CN113597588B - 物体检测系统、输送台车以及物体检测装置 - Google Patents

物体检测系统、输送台车以及物体检测装置 Download PDF

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Publication number
CN113597588B
CN113597588B CN202080021577.4A CN202080021577A CN113597588B CN 113597588 B CN113597588 B CN 113597588B CN 202080021577 A CN202080021577 A CN 202080021577A CN 113597588 B CN113597588 B CN 113597588B
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CN
China
Prior art keywords
circuit
mode
object detection
monitoring
light
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CN202080021577.4A
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English (en)
Chinese (zh)
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CN113597588A (zh
Inventor
高川夏生
山本明人
笠原隆弘
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.)
Daifuku Co Ltd
Hokuyo Automatic Co Ltd
Original Assignee
Daifuku Co Ltd
Hokuyo Automatic Co Ltd
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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • B65G35/06—Mechanical conveyors not otherwise provided for comprising a load-carrier moving along a path, e.g. a closed path, and adapted to be engaged by any one of a series of traction elements spaced along the path
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/04—Systems determining the presence of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • 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
    • G05D1/40—Control within particular dimensions
    • G05D1/43—Control of position or course in two dimensions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)
    • B65G2203/0283—Position of the load carrier
    • 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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Geophysics And Detection Of Objects (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
CN202080021577.4A 2019-03-25 2020-01-29 物体检测系统、输送台车以及物体检测装置 Active CN113597588B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2019056119A JP7539060B2 (ja) 2019-03-25 2019-03-25 物体検出システム、搬送台車及び物体検出装置
JP2019-056119 2019-03-25
PCT/JP2020/003138 WO2020195128A1 (ja) 2019-03-25 2020-01-29 物体検出システム、搬送台車及び物体検出装置

Publications (2)

Publication Number Publication Date
CN113597588A CN113597588A (zh) 2021-11-02
CN113597588B true CN113597588B (zh) 2024-05-28

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CN202080021577.4A Active CN113597588B (zh) 2019-03-25 2020-01-29 物体检测系统、输送台车以及物体检测装置

Country Status (8)

Country Link
US (1) US12298407B2 (enExample)
EP (1) EP3979030A4 (enExample)
JP (1) JP7539060B2 (enExample)
KR (1) KR102853647B1 (enExample)
CN (1) CN113597588B (enExample)
MY (1) MY210336A (enExample)
TW (1) TWI843801B (enExample)
WO (1) WO2020195128A1 (enExample)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2022086361A (ja) * 2020-11-30 2022-06-09 株式会社日立製作所 車両制御装置および方法
US20230408689A1 (en) * 2022-06-15 2023-12-21 Datalogic IP Tech, S.r.l. Optical detection of objects having irregular surfaces
KR20240002833A (ko) * 2022-06-30 2024-01-08 세메스 주식회사 제조 공장에서 물품을 이송하는 반송 대차 및 이를 포함하는 물품 반송 시스템
JP2024117331A (ja) * 2023-02-17 2024-08-29 株式会社ダイフク 搬送設備

Citations (8)

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US4647209A (en) * 1984-02-13 1987-03-03 Haenni & Cie Ag Optical measuring instrument for the contactless measurement of distances
JP2001249718A (ja) * 2000-03-03 2001-09-14 Shinko Electric Co Ltd レール搬送装置における搬送車の衝突防止装置
JP4461199B1 (ja) * 2009-09-24 2010-05-12 北陽電機株式会社 距離測定装置
CN102402224A (zh) * 2010-09-03 2012-04-04 株式会社日立工业设备技术 无人搬送车以及行驶控制方法
CN107239073A (zh) * 2016-03-29 2017-10-10 株式会社大福 输送控制装置及输送台车的合流点通过方法
CN107430405A (zh) * 2015-03-23 2017-12-01 富士机械制造株式会社 移动体
CN108351414A (zh) * 2015-10-27 2018-07-31 北阳电机株式会社 区域传感器以及外部存储装置
WO2018150998A1 (ja) * 2017-02-17 2018-08-23 北陽電機株式会社 物体捕捉装置、捕捉対象物及び物体捕捉システム

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* Cited by examiner, † Cited by third party
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JP2002215238A (ja) 2001-01-16 2002-07-31 Hokuyo Automatic Co 無人搬送車の障害物検出センサ
US7136753B2 (en) * 2002-12-05 2006-11-14 Denso Corporation Object recognition apparatus for vehicle, inter-vehicle control apparatus, and distance measurement apparatus
JP6120521B2 (ja) 2012-10-19 2017-04-26 株式会社トプコン ３次元測量装置及び３次元測量システム
US10156635B2 (en) 2015-06-05 2018-12-18 Starfish Network, Inc. Overhead object detection using optical measurements
KR102162047B1 (ko) * 2017-02-17 2020-10-06 호쿠요덴키 가부시키가이샤 물체 포착 장치
CN108803605B (zh) * 2018-06-05 2021-08-13 广州市远能物流自动化设备科技有限公司 一种控制agv小车进行物料取放操作的方法及货位管理系统

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4647209A (en) * 1984-02-13 1987-03-03 Haenni & Cie Ag Optical measuring instrument for the contactless measurement of distances
JP2001249718A (ja) * 2000-03-03 2001-09-14 Shinko Electric Co Ltd レール搬送装置における搬送車の衝突防止装置
JP4461199B1 (ja) * 2009-09-24 2010-05-12 北陽電機株式会社 距離測定装置
CN102402224A (zh) * 2010-09-03 2012-04-04 株式会社日立工业设备技术 无人搬送车以及行驶控制方法
CN107430405A (zh) * 2015-03-23 2017-12-01 富士机械制造株式会社 移动体
CN108351414A (zh) * 2015-10-27 2018-07-31 北阳电机株式会社 区域传感器以及外部存储装置
CN107239073A (zh) * 2016-03-29 2017-10-10 株式会社大福 输送控制装置及输送台车的合流点通过方法
WO2018150998A1 (ja) * 2017-02-17 2018-08-23 北陽電機株式会社 物体捕捉装置、捕捉対象物及び物体捕捉システム

Also Published As

Publication number Publication date
CN113597588A (zh) 2021-11-02
TW202101146A (zh) 2021-01-01
MY210336A (en) 2025-09-12
US12298407B2 (en) 2025-05-13
WO2020195128A1 (ja) 2020-10-01
TWI843801B (zh) 2024-06-01
JP7539060B2 (ja) 2024-08-23
JP2020160511A (ja) 2020-10-01
EP3979030A1 (en) 2022-04-06
US20220187467A1 (en) 2022-06-16
KR102853647B1 (ko) 2025-09-02
KR20210144709A (ko) 2021-11-30
EP3979030A4 (en) 2023-01-04

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