CN104040449B - The emergency stop method of the transfer mechanism in the emergency stop method of transfer mechanism, conveying operating system and conveying operating system - Google Patents
The emergency stop method of the transfer mechanism in the emergency stop method of transfer mechanism, conveying operating system and conveying operating system Download PDFInfo
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- CN104040449B CN104040449B CN201280066464.1A CN201280066464A CN104040449B CN 104040449 B CN104040449 B CN 104040449B CN 201280066464 A CN201280066464 A CN 201280066464A CN 104040449 B CN104040449 B CN 104040449B
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- transfer mechanism
- implement
- detection
- detection range
- stop
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000001514 detection method Methods 0.000 claims abstract description 109
- 230000004888 barrier function Effects 0.000 claims abstract description 32
- 238000004519 manufacturing process Methods 0.000 description 17
- 238000010586 diagram Methods 0.000 description 9
- 230000000694 effects Effects 0.000 description 2
- 238000011144 upstream manufacturing Methods 0.000 description 2
- 230000008450 motivation Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
Abstract
The present invention provides the emergency stop method of a kind of transfer mechanism that can reliably make transfer mechanism stop when emergency.The emergent stopping of a kind of transfer mechanism (10) controls (S100), described transfer mechanism (10) possesses: travel load-carrying vehicle (11), the obstacle sensor (16) that the barrier of predetermined detection range (D) is detected, the stop element (17) making traveling load-carrying vehicle (11) stop when detecting barrier at the sensor that breaks the barriers (16), wherein, when making traveling load-carrying vehicle (11) emergent stopping, the detection range (D) being made obstacle sensor (16) by operator is expanded, and detected barrier by obstacle sensor (16) in the detection range (Dn) after extended, thus being made transfer mechanism (10) stop by arresting stop (17).
Description
Technical field
The present invention relates to the technology of emergency stop method of transfer mechanism in the emergency stop method of a kind of transfer mechanism, conveying operating system and conveying operating system.
Background technology
Transfer mechanism (unmanned waggon) is, is controlled by computer on the production line in factory etc. and carries out the equipment of operating automatically.Transfer mechanism uses for following purpose on a production line, i.e. workpiece is carried or between these implements, workpiece is carried in the implement implementing weld job, processing operation etc..
On the production line including implement and transfer mechanism, from viewpoint for security, it is necessary in case of emergency make the emergency braking device that the work of implement and transfer mechanism stops.At present, transfer mechanism possesses the emergency stop push button in case of emergency making traveling stop.But, in the implement implementing weld job, processing operation etc., the emergency stop push button that operator presses transfer mechanism is comparatively difficult.In addition, the transfer mechanism entering in implement is wirelessly made to stop although also allowing for utilizing, but in case of emergency, from reliably making transfer mechanism stop this viewpoint for security, not preferably by the stopping of transfer mechanism that is wireless and that implement.
Therefore, on a production line, demand is a kind of in the implement implementing weld job, processing operation etc., in case of emergency reliably makes the method that transfer mechanism stops.
At first technical literature
Patent documentation
Patent documentation 1: Japanese Unexamined Patent Publication 09-185413 publication
Summary of the invention
Invent problem to be solved
Problem to be solved by this invention is, it is provided that the emergency stop method of the transfer mechanism in a kind of emergency stop method, conveying operating system and conveying operating system that in case of emergency can reliably make transfer mechanism stop.
For the method solving problem
Problem to be solved by this invention is as it has been described above, it follows that illustrate the method being used for solving this problem.
Namely, technical scheme 1 proposes the emergency stop method of a kind of transfer mechanism, described transfer mechanism possesses: travel load-carrying vehicle, the detection of obstacles unit that the barrier being present in predetermined detection range is detected, the stop element making described traveling load-carrying vehicle stop when detecting barrier by described detection of obstacles unit, wherein, when making described traveling load-carrying vehicle emergent stopping, by being made the detection range of described detection of obstacles unit expand by operator, and detected barrier by described detection of obstacles unit in the detection range after extended, thus being made described transfer mechanism stop by described stop element.
