TWI371667B - - Google Patents
Info
- Publication number
- TWI371667B TWI371667B TW095129089A TW95129089A TWI371667B TW I371667 B TWI371667 B TW I371667B TW 095129089 A TW095129089 A TW 095129089A TW 95129089 A TW95129089 A TW 95129089A TW I371667 B TWI371667 B TW I371667B
- Authority
- TW
- Taiwan
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
- G01D5/2454—Encoders incorporating incremental and absolute signals
- G01D5/2455—Encoders incorporating incremental and absolute signals with incremental and absolute tracks on the same encoder
- G01D5/2457—Incremental encoders having reference marks
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0038—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0092—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption with use of redundant elements for safety purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/12—Recording operating variables ; Monitoring of operating variables
-
- 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
-
- 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
- B66F9/063—Automatically guided
-
- 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
-
- 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
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/26—Rail vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/40—Working vehicles
- B60L2200/42—Fork lift trucks
-
- 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
-
- 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
- G05B2219/37—Measurements
- G05B2219/37422—Distance and attitude detector
-
- 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
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40555—Orientation and distance
-
- 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
- G05B2219/42—Servomotor, servo controller kind till VSS
- G05B2219/42215—Stop machine in a predetermined position
-
- 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
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005320691A JP4438736B2 (ja) | 2005-11-04 | 2005-11-04 | 搬送装置 |
JP2006018474A JP4399816B2 (ja) | 2006-01-27 | 2006-01-27 | 移動体の制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
TW200736870A TW200736870A (en) | 2007-10-01 |
TWI371667B true TWI371667B (zh) | 2012-09-01 |
Family
ID=38003078
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
TW095129089A TW200736870A (en) | 2005-11-04 | 2006-08-08 | Control device for movable body |
Country Status (4)
Country | Link |
---|---|
US (1) | US7408314B2 (zh) |
KR (1) | KR100990363B1 (zh) |
DE (1) | DE102006048215A1 (zh) |
TW (1) | TW200736870A (zh) |
Families Citing this family (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7514893B2 (en) * | 2006-05-03 | 2009-04-07 | Jin Moen | Method for using a wearable interactive movable device |
FR2905105B1 (fr) * | 2006-08-25 | 2008-11-21 | Alstom Transport Sa | Dispositif de commande regulee de vehicule a precision recentree. |
JP4193186B2 (ja) * | 2006-11-02 | 2008-12-10 | 村田機械株式会社 | 天井走行車 |
JP4217918B2 (ja) * | 2006-11-28 | 2009-02-04 | 村田機械株式会社 | 移動体システム |
FI120992B (fi) * | 2008-05-30 | 2010-05-31 | Kone Corp | Tahtikoneen liikkeen määritys |
JP5402233B2 (ja) * | 2009-05-19 | 2014-01-29 | 株式会社安川電機 | ロボット及び物品搬送システム |
TWI599530B (zh) * | 2010-12-15 | 2017-09-21 | 辛波提克有限責任公司 | 自主式輸運車輛 |
DE102012214724A1 (de) * | 2012-08-20 | 2014-02-20 | Siemens Aktiengesellschaft | Verfahren zur Erhöhung der Positionsgenauigkeit eines bewegten Objekts |
EP2772463B1 (en) * | 2013-02-28 | 2017-05-03 | Toyota Material Handling Manufacturing Sweden AB | A Forklift truck |
