JP2006331053A - 搬送システム - Google Patents
搬送システム Download PDFInfo
- Publication number
- JP2006331053A JP2006331053A JP2005153406A JP2005153406A JP2006331053A JP 2006331053 A JP2006331053 A JP 2006331053A JP 2005153406 A JP2005153406 A JP 2005153406A JP 2005153406 A JP2005153406 A JP 2005153406A JP 2006331053 A JP2006331053 A JP 2006331053A
- Authority
- JP
- Japan
- Prior art keywords
- controller
- transport vehicle
- transport
- coordinates
- time
- 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.)
- Granted
Links
- 238000011156 evaluation Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 abstract description 11
- 239000000969 carrier Substances 0.000 abstract 4
- 238000004891 communication Methods 0.000 description 11
- 238000013500 data storage Methods 0.000 description 3
- 238000007726 management method Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000012790 confirmation Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000001934 delay Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
Images
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
- G05D1/0287—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
- G05D1/0297—Fleet control by controlling means in a control room
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of 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
- G05D1/0231—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
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons 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, 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
-
- 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
- G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
【構成】 搬送車コントローラ20は搬送車14に標準時刻を送信し、搬送車14は現在位置を表す座標と送信時刻とのペアをコントローラ20に報告する。コントローラ20は送信時刻と座標との組み合わせからなる時系列データを作成し、これに基づいて搬送車の現在座標を推定する。そして複数の搬送車の現在座標を搬送車の分布に変換し、渋滞を回避するように搬送車に走行ルートを指示し、また効率的に搬送指令を実行できる搬送車を選んで搬送指令を割付ける。
【効果】 搬送車の現在位置の分布を正確に求めることができ、渋滞の回避や搬送指令の割付が容易になる。
【選択図】 図2
Description
請求項2の発明での課題は、複数の搬送車からなるシステムに対して、正確に搬送車の分布を評価できるようにすることにある。
請求項3の発明での課題は、搬送車が渋滞を回避して効率的に搬送できるようにすることにある。
4 インターベイルート
6 バイパスルート
8,9 ショートカット
10,11 イントラベイルート
12 標識
14〜17 搬送車
18 目的地
20 搬送車コントローラ
22 LAN
24 時計
26 受信インターフェース
28 時系列データ記憶部
30 レイアウトマップ
32 現在座標推定エンジン
34 分布情報記憶部
36 走行管理部
38 搬送指令割付部
Claims (3)
- 複数の搬送機器とこれらを管理するコントローラとを備えたシステムであって、
各搬送機器に自機の状態を時刻と共に前記コントローラに報告する手段を設けると共に、
コントローラには、報告された状態と時刻とから、各搬送機器の少なくとも現在の状態を推定するための推定手段と、該推定に基づいてシステムの状態を求めるための状態評価手段、とを設けたことを特徴とする、搬送システム。 - 各搬送機器は搬送車で、前記状態として走行ルートに沿った座標をコントローラに報告するようにしたことを特徴とする、請求項1の搬送システム。
- 前記状態評価手段により走行ルート上の搬送車の分布を求めると共に、
前記コントローラまたは搬送車は、求めた分布に基づき渋滞を回避するように走行ルートを探索するようにしたことを特徴とする、請求項2の搬送システム。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005153406A JP4438095B2 (ja) | 2005-05-26 | 2005-05-26 | 搬送システム |
TW095100186A TW200640764A (en) | 2005-05-26 | 2006-01-03 | Transportation system |
EP06007121A EP1727011B1 (en) | 2005-05-26 | 2006-04-04 | Transportation system |
US11/431,512 US20060271252A1 (en) | 2005-05-26 | 2006-05-11 | Transportation system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005153406A JP4438095B2 (ja) | 2005-05-26 | 2005-05-26 | 搬送システム |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2006331053A true JP2006331053A (ja) | 2006-12-07 |
JP4438095B2 JP4438095B2 (ja) | 2010-03-24 |
Family
ID=36353345
