KR920021267A - 이동 로보트 시스템에서의 제어방법 - Google Patents

이동 로보트 시스템에서의 제어방법 Download PDF

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Publication number
KR920021267A
KR920021267A KR1019920007574A KR920007574A KR920021267A KR 920021267 A KR920021267 A KR 920021267A KR 1019920007574 A KR1019920007574 A KR 1019920007574A KR 920007574 A KR920007574 A KR 920007574A KR 920021267 A KR920021267 A KR 920021267A
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KR
South Korea
Prior art keywords
mobile robot
control station
evaluation value
mobile
work
Prior art date
Application number
KR1019920007574A
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English (en)
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KR100189680B1 (ko
Inventor
아사노리 오오니시
Original Assignee
스즈끼 아끼오
신꼬덴끼 가부시끼가이샤
Priority date (The priority date 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 date listed.)
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Application filed by 스즈끼 아끼오, 신꼬덴끼 가부시끼가이샤 filed Critical 스즈끼 아끼오
Publication of KR920021267A publication Critical patent/KR920021267A/ko
Application granted granted Critical
Publication of KR100189680B1 publication Critical patent/KR100189680B1/ko

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Classifications

    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
    • G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • 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
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0297—Fleet control by controlling means in a control room
    • 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
    • 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
    • Y02P90/60—Electric or hybrid propulsion means for production processes

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Quality & Reliability (AREA)
  • Manufacturing & Machinery (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)
  • Feedback Control In General (AREA)

Abstract

내용 없음.

Description

이동 로보트 시스템에서의 제어방법
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 본 발명의 일실시예에 의한 제어방법에 있어서 작성하는 평가치표를 예시하는 도,
제2도는 일반적인 이동 로보트 시스템의 구성을 나타낸 블럭도.

Claims (1)

  1. 제어국과 이 제어국에 의해서 지시된 작업점으로 이동해서 작업을 행하는 복수의 이동로보트로 되는 이동로보트 시스템에 있어서, 상기 복수의 이동로보드중 작업을 가지지 않은 이동로보트가 발생한 경우, 상기 제어국은 이들 각 이동로보트에 대해 당해 이동로보트가 현재 미처리 상태인 작업의 각각을 실행하는 경우에 대한 평가를 지시하며, 상기 각 이동로보트는 상기 미처리의 작업을 각각 실행하는 경우에 대한 평가를 행하는 동시에, 각 경우의 평가치를 상기 제어국에 보고하고, 상기 제어국은, 상기 보고에 따라 상기 미처리의 각 작업 및 상기 작업을 가지지 않은 이동로보트의 각 조합에 대응한 각 평가치로 되는 평가치표를 작성하며, 이 평가치표중에서 평가치가 높은 순으로 작업 및 이동로보트의 조합은 선택하므로써, 상기 미처리의 각 작업을 처리하는 이동로보트를 결정하는 것을 특징으로 하는 이동로보트 시스템에 있어서의 제어방법.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019920007574A 1991-05-10 1992-05-04 이동로보트시스템에서의 제어방법 KR100189680B1 (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP91-106109 1991-05-10
JP3106109A JP2884816B2 (ja) 1991-05-10 1991-05-10 移動ロボットシステムにおける制御方法

Publications (2)

Publication Number Publication Date
KR920021267A true KR920021267A (ko) 1992-12-18
KR100189680B1 KR100189680B1 (ko) 1999-06-01

Family

ID=14425315

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019920007574A KR100189680B1 (ko) 1991-05-10 1992-05-04 이동로보트시스템에서의 제어방법

Country Status (5)

Country Link
US (1) US5329450A (ko)
EP (1) EP0512866B1 (ko)
JP (1) JP2884816B2 (ko)
KR (1) KR100189680B1 (ko)
DE (1) DE69209138T2 (ko)

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JP4933055B2 (ja) * 2005-05-06 2012-05-16 国立大学法人 熊本大学 ワーク搬送システム、経路設定方法及び経路設定プログラム
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Also Published As

Publication number Publication date
KR100189680B1 (ko) 1999-06-01
EP0512866A1 (en) 1992-11-11
US5329450A (en) 1994-07-12
JP2884816B2 (ja) 1999-04-19
EP0512866B1 (en) 1996-03-20
DE69209138T2 (de) 1996-08-01
JPH0573142A (ja) 1993-03-26
DE69209138D1 (de) 1996-04-25

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