TWI851900B - 行走車系統、及行走車之控制方法 - Google Patents

行走車系統、及行走車之控制方法 Download PDF

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Publication number
TWI851900B
TWI851900B TW110118998A TW110118998A TWI851900B TW I851900 B TWI851900 B TW I851900B TW 110118998 A TW110118998 A TW 110118998A TW 110118998 A TW110118998 A TW 110118998A TW I851900 B TWI851900 B TW I851900B
Authority
TW
Taiwan
Prior art keywords
vehicle
area
aforementioned
pass
specific area
Prior art date
Application number
TW110118998A
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English (en)
Chinese (zh)
Other versions
TW202215182A (zh
Inventor
松本篤志
Original Assignee
日商村田機械股份有限公司
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.)
Filing date
Publication date
Application filed by 日商村田機械股份有限公司 filed Critical 日商村田機械股份有限公司
Publication of TW202215182A publication Critical patent/TW202215182A/zh
Application granted granted Critical
Publication of TWI851900B publication Critical patent/TWI851900B/zh

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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
    • G05D1/60—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
    • 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
    • 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)
TW110118998A 2020-05-27 2021-05-26 行走車系統、及行走車之控制方法 TWI851900B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020-092386 2020-05-27
JP2020092386 2020-05-27

Publications (2)

Publication Number Publication Date
TW202215182A TW202215182A (zh) 2022-04-16
TWI851900B true TWI851900B (zh) 2024-08-11

Family

ID=78744365

Family Applications (1)

Application Number Title Priority Date Filing Date
TW110118998A TWI851900B (zh) 2020-05-27 2021-05-26 行走車系統、及行走車之控制方法

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
TW200409721A (en) * 2002-12-09 2004-06-16 Murata Machinery Ltd Overhead traveling carriage system
WO2015037084A1 (ja) * 2013-09-11 2015-03-19 日立建機株式会社 車両の管制制御システム
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
JP4135721B2 (ja) * 2005-03-17 2008-08-20 村田機械株式会社 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
KR101440569B1 (ko) * 2013-06-04 2014-09-17 (주)엔스퀘어 무인반송차량 관리 시스템
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
TW200409721A (en) * 2002-12-09 2004-06-16 Murata Machinery Ltd Overhead traveling carriage system
WO2015037084A1 (ja) * 2013-09-11 2015-03-19 日立建機株式会社 車両の管制制御システム
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
KR102832649B1 (ko) 2025-07-09
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
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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