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2005153406A Expired - Fee Related JP4438095B2 (ja) | 2005-05-26 | 2005-05-26 | 搬送システム |
Country Status (4)
Country | Link |
---|---|
US (1) | US20060271252A1 (ja) |
EP (1) | EP1727011B1 (ja) |
JP (1) | JP4438095B2 (ja) |
TW (1) | TW200640764A (ja) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2013005467A1 (ja) * | 2011-07-07 | 2013-01-10 | 村田機械株式会社 | 搬送車システムと搬送車の走行スケジュールの生成方法 |
WO2013005466A1 (ja) * | 2011-07-07 | 2013-01-10 | 村田機械株式会社 | 搬送車システムと搬送車の制御方法 |
JP2016018472A (ja) * | 2014-07-10 | 2016-02-01 | 日本電気株式会社 | 制御装置、制御システム、および制御方法 |
WO2019155589A1 (ja) * | 2018-02-08 | 2019-08-15 | 日本電気株式会社 | 搬送作業制御装置、搬送システム、搬送作業制御方法、及び記録媒体 |
JP7452728B2 (ja) | 2022-03-21 | 2024-03-19 | 横河電機株式会社 | レール取り付け型ロボット検査システム |
US12019455B2 (en) | 2018-02-08 | 2024-06-25 | Nec Corporation | Transport operation control device, transport system, transport operation control method, and recording medium |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4720267B2 (ja) * | 2005-04-14 | 2011-07-13 | 村田機械株式会社 | 天井走行車システム |
JP2007191235A (ja) * | 2006-01-17 | 2007-08-02 | Murata Mach Ltd | 天井走行車システム |
JP4366663B2 (ja) * | 2007-06-28 | 2009-11-18 | 村田機械株式会社 | 搬送台車システム |
US8751060B2 (en) * | 2008-05-22 | 2014-06-10 | Murata Machinery, Ltd. | Traveling vehicle system and method for controlling traveling by traveling vehicle system |
EP2343616A4 (en) * | 2008-09-26 | 2013-05-29 | Murata Machinery Ltd | SYSTEM FOR GUIDED VEHICLES |
WO2011062218A1 (ja) * | 2009-11-19 | 2011-05-26 | 株式会社岡村製作所 | 物品搬送装置 |
IT1398637B1 (it) * | 2010-02-25 | 2013-03-08 | Rotondo | Metodo e sistema per la mobilita' delle persone in un contesto urbano ed extra urbano. |
JP5110405B2 (ja) * | 2010-04-07 | 2012-12-26 | 村田機械株式会社 | 走行台車システム |
SG11201407380SA (en) * | 2012-05-28 | 2014-12-30 | Murata Machinery Ltd | Travelling vehicle system and method for controlling travel of travelling vehicle in curved section |
DE102012021282A1 (de) * | 2012-10-29 | 2014-04-30 | Audi Ag | Verfahren zur Koordination des Betriebs von vollautomatisiert fahrenden Kraftfahrzeugen |
US20140298097A1 (en) * | 2013-03-28 | 2014-10-02 | General Electric Company | System and method for correcting operational data |
CN103708193B (zh) * | 2013-12-25 | 2016-04-27 | 湖北三丰智能输送装备股份有限公司 | 电解铝厂专用智能轨道车输送系统 |
GB201409883D0 (en) | 2014-06-03 | 2014-07-16 | Ocado Ltd | Methods, systems, and apparatus for controlling movement of transporting devices |
JP6384613B2 (ja) | 2015-07-15 | 2018-09-05 | 村田機械株式会社 | 搬送制御装置及び搬送制御システム |
CN109436701B (zh) * | 2018-10-23 | 2020-09-18 | 风神物流有限公司 | 一种无人化汽车售后零部件发货转运系统及控制方法 |
EP3770713A1 (de) * | 2019-07-24 | 2021-01-27 | Inventio AG | Personentransportsystem und verfahren zum betreiben eines personentransportsystems |
WO2021175938A1 (en) * | 2020-03-03 | 2021-09-10 | Wheel.Me As | A method and system for updating and calibrating current position of a controllable rolling device |
EP3876067A1 (en) * | 2020-03-03 | 2021-09-08 | Wheel.me AS | A method and system for updating and calibrating current position of a controllable rolling device |
Family Cites Families (25)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4379497A (en) * | 1980-09-02 | 1983-04-12 | Bell & Howell, Company | Vehicle collision avoidance system |
