JP2020112959A - 物品搬送装置 - Google Patents
物品搬送装置 Download PDFInfo
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- JP2020112959A JP2020112959A JP2019002267A JP2019002267A JP2020112959A JP 2020112959 A JP2020112959 A JP 2020112959A JP 2019002267 A JP2019002267 A JP 2019002267A JP 2019002267 A JP2019002267 A JP 2019002267A JP 2020112959 A JP2020112959 A JP 2020112959A
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- 238000001514 detection method Methods 0.000 claims abstract description 52
- 230000032258 transport Effects 0.000 claims description 55
- 238000003384 imaging method Methods 0.000 claims description 48
- 239000003550 marker Substances 0.000 claims description 28
- 230000007704 transition Effects 0.000 claims description 18
- 238000005452 bending Methods 0.000 claims description 2
- 238000012545 processing Methods 0.000 abstract description 27
- 230000007246 mechanism Effects 0.000 abstract description 13
- 230000003287 optical effect Effects 0.000 description 15
- 238000000034 method Methods 0.000 description 14
- 230000008569 process Effects 0.000 description 12
- 238000013459 approach Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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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
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- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/02—Control devices, e.g. for safety, warning or fault-correcting detecting dangerous physical condition of load carriers, e.g. for interrupting the drive in the event of overheating
-
- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0457—Storage devices mechanical with suspended load carriers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning, or like safety means along the route or between vehicles or vehicle trains
- B61L23/002—Control or safety means for heart-points and crossings of aerial railways, funicular rack-railway
- B61L23/005—Automatic control or safety means for points for operator-less railway, e.g. transportation systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning, or like safety means along the route or between vehicles or vehicle trains
- B61L23/04—Control, warning, or like safety means along the route or between vehicles or vehicle trains for monitoring the mechanical state of the route
- B61L23/041—Obstacle detection
-
- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
-
- 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
-
- 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
-
- 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
-
- 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
- B65G2203/04—Detection means
- B65G2203/041—Camera
Abstract
Description
12 物品
30 取付板
40 マーカ板
42 検出マーカ
20F 正面撮影装置
20L 左側撮影装置
20R 右側撮影装置
W 搬送経路
Wa 直線区画
Wb カーブ区画
We カーブ移行領域
Claims (5)
- 直線区画およびカーブ区画を含む予め定められた搬送経路に沿って走行して物品を搬送する物品搬送装置であって、
前記物品を保持する搬送本体部と、前記搬送本体部の正面前方を撮影する正面撮影装置と、前記搬送本体部の左側前方を撮影する左側撮影装置と、前記搬送本体部の右側前方を撮影する右側撮影装置と、を備え、
前記正面撮影装置は、複数のカメラ装置を有し、前記複数のカメラ装置によって撮影された撮影画像同士の比較に基づき、前記搬送本体部の正面前方における障害物の有無を判定するとともにその障害物と前記搬送本体部との間の距離を算出し、
前記左側撮影装置と前記右側撮影装置は、前記搬送本体部が前記直線区画から前記カーブ区画へと移行する領域において、その曲がり方向に対応する左側前方または右側前方を撮影して、その撮影画像に基づき前記搬送本体部の左側前方または右側前方における障害物の有無を判定し、
前記物品搬送装置は、前記正面撮影装置によって算出された前方の障害物との距離が予め定められた閾値以下である場合、および、前記左側撮影装置または前記右側撮影装置によって左側前方または右側前方に障害物が存在すると判定された場合に、少なくとも走行速度を低下させて障害物との衝突を回避すること
を特徴とする物品搬送装置。 - 前記正面撮影装置は、前記複数のカメラ装置のいずれかによる撮影画像に予め定められた特定形状が含まれている場合には、他のカメラ装置の撮影画像との比較に依らず正面前方に障害物が存在すると判定し、撮影画像内における前記特定形状の大きさに基づきその障害物と前記搬送本体部との間の距離を算出すること
を特徴とする請求項1に記載の物品搬送装置。 - 前記特定形状は、他の物品搬送装置の前記搬送本体部の背面に予め設けられた検出マーカの形状であること
を特徴とする請求項2に記載の物品搬送装置。 - 前記左側撮影装置と前記右側撮影装置は、搬送経路内に予め定められたカーブ移行領域においてのみ撮影を行うこと
