CN107807636A - The control system of automatic running car - Google Patents
The control system of automatic running car Download PDFInfo
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- CN107807636A CN107807636A CN201710803522.9A CN201710803522A CN107807636A CN 107807636 A CN107807636 A CN 107807636A CN 201710803522 A CN201710803522 A CN 201710803522A CN 107807636 A CN107807636 A CN 107807636A
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- automatic running
- running car
- communicator
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- path
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- 230000009471 action Effects 0.000 claims description 46
- 238000003860 storage Methods 0.000 claims description 39
- 238000004891 communication Methods 0.000 claims description 38
- 239000000463 material Substances 0.000 claims description 7
- 230000008859 change Effects 0.000 abstract description 15
- 238000007726 management method Methods 0.000 description 21
- 238000012545 processing Methods 0.000 description 18
- 238000000034 method Methods 0.000 description 15
- 239000013256 coordination polymer Substances 0.000 description 14
- 238000004519 manufacturing process Methods 0.000 description 12
- 238000012360 testing method Methods 0.000 description 9
- 238000001514 detection method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000012546 transfer Methods 0.000 description 3
- 238000012217 deletion Methods 0.000 description 2
- 230000037430 deletion Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 235000004443 Ricinus communis Nutrition 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Classifications
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- 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
-
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The present invention provides a kind of control system of the automatic running car of the change for the traveling content for tackling automatic running car.According to the embodiment of the present invention, there is provided possess the control system of the automatic running car of the 1st communicator, the 2nd communicator, the 1st identification part, guide portion and automatic running car.1st communicator sends the 2nd signal moved making the automatic running car from the 1st region to the 2nd region according to the 1st signal received since the 2nd communicator to the automatic running car.The transmitting-receiving of the signal being moved through between the 1st communicator of the automatic running car in 1st region and controlled.The transmitting-receiving of the signal being moved through between the 2nd communicator of the automatic running car in 2nd region and controlled.
Description
Technical field
Embodiments of the present invention are related to a kind of control system of automatic running car.
Background technology
In production plant of various products etc., the automatic running car of automatic running is imported with for the production of product.
Automatic running car is used as the automatic conveying vehicle (following, if it is unmanned waggon) for example conveyed automatically to conveying thing,
And in the production plant of various products, it is imported with and uses to improve production efficiency and manufacturing cost is suppressed
Unmanned waggon (AGV:Automatic Guide Vehicle) induction system.The operation of unmanned waggon is filled by controlling
Put and managed concentratedly, so as to be adapted to the input of workpiece, flow chart, transport path, unmanned waggon number of units and set out
The working condition of in-position etc..Along with the increase of flow chart quantity, the number of units with unmanned waggon becomes more, conveying
The tendency that path complicates.
When the number of units of unmanned waggon, which becomes more, transport path, to be complicated, by control device come implement to control nobody
In the management system of waggon, in order to be adapted to each working condition, the increase of required exploitation man-hour.On the other hand, for nobody
The operation content of waggon, in order to which different products is changed and produced in short period, transport path is changed sometimes,
Or changed with adding and delete flow chart.When the operation content of unmanned waggon significantly changes, pipe be present
The situation that reason system significantly changes in itself.Therefore, in this management system, change or operation occurs in transport path
In the case that the working condition of the addition and deletion of process etc. continually changes, the fortune of unmanned waggon is neatly tackled
The change of row content and make the operation of unmanned waggon be more difficult.
The content of the invention
Invent problem to be solved
Embodiments of the present invention provide one kind, tackle the automatic running car of the change of the traveling content of automatic running car
Control system.
For solving the method for problem
According to the embodiment of the present invention, there is provided possess the 1st communicator, the 2nd communicator, the 1st identification part, guiding
The control system of the automatic running car of portion and automatic running car.1st communicator is located in the 1st region.Described 2nd
Communicator is located in the 2nd region, and sends the 1st signal to the 1st communicator.1st identification part is arranged at company
In the 1st path for connecing the 1st region and the 2nd region, and store identification information.The guide portion is arranged at described
1 path.The automatic running car has communication unit, reading part, storage part, and by the guide portion and in the 1st path
Upper automatic running.Communication unit receiving and transmitting signal between the communication unit and the 1st communicator and the 2nd communicator.