EP0213938B1 (en) * | 1985-08-30 | 1992-08-05 | Texas Instruments Incorporated | Failsafe brake for a multi-wheel vehicle with motor controlled steering |
US4780817A (en) * | 1986-09-19 | 1988-10-25 | Ndc Technologies, Inc. | Method and apparatus for providing destination and vehicle function information to an automatic guided vehicle |
US5229941A (en) * | 1988-04-14 | 1993-07-20 | Nissan Motor Company, Limtied | Autonomous vehicle automatically running on route and its method |
US5179329A (en) * | 1989-04-25 | 1993-01-12 | Shinko Electric Co., Ltd. | Travel control method, travel control device, and mobile robot for mobile robot systems |
CA2053028C (en) * | 1990-10-23 | 1996-04-09 | Hideichi Tanizawa | Carriage running control system |
GB2277844B (en) * | 1993-05-06 | 1997-07-09 | Spectronics Micro Syst Ltd | Improvements in automatic vehicle location systems |
US5864485A (en) * | 1996-05-20 | 1999-01-26 | Translogic Corporation | Gridlock detection and alleviation for pneumatic carrier systems |
US6049745A (en) * | 1997-02-10 | 2000-04-11 | Fmc Corporation | Navigation system for automatic guided vehicle |
US6246932B1 (en) * | 1997-02-20 | 2001-06-12 | Komatsu Ltd. | Vehicle monitor for controlling movements of a plurality of vehicles |
NL1006710C2 (nl) * | 1997-08-04 | 1999-02-25 | Frog Navigation Systems B V | Systeem en werkwijze voor het besturen van voertuigen. |
JP3653954B2 (ja) * | 1997-10-23 | 2005-06-02 | トヨタ自動車株式会社 | 移動体交通制御システムの移動体装置、移動体交通制御システムの管制局、移動体交通制御システム |
JP3316841B2 (ja) * | 1998-08-06 | 2002-08-19 | 村田機械株式会社 | 無人搬送車システム |
US6184802B1 (en) * | 1998-10-13 | 2001-02-06 | Robert Goodman Lamb | Autonomous estimator of vehicle arrival time |
US6109568A (en) * | 1998-10-23 | 2000-08-29 | Innovative Transportation Systems International, Inc. | Control system and method for moving multiple automated vehicles along a monorail |
JP2000339029A (ja) * | 1999-05-31 | 2000-12-08 | Komatsu Ltd | 車両の干渉防止装置 |
SE9902882L (sv) | 1999-08-12 | 2001-02-13 | Saab Transponder Tech Ab | Metod och anordning vid flygdon |
KR100567002B1 (ko) * | 2000-10-16 | 2006-04-03 | 마쯔시다덴기산교 가부시키가이샤 | 무인 반송차, 이를 위한 운전 제어 시스템 및 방법, 및자동 차량 |
JP3607594B2 (ja) | 2000-11-06 | 2005-01-05 | Necパーソナルプロダクツ株式会社 | 位置検出および衝突防止制御装置ならびに方法 |
CA2455521A1 (en) * | 2001-08-02 | 2003-02-13 | Siemens Aktiengesellschaft | Material handling systems with high frequency radio location devices |
JP2003233422A (ja) * | 2002-02-06 | 2003-08-22 | Mitsubishi Electric Corp | 搬送システムおよびその制御方法 |
US6857493B2 (en) * | 2002-02-13 | 2005-02-22 | Paragon Technologies, Inc. | Automatic load positioning for a conveyor cart |
US6745102B1 (en) * | 2003-04-10 | 2004-06-01 | Powerchip Semiconductor Corp. | Automatic transporting system and method for operating the same |
JP3874192B2 (ja) * | 2004-01-09 | 2007-01-31 | 村田機械株式会社 | 有軌道台車システム |
US20060069470A1 (en) * | 2004-09-30 | 2006-03-30 | International Business Machines Corporation | Bi-directional absolute automated tracking system for material handling |
-
2005
- 2005-05-26 JP JP2005153406A patent/JP4438095B2/ja not_active Expired - Fee Related
-
2006
- 2006-01-03 TW TW095100186A patent/TW200640764A/zh unknown
- 2006-04-04 EP EP06007121A patent/EP1727011B1/en not_active Expired - Fee Related
- 2006-05-11 US US11/431,512 patent/US20060271252A1/en not_active Abandoned