DE102013211414A1 (de) | 2013-06-18 | 2014-12-18 | Kuka Laboratories Gmbh | Fahrerloses Transportfahrzeug und Verfahren zum Betreiben einesfahrerlosen Transportfahrzeugs |
JP6332115B2 (ja) * | 2015-04-06 | 2018-05-30 | 株式会社ダイフク | 物品収納設備 |
KR101734708B1 (ko) * | 2015-11-23 | 2017-05-11 | 기아자동차주식회사 | 무인 이송 대차 |
AT518292B1 (de) * | 2016-03-08 | 2017-12-15 | Tgw Mechanics Gmbh | Regalbediengerät, Regallagersystem und Betriebsverfahren für ein Regalbediengerät mit verbesserter Wegmessung |
JP6597551B2 (ja) * | 2016-10-21 | 2019-10-30 | 株式会社ダイフク | 物品搬送設備 |
CN108792384B (zh) | 2018-04-18 | 2019-04-26 | 北京极智嘉科技有限公司 | 搬运方法、搬运装置及搬运系统 |
CN109678084A (zh) * | 2019-02-26 | 2019-04-26 | 安徽安鑫货叉有限公司 | 一种垛机货叉结构 |
KR20220144391A (ko) | 2020-02-21 | 2022-10-26 | 크라운 이큅먼트 코포레이션 | 제한 영역 또는 비제한 영역을 나타내는 자재 취급 차량 측면의 조명 바닥 |
US11773567B2 (en) * | 2020-07-22 | 2023-10-03 | Baidu Usa Llc | Engineering machinery equipment, and method, system, and storage medium for safety control thereof |
TWI790519B (zh) * | 2020-12-28 | 2023-01-21 | 鈺皓實業有限公司 | 智能搬運系統 |
Family Cites Families (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2839281B2 (ja) * | 1989-03-31 | 1998-12-16 | グローリー工業株式会社 | 移動体の自己定位方法 |
JPH03267206A (ja) | 1990-03-16 | 1991-11-28 | Hitachi Ltd | 自動倉庫 |
US5215166A (en) * | 1991-10-30 | 1993-06-01 | Eaton-Kenway, Inc. | Mobile stacker for automated storage and retrieval system |
KR0161027B1 (ko) * | 1993-07-06 | 1999-01-15 | 윤종용 | 로보트의 자동주행제어장치 및 그 방법 |
JP3117860B2 (ja) * | 1993-12-24 | 2000-12-18 | 株式会社イトーキクレビオ | 搬送ユニットの停止位置制御装置 |
JP2887562B2 (ja) | 1994-06-14 | 1999-04-26 | 株式会社岡村製作所 | 搬送装置の走行停止装置 |
JPH0881178A (ja) * | 1994-09-12 | 1996-03-26 | Mitsubishi Heavy Ind Ltd | 走行体の走行位置制御方法 |
KR0161044B1 (ko) * | 1994-11-16 | 1998-12-15 | 김광호 | 로보트의 주행제어장치 및 그 주행제어방법 |
US5887268A (en) * | 1995-10-31 | 1999-03-23 | Honda Giken Kogyo Kabushiki Kaisha | Automatically driven motor vehicle |
US6041274A (en) * | 1997-04-21 | 2000-03-21 | Shinko Electric Co., Ltd. | Positional deviation detecting device for a mobile body and position correcting apparatus for a working machine mounted on a mobile body |
JP2002286456A (ja) * | 2001-03-27 | 2002-10-03 | Mitsubishi Electric Corp | 車両位置認識装置 |
JP3988665B2 (ja) | 2003-03-19 | 2007-10-10 | 村田機械株式会社 | 走行台車システム |
KR100928964B1 (ko) * | 2003-04-15 | 2009-11-26 | 삼성전자주식회사 | 이동로봇의 도킹스테이션 귀환방법 및 장치 |
KR100549042B1 (ko) * | 2003-07-21 | 2006-02-02 | 주식회사 한울로보틱스 | 청소로봇의 청소동작 제어방법 |
TWI282047B (en) * | 2003-07-23 | 2007-06-01 | Murata Machinery Ltd | Carrying vehicle system and carrying vehicle |
KR100552691B1 (ko) * | 2003-09-16 | 2006-02-20 | 삼성전자주식회사 | 이동로봇의 자기위치 및 방위각 추정방법 및 장치 |
JP3991229B2 (ja) * | 2004-01-13 | 2007-10-17 | 村田機械株式会社 | 搬送台車システム |
TWI290272B (en) * | 2004-03-12 | 2007-11-21 | Murata Machinery Ltd | Moving body system |
KR20060028299A (ko) * | 2004-09-24 | 2006-03-29 | 엘지.필립스 엘시디 주식회사 | 위치조절수단을 구비하는 자동반송대차 시스템 |
-
2006
- 2006-08-08 TW TW095129089A patent/TW200736870A/zh unknown
- 2006-08-23 KR KR1020060079826A patent/KR100990363B1/ko active IP Right Grant
- 2006-10-11 DE DE102006048215A patent/DE102006048215A1/de not_active Withdrawn
- 2006-11-01 US US11/590,863 patent/US7408314B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
TW200736870A (en) | 2007-10-01 |
DE102006048215A1 (de) | 2007-07-05 |
KR100990363B1 (ko) | 2010-10-29 |
US7408314B2 (en) | 2008-08-05 |
KR20070048585A (ko) | 2007-05-09 |
US20070103107A1 (en) | 2007-05-10 |
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