Technical scheme 2 proposes one conveying operating system, possessing: transfer mechanism, it possesses: travel load-carrying vehicle, the detection of obstacles unit that the barrier being present in predetermined detection range is detected, the stop element that makes described traveling load-carrying vehicle stop when detecting barrier by described detection of obstacles unit；Implement, operation implemented by its workpiece to being carried by described transfer mechanism, wherein, described detection of obstacles unit is configured to, the detection range of barrier can being switched over, described implement possesses the detection range switch unit that the detection range to described detection of obstacles unit switches over.
In technical scheme 3, described conveying operating system is by described detection range switch unit, and make the detection range entering into the described detection of obstacles unit of the transfer mechanism in described implement expand, the working rig being arranged in described implement and implementing the operation for described workpiece is detected, thus being made described transfer mechanism stop by described stop element by the described detection of obstacles unit after utilizing detection range extended.
In technical scheme 4, a kind of emergency stop method of the transfer mechanism carried in operating system, described conveying operating system possesses: transfer mechanism, and it possesses and travels load-carrying vehicle, the detection of obstacles unit that the barrier being present in predetermined detection range is detected, the stop element that makes described traveling load-carrying vehicle stop when detecting barrier by described detection of obstacles unit；Implement, operation implemented by its workpiece to being carried by described transfer mechanism, wherein, described detection of obstacles unit is configured to, the detection range of barrier can be switched over, described implement possesses the detection range switch unit that the detection range to described detection of obstacles unit switches over, by described detection range switch unit, and make the detection range entering into the described detection of obstacles unit of the transfer mechanism in described implement expand, the working rig being arranged in described implement and implementing the operation for described workpiece is detected by the described detection of obstacles unit after utilizing detection range extended, thus being made described transfer mechanism stop by described stop element.
Invention effect
The emergency stop method of the transfer mechanism in the emergency stop method of the transfer mechanism according to the present invention, conveying operating system and conveying operating system, it is possible in case of emergency reliably make transfer mechanism stop.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the composition representing the production line involved by embodiments of the present invention.
Fig. 2 is the schematic diagram of the composition representing the transfer mechanism under same case.
Fig. 3 is the schematic diagram of the composition representing the implement under same case.
Fig. 4 represents the flow chart that the implement of the transfer mechanism under same case enters the flow process controlled.
Fig. 5 be under same case schematic diagram.
Fig. 6 is the flow chart of the flow process representing the transfer mechanism emergent stopping control under same case.
Fig. 7 is the schematic diagram under same case.
Detailed description of the invention
Utilize Fig. 1, production line 100 is illustrated.
Production line 100 is, possesses the transfer mechanism involved by emergency stop method of the transfer mechanism in the emergency stop method of the transfer mechanism of the present invention, conveying operating system and conveying operating system or carries the production line of operating system.Production line 100 is arranged in automobile plant 200.
The production line 100 of present embodiment is as the production line of the operation of the assembling etc. that the workpiece W carried by transfer mechanism 10 is implemented processing or parts by implement 60.The workpiece W of present embodiment is set to the body bottom of automobile.Additionally, in production line 100, constitute and have the conveying operating system possessing transfer mechanism 10 and implement 60.
Production line 100 possesses the transport path of multiple implement 60 and transfer mechanism 10.Each implement 60 each configures close to or away from ground.Transfer mechanism 10 is, the equipment of the conveying of the workpiece W between the conveying implementing the workpiece W in implement 60 in production line 100 or the implement 60 implementing implement 60 and next operation.Transfer mechanism 10 travels along transport path, and draws the load-carrying vehicle 20 being mounted with workpiece W thus workpiece W is carried.Implement 60 possesses multiple apparatus for work 61, and apparatus for work 61 is configured in the both sides (with reference to Fig. 3) of the transport path of transfer mechanism 10.
Utilize Fig. 2, transfer mechanism 10 is illustrated.
It addition, Fig. 2 (A) illustrates the top view of transfer mechanism 10, Fig. 2 (B) illustrates the front view of transfer mechanism 10.Hereinafter, conveying direction according to Fig. 2 and Fig. 3, width and short transverse illustrate.
Transfer mechanism 10 is, the load-carrying vehicle 20 being mounted with workpiece W is drawn thus to the workpiece W equipment carried.Transfer mechanism 10 is operated automatically by the ICU (omitting diagram) of production line 100.Transfer mechanism 10 possesses traveling load-carrying vehicle 20, adapter 12, proximity switch 15, the obstacle sensor 16 as detection of obstacles unit and the arresting stop 17 as stop element.
