receiver 24 detects the kiln core position P0 based on the positional relationship with the transmitter 23.

  The transmitter 23 and the receiver 24 are installed across the mobile machine side and the kiln side (ground side) with the wheels of the mobile machine traveling on the rail as a boundary. In the present embodiment, the transmitter 23 is installed at a position P4 on each kiln core of the kiln, and the receiver 24 is installed on the mobile machine P5 on the mobile machine side.

  The proximity sensor 22 has a position information signal output corresponding to the position in the traveling direction when the position of the moving machine in the separation / contact direction is not constant from the kiln core position P0, that is, the movement machine is displaced in the separation / contact direction. It is configured to change. The proximity sensor 22 outputs a signal having a value corresponding to the separation distance from the kiln core position (specific position) P0 in the traveling direction. The proximity sensor 22 changes with the passage of time, and the change has a certain tendency. In particular, the proximity sensor 22 according to the present embodiment outputs a position information signal having a specific value regardless of the position in the separation / contact direction when the position of the mobile machine is at the kiln core position P0, and the specific value is As a fixed point, a position information signal having a certain inclination according to the position of the moving machine in the separation / contact direction is output. For example, the proximity sensor 22 is VEROLINE (registered trademark) manufactured by EUROASE.

  The output waveform of the proximity sensor 22 will be described in detail with reference to FIGS. This output waveform is a result obtained by analyzing the position information signal output from the proximity sensor 22 over time, and is a result obtained when the mobile machine is driven at a constant speed. This output waveform indicates the degree of change (trend) of the position information signal output from the proximity sensor 22 according to the relative distance from the kiln core position P0.

  When the receiver 24 reaches the kiln core position P0 on the kiln core L0, a position information signal having a specific value (12 mA) is output (see the relative distance 0 mm point in FIGS. 4 and 5). The receiver 24 is configured to always output the same specific value as long as it is on the kiln core L0.

  As shown in FIG. 4, the receiver 24 outputs a position information signal that changes in a substantially sinusoidal shape in proportion to the distance in the traveling direction (direction orthogonal to the kiln core L0) with the kiln core L0 as the center. That is, this position information signal indicates a relative distance from the kiln core L0 in the traveling direction of the mobile machine. If the position of the receiver 24 with respect to the transmitter 23 is shifted in the kiln core direction (same as the separating / connecting direction) and the relative distance between the transmitter 23 and the receiver 24 in the kiln core direction is changed, In the output waveform, the amplitude of the sine wave changes corresponding to the relative distance. In the present embodiment, the distance between the transmitter 23 and the receiver 24 in the kiln core direction is 90 mm as a reference (hereinafter, this distance is referred to as “reference distance”).

  In particular, as shown in FIG. 5, the output waveform of the receiver 24 has a characteristic that it has a constant slope that changes substantially linearly in the output section near the origin (between -45 mm and +45 mm in this embodiment). Prepare. The position information signal corresponding to the origin is always 12 mA regardless of the position in the kiln core direction (shift amount of the moving machine).

  As shown in FIG. 1, the positioning control device 1 switches the position information signal of the position sensor 2 based on the position information signal from the receiving section 11 that receives the position information signal from the position sensor 2 and the receiving section 11. A signal switching unit 12, a position detecting unit 13 for detecting the position of the moving machine by the position sensor 2, and a stop command for stopping the moving machine at a target position in the traveling direction using the position detecting unit 13 are output. And a transmission unit 17 that transmits information related to the position of the mobile machine detected by the position detection unit 13 to the drive unit 3.

  The receiving unit 11 is an input interface that is connected to the encoder 21 and the proximity sensor 22 and receives position information signals transmitted therefrom.

  In the case where the position of the mobile machine is to be detected with higher accuracy from the position of the mobile machine detected by the position information signal of the encoder 21, the signal switching unit 12 detects the position of the mobile machine based on the position information signal from the proximity sensor 22. In order to switch to position detection, a position information signal of the proximity sensor 22 is input to the position detection unit 13.

  Specifically, as shown in FIG. 2, the signal switching unit 12 moves at a position P2 between the deceleration start position P1 and the stop command position P3 (hereinafter, this position P2 is referred to as a “signal switching position”). The position information signal that is a basis for calculating the position of the machine is switched from the position information signal of the encoder 21 to the position information signal of the proximity sensor 22. This signal switching position P2 is preferably a position about 150 mm from the furnace core L0 where the position information signal starts changing in a sine wave shape, and is a position of about 110 mm which is the maximum point (or the minimum point) of the sine wave shape. More preferably, as shown in FIG. 5, it is most preferable that the position is approximately 45 mm where the slope is substantially linear. Hereinafter, in this specification, the position information signal of the encoder 21 is referred to as an absolute position signal, and the position information signal of the proximity sensor 22 is referred to as a relative position signal.

