| 摘要 |
PROBLEM TO BE SOLVED: To provide a rail-less movable rack capable of improving the operability by suppressing the inclination generated in the movable rack. SOLUTION: When the positional deviation to a guide is detected by a guide sensor (S4), the forward deviation or the backward deviation is determined (S5), and a control unit 28 controls a wheel drive mechanism so that one wheel corresponding to the direction of the positional deviation out of a front wheel and a rear wheel is rotated at lower speed than the other wheels in order to eliminate this positional deviation (S6 and S9). If no positional deviation is detected (S4), and the difference in the traveling distance between the front wheel and the rear wheel is >=30 mm (S12), the control unit 28 controls the wheel drive mechanism so that the wheel with long traveling distance out of the front wheel and the rear wheel is rotated at lower speed than the other wheel with shorter traveling distance in order to eliminate the differential distance and realize the normal traveling attitude (S14 and S17).
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