JP7151863B2 - 走行車及び走行車システム - Google Patents
走行車及び走行車システム Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
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- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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Description
(1)前方の走行車6が減速した場合
(2)前方の走行車6が加速した場合
(3)前方の走行車6が分岐部から分岐していく場合
(4)前方の走行車6が合流部に合流してくる場合
例えば、前方の走行車6が何らかの理由で急停止する場合を例に挙げて説明する。走行車6は、前方を監視する障害物センサ等によって前方の障害物(走行車も含まれる)までの距離を監視している。従来の走行車システムでは、前方の走行車は、前方の障害物までの距離が所定距離となった場合に減速し、前方の障害物までの距離が先の所定距離よりも短い第二の所定距離となった場合に停止する。同様に、後方の走行車は、前方の走行車までの距離が所定距離となった場合に減速し、前方の走行車までの距離が所定距離よりも短い第二の所定距離となった場合に停止する。このような従来の走行車システムでは、後方の走行車は、例えば、前方の走行車が減速を開始しても、後方の走行車が所定距離に近づくまで減速できないので、前方の走行車が減速を開始したタイミングですぐに減速を開始することができない。このため、後方の走行車は、前方の走行車との衝突を避けるため、車間距離を長めに確保した状態で走行する必要性が生じ、ひいては搬送能力の低下につながっていた。
例えば、前方の走行車6と後方の走行車6との両方に、コントローラ60から同時に発進指令が送信された場合を例に挙げて説明する。走行車6は、前方を監視する障害物センサ等によって前方の障害物までの距離を監視している。このような場合、従来の走行車システムでは、まず、前方の走行車は、障害物センサ等によって障害物が無いことを確認した後に加速(発進)する。後方の走行車は、前方の走行車までの距離が所定距離以上となった場合に加速する。このような従来の走行車システムでは、後方の走行車は、例えば、前方の走行車6が加速しても、後方の走行車から所定距離に離れるまでの待ち時間が生じるので、前方の走行車が加速を開始したタイミングですぐに加速を開始することができない。このため、後方の走行車は、待ち時間の分だけ稼働率が低下し、ひいては搬送能力の低下につながっていた。
例えば、図5に示されるように、分岐部41において、前方の走行車6が第二流出路41Cを進行し、後方の走行車6が第一流出路41Bを進行する予定の場合を例に挙げて説明する。走行車6は、前方を監視する障害物センサ等によって前方の障害物までの距離を監視している。このような障害物センサは、第二流出路41Cに進入する走行車が第一流出路41Bに進入する後方の走行車6と衝突しないところに位置していたとしても、前方の走行車6を検知していることが多い。このような障害物センサの検知の有無に基づいて、分岐部41の進入の可否を制御する従来の方法では、後方の走行車6の分岐部41への進入が制限される結果となり、ひいては搬送能力の低下につながっていた。
例えば、図6に示されるように、合流部43において、前方の走行車6が第一流入路43Aを進行し、後方の走行車6が第二流入路43Bを進行する場合を例に挙げて説明する。走行車6は、前方を監視する障害物センサ等によって前方の障害物までの距離を監視している。第一流入路43Aにおいて第二流入路43Bから進入する走行車6と衝突しない位置に走行車6が停止していたとしても、第二流入路43Bから進入する走行車6に設けられた障害物センサは、第一流入路43Aに停止している走行車を前方の走行車6として検知することが多い。このような障害物センサの検知の有無に基づいて、合流部43の進入の可否を制御する従来の方法では、後方の走行車6の合流部43への進入が制限される結果となり、ひいては搬送能力の低下につながっていた。
Claims (5)
- 予め定められた走行経路に沿って走行する走行車であって、
本体部と、
前記本体部を前記走行経路に沿って走行させる走行部と、
前記本体部に設けられると共に、自己の状態に合わせて表示態様を切り替える表示部と、
前記自己の前方に位置する前方走行車に設けられている前記表示部を撮像する撮像部と、
前記撮像部によって撮像された前記表示態様に基づいて前記前方走行車の状態を取得すると共に、取得した前記状態に基づいて自己の前記走行部を制御する制御部と、
前記表示部の近傍に配置される識別部と、を備え、
前記制御部は、前記撮像部によって撮像された前記表示態様、及び前記表示部と前記識別部との位置関係に基づいて前記前方走行車の状態を取得すると共に、取得した前記状態に基づいて自己の前記走行部を制御する、走行車。 - 前記表示部は、自己の走行状態に合わせて前記表示態様を切り替え、
前記走行状態には、加速状態及び減速状態が含まれる、請求項1記載の走行車。 - 前記表示部は、自己の現在位置に合わせて前記表示態様を切り替える、請求項1又は2記載の走行車。
- 請求項1~3の何れか一項に記載の走行車を複数備える、走行車システム。
- 前記走行車システムは、前記走行経路沿いに設けられると共に、前記前方走行車に設けられる前記表示部を映し出すミラーを更に備え、
前記制御部は、前記ミラーを介して前記撮像部によって撮像された前記表示態様に基づいて前記前方走行車の状態を取得する、請求項4記載の走行車システム。
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JP2019031996 | 2019-02-25 | ||
JP2019031996 | 2019-02-25 | ||
PCT/JP2019/048812 WO2020174812A1 (ja) | 2019-02-25 | 2019-12-12 | 走行車及び走行車システム |
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JPWO2020174812A1 JPWO2020174812A1 (ja) | 2021-12-23 |
JP7151863B2 true JP7151863B2 (ja) | 2022-10-12 |
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US (1) | US11904887B2 (ja) |
EP (1) | EP3933536A4 (ja) |
JP (1) | JP7151863B2 (ja) |
CN (1) | CN113439248B (ja) |
SG (1) | SG11202108889VA (ja) |
WO (1) | WO2020174812A1 (ja) |
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- 2019-12-12 WO PCT/JP2019/048812 patent/WO2020174812A1/ja unknown
- 2019-12-12 SG SG11202108889VA patent/SG11202108889VA/en unknown
- 2019-12-12 EP EP19917218.0A patent/EP3933536A4/en active Pending
- 2019-12-12 CN CN201980092195.8A patent/CN113439248B/zh active Active
- 2019-12-12 US US17/431,445 patent/US11904887B2/en active Active
- 2019-12-12 JP JP2021501606A patent/JP7151863B2/ja active Active
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Also Published As
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WO2020174812A1 (ja) | 2020-09-03 |
EP3933536A4 (en) | 2022-11-02 |
JPWO2020174812A1 (ja) | 2021-12-23 |
CN113439248B (zh) | 2024-04-19 |
CN113439248A (zh) | 2021-09-24 |
TW202036193A (zh) | 2020-10-01 |
US11904887B2 (en) | 2024-02-20 |
US20220135066A1 (en) | 2022-05-05 |
EP3933536A1 (en) | 2022-01-05 |
SG11202108889VA (en) | 2021-09-29 |
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