KR100817826B1 - 반송대차 시스템 - Google Patents
반송대차 시스템 Download PDFInfo
- Publication number
- KR100817826B1 KR100817826B1 KR1020040089643A KR20040089643A KR100817826B1 KR 100817826 B1 KR100817826 B1 KR 100817826B1 KR 1020040089643 A KR1020040089643 A KR 1020040089643A KR 20040089643 A KR20040089643 A KR 20040089643A KR 100817826 B1 KR100817826 B1 KR 100817826B1
- Authority
- KR
- South Korea
- Prior art keywords
- mark
- stop position
- stop
- sensor
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- Prior art date
Links
- 238000001514 detection method Methods 0.000 claims description 14
- 230000005291 magnetic effect Effects 0.000 description 20
- 230000003287 optical effect Effects 0.000 description 19
- 238000010586 diagram Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 239000000696 magnetic material Substances 0.000 description 2
- 230000001629 suppression Effects 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000005292 diamagnetic effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C7/00—Runways, tracks or trackways for trolleys or cranes
- B66C7/16—Devices specially adapted for limiting trolley or crane travel; Arrangements of buffer-stops
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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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
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- 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
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Optics & Photonics (AREA)
- Geology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Civil Engineering (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Warehouses Or Storage Devices (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
Description
Claims (3)
- 지상측에, 각 정지위치(8)마다에, 또한, 정지위치(8)의 바로 앞으로부터 정치위치(8)에 걸쳐서 피검출용의 마크(14, 60)를 설치하고,반송대차(20)에, 주행방향에 따라 배열한 복수의 검출코일(54)을 구비한 리니어센서로서, 상기 마크(14, 60)를 검출하여 마크(14, 60)를 기준으로 하는 위치를 구하기 위한 센서(26, 50)와, 구해진 마크기준의 위치에 따라서 정지위치(8)를 목표위치로 하는 감속제어를 행하고, 정지위치(8)에 반송대차(20)를 정지시키기 위한 주행제어계를 설치하며,정지위치(8) 간에 상기 마크(14, 60)를 설치하지 않는 영역을 형성함과 아울러, 상기 영역에서는 상기 주행제어계의 내부센서(42)에 의해 구해진 위치에 따라서 반송대차(20)를 주행제어하도록 하고,지상측에는, 상기 마크(14, 60)의 바로 앞에 상기 마크(14, 60)를 기준으로 하는 정지위치(8)의 좌표를 나타내는 지표(12)를 설치하고, 반송대차(20)에는, 상기 지표(12)를 판독하기 위한 수단(24)을 설치하고, 상기 주행제어계에서는 판독한 정지위치(8)의 좌표를 목표위치로 해서 감속제어를 행하도록 한 것을 특징으로 하는 반송대차 시스템.
- 삭제
- 삭제
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JPJP-P-2004-00005185 | 2004-01-13 | ||
JP2004005185A JP4074999B2 (ja) | 2004-01-13 | 2004-01-13 | 搬送台車システム |
Publications (2)
Publication Number | Publication Date |
---|---|
KR20050074256A KR20050074256A (ko) | 2005-07-18 |
KR100817826B1 true KR100817826B1 (ko) | 2008-03-31 |
Family
ID=34616831
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020040089643A KR100817826B1 (ko) | 2004-01-13 | 2004-11-05 | 반송대차 시스템 |
Country Status (6)
Country | Link |
---|---|
US (1) | US7477963B2 (ko) |
