KR102832649B1 - 주행차 시스템, 및 주행차의 제어 방법 - Google Patents

주행차 시스템, 및 주행차의 제어 방법 Download PDF

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Publication number
KR102832649B1
KR102832649B1 KR1020227041543A KR20227041543A KR102832649B1 KR 102832649 B1 KR102832649 B1 KR 102832649B1 KR 1020227041543 A KR1020227041543 A KR 1020227041543A KR 20227041543 A KR20227041543 A KR 20227041543A KR 102832649 B1 KR102832649 B1 KR 102832649B1
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KR
South Korea
Prior art keywords
driving
driving vehicle
vehicle
pass
blocking
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Application number
KR1020227041543A
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English (en)
Korean (ko)
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KR20230008149A (ko
Inventor
아츠시 마츠모토
Original Assignee
무라다기카이가부시끼가이샤
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Publication of KR20230008149A publication Critical patent/KR20230008149A/ko
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Classifications

    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C9/00—Individual registration on entry or exit
    • G07C9/20—Individual registration on entry or exit involving the use of a pass
    • 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
    • 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
    • G05D1/60—Intended control result
    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G05D1/698—Control allocation
    • G05D1/6987—Control allocation by centralised control off-board any of the vehicles
    • 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
    • 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
    • G05D1/60—Intended control result
    • G05D1/646—Following a predefined trajectory, e.g. a line marked on the floor or a flight path
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/008—Registering or indicating the working of vehicles communicating information to a remotely located station
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C9/00—Individual registration on entry or exit
    • G07C9/20—Individual registration on entry or exit involving the use of a pass
    • G07C9/27—Individual registration on entry or exit involving the use of a pass with central registration
    • H—ELECTRICITY
    • H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10P—GENERIC PROCESSES OR APPARATUS FOR THE MANUFACTURE OR TREATMENT OF DEVICES COVERED BY CLASS H10
    • H10P72/00—Handling or holding of wafers, substrates or devices during manufacture or treatment thereof
    • H10P72/30—Handling or holding of wafers, substrates or devices during manufacture or treatment thereof for conveying, e.g. between different workstations
    • H10P72/32—Handling or holding of wafers, substrates or devices during manufacture or treatment thereof for conveying, e.g. between different workstations between different workstations
    • H10P72/3208—Changing the direction of the conveying path
    • H—ELECTRICITY
    • H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10P—GENERIC PROCESSES OR APPARATUS FOR THE MANUFACTURE OR TREATMENT OF DEVICES COVERED BY CLASS H10
    • H10P72/00—Handling or holding of wafers, substrates or devices during manufacture or treatment thereof
    • H10P72/30—Handling or holding of wafers, substrates or devices during manufacture or treatment thereof for conveying, e.g. between different workstations
    • H10P72/32—Handling or holding of wafers, substrates or devices during manufacture or treatment thereof for conveying, e.g. between different workstations between different workstations
    • H10P72/3214—Handling or holding of wafers, substrates or devices during manufacture or treatment thereof for conveying, e.g. between different workstations between different workstations by means of a cart or a vehicle
    • H—ELECTRICITY
    • H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10P—GENERIC PROCESSES OR APPARATUS FOR THE MANUFACTURE OR TREATMENT OF DEVICES COVERED BY CLASS H10
    • H10P72/00—Handling or holding of wafers, substrates or devices during manufacture or treatment thereof
    • H10P72/30—Handling or holding of wafers, substrates or devices during manufacture or treatment thereof for conveying, e.g. between different workstations
    • H10P72/32—Handling or holding of wafers, substrates or devices during manufacture or treatment thereof for conveying, e.g. between different workstations between different workstations
    • H10P72/3222—Loading to or unloading from a conveyor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L19/00—Arrangements for interlocking between points and signals by means of a single interlocking device, e.g. central control
    • B61L19/06—Interlocking devices having electrical operation
    • B61L2019/065—Interlocking devices having electrical operation with electronic means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2101/00—Details of software or hardware architectures used for the control of position
    • G05D2101/10—Details of software or hardware architectures used for the control of position using artificial intelligence [AI] techniques
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/70—Industrial sites, e.g. warehouses or factories
    • H—ELECTRICITY
    • H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10P—GENERIC PROCESSES OR APPARATUS FOR THE MANUFACTURE OR TREATMENT OF DEVICES COVERED BY CLASS H10
    • H10P72/00—Handling or holding of wafers, substrates or devices during manufacture or treatment thereof
    • H10P72/30—Handling or holding of wafers, substrates or devices during manufacture or treatment thereof for conveying, e.g. between different workstations
    • H10P72/32—Handling or holding of wafers, substrates or devices during manufacture or treatment thereof for conveying, e.g. between different workstations between different workstations
    • H10P72/3221—Overhead conveying

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (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)
  • Train Traffic Observation, Control, And Security (AREA)
KR1020227041543A 2020-05-27 2021-04-20 주행차 시스템, 및 주행차의 제어 방법 Active KR102832649B1 (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JPJP-P-2020-092386 2020-05-27
JP2020092386 2020-05-27
PCT/JP2021/015993 WO2021241079A1 (ja) 2020-05-27 2021-04-20 走行車システム、及び走行車の制御方法