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2013005467A1 (ja) * | 2011-07-07 | 2013-01-10 | 村田機械株式会社 | 搬送車システムと搬送車の走行スケジュールの生成方法 |
WO2013005466A1 (ja) * | 2011-07-07 | 2013-01-10 | 村田機械株式会社 | 搬送車システムと搬送車の制御方法 |
JPWO2013005466A1 (ja) * | 2011-07-07 | 2015-02-23 | 村田機械株式会社 | 搬送車システムと搬送車の制御方法 |
JPWO2013005467A1 (ja) * | 2011-07-07 | 2015-02-23 | 村田機械株式会社 | 搬送車システムと搬送車の走行スケジュールの生成方法 |
US9811090B2 (en) | 2011-07-07 | 2017-11-07 | Murata Machinery, Ltd. | Guided vehicle system and guided vehicle travel schedule generation method |
US9836050B2 (en) | 2011-07-07 | 2017-12-05 | Murata Machinery, Ltd. | Guided vehicle system and guided vehicle control method |
JP2016018472A (ja) * | 2014-07-10 | 2016-02-01 | 日本電気株式会社 | 制御装置、制御システム、および制御方法 |
WO2019155589A1 (ja) * | 2018-02-08 | 2019-08-15 | 日本電気株式会社 | 搬送作業制御装置、搬送システム、搬送作業制御方法、及び記録媒体 |
JPWO2019155589A1 (ja) * | 2018-02-08 | 2021-01-28 | 日本電気株式会社 | 搬送作業制御装置、搬送システム、搬送作業制御方法、及び搬送作業制御プログラム |
JP7032705B2 (ja) | 2018-02-08 | 2022-03-09 | 日本電気株式会社 | 搬送作業制御装置、搬送システム、搬送作業制御方法、及び搬送作業制御プログラム |
US12019455B2 (en) | 2018-02-08 | 2024-06-25 | Nec Corporation | Transport operation control device, transport system, transport operation control method, and recording medium |
JP7452728B2 (ja) | 2022-03-21 | 2024-03-19 | 横河電機株式会社 | レール取り付け型ロボット検査システム |
Also Published As
Publication number | Publication date |
---|---|
TWI348081B (ja) | 2011-09-01 |
US20060271252A1 (en) | 2006-11-30 |
EP1727011A1 (en) | 2006-11-29 |
JP4438095B2 (ja) | 2010-03-24 |
EP1727011B1 (en) | 2012-08-08 |
TW200640764A (en) | 2006-12-01 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP4438095B2 (ja) | 搬送システム | |
JP6963908B2 (ja) | 物品搬送車 | |
TWI716578B (zh) | 物品搬送設備 | |
CN105182981B (zh) | 机器人的行进方法、控制方法、控制系统和服务器 | |
US8135496B2 (en) | Travel control system and control method for traveling vehicles | |
US7522989B2 (en) | Carriage system | |
JP4099723B2 (ja) | 搬送台車システム | |
JP2011102166A (ja) | 搬送経路決定方法及び自動搬送システム | |
KR101358928B1 (ko) | 반송차 시스템 | |
KR102431740B1 (ko) | 주행차 컨트롤러 및 주행차 시스템 | |
KR100364325B1 (ko) | 궤도 주행차의 운행관리방법, 장치 및 궤도 주행차 | |
KR20200130852A (ko) | 반송차 시스템 및 반송차 제어 방법 | |
JP2004227058A (ja) | 搬送車システム | |
JP2010160696A (ja) | 搬送車システム | |
KR101079192B1 (ko) | 경로추적을 이용한 자율 주행 장치의 트래픽 제어 방법 | |
JP2018097406A (ja) | 走行車システム及び走行車 | |
CN114762418A (zh) | 通信系统、通信方法、以及无线电基站 | |
WO2023079797A1 (ja) | 搬送システム | |
US11217092B2 (en) | Transport vehicle system | |
JP7501635B2 (ja) | 走行車システム | |
JP2010282567A (ja) | 搬送車システム | |
WO2022091585A1 (ja) | 走行車システム及び走行車の制御方法 | |
JP4360344B2 (ja) | 搬送台車システム | |
US20200180668A1 (en) | Transport vehicle system | |
JPH0460707A (ja) | 搬送手段制御システム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20081127 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20090119 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20091007 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20091120 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20091214 |
|
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20091227 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20130115 Year of fee payment: 3 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 4438095 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20140115 Year of fee payment: 4 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
LAPS | Cancellation because of no payment of annual fees |