  As shown in FIG. 1, the position detection unit 13 includes a signal correction unit 14 that corrects the relative position signal according to the amount of displacement in the separation / contact direction, and the position of the mobile machine based on the corrected relative position signal. And a position calculation unit 15 for calculation. The position detection unit 13 includes a CPU that performs arithmetic processing and a memory that stores programs and information necessary for the arithmetic processing.

  As shown in FIG. 6, the signal correction unit 14 receives the difference ΔOr between the two relative position signals input from the proximity sensor 22 with the time difference Δt and the two relative position signals via the signal switching unit 12. And a relative position signal difference ΔOs that changes with the time difference Δt at the reference separation distance (= 90 mm). The difference ΔOr is stored in the memory every time a relative position signal is received from the signal switching unit 12, and the two relative position signals are read from the memory and calculated by the CPU. The time difference Δt is measured by a timer built in the CPU. As for the difference ΔOs, an output waveform (output tendency) at a reference separation distance (= 90 mm) is stored in the memory, and the output waveform is read from the memory and is calculated by the CPU. That is, since the moving machine is moving at a constant speed and the moving amount matches regardless of the deviation in the kiln core direction (ΔDr = ΔDs), the moving amount ΔDs moving with the time difference Δt is used as the reference output waveform at the reference separation distance. And the difference ΔOs is calculated from the movement amount ΔDs. The output waveform at the reference separation distance (= 90 mm) is obtained by actually measuring the value of the output current at the separation distance from the target position when the mobile machine is driven at a constant speed. Furthermore, output waveforms at other separation distances (for example, 120 mm, 110 mm, 100 mm, 80 mm, 70 mm, 60 mm, 50 mm, etc.) may also be stored in the memory so that these separation distances can be handled.

The signal calculation unit 15 calculates the position of the moving machine based on the reference relative position signal Is. Therefore, the signal correction unit 14 corrects the input relative position signal Ir with the following mathematical formula, and calculates the reference relative position signal Is corresponding to the reference separation distance. The output waveform Lr in FIG. 6 is an example of an output waveform that is output when the mobile machine is displaced in the kiln core direction.

  The position calculation unit 15 calculates the position of the mobile machine corresponding to the reference relative position signal Is based on the reference output waveform stored in the memory.

  The stop command unit 16 transmits to the drive unit 3 a stop command for starting braking at the stop command position P3 before the braking distance of the mobile machine in order to stop the mobile machine at the kiln core position P0. The stop command unit 16 is connected to the position calculation unit 15, and determines the position of the mobile machine based on the relative position signal input from the position calculation unit 15.

  The transmission unit 17 is an output interface that transmits information related to the position of the mobile machine to the drive unit 3.

  Next, a mobile machine positioning control method by the mobile machine positioning control apparatus 1 according to the present embodiment will be described with reference to FIGS. 7 and 8.

  First, as shown in FIG. 7, the positioning control device 1 receives position information signals (absolute position signal and relative position signal) from the encoder 21 and the proximity sensor 22 to the signal switching unit 12 via the receiving unit 11. (Steps S1, S2). The signal switching unit 12 detects the position of the mobile machine based on the absolute position signal of the encoder 21 (step S3).

  When the position does not reach the deceleration start position P1 (NO in step S4), the signal switching unit 12 recognizes the position of the moving machine based on the absolute position signal of the encoder 21 as the current position of the moving machine ( In step S5), the signal is transmitted to the drive unit 3 via the transmission unit 17 (step S6).

  When the position of the mobile machine based on the absolute position signal of the encoder 21 exceeds the deceleration start position P1 and has not reached the signal switching position P2 (YES in step S4, NO in step S7), the signal switching unit 12 The position of the mobile machine based on the absolute position signal is recognized as the current position of the mobile machine (step S5), and is transmitted to the drive unit 3 via the transmission unit 17 (step S6). Further, the signal switching unit 12 inputs the relative position signal of the proximity sensor 22 to the position detection unit 13 and starts detecting the position of the mobile machine based on the proximity sensor 22 (step S8).

  When the position of the mobile machine based on the absolute position signal of the encoder 21 has reached the signal switching position P2 (YES in step S4, YES in step S7), as shown in FIG. The relative position signal of the proximity sensor 22 is input to the unit 13, and the position of the mobile machine based on the proximity sensor 22 is detected (steps S9 to S12).