Publications (2)

Publication Number Publication Date
KR20230008149A KR20230008149A (ko) 2023-01-13
KR102832649B1 true KR102832649B1 (ko) 2025-07-09

Family

ID=78744365

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020227041543A Active KR102832649B1 (ko) 2020-05-27 2021-04-20 주행차 시스템, 및 주행차의 제어 방법

Country Status (8)

Country Link
US (1) US12534296B2 (https=)
EP (1) EP4160348B1 (https=)
JP (1) JP7327666B2 (https=)
KR (1) KR102832649B1 (https=)
CN (1) CN115698887B (https=)
IL (1) IL298574B2 (https=)
TW (1) TWI851900B (https=)
WO (1) WO2021241079A1 (https=)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2023119730A (ja) * 2022-02-17 2023-08-29 村田機械株式会社 保管棚及び搬送車システム
EP4425292A1 (en) 2023-03-02 2024-09-04 BlueBotics SA Management system and method for autonomous vehicles
JP7775853B2 (ja) * 2023-03-15 2025-11-26 株式会社ダイフク 物品搬送設備
JP7775859B2 (ja) * 2023-05-25 2025-11-26 株式会社ダイフク 物品搬送設備
JP7548462B1 (ja) * 2024-03-06 2024-09-10 三菱電機ビルソリューションズ株式会社 交通管理装置、交通管理方法、交通管理プログラム、移動体システム、および移動体制御システム

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006260248A (ja) 2005-03-17 2006-09-28 Murata Mach Ltd 搬送車システム
KR101440569B1 (ko) 2013-06-04 2014-09-17 (주)엔스퀘어 무인반송차량 관리 시스템
JP2018128914A (ja) 2017-02-09 2018-08-16 株式会社ダイフク 物品搬送設備

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3991852B2 (ja) * 2002-12-09 2007-10-17 村田機械株式会社 天井搬送車システム
JP4172466B2 (ja) 2005-05-09 2008-10-29 村田機械株式会社 搬送台車システム
WO2009142051A1 (ja) 2008-05-22 2009-11-26 村田機械株式会社 走行車システムと走行車システムでの走行制御方法
JP2010257184A (ja) * 2009-04-24 2010-11-11 Meidensha Corp 無人搬送車の交差点制御装置及び交差点制御方法
EP2806323B1 (en) * 2012-01-17 2019-08-21 Murata Machinery, Ltd. Traveling vehicle system
JP5874942B2 (ja) 2012-05-28 2016-03-02 村田機械株式会社 走行車システムとカーブ区間での走行車の走行制御方法
DE112013000729T5 (de) * 2013-09-11 2015-07-30 Hitachi Construction Machinery Co., Ltd. Fahrzeugverkehrs-Steuersystem
JP6601679B2 (ja) 2016-03-01 2019-11-06 パナソニックＩｐマネジメント株式会社 判定装置、判定方法、および判定プログラム
JP6520797B2 (ja) * 2016-04-11 2019-05-29 株式会社ダイフク 物品搬送設備
US11226637B2 (en) * 2016-08-22 2022-01-18 Murata Machinery, Ltd. Traveling vehicle system, and control method for traveling vehicle system
JP2020024476A (ja) * 2016-12-14 2020-02-13 村田機械株式会社 走行車システム
CN106873605B (zh) * 2017-04-25 2023-12-19 中山市永淇自动化设备有限公司 一种搬运自动导引运输车的调控系统及调控方法
CN108253985A (zh) * 2017-12-27 2018-07-06 安徽嘉熠智能科技有限公司 一种agv小车系统路径规划方法及系统
JP7200641B2 (ja) 2018-12-07 2023-01-10 日本電信電話株式会社 通信制御方法、通信制御装置および通信制御プログラム

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006260248A (ja) 2005-03-17 2006-09-28 Murata Mach Ltd 搬送車システム
KR101440569B1 (ko) 2013-06-04 2014-09-17 (주)엔스퀘어 무인반송차량 관리 시스템
JP2018128914A (ja) 2017-02-09 2018-08-16 株式会社ダイフク 物品搬送設備

Also Published As

Publication number Publication date
EP4160348B1 (en) 2025-11-05
JPWO2021241079A1 (https=) 2021-12-02
US20230242166A1 (en) 2023-08-03
IL298574B1 (en) 2025-11-01
CN115698887A (zh) 2023-02-03
IL298574A (en) 2023-01-01
IL298574B2 (en) 2026-03-01
TWI851900B (zh) 2024-08-11
TW202215182A (zh) 2022-04-16
US12534296B2 (en) 2026-01-27
JP7327666B2 (ja) 2023-08-16
EP4160348A4 (en) 2024-04-24
CN115698887B (zh) 2025-10-24
WO2021241079A1 (ja) 2021-12-02
KR20230008149A (ko) 2023-01-13
EP4160348A1 (en) 2023-04-05

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