The reading part reads the identification information from the 1st identification part.The storage part accordingly stores with the identification information
Information corresponding with the action performed on the 1st path.It is described after the reading part have read the identification information
Automatic running car performs the action according to the identification information.1st communicator is according to the 1st letter received
Number and to the automatic running car send the automatic running car is started what is moved from the 1st region to the 2nd region
2nd signal.The automatic running car that is moved through of the automatic running car in 1st region communicates dress with the described 1st
The transmitting-receiving of signal between putting and controlled.The automatic running car in 2nd region is moved through the automatic row
Sail the transmitting-receiving of the signal between car and the 2nd communicator and controlled.
Brief description of the drawings
Fig. 1 is the figure for showing the runtime involved by embodiment.
Fig. 2A and Fig. 2 B are the outside drawing for showing unmanned waggon.
Fig. 3 is the block diagram for showing unmanned waggon and operation management apparatus.
Fig. 4 is the figure for showing the data stored in unmanned waggon.
Fig. 5 is the flow chart for an example for showing the operation order involved by embodiment.
Fig. 6 is the flow chart for the other example for showing the operation order involved by embodiment.
Fig. 7 is the figure of the operation for the unmanned waggon for showing the control based on operation management apparatus.
Fig. 8 is the figure of the operation for the unmanned waggon for showing the control based on operation management apparatus.
Fig. 9 is the figure of the operation for the unmanned waggon for showing the control based on operation management apparatus.
Figure 10 is the figure of the operation for the unmanned waggon for showing the control based on operation management apparatus.
Figure 11 is the figure of the operation for the unmanned waggon for showing the control based on operation management apparatus.
Symbol description
10 ... unmanned waggons；10A ... main parts；10B ... front-wheels；10C ... left rear wheels；10D ... off hind wheels；10a ... goods
Frame；11 ... control units；12 ... power supply units；13 ... drive divisions；14 ... test sections；15 ... reading parts；16th, 52a~52c ... communicates
Portion；17th, 53a~53c ... storage parts；20~22 ... warehouses；30~33 ... depositories；40~43 ... operation institutes；50A、50B、
50C ... communicators；51a~51c ... processing units；60 ... guiding bands；100 ... runtimes；D, D1~D4 ... branch points；CP…
Crosspoint；L ... stacking materials；R ... transport paths；R1a~R1c, R2a~R2d, R3a~R3b, R4 ... regions；T ... identifies label；
W ... treats airport.
Embodiment
It is hereinafter, next referring to the drawings that various embodiments of the present invention will be described.
Present embodiment is related to the runtime along the automatic running car of driving path automatic running.Automatic running car quilt
As the waggon travelled while for example conveying automatically to conveying thing along transport path.In the present embodiment, with
Under, as one of the drive-control system of automatic running car, the unmanned waggon to conveying traveling on transport path automatically
Runtime illustrate.
In addition, accompanying drawing is schematic or conceptual accompanying drawing.In present specification and each figure, on what is had shown that
Figure, pair with foregoing teachings identical key element mark identical symbol and suitably omit detailed description.
Fig. 1 is the figure for showing the runtime involved by present embodiment.
Fig. 2A be from upper perspective from unmanned waggon when top view, Fig. 2 B are side view.
As shown in figure 1, be provided with runtime 100, unmanned waggon 10, warehouse 20~22, depository 30~33,
Operation institute 40~43, multiple treat airport W (standby sections), identification label T, guiding band 60, communicator 50A, 50B, 50C.
Warehouse 20,21 is the component warehouse stored to part.Warehouse 22 is the finished goods stored to finished goods
Warehouse.Warehouse 20,21,22 is divided into by region R1a, R1b, R1c respectively.
Depository 30~33 is the place taken care of to the part come from the conveying of warehouse 20.Depository 30~33 leads to respectively
Cross region R2a~R2d and be divided into.
Operation institute 40 is from warehouse 21 by transfer unit, and to implement the place of assembling procedure and manufacturing procedure.Operation institute
41 are, from operation institute 40 by conveying assembling and finished workpiece, and implement the place of assembling procedure and manufacturing procedure.
After operation institute 41 implements assembling procedure and manufacturing procedure, finished goods is delivered to warehouse 22.Operation institute 40,41 passes through respectively
Region R3a, R3b and be divided into.
Operation institute 42,43 is to implement assembling procedure and processing work using the part taken care of respectively by depository 30,31
The place of sequence.
In addition, in operation institute 40~43, the process of the side in assembling procedure and manufacturing procedure can also be implemented.
That is, at least one party in the assembling of multiple parts and the processing of more than one part is implemented.
For example, the runtime 100 of present embodiment is applied to following operation：In the life of the product of semiconductor device etc.