Travel the load-carrying vehicle that load-carrying vehicle 11 is the self-propelled being equipped with power source.Adapter 12 is attached with load-carrying vehicle 20 travelling load-carrying vehicle 11.
Obstacle sensor 16 is, detects the device of the barrier at the front place of the conveying direction of transfer mechanism 10.Obstacle sensor 16 is arranged at the front side of the conveying direction travelling load-carrying vehicle 11.The presence or absence of the barrier that obstacle sensor 16 is capable of detecting when in the detection region D in the front of conveying direction.Detection range D is, the scope formed with the preset width on the horizontal plane of predetermined altitude and predetermined depth.
Obstacle sensor 16 is set with the standard detection scope Dn as one of detection range D, and the preset width of standard detection scope Dn is set to the width of the width more than workpiece W.In addition, sense in 16 at barrier and be set with the detection range Ds that reduces as one of detection range D, and the preset width reducing detection range Ds is set to the width of channel width (being configured between apparatus for work 61 and the apparatus for work 61 of the both sides of the transport path that transfer mechanism 10 passes through) less than implement 60.Hereinafter, when only recording detection range D, described detection range D includes standard detection scope Dn and reduces detection range Ds.
Proximity switch 15 is, it is possible to the size of the detection range D of obstacle sensor 16 is changed to standard detection scope Dn or the device of any one reducing in detection range Ds.Proximity switch 15 is in the side of width, extend outside width compared with a side longer with width length among the traveling load-carrying vehicle 11 of transfer mechanism 10 and load-carrying vehicle 20, and, in the upside of above-below direction, extend and arrange upward compared with the above-below direction height of transfer mechanism 10.It addition, in order to reliably make proximity switch 15 work, it would however also be possible to employ the structure that two proximity switches 15 are arranged side by side in the conveying direction.
Proximity switch 15 is, the device in a non-contact manner presence or absence of neighbouring object detected.The size of the detection region D of obstacle sensor 16 (when being set to proximity switch 15 open), is set as reducing detection range Ds by the proximity switch 15 of present embodiment when the object in a non-contact manner and near detecting.Additionally, the size of the detection region D of obstacle sensor 16 during object near detecting (when being set to proximity switch 15 close), is set as standard detection scope Dn failing in a non-contact manner by proximity switch 15.
Arresting stop 17 is, what make the transfer mechanism 10 in traveling travels the device that load-carrying vehicle 11 stops.Arresting stop 17, when breaking the barriers sensor 16 and detecting barrier in detection range D, makes the traveling load-carrying vehicle 11 in traveling stop.
Utilize Fig. 3, implement 60 is illustrated.
It addition, Fig. 3 (A) illustrates transfer mechanism 10 by top view enters the state of implement 60.Fig. 3 (B) is illustrated transfer mechanism 10 and enters the state of implement 60 by front view.
Implement 60 possesses multiple apparatus for work 61 and the switch lever 65 as detection range switch unit.Apparatus for work is 61, is implemented the processing of workpiece W, the welding of workpiece W by automat etc. or implements the device of assembling of parts on the workpiecew.In present embodiment, eliminate the detailed description to each apparatus for work 61.
Switch lever 65 is under normal conditions (when being in normal place Sn described later), can detected by the proximity switch 15 by entrance implement 60 and the transfer mechanism 10 having been enter into implement 60, and in case of emergency (when being in emergent stopping position Ss described later), detected by the proximity switch 15 of the transfer mechanism 10 that will not be under the state being about to enter implement 60 and have been enter into implement 60.
Switch lever 65 is arranged at the side of width in the way of parallel with the transport path of the transfer mechanism 10 on implement 60, and is extended setting in the way of the substantially four corner on the transport path direction of implement 60.It addition, switch lever 65 is from the upstream side on the transport path direction of implement 60, it is extended setting towards upstream side.
Switch lever 65 possesses close to portion 66, main body 67, supporting axle 68 and support platform 69.Main body 67 is configured to, and is generally L-shaped shape during from the cross-section of conveying direction.The tip side of main body 67 it is arranged at close to portion 66.Support 68 to main body 67 with supporting station 69 can support in the mode that conveying direction rotates for axle.Supporting station 69 is arranged at the side of the width of implement 60.