Specifically, as shown in FIG. 6, the signal correction unit 14 calculates a difference ΔOr between two relative position signals input from the proximity sensor 22 via the signal switching unit 12 with a time difference Δt (step S9). ). Further, the signal correction unit 14 measures the time difference Δt when the two relative position signals are input by the CPU, and based on the output waveform Ls of the receiver 24 at the reference separation distance stored in the memory, the reference separation At the distance, the difference ΔOs of the relative position signal that changes with the time difference Δt is calculated (step S10). Then, the signal correction unit 14 corrects the input relative position signal Ir with the following mathematical formula, and calculates the reference relative position signal Is at the reference separation distance (step S11).

  The signal correction unit 14 inputs the reference relative position signal Is to the position calculation unit 15, and the position calculation unit 15 positions the mobile machine corresponding to the reference relative position signal Is based on the reference output waveform Ls stored in the memory. Is calculated (step S12).

  The position of the mobile machine calculated by the position calculation unit 15 is transmitted to the drive unit 3 by the transmission unit 17 to drive the electric motor 4 (step S13).

  On the other hand, when the position of the mobile machine has reached the stop command position based on the position (information regarding the mobile machine) calculated from the position calculation unit 15 (YES in step S14), the stop command unit 16 passes through the transmission unit 17. Then, a stop command is transmitted to the drive unit 3 (step S15).

In this manner, the signal correction unit 14 calculates the difference ΔOr and the difference ΔOs of the relative position signal in consideration of the shift amount of the moving machine in the separation / contact direction based on the relative position signal. The relative position signal is corrected according to the difference value. The stop command unit 14 outputs a stop command to the mobile machine using this result. Moving machine, the position of the wheel in the width direction of the rail is displaced is caused, deviation of the mobile machine is Rukoto occur in disjunction direction. However, the position detector 13 detects the position in the traveling direction while corresponding to the displacement of the moving machine in the separation / contact direction. Therefore, the moving machine is positioned with high accuracy.

  Further, the relative position output from the proximity sensor 22 by the signal switching unit 12 at an appropriate time after the moving machine is moved to the vicinity of the target position based on the absolute position signal output from the encoder 21. Switch to signal and switch to high-accuracy positioning control. In other words, by controlling the mobile machine only when it is necessary to position the mobile machine with high accuracy, it is possible to reduce the burden on the processing capacity related to the control. The encoder 21 can detect the absolute position of the mobile machine, but cannot detect a position with higher accuracy than the proximity switch 22. On the other hand, the proximity switch 22 can detect a highly accurate relative position with the position set corresponding to the furnace core P0, but does not detect an absolute position. Therefore, the signal switching unit 12 also has a function of complementing and using the advantages of each position sensor.

  Further, when the moving machine is moved at a constant speed, the degree of change (trend) of the relative position signal output from the proximity sensor 22 according to the relative distance from the target position becomes constant, and the movement Machine positioning control becomes easy.

  The positioning control device for a mobile machine according to the present invention is not limited to the above embodiment, and various modifications can be made without departing from the gist of the present invention.

The mobile machine positioning control device 1 according to the embodiment may include a learning function in which the signal correction unit 14 learns (a series of) positioning control for stopping the mobile machine at a target position. That is, the signal correction unit 14 is a stop detection unit 14a that detects that the mobile machine has stopped, and a reference position information storage unit that stores a position information signal (output tendency thereof) at the reference position of the mobile machine in the separation / contact direction. and 14b, stop detection unit 14a that the mobile machine has stopped is detected, the first position information signal corrected according to the deviation amount in the disjunction direction of the mobile machine, are stored in the reference position information storage unit 14b When the second position information signal is different from the second position information signal, a correction information calculation unit 14c that calculates a difference value between the first position information signal and the second position information signal as position correction information, and stores the position correction information. a correction information storage unit 14d which, using the position correction information stored in the correction information storage unit 14 d calculates the shift amount of the moving machine in disjunctive direction, the position in accordance with the shift amount of the moving machine that has been calculated Information signal You may make it provide the correction | amendment part 14e to correct | amend.