EP (1) | EP1555224B1 (ko) |
JP (1) | JP4074999B2 (ko) |
KR (1) | KR100817826B1 (ko) |
DE (1) | DE602004004745T2 (ko) |
TW (1) | TW200524814A (ko) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110722984A (zh) * | 2019-09-30 | 2020-01-24 | 林德(中国)叉车有限公司 | 一种基于iBeacon的叉车区域限速方法及系统 |
Families Citing this family (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3991229B2 (ja) * | 2004-01-13 | 2007-10-17 | 村田機械株式会社 | 搬送台車システム |
JP4221603B2 (ja) * | 2005-03-31 | 2009-02-12 | 村田機械株式会社 | 天井走行車システム |
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 |
JP4264834B2 (ja) * | 2005-07-04 | 2009-05-20 | 村田機械株式会社 | 有軌道台車システム |
JP4513019B2 (ja) * | 2005-12-09 | 2010-07-28 | 村田機械株式会社 | 搬送システム |
JP2007191235A (ja) * | 2006-01-17 | 2007-08-02 | Murata Mach Ltd | 天井走行車システム |
JP4217918B2 (ja) * | 2006-11-28 | 2009-02-04 | 村田機械株式会社 | 移動体システム |
KR100743898B1 (ko) * | 2006-12-29 | 2007-07-30 | 심규태 | 반송대차 시스템의 에스에스아이 통신을 이용한위치제어장치 |
JP4366663B2 (ja) * | 2007-06-28 | 2009-11-18 | 村田機械株式会社 | 搬送台車システム |
JP4438882B2 (ja) * | 2008-05-12 | 2010-03-24 | 村田機械株式会社 | 移動体システム |
JP4697262B2 (ja) * | 2008-06-06 | 2011-06-08 | 村田機械株式会社 | 走行車及び走行車システム |
SG174209A1 (en) | 2009-03-03 | 2011-10-28 | Murata Machinery Ltd | Transportation system |
JP5045705B2 (ja) * | 2009-04-16 | 2012-10-10 | 村田機械株式会社 | 搬送車システム |
US8751045B2 (en) * | 2010-07-29 | 2014-06-10 | Taiwan Semiconductor Manufacturing Company, Ltd. | System and method of monitoring an environmental parameter along a predetermined route |
JP5636849B2 (ja) * | 2010-09-30 | 2014-12-10 | 村田機械株式会社 | 移載システム |
EP2810278A4 (en) * | 2012-02-03 | 2015-10-28 | Siemens Healthcare Diagnostics | EMBEDDED IN AN AUTOMATED SPINE SURFACE |
JP5935745B2 (ja) * | 2013-04-08 | 2016-06-15 | 株式会社ダイフク | 物品搬送車の位置姿勢判別システム |
US10425158B2 (en) * | 2017-11-21 | 2019-09-24 | Hak Seo Oh | Apparatus for controlling line guide of automated material handling system and method thereof |
TWI657416B (zh) * | 2018-01-09 | 2019-04-21 | 冷中安 | 利用雷射反射定位之無人搬運車架構 |
CN109573897B (zh) * | 2018-12-21 | 2020-09-15 | 宁波如意股份有限公司 | 基于视觉的叉车agv货叉起升高度定位的系统及方法 |
CN110109460B (zh) * | 2019-05-23 | 2022-05-27 | 广州市技田信息技术有限公司 | 一种基于十字码的agv小车导航系统 |
CN111311677B (zh) * | 2020-01-21 | 2023-06-13 | 南京和瑞供应链管理有限公司 | 基于机器视觉识别技术的自动定位进叉位置的方法 |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3799057A (en) * | 1972-01-26 | 1974-03-26 | Palmer Shile Co | Electrical control system |
Family Cites Families (21)
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US3593863A (en) * | 1969-08-20 | 1971-07-20 | Cutler Hammer Inc | Integrated circuit courier system with slow reverse movements for centering at bin |
CH536790A (de) * | 1971-07-20 | 1973-05-15 | Oehler Wyhlen Lagertechnik Ag | Verfahren und Einrichtung zur Feinpositionierung einer vertikal beweglichen Plattform vor einem Lagerfach |
JPS60183405A (ja) | 1984-02-28 | 1985-09-18 | Ishikawajima Harima Heavy Ind Co Ltd | 自動倉庫用クレ−ンの位置制御装置 |