Switch lever 65 is configured to, it is possible to by air cylinder structure, normal place Sn is switched over emergent stopping position Ss both attitudes.Normal place Sn is, main body 67 and rotating downwards close to portion 66, and main body 67 becomes the position (position of the switch lever 65 shown in Fig. 3 (B)) of the state close with the proximity switch 15 of the transfer mechanism 10 entered in implement 60.When switch lever 65 is in normal place Sn, when transfer mechanism 10 enters in implement 60, will be automatically conveyed detected by the proximity switch 15 of machine 10 close to portion 66.
Emergent stopping position Ss is, main body 67 and rotating upward from normal place Sn close to portion 66, and main body 67 become proximity switch 15 with the transfer mechanism 10 entered in implement 60 away from the position (position of the switch lever 65 shown in the upper right side of Fig. 3 (B)) of state.When switch lever 65 is in emergent stopping position Ss, when transfer mechanism 10 enters in implement 60, will not be automatically conveyed close to portion 66 detected by the proximity switch 15 of machine 10.
Switch lever 65 is set as, and by the device controller of implement 60 (omitting diagram), air cylinder structure is driven, and is in normal place Sn thus being switched, is in emergent stopping position Ss.
Utilize Fig. 4 and Fig. 5, implement is entered control S50 and illustrates.
It addition, in the diagram, illustrated implement by flow chart and enter the flow process controlling S50.In Figure 5, in order to make explanation it can be readily appreciated that enter for implement and control S50.It is shown depending on ideograph with main on the right to overlook ideograph to be shown in left side.
In step s 40, workpiece W is carried with so as to close to implement 60 by transfer mechanism 10 on the transport path of automatic assembly line 100.Now, owing to proximity switch 15 is in the state not detecting any object, therefore the detection range D of obstacle sensor 16 is set to standard detection scope Dn.Therefore, transfer mechanism 10 will stop when barrier (especially the operator) in the front in conveying being detected.It addition, transfer mechanism 10 is operated automatically by the ICU of production line 100.
In step S51 (implement enters and controls S50), before transfer mechanism 10 is about to enter implement 60, switch lever 65 will be automatically conveyed the proximity switch 15 detected (proximity switch 15 is set as opening) of machine 10.More specifically, in implement 60, owing to switch lever 65 is in normal place Sn, therefore before transfer mechanism 10 is about to enter implement 60, will be automatically conveyed detected by the proximity switch 15 of machine 10 close to portion 66.
In step S52 (implement enters and controls S50), by the proximity switch 15 of transfer mechanism 10 is set to opening, thus the setting of the detection region D of obstacle sensor 16 is changed to from standard detection scope Dn and reduces detection range Ds.
Enter according to implement and control S50, by being set as reducing detection range Ds by standard detection scope Dn, so that detection range D is reduced such that it is able to prevent the situation that apparatus for work 61 is detected as barrier and then stops by the transfer mechanism 10 entering in implement 60.
In step S60, apparatus for work 61 will not be detected by transfer mechanism 10 as barrier, thus automatic conveying vehicle 10 will enter in implement 60, and in implement 60, workpiece W is carried.The apparatus for work 61 of the implement 60 workpiece W to being transferred by transfer mechanism 10 implements operation.
Utilize Fig. 6 and Fig. 7, emergent stopping is controlled S100 and illustrates.
It addition, in Fig. 6, represent that emergent stopping controls the flow process of S100 with flow chart.In Fig. 7, in order to make explanation it can be readily appreciated that control S100 for emergent stopping and be shown depending on ideograph with main on right side to overlook ideograph to be shown in left side.
In step S60, the detection region D of obstacle sensor 16 is set as that apparatus for work 61 will not be identified by the transfer mechanism 10 reducing detection range Ds as barrier, thus can enter in implement 60.
In step S110 (emergent stopping control S100), the emergency stop push button (omitting diagram) that device controller is pressed implement 60 to whether by operator confirms.When being pressed emergency stop push button by operator, transfer to step S120, when not pressed emergency stop push button by operator, transfer to step S200.
In step S120 (emergent stopping controls S100), when being pressed emergency stop push button by operator, the switch lever 65 of implement 60 is switched to emergent stopping position Ss from normal place Sn by device controller.By making switch lever 65 be switched to emergent stopping position Ss, thus the proximity switch 15 of transfer mechanism 10 will become detecting switch lever 65 (proximity switch 15 is set to off closed state).It addition, now, by being pressed emergency stop push button by operator, thus the whole apparatus for work 61 in implement 60 will stop.
