DE69415067T2 - Methode und Steuervorrichtung für ein Transportverwaltungssystem mit fahrerlosen Fahrzeugen - Google Patents

Methode und Steuervorrichtung für ein Transportverwaltungssystem mit fahrerlosen Fahrzeugen

Info

Publication number
DE69415067T2
DE69415067T2 DE69415067T DE69415067T DE69415067T2 DE 69415067 T2 DE69415067 T2 DE 69415067T2 DE 69415067 T DE69415067 T DE 69415067T DE 69415067 T DE69415067 T DE 69415067T DE 69415067 T2 DE69415067 T2 DE 69415067T2
Authority
DE
Germany
Prior art keywords
control device
management system
transport management
driverless vehicles
driverless
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
DE69415067T
Other languages
English (en)
Other versions
DE69415067D1 (de
Inventor
Takami Egawa
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Asyst Shinko Inc
Original Assignee
Shinko Electric Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP7724493A external-priority patent/JP3031109B2/ja
Priority claimed from JP5310931A external-priority patent/JP2953282B2/ja
Application filed by Shinko Electric Co Ltd filed Critical Shinko Electric Co Ltd
Publication of DE69415067D1 publication Critical patent/DE69415067D1/de
Application granted granted Critical
Publication of DE69415067T2 publication Critical patent/DE69415067T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
    • G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/31—From computer integrated manufacturing till monitoring
    • G05B2219/31003—Supervise route, reserve route and allocate route to vehicle, avoid collision
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/32—Operator till task planning
    • G05B2219/32372—Petrinet, coloured, inhibitor arc, timed, object token Petrinet
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/60—Electric or hybrid propulsion means for production processes

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Acoustics & Sound (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
DE69415067T 1993-04-02 1994-04-01 Methode und Steuervorrichtung für ein Transportverwaltungssystem mit fahrerlosen Fahrzeugen Expired - Fee Related DE69415067T2 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP7724493A JP3031109B2 (ja) 1993-04-02 1993-04-02 最適経路決定装置
JP31093293 1993-12-10
JP5310931A JP2953282B2 (ja) 1993-12-10 1993-12-10 運行管理制御装置およびその方法

Publications (2)

Publication Number Publication Date
DE69415067D1 DE69415067D1 (de) 1999-01-21
DE69415067T2 true DE69415067T2 (de) 1999-07-08

Family

ID=27302376

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69415067T Expired - Fee Related DE69415067T2 (de) 1993-04-02 1994-04-01 Methode und Steuervorrichtung für ein Transportverwaltungssystem mit fahrerlosen Fahrzeugen

Country Status (3)

Country Link
US (1) US5625559A (de)
EP (1) EP0618523B1 (de)
DE (1) DE69415067T2 (de)

Cited By (8)

* Cited by examiner, † Cited by third party
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DE102013207899A1 (de) * 2013-04-30 2014-10-30 Kuka Laboratories Gmbh Fahrerloses Transportfahrzeug, System mit einem Rechner und einem fahrerlosen Transportfahrzeug, Verfahren zum Planen einer virtuellen Spur und Verfahren zum Betreiben eines fahrerlosen Transportfahrzeugs
DE102013207895A1 (de) * 2013-04-30 2014-10-30 Kuka Laboratories Gmbh Fahrerloses Transportfahrzeug, System mit einem Rechner und einem fahrerlosen Transportfahrzeug, Verfahren zum Betreiben eines fahrerlosen Transportfahrzeugs
DE102013010787A1 (de) * 2013-06-28 2014-12-31 Servus Intralogistics Gmbh Steuerungssystem für einen schienengebundenen Fahrroboter und Verfahren zu dessen Betrieb
US8930133B2 (en) 2006-06-19 2015-01-06 Amazon Technologies, Inc. Generating a path for a mobile drive unit
US9087314B2 (en) 2006-06-19 2015-07-21 Amazon Technologies, Inc. System and method for positioning a mobile drive unit
US9519284B2 (en) 2006-06-19 2016-12-13 Amazon Technologies, Inc. Transporting inventory items using mobile drive units and conveyance equipment
US9740212B2 (en) 2006-06-19 2017-08-22 Amazon Technologies, Inc. System and method for coordinating movement of mobile drive units
US10093526B2 (en) 2006-06-19 2018-10-09 Amazon Technologies, Inc. System and method for maneuvering a mobile drive unit