を特徴とする請求項1ないし請求項3のいずれか1項に記載の物品搬送装置。 - 前記正面撮影装置、前記左側撮影装置、前記右側撮影装置は、共通の取付板に予め定められた配置と角度で取り付けられていること
を特徴とする請求項1ないし請求項4のいずれか1項に記載の物品搬送装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019002267A JP2020112959A (ja) | 2019-01-10 | 2019-01-10 | 物品搬送装置 |
TW108143031A TWI834764B (zh) | 2019-01-10 | 2019-11-27 | 物品搬送裝置 |
KR1020190160466A KR20200087065A (ko) | 2019-01-10 | 2019-12-05 | 물품 반송 장치 |
CN201911423506.2A CN111435251A (zh) | 2019-01-10 | 2019-12-31 | 物品输送装置 |
US16/738,045 US11027927B2 (en) | 2019-01-10 | 2020-01-09 | Article conveyance apparatus |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019002267A JP2020112959A (ja) | 2019-01-10 | 2019-01-10 | 物品搬送装置 |
Publications (1)
Publication Number | Publication Date |
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JP2020112959A true JP2020112959A (ja) | 2020-07-27 |
Family
ID=71518173
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019002267A Pending JP2020112959A (ja) | 2019-01-10 | 2019-01-10 | 物品搬送装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US11027927B2 (ja) |
JP (1) | JP2020112959A (ja) |
KR (1) | KR20200087065A (ja) |
CN (1) | CN111435251A (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2020112959A (ja) * | 2019-01-10 | 2020-07-27 | 株式会社ダイフク | 物品搬送装置 |
CA3183090A1 (en) * | 2020-06-18 | 2021-12-23 | Lee M. Clark | Methods and system for imaging of moving printed materials |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH0553644A (ja) * | 1991-08-23 | 1993-03-05 | Daifuku Co Ltd | 自走台車の衝突防止装置 |
JPH08334326A (ja) * | 1995-06-09 | 1996-12-17 | Mitsubishi Electric Corp | 車間距離検出装置 |
JPH11301365A (ja) * | 1998-04-17 | 1999-11-02 | Kyocera Corp | 車載用ステレオカメラの支持装置 |
JP2000207695A (ja) * | 1999-01-13 | 2000-07-28 | Fuji Heavy Ind Ltd | 車外監視装置 |
JP2000255319A (ja) * | 1999-03-10 | 2000-09-19 | Fuji Heavy Ind Ltd | 車両の進行方向認識装置 |
JP2001202497A (ja) * | 2000-01-18 | 2001-07-27 | Toyota Motor Corp | 先行車検出システム及び方法 |
JP2006103528A (ja) * | 2004-10-06 | 2006-04-20 | Honda Motor Co Ltd | 車両用ステレオカメラの取付構造 |
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JP2018027772A (ja) * | 2016-08-16 | 2018-02-22 | 三星電子株式会社Samsung Electronics Co.,Ltd. | ステレオカメラに基づく自律走行方法、自律走行装置及びコンピュータプログラム |
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2019
- 2019-01-10 JP JP2019002267A patent/JP2020112959A/ja active Pending
- 2019-12-05 KR KR1020190160466A patent/KR20200087065A/ko unknown
- 2019-12-31 CN CN201911423506.2A patent/CN111435251A/zh active Pending
-
2020
- 2020-01-09 US US16/738,045 patent/US11027927B2/en active Active
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0553644A (ja) * | 1991-08-23 | 1993-03-05 | Daifuku Co Ltd | 自走台車の衝突防止装置 |
JPH08334326A (ja) * | 1995-06-09 | 1996-12-17 | Mitsubishi Electric Corp | 車間距離検出装置 |
JPH11301365A (ja) * | 1998-04-17 | 1999-11-02 | Kyocera Corp | 車載用ステレオカメラの支持装置 |
JP2000207695A (ja) * | 1999-01-13 | 2000-07-28 | Fuji Heavy Ind Ltd | 車外監視装置 |
JP2000255319A (ja) * | 1999-03-10 | 2000-09-19 | Fuji Heavy Ind Ltd | 車両の進行方向認識装置 |
JP2001202497A (ja) * | 2000-01-18 | 2001-07-27 | Toyota Motor Corp | 先行車検出システム及び方法 |
JP2006103528A (ja) * | 2004-10-06 | 2006-04-20 | Honda Motor Co Ltd | 車両用ステレオカメラの取付構造 |
WO2015122389A1 (ja) * | 2014-02-12 | 2015-08-20 | ヤマハ発動機株式会社 | 撮影装置、車両および画像補正方法 |
JP2018027772A (ja) * | 2016-08-16 | 2018-02-22 | 三星電子株式会社Samsung Electronics Co.,Ltd. | ステレオカメラに基づく自律走行方法、自律走行装置及びコンピュータプログラム |
Also Published As
Publication number | Publication date |
---|---|
KR20200087065A (ko) | 2020-07-20 |
US11027927B2 (en) | 2021-06-08 |
TW202026786A (zh) | 2020-07-16 |
US20200223641A1 (en) | 2020-07-16 |
CN111435251A (zh) | 2020-07-21 |
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