Produce in factory, part is loaded on multiple unmanned waggons 10, and the work conveyed from warehouse 20 to multiple depositories 30~33
Industry (following, sometimes referred to as " part packet ")；With unmanned waggon 10 successively to warehouse 21, operation institute 40, operation institute 41 with
And the operation (following, sometimes referred to as " alternative transport machine ") that warehouse 22 is conveyed.
I.e., in the example depicted in fig. 1, part is by from warehouse 20 to depository 30~33, or by from warehouse 21 to work
Industry institute 40 conveys.In addition, workpiece is conveyed by the institute 41 from operation institute 40 to operation, finished goods is by defeated to warehouse 22 from operation institute 41
Send.
In runtime 100, the departure place formed with connection out of warehouse 20,21 is lighted to warehouse 22, depository 30
~33 and operation destination in 40,41 multiple transport path R (path).For example, unmanned waggon 10 is along pre-
Fixed transport path R and travelled on floor.Be provided with transport path R for unmanned waggon 10 it is standby treat airport W.This
Outside, in airport W is treated, it is configured with by unmanned waggon 10 the identification label T (reference picture 2A) that reads.
As shown in Figure 2 A, unmanned waggon 10 has main part 10A, front-wheel 10B, left rear wheel 10C, off hind wheel 10D.Main body
Guiding bands 60 of the portion 10A along the magnetic recording tape or colour band being arranged on transport path R etc. and to arrow 60a direction running.
Front-wheel 10B is provided with front of main part 10A middle body, in the rear of main part 10A left end portion and right part
The rear divided is respectively arranged with left rear wheel 10C and off hind wheel 10D.Front-wheel 10B is movable pin as main part 10A is supported
Take turns and play function.The drive division 13 that left rear wheel 10C and off hind wheel 10D passes through the motor that is arranged in main part 10A etc.
And driven.
Main part 10A middle body is provided with test section 14.Test section 14 is the biography for example detected to magnetic
Sensor or the sensor detected to light and shade.Due to being provided with test section 14 on main part 10A, therefore in unmanned waggon
10 along guiding band 60 travel when, can to main part 10A relative to guiding band 60 skew (that is, main part 10A is relative to defeated
Send path R skew) suppressed.For example, in the case where guiding band 60 is magnetic recording tape, magnetic recording tape is carried out by sensor
Detection.When sensor no longer detects magnetic recording tape, the signal for position skew is can interpolate that from sensor output.In guiding band
60 be that the situation of colour band is also same, and colour band is detected by sensor.When sensor no longer detects colour band, from biography
Sensor output can interpolate that the signal for position skew.Afterwards, according to the detection signal exported come to being connected to drive division 13
Left rear wheel 10C and off hind wheel 10D rotating speed be controlled, so as to enter to main part 10A relative to the position of guiding band 60
Row amendment.
Reading part 15 is provided with front of main part 10A left end portion.Reading part 15 is that identification label T is read
The reader taken.Identify that label T is such as RFID (Radio Frequency Identification：Radio frequency identification) label,
Reading part 15 is the reader being read out to RFID label tag.Identification label T, which is configured on transport path R, to be treated in the W of airport
, on the left of the direct of travel of unmanned waggon 10 centered on guiding band 60.Thus, reading part 15 can be to identifying label T
It is read out.
Unmanned waggon 10 is treating that it is pre- that airport W is performed according to the information in the RFID label tag read by reading part 15
Fixed action.The information of action of the information with treating the unmanned waggon 10 in the W of airport in RFID label tag is established corresponding, its work
It is stored in for path file F in unmanned waggon 10.Thus, implement predetermined traveling for unmanned waggon 1 to control.Separately
Outside, on path file F, it is described in detail below.
As indicated by the dotted lines in figure 2 a, in main part 10A middle body, be provided with control unit 11, communication unit 16 and
Storage part 17.
Control unit 11 performs the program being stored in storage part 17.Control unit 11 is for example with CPU (Central
Processing Unit：CPU) microcomputer.Control unit 11 is to power supply unit 12, drive division 13, test section
14th, reading part 15 and communication unit 16 are controlled.For example, control unit 11 is as previously described, according to from test section 14
The detection signal related to position skew drive division 13 is controlled, to determine left rear wheel 10C and off hind wheel 10D
Rotating speed.
Communication unit 16 passes through wired or wireless electrically connected with control unit 11.For example, communication unit 16 is radio-cell, its
Serial communication is carried out between control unit 1.In addition, communication unit 16 is received and dispatched from outside (for example, communicator 50A, 50B, 50C)
Signal.