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US7873469B2 (en) * 2006-06-19 2011-01-18 Kiva Systems, Inc. System and method for managing mobile drive units
JP4661838B2 (ja) * 2007-07-18 2011-03-30 トヨタ自動車株式会社 経路計画装置及び方法、コスト評価装置、並びに移動体
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WO2011055823A1 (ja) * 2009-11-09 2011-05-12 株式会社小松製作所 車両の走行制御装置および方法
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US9057508B1 (en) 2014-10-22 2015-06-16 Codeshelf Modular hanging lasers to enable real-time control in a distribution center
US9327397B1 (en) 2015-04-09 2016-05-03 Codeshelf Telepresence based inventory pick and place operations through robotic arms affixed to each row of a shelf
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AU2016384096B2 (en) * 2016-01-04 2019-10-24 Zhejiang Libiao Robots Co., Ltd. Method and device for returning robots from site
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JP6854620B2 (ja) * 2016-10-26 2021-04-07 株式会社クボタ 走行経路生成装置
CN106774305B (zh) * 2016-11-30 2019-11-08 上海振华重工电气有限公司 自动化集装箱码头多自动引导车辆路径冲突消解方法
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US10692365B2 (en) 2017-06-20 2020-06-23 Cavh Llc Intelligent road infrastructure system (IRIS): systems and methods
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CN107678405B (zh) * 2017-08-22 2020-01-31 广东美的智能机器人有限公司 机器人行驶方法及其装置
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FR3091592B1 (fr) 2019-01-04 2021-01-29 Balyo Procédé pour la commande par un serveur de supervision du déplacement d’une flotte de véhicules à guidage autonome
CN109724612B (zh) * 2019-01-14 2021-06-15 浙江华睿科技有限公司 一种基于拓扑地图的agv路径规划方法及设备
JP7228420B2 (ja) 2019-03-13 2023-02-24 株式会社東芝 情報処理装置、情報処理方法、情報処理システム及びコンピュータプログラム
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Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10133267B2 (en) 2006-06-19 2018-11-20 Amazon Technologies, Inc. Method and system for transporting inventory items
US10067501B2 (en) 2006-06-19 2018-09-04 Amazon Technologies, Inc. Method and system for transporting inventory items
US11066282B2 (en) 2006-06-19 2021-07-20 Amazon Technologies, Inc. System and method for maneuvering a mobile drive unit
US8930133B2 (en) 2006-06-19 2015-01-06 Amazon Technologies, Inc. Generating a path for a mobile drive unit
US10990088B2 (en) 2006-06-19 2021-04-27 Amazon Technologies, Inc. Method and system for transporting inventory items
US10809706B2 (en) 2006-06-19 2020-10-20 Amazon Technologies, Inc. Method and system for transporting inventory items
US10093526B2 (en) 2006-06-19 2018-10-09 Amazon Technologies, Inc. System and method for maneuvering a mobile drive unit
US9519284B2 (en) 2006-06-19 2016-12-13 Amazon Technologies, Inc. Transporting inventory items using mobile drive units and conveyance equipment
US9087314B2 (en) 2006-06-19 2015-07-21 Amazon Technologies, Inc. System and method for positioning a mobile drive unit
US9740212B2 (en) 2006-06-19 2017-08-22 Amazon Technologies, Inc. System and method for coordinating movement of mobile drive units
US9483051B2 (en) 2013-04-30 2016-11-01 Kuka Roboter Gmbh Automated guided vehicle, system having a computer and an automated guided vehicle, and method for operating an automated guided vehicle
DE102013207895A1 (de) * 2013-04-30 2014-10-30 Kuka Laboratories Gmbh Fahrerloses Transportfahrzeug, System mit einem Rechner und einem fahrerlosen Transportfahrzeug, Verfahren zum Betreiben eines fahrerlosen Transportfahrzeugs
DE102013207899A1 (de) * 2013-04-30 2014-10-30 Kuka Laboratories Gmbh Fahrerloses Transportfahrzeug, System mit einem Rechner und einem fahrerlosen Transportfahrzeug, Verfahren zum Planen einer virtuellen Spur und Verfahren zum Betreiben eines fahrerlosen Transportfahrzeugs
US9410811B2 (en) 2013-04-30 2016-08-09 Kuka Roboter Gmbh Automated guided vehicle, system comprising a computer and an automated guided vehicle, method of planning a virtual track, and method of operating an automated guided vehicle
US9522686B2 (en) 2013-06-28 2016-12-20 SERVIS Intralogistics GmbH Control system for rail-based automated transport vehicles and a process for its operation
DE102013010787A1 (de) * 2013-06-28 2014-12-31 Servus Intralogistics Gmbh Steuerungssystem für einen schienengebundenen Fahrroboter und Verfahren zu dessen Betrieb

Also Published As

Publication number Publication date
US5625559A (en) 1997-04-29
EP0618523A1 (de) 1994-10-05
DE69415067D1 (de) 1999-01-21
EP0618523B1 (de) 1998-12-09

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