JPWO2016151724A1 - 移動体 - Google Patents
移動体 Download PDFInfo
- Publication number
- JPWO2016151724A1 JPWO2016151724A1 JP2017507187A JP2017507187A JPWO2016151724A1 JP WO2016151724 A1 JPWO2016151724 A1 JP WO2016151724A1 JP 2017507187 A JP2017507187 A JP 2017507187A JP 2017507187 A JP2017507187 A JP 2017507187A JP WO2016151724 A1 JPWO2016151724 A1 JP WO2016151724A1
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- Prior art keywords
- obstacle
- monitoring area
- light emitting
- light
- emitting unit
- 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.)
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- 239000000758 substrate Substances 0.000 claims description 19
- 238000001514 detection method Methods 0.000 claims description 13
- 230000032258 transport Effects 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 abstract description 135
- 238000013459 approach Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 28
- 238000010586 diagram Methods 0.000 description 10
- 238000012545 processing Methods 0.000 description 5
- 239000002699 waste material Substances 0.000 description 4
- 238000003384 imaging method Methods 0.000 description 3
- 238000011084 recovery Methods 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 239000004065 semiconductor Substances 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 229910000679 solder Inorganic materials 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
- B60Q1/14—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
- B60Q1/1415—Dimming circuits
- B60Q1/1423—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic
- B60Q1/143—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
- F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
- F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
- F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
- F16P3/144—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact using light grids
-
- 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
- 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
- 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
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/02—Feeding of components
- H05K13/021—Loading or unloading of containers
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/08—Monitoring manufacture of assemblages
- H05K13/081—Integration of optical monitoring devices in assembly lines; Processes using optical monitoring devices specially adapted for controlling devices or machines in assembly lines
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/08—Monitoring manufacture of assemblages
- H05K13/086—Supply management, e.g. supply of components or of substrates
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/40—Indexing codes relating to other road users or special conditions
- B60Q2300/45—Special conditions, e.g. pedestrians, road signs or potential dangers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2800/00—Features related to particular types of vehicles not otherwise provided for
- B60Q2800/20—Utility vehicles, e.g. for agriculture, construction work
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/31—From computer integrated manufacturing till monitoring
- G05B2219/31005—Detect obstacles on path of vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50393—Floor conveyor, AGV automatic guided vehicle
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/01—Mobile robot
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/46—Sensing device
- Y10S901/47—Optical
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/49—Protective device
Abstract
Description
前記移動体を基準とした第1領域内の障害物の検知と該第1領域よりも外側の第2領域内の障害物の検知とが可能な検知手段と、
可視光を発光する発光手段と、
前記検知手段により前記第2領域内で障害物が検知された場合に、前記第1領域に可視光が発光されるよう前記発光手段を制御し、前記検知手段により前記第2領域内で障害物が検知されなかった場合に、前記第1領域に可視光が発光されないよう前記発光手段を制御する発光制御手段と、
を備えることを要旨とする。