Stop detection unit 14a detects that the mobile machine based on the position information signal outputted position sensor 2 whether we stopped. The position information signal is preferably relative position information output from the proximity switch 22, but may be an encoder 21 or another position sensor. The stop detection unit 14a outputs a stop detection signal when the mobile machine stops. The reference position is, for example, a position at which the position in the direction of the mobile machine is disjunctive is located at the reference distance (= 90 mm). Specifically, the position correction information is a difference ΔOr between two relative position signals input from the proximity sensor 22 with a time difference Δt and a difference ΔOs between relative position signals that changes with the time difference Δt at the reference position. Yes, the target position may be associated with the identifiable information and stored in association with each target position, or may be stored without being distinguished in this way.

In this manner, when the mobile machine is repeatedly moved, the position information signal at the reference position is corrected by the position correction information previously calculated and learned so that the position information signal at the reference position is becomes appropriate location information signal to the state of the state, it is possible to position control of the subsequent mobile machine and more precisely.

  In the mobile machine positioning control device 1 according to the above embodiment, the example in which the transmitter 23 of the position sensor 2 is installed on the kiln side and the receiver 24 is installed on the mobile machine side has been described, but the present invention is limited to this. is not. For example, the transmitter 23 may be installed on the mobile machine side, and the receiver 24 may be installed on the kiln side. Further, the position of the transmitter 23 or the receiver 24 installed on the mobile machine side is not limited to that on the mobile machine, and may be anywhere as long as it moves in synchronization with the mobile machine. The position of the transmitter 23 or the receiver 24 installed on the ground side is the same.

  Although the example of detecting the position when the mobile machine positioning control device 1 according to the above embodiment travels at a constant speed has been described, the present invention is not limited to this, and the mobile machine travels at a reduced speed. You may make it detect the position when doing. At this time, a position information signal having a constant inclination is not output from the position sensor, but a position information signal having a change rate that takes into account the traveling speed of the mobile machine is output. Therefore, the signal correction unit can achieve the object of the present invention by correcting the position information signal even when the mobile machine is traveling at a reduced speed by applying an algorithm when the mobile machine is running at a constant speed.

  DESCRIPTION OF SYMBOLS 1 ... Positioning control apparatus, 11 ... Receiver, 12 ... Signal switching part, 13 ... Position detection part, 14 ... Signal correction part, 15 ... Position calculating part, 16 ... Stop command part, 17 ... Transmission part, 2 ... Position sensor 21 ... Encoder, 22 ... Proximity sensor, 23 ... Transmitter, 24 ... Receiver, 3 ... Drive unit, 4 ... Electric motor, 14a ... Stop detection unit, 14b ... Reference position information storage unit, 14c ... Correction information calculation unit, 14d ... Correction information storage unit, 14e ... Correction unit, L0 ... Kiln core, P0 ... Kiln core position, P1 ... Deceleration start position, P2 ... Position switching position, P3 ... Stop command position, Da ... Braking distance

Claims (5)

A positioning control device for a moving machine that runs on rails provided along a plurality of kilns,
Position where the moving machine and the plurality of kilns are separated from each other and when the distance in the separating direction perpendicular to the traveling direction of the moving machine is constant, the position away from a specific position in the traveling direction A position detection unit that detects a position in the traveling direction of the mobile machine by a position sensor that outputs a position information signal regarding;
A stop command unit that outputs a stop command for stopping the mobile machine at a target position in the traveling direction using the result of the position detection unit;
The position detector calculates the amount of displacement of the moving machine in the separation / contact direction based on the position information signal output from the position sensor, and corrects the position information signal according to the calculated amount of displacement of the moving machine in the separation / contact direction. A positioning control device for a mobile machine, comprising: a signal correction unit that performs the operation. The position sensor includes a first position sensor that detects the position of the mobile machine as an absolute position, and a second position sensor that detects the position of the mobile machine as a relative position with respect to a specific position.
The signal switching part which switches the position information signal which calculates the position of a mobile machine from the position information signal output from a 1st position sensor to the position information signal output from a 2nd position sensor of Claim 1 is provided. Positioning control device for mobile machines.   The second position sensor outputs a position information signal having a specific value regardless of the position in the separation / contact direction when the position of the mobile machine is at a specific position, and uses the specific value as a fixed point for separation / contact. The positioning control device for a mobile machine according to claim 2, which outputs a position information signal having a constant inclination in accordance with a shift amount of the mobile machine in the direction.   The said signal correction | amendment part calculates the deviation | shift amount of a moving machine based on the positional information signal output from a 2nd position sensor, while moving a moving machine at constant speed. 2. A positioning control device for a mobile machine according to item 1. A method for controlling a mobile machine using the mobile machine positioning control device according to any one of claims 1 to 4 ,
A method of controlling a mobile machine, characterized in that the mobile machine is stopped at a target position in a traveling direction based on a result of the position detection unit.

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