DE3843218A1 (de) * | 1988-12-22 | 1990-06-28 | Grau Gmbh & Co Holdingges | Verfahren und vorrichtung zum betreiben eines automatischen datentraegerarchivs |
JP2732318B2 (ja) | 1990-09-13 | 1998-03-30 | 株式会社ダイフク | 移動車の停止制御装置 |
KR960005672B1 (ko) * | 1990-08-23 | 1996-04-30 | 가부시끼가이샤 다이후꾸 | 이동차의 분기주행 제어설비 |
CA2053028C (en) * | 1990-10-23 | 1996-04-09 | Hideichi Tanizawa | Carriage running control system |
JPH05189036A (ja) | 1992-01-10 | 1993-07-30 | Kansai Coke & Chem Co Ltd | 停止位置検出装置 |
JP3260911B2 (ja) | 1993-06-15 | 2002-02-25 | 住友大阪セメント株式会社 | セメントクリンカー及びその製造方法 |
JPH0881178A (ja) | 1994-09-12 | 1996-03-26 | Mitsubishi Heavy Ind Ltd | 走行体の走行位置制御方法 |
JP2000029524A (ja) | 1998-07-08 | 2000-01-28 | Toyo Electric Corp | 移動体の停止制御装置用位置検出装置 |
JP2000113556A (ja) * | 1998-09-30 | 2000-04-21 | Mitsubishi Electric Corp | ライブラリ装置 |
US6290188B1 (en) * | 1999-02-18 | 2001-09-18 | Pri Automation, Inc. | Collision avoidance system for track-guided vehicles |
DE19910933B4 (de) | 1999-03-12 | 2004-07-08 | Leuze Electronic Gmbh + Co Kg | Vorrichtung zur Positionierung eines Fahrzeugs |
TNSN00087A1 (fr) * | 1999-04-26 | 2002-05-30 | Int Paper Co | Une machine a outils independamment mobiles |
JP4740438B2 (ja) | 1999-12-17 | 2011-08-03 | 株式会社アミテック | シリンダ位置検出装置 |
JP2003139563A (ja) | 2001-11-01 | 2003-05-14 | Murata Mach Ltd | スライド位置検出装置 |
JP2003156364A (ja) | 2001-11-22 | 2003-05-30 | Murata Mach Ltd | スライド位置検出装置を備えた直動装置 |
KR20040086412A (ko) * | 2002-02-20 | 2004-10-08 | 이스메카 세미컨덕터 홀딩 에스.아. | 반도체 부품들의 접촉기의 작동 시스템 |
DE10211779B4 (de) | 2002-03-16 | 2005-03-31 | Leuze Electronic Gmbh & Co Kg | Optoelektronische Vorrichtung |
JP2004030500A (ja) * | 2002-06-28 | 2004-01-29 | Fanuc Ltd | モータ制御装置 |
-
2004
- 2004-01-13 JP JP2004005185A patent/JP4074999B2/ja not_active Expired - Fee Related
- 2004-08-17 TW TW093124694A patent/TW200524814A/zh not_active IP Right Cessation
- 2004-11-05 KR KR1020040089643A patent/KR100817826B1/ko active IP Right Grant
- 2004-12-10 US US11/008,173 patent/US7477963B2/en active Active
- 2004-12-13 DE DE602004004745T patent/DE602004004745T2/de active Active
- 2004-12-13 EP EP04029479A patent/EP1555224B1/en not_active Expired - Fee Related
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3799057A (en) * | 1972-01-26 | 1974-03-26 | Palmer Shile Co | Electrical control system |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110722984A (zh) * | 2019-09-30 | 2020-01-24 | 林德(中国)叉车有限公司 | 一种基于iBeacon的叉车区域限速方法及系统 |
Also Published As
Publication number | Publication date |
---|---|
TWI297670B (ko) | 2008-06-11 |
KR20050074256A (ko) | 2005-07-18 |
DE602004004745T2 (de) | 2007-11-22 |
US20050171656A1 (en) | 2005-08-04 |
EP1555224B1 (en) | 2007-02-14 |
US7477963B2 (en) | 2009-01-13 |
TW200524814A (en) | 2005-08-01 |
EP1555224A1 (en) | 2005-07-20 |
JP4074999B2 (ja) | 2008-04-16 |
JP2005202464A (ja) | 2005-07-28 |
DE602004004745D1 (de) | 2007-03-29 |
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