CN102402224B - 无人搬送车以及行驶控制方法 - Google Patents
无人搬送车以及行驶控制方法 Download PDFInfo
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- CN102402224B CN102402224B CN201110241873.8A CN201110241873A CN102402224B CN 102402224 B CN102402224 B CN 102402224B CN 201110241873 A CN201110241873 A CN 201110241873A CN 102402224 B CN102402224 B CN 102402224B
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- 238000000034 method Methods 0.000 title claims abstract description 54
- 238000013459 approach Methods 0.000 claims description 9
- 238000012546 transfer Methods 0.000 claims description 5
- 238000012545 processing Methods 0.000 description 37
- 238000006073 displacement reaction Methods 0.000 description 33
- 238000005259 measurement Methods 0.000 description 30
- 230000008569 process Effects 0.000 description 25
- 230000006870 function Effects 0.000 description 15
- 238000010586 diagram Methods 0.000 description 14
- 230000004888 barrier function Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012887 quadratic function Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
- G05D1/0282—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal generated in a local control room
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0244—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using reflecting strips
Abstract
Description
Claims (8)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010197865A JP5721980B2 (ja) | 2010-09-03 | 2010-09-03 | 無人搬送車および走行制御方法 |
JP2010-197865 | 2010-09-03 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN102402224A CN102402224A (zh) | 2012-04-04 |
CN102402224B true CN102402224B (zh) | 2014-12-03 |
Family
ID=45771296
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201110241873.8A Active CN102402224B (zh) | 2010-09-03 | 2011-08-23 | 无人搬送车以及行驶控制方法 |
Country Status (4)
Country | Link |
---|---|
US (1) | US9176502B2 (zh) |
JP (1) | JP5721980B2 (zh) |
KR (1) | KR101304018B1 (zh) |
CN (1) | CN102402224B (zh) |
Families Citing this family (59)
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US7107081B1 (en) | 2001-10-18 | 2006-09-12 | Iwao Fujisaki | Communication device |
US7466992B1 (en) | 2001-10-18 | 2008-12-16 | Iwao Fujisaki | Communication device |
US7127271B1 (en) | 2001-10-18 | 2006-10-24 | Iwao Fujisaki | Communication device |
US8090402B1 (en) | 2003-09-26 | 2012-01-03 | Iwao Fujisaki | Communication device |
US8121635B1 (en) | 2003-11-22 | 2012-02-21 | Iwao Fujisaki | Communication device |
US8208954B1 (en) | 2005-04-08 | 2012-06-26 | Iwao Fujisaki | Communication device |
US8559983B1 (en) | 2007-05-03 | 2013-10-15 | Iwao Fujisaki | Communication device |
US7890089B1 (en) | 2007-05-03 | 2011-02-15 | Iwao Fujisaki | Communication device |
US8676273B1 (en) | 2007-08-24 | 2014-03-18 | Iwao Fujisaki | Communication device |
US8639214B1 (en) | 2007-10-26 | 2014-01-28 | Iwao Fujisaki | Communication device |
US8472935B1 (en) | 2007-10-29 | 2013-06-25 | Iwao Fujisaki | Communication device |
US8744720B1 (en) * | 2007-12-27 | 2014-06-03 | Iwao Fujisaki | Inter-vehicle middle point maintaining implementer |
US8340726B1 (en) | 2008-06-30 | 2012-12-25 | Iwao Fujisaki | Communication device |
US8452307B1 (en) | 2008-07-02 | 2013-05-28 | Iwao Fujisaki | Communication device |
WO2013162096A1 (ko) * | 2012-04-25 | 2013-10-31 | 주식회사 하이로시 | 주행로봇 및 주행로봇의 제어방법 |
CN102830702B (zh) * | 2012-09-07 | 2014-10-22 | 无锡普智联科高新技术有限公司 | 一种用于密集存储区域的移动机器人路径规划方法 |
CN102865877B (zh) * | 2012-10-08 | 2014-12-17 | 无锡普智联科高新技术有限公司 | 基于密集存储区域的多移动机器人路径冲突解决方法 |
CN102929279B (zh) * | 2012-11-07 | 2014-11-05 | 无锡普智联科高新技术有限公司 | 基于三维空间密集存储区域的多机器人路径规划方法 |
CN103225242B (zh) * | 2012-12-26 | 2015-05-13 | 金鹰重型工程机械有限公司 | 一种提轨机构自动过铁路线路鱼尾板的控制装置 |
CN103412566A (zh) * | 2013-08-21 | 2013-11-27 | 广州动进精密机械科技有限公司 | Agv多道岔自动寻目的站点的方法和系统 |
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2010
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-
2011
- 2011-08-22 KR KR1020110083238A patent/KR101304018B1/ko active IP Right Grant
- 2011-08-23 CN CN201110241873.8A patent/CN102402224B/zh active Active
- 2011-09-01 US US13/223,544 patent/US9176502B2/en active Active
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Also Published As
Publication number | Publication date |
---|---|
US9176502B2 (en) | 2015-11-03 |
JP5721980B2 (ja) | 2015-05-20 |
US20120059545A1 (en) | 2012-03-08 |
JP2012053837A (ja) | 2012-03-15 |
CN102402224A (zh) | 2012-04-04 |
KR20120025403A (ko) | 2012-03-15 |
KR101304018B1 (ko) | 2013-09-04 |
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