In step 130 (emergent stopping controls S100), by making the proximity switch 15 of transfer mechanism 10 be set to off closed state, thus in transfer mechanism 10, the setting of the detection region D of obstacle sensor 16 will be changed to standard detection scope Dn from reducing detection range Ds.
In step S140 (emergent stopping controls S100), by making the detection region D of the obstacle sensor 16 of transfer mechanism 10 be changed to standard detection scope Dn, thus the apparatus for work 61 in implement 60 is detected by obstacle sensor 16 as barrier.Owing to apparatus for work 61 is detected by obstacle sensor 16 as barrier, therefore transfer mechanism 10 is made to stop by arresting stop 17.
Namely, if being operated emergency stop push button by operator, then the detection range D of obstacle sensor 16 will be enlarged by and becomes standard detection scope Dn, owing to apparatus for work 61 is detected by obstacle sensor 16 as barrier in the standard detection scope Dn after expansion, therefore transfer mechanism 10 is made to stop by arresting stop 17.
In step s 200, apparatus for work 61 will not be detected by transfer mechanism 10 as barrier, and in implement 60, workpiece W can be carried.In implement 60, when the end of job of the workpiece W of apparatus for work 61, transfer mechanism 10 exits from implement 60.
The effect that emergent stopping controls S100 below illustrates.
At present, transfer mechanism 10 possesses the emergency stop push button in case of emergency making traveling stop.But, in the implement 60 implementing weld job, processing operation etc., the emergency stop push button that operator presses transfer mechanism 10 is comparatively difficult.In addition, make the transfer mechanism entering in implement 60 stop although also allowing for utilizing wirelessly, but in case of emergency, from reliably making transfer mechanism 10 stop this viewpoint for security, it is not preferred by the stopping of transfer mechanism that is wireless and that implement.
S100 is controlled, it is possible in case of emergency reliably make transfer mechanism 10 stop according to emergent stopping.Namely, in implement 60, by making the setting of the detection region D of obstacle sensor 16 be changed to standard detection scope Dn from reducing detection range Ds, thus by the expanded in size of detection region D, and make obstacle sensor 16 detect the apparatus for work 61 of implement 60 wittingly such that it is able to reliably make transfer mechanism 10 stop.
It addition, transfer mechanism 10 is set to, except the emergency stop push button of the implement 60 controlling to use in S100 at emergent stopping, it is also equipped with other emergency stop push button.Such as, on the position beyond implement 60 in production line 100, the traveling load-carrying vehicle 11 that operator can press emergency stop push button that automatic defeated motivation possesses and make transfer mechanism 10 stops.
Industrial applicability
In the emergency stop method of the transfer mechanism that the present invention can be used in the emergency stop method of transfer mechanism, conveying operating system and conveying operating system.
Symbol description
10 ... transfer mechanism；
11 ... travel load-carrying vehicle；
15 ... proximity switch；
16 ... obstacle sensor；
17 ... arresting stop；
20 ... load-carrying vehicle；
60 ... implement；
61 ... apparatus for work；
65 ... switch lever；
100 ... automatic assembly line；
200 ... automobile plant；
D ... detection range；
Dn ... standard detection scope；
Ds ... reduce detection range；
Sn ... normal place；
Ss ... emergent stopping position；
W ... workpiece.
Claims (2)
1. a conveying operating system, possesses:
Transfer mechanism, it possesses: travel load-carrying vehicle, the detection of obstacles unit that the barrier being present in predetermined detection range is detected, the stop element that makes described traveling load-carrying vehicle stop when detecting barrier by described detection of obstacles unit；
Implement, operation implemented by its workpiece to being carried by described transfer mechanism,
Described conveying operating system is characterised by,
Described detection of obstacles unit is configured to, it is possible to the detection range of barrier is switched over,
Described implement possesses the detection range switch unit that the detection range to described detection of obstacles unit switches over,
By described detection range switch unit, and the detection range entering into the described detection of obstacles unit of the transfer mechanism in described implement is made to expand,
The working rig being arranged in described implement and implementing the operation for described workpiece is detected, thus being made described transfer mechanism stop by described stop element by the described detection of obstacles unit after utilizing detection range extended.