Claims (5)
- 移動体であって、
前記移動体を基準とした第1領域内の障害物の検知と該第1領域よりも外側の第2領域内の障害物の検知とが可能な検知手段と、
可視光を発光する発光手段と、
前記検知手段により前記第2領域内で障害物が検知された場合に、前記第1領域に可視光が発光されるよう前記発光手段を制御し、前記検知手段により前記第2領域内で障害物が検知されなかった場合に、前記第1領域に可視光が発光されないよう前記発光手段を制御する発光制御手段と、
を備えることを特徴とする移動体。 - 請求項1記載の移動体であって
前記検知手段により前記第1領域内で障害物が検知された場合に、移動を停止する移動停止手段
を備えることを特徴とする移動体。 - 請求項1または2記載の移動体であって、
前記検知手段は、前記移動体の進行方向が変更されている間、該進行方向の変更に合わせて少なくとも前記第1領域を変更可能である
ことを特徴とする移動体。 - 請求項3記載の移動体であって、
前記移動体は、予め定められた移動ルートに沿って移動可能であり、
前記発光制御手段は、前記移動体の進行方向が変更される前に、少なくとも変更後の前記第1領域となる領域に発光可能である
ことを特徴とする移動体。 - 請求項1ないし4いずれか1項に記載の移動体であって、
前記移動体は、部品供給装置から供給される電子部品を基板に実装する電子部品実装機に、当該部品供給装置を搬送する搬送装置である
ことを特徴とする移動体。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2015/058713 WO2016151724A1 (ja) | 2015-03-23 | 2015-03-23 | 移動体 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2016151724A1 true JPWO2016151724A1 (ja) | 2018-01-11 |
JP6527941B2 JP6527941B2 (ja) | 2019-06-12 |
Family
ID=56978619
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017507187A Active JP6527941B2 (ja) | 2015-03-23 | 2015-03-23 | 移動体 |
Country Status (5)
Country | Link |
---|---|
US (1) | US10682762B2 (ja) |
EP (1) | EP3276442B1 (ja) |
JP (1) | JP6527941B2 (ja) |
CN (1) | CN107430405B (ja) |
WO (1) | WO2016151724A1 (ja) |
Cited By (2)
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CN111152214A (zh) * | 2019-12-13 | 2020-05-15 | 珠海格力电器股份有限公司 | 一种四自由度码垛机器人、控制系统、码垛路径规划方法 |
US11449043B2 (en) | 2017-03-30 | 2022-09-20 | Fuji Corporation | Mounting system and reporting control device |
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EP4210448A1 (en) * | 2017-03-23 | 2023-07-12 | Fuji Corporation | Mounting system and display control device |
EP3657282A4 (en) * | 2017-07-20 | 2020-07-22 | Fuji Corporation | WORKING SYSTEM |
JP7229405B2 (ja) * | 2018-06-12 | 2023-02-27 | 株式会社Fuji | 部品装着システム |
US10843340B2 (en) * | 2018-08-27 | 2020-11-24 | The Boeing Company | Protected worker zones around mobile robotic platforms that manufacture aircraft |
CN110871315A (zh) * | 2018-09-03 | 2020-03-10 | 苏州睿牛机器人技术有限公司 | 一种爬行弧焊机器人及爬行弧焊机器人的安全检测方法、装置 |
WO2020065809A1 (ja) * | 2018-09-27 | 2020-04-02 | 株式会社Fuji | 部品実装システム |
JP2020160511A (ja) * | 2019-03-25 | 2020-10-01 | 北陽電機株式会社 | 物体検出システム、搬送台車及び物体検出装置 |
JP7307631B2 (ja) * | 2019-08-29 | 2023-07-12 | ヤマハ発動機株式会社 | 基板製造システムおよび自律走行台車 |
JP7194288B2 (ja) * | 2019-09-23 | 2022-12-21 | 株式会社Fuji | 周辺監視装置 |
EP4037451A4 (en) * | 2019-09-27 | 2022-10-05 | Fuji Corporation | AUTOMATED REPLACEMENT SYSTEM FOR PRODUCTION LINE |
CN112644984A (zh) * | 2019-10-10 | 2021-04-13 | 松下知识产权经营株式会社 | 控制方法、控制系统、输送装置及部件安装系统 |
WO2023026387A1 (ja) * | 2021-08-25 | 2023-03-02 | 株式会社Fuji | 搬送装置情報教示システムおよび搬送装置情報教示方法 |
WO2023047464A1 (ja) * | 2021-09-21 | 2023-03-30 | 株式会社Fuji | 作業装置および実装システム |
JP7421759B2 (ja) * | 2022-03-05 | 2024-01-25 | 梅馨堂合同会社 | 人協働ロボットシステム |
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- 2015-03-23 WO PCT/JP2015/058713 patent/WO2016151724A1/ja active Application Filing
- 2015-03-23 JP JP2017507187A patent/JP6527941B2/ja active Active
- 2015-03-23 US US15/560,802 patent/US10682762B2/en active Active
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US11449043B2 (en) | 2017-03-30 | 2022-09-20 | Fuji Corporation | Mounting system and reporting control device |
CN111152214A (zh) * | 2019-12-13 | 2020-05-15 | 珠海格力电器股份有限公司 | 一种四自由度码垛机器人、控制系统、码垛路径规划方法 |
CN111152214B (zh) * | 2019-12-13 | 2021-08-03 | 珠海格力电器股份有限公司 | 一种四自由度码垛机器人、控制系统、码垛路径规划方法 |
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CN107430405A (zh) | 2017-12-01 |
JP6527941B2 (ja) | 2019-06-12 |
WO2016151724A1 (ja) | 2016-09-29 |
EP3276442B1 (en) | 2020-07-01 |
EP3276442A4 (en) | 2018-03-14 |
CN107430405B (zh) | 2020-10-02 |
US10682762B2 (en) | 2020-06-16 |
US20180111269A1 (en) | 2018-04-26 |
EP3276442A1 (en) | 2018-01-31 |
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