2. carrying an emergency stop method for transfer mechanism in operating system, described conveying operating system possesses:
Transfer mechanism, it possesses: travel load-carrying vehicle, the detection of obstacles unit that the barrier being present in predetermined detection range is detected, the stop element that makes described traveling load-carrying vehicle stop when detecting barrier by described detection of obstacles unit；
Implement, operation implemented by its workpiece to being carried by described transfer mechanism,
The emergency stop method of the transfer mechanism in described conveying operating system is characterised by,
Described detection of obstacles unit is configured to, it is possible to the detection range of barrier is switched over,
Described implement possesses the detection range switch unit that the detection range to described detection of obstacles unit switches over,
By described detection range switch unit, and the detection range entering into the described detection of obstacles unit of the transfer mechanism in described implement is made to expand,
The working rig being arranged in described implement and implementing the operation for described workpiece is detected, thus being made described transfer mechanism stop by described stop element by the described detection of obstacles unit after utilizing detection range extended.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2012/050241 WO2013105211A1 (en) | 2012-01-10 | 2012-01-10 | Automatic conveyor device emergency stop method, conveying work system, and automatic conveyor device emergency stop method in conveying work system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104040449A CN104040449A (en) | 2014-09-10 |
| CN104040449B true CN104040449B (en) | 2016-07-06 |
Family
ID=48781189
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201280066464.1A Expired - Fee Related CN104040449B (en) | 2012-01-10 | 2012-01-10 | The emergency stop method of the transfer mechanism in the emergency stop method of transfer mechanism, conveying operating system and conveying operating system |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP5835350B2 (en) |
| CN (1) | CN104040449B (en) |
| BR (1) | BR112014016380B1 (en) |
| WO (1) | WO2013105211A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108549386A (en) * | 2018-05-22 | 2018-09-18 | 汇专科技集团股份有限公司 | AGV trolleies managing and control system and method |
| JP7356829B2 (en) * | 2019-07-10 | 2023-10-05 | ヤンマーパワーテクノロジー株式会社 | automatic driving system |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62187911A (en) * | 1986-02-13 | 1987-08-17 | Daifuku Co Ltd | Travel control equipment for moving car |
| JPH01304508A (en) * | 1988-06-01 | 1989-12-08 | Mitsubishi Electric Corp | Unmanned carrier |
| JPH0836057A (en) * | 1994-07-25 | 1996-02-06 | Shinko Electric Co Ltd | Obstacle detecting device |
| JPH11326518A (en) * | 1998-05-19 | 1999-11-26 | Unisia Jecs Corp | Obstacle detecting apparatus |
| JP2001089096A (en) * | 1999-09-17 | 2001-04-03 | Komatsu Forklift Co Ltd | Obstacle detecting device in moving vehicle |
| US6750810B2 (en) * | 2001-12-18 | 2004-06-15 | Hitachi, Ltd. | Monopulse radar system |
| JP2003227879A (en) * | 2002-02-01 | 2003-08-15 | Daifuku Co Ltd | Running body for conveyance with obstacle detector |
| JP4764070B2 (en) * | 2005-05-24 | 2011-08-31 | 本田技研工業株式会社 | Work station safety system |
| WO2009057761A1 (en) * | 2007-10-31 | 2009-05-07 | Toyota Jidosha Kabushiki Kaisha | Self-propelled transportation vehicle and stop control method for the same |
| JP5312367B2 (en) * | 2010-02-12 | 2013-10-09 | 村田機械株式会社 | Traveling cart system |
-
2012
- 2012-01-10 BR BR112014016380-4A patent/BR112014016380B1/en not_active IP Right Cessation
- 2012-01-10 WO PCT/JP2012/050241 patent/WO2013105211A1/en active Application Filing
- 2012-01-10 JP JP2013553119A patent/JP5835350B2/en active Active
- 2012-01-10 CN CN201280066464.1A patent/CN104040449B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| BR112014016380A8 (en) | 2017-07-04 |
| CN104040449A (en) | 2014-09-10 |
| BR112014016380A2 (en) | 2021-04-20 |
| JP5835350B2 (en) | 2015-12-24 |
| JPWO2013105211A1 (en) | 2015-05-11 |
| WO2013105211A1 (en) | 2013-07-18 |
| BR112014016380B1 (en) | 2022-03-15 |
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