Storage part 17 has such as RAM (Random Access Memory：Random access memory) and ROM (Read
Only Memory：Read-only storage).In addition, in storage part 17, the storage card of miniature SD card etc. can also be set.Storage part
17 pairs of programs performed by control unit 11 store.In addition, storage part 17 stores to path file F.
Power supply unit 12 is provided with main part 10A.Power supply unit 12 is for example to the battery of the supply electric power of drive division 13.
As shown in Figure 2 B, it is provided with shelf 10a on unmanned waggon 10.Unmanned waggon 10 is for example in shelf 10a
Load stacking material L and travelled on transport path R.Stacking material L is, for example, part, workpiece or finished goods.Can not also be in nothing
Shelf 10a is set on people's waggon 10 and stacking material L is conveyed.For example, it is also possible to by the chassis with castor and setting
Link in the movable pin up and down on unmanned waggon 10, so as to by being mounted with stacking material L's by unmanned waggon 10 to draw
Chassis to stacking material L so as to convey.
It is multiple to treat that airport W is provided with warehouse 20~22, depository 30~33 and operation institute 40,41.It is in addition, standby
Field W is also arranged on transport path R and located near crosspoint CP (cross section).
Identification label T, which is configured in, treats airport W, and it makes unmanned waggon 10 perform predetermined action.In addition, identification label
T is also arranged at the branch point D on transport path R.
Hereinafter, the example moved to unmanned waggon 10 in warehouse 20,21,22 illustrates.
It is respectively arranged with warehouse 20,21,22, entrance for the disengaging of unmanned waggon 10 and outlet, defeated for nobody
Send the parking position, the loading operation field loaded for part or the delivery operation field unloaded for finished goods of the parking of car 10.Entrance, go out
Mouth, parking position and operation field, which have, treats airport W, in entrance, outlet, parking position and operation field, is configured in each standby
Field W identification label T is read by unmanned waggon 10.Thus, entrance of the unmanned waggon 10 in warehouse 20,21,22, go out
Mouth, parking position and operation field perform predetermined action.
First, the mobile example in the warehouse 20 of unmanned waggon 10 is illustrated.
Unmanned waggon 10 reaches the entrance in warehouse 20.Next, unmanned waggon 10 is configured at entrance have read
After the identification label T for treating airport W, temporarily stop in porch.
Next, before receiving parking position of the unmanned waggon 10 for the mobile instruction moved to parking displacement to warehouse 20
Enter.In the case of branch point D1 is provided with parking position, by setting identification label T to guide unmanned conveying in branch point D1
Car 10.For example, unmanned waggon 10 is read out to the identification label T for being arranged at branch point D1, and it is used for parking position
The action (such as run at a low speed and straight etc. through branch point D1) advanced of precalculated position.Next, unmanned waggon 10 arrives
Reach parking position, and have read be configured at parking position treat airport W identification label T after, temporarily stop in parking position.
Next, the unmanned waggon 10 for receiving the mobile instruction moved to loading operation field is made to the loading in warehouse 20
Advance industry field.In the case that parking position is provided with branch point D2, by setting identification label T to guide nobody in branch point D2
Waggon 10.For example, unmanned waggon 10 is read out to the identification label T for being arranged at branch point D2, and it is used for dress
Carry the action (for example, run at a low speed and straight etc. through branch point D2) operation field advanced.Next, unmanned waggon 10 reaches
To the loading operation field in warehouse 20, and the identification label T for treating airport W to being configured at loading operation field is read out.Reading
After identification label T, unmanned waggon 10 temporarily stops in loading operation field, and loads goods, or installation to shelf 10a
Shelf 10a, or link with chassis.
In addition, unmanned waggon 10 moves in a manner of with the mobile identical in warehouse 20 in warehouse 21.
Next, mobile example of the unmanned waggon 10 in warehouse 22 is illustrated.
Unmanned waggon 10 is to the entrance for reaching warehouse 22.Next, unmanned waggon 10 is configured at entrance have read
The identification label T for treating airport W after, temporarily stop in porch.
Next, receive parking position of the unmanned waggon 10 of the mobile instruction moved to parking position to warehouse 22
Advance.In the case of branch point D3 is provided with parking position, by setting identification label T to guide nobody defeated in branch point D3
Send car 10.For example, unmanned waggon 10 reads the identification label T for being arranged at branch point D3, and carry out for the pre- of parking position
The action (such as run at a low speed and straight etc. through branch point D3) of advance is put in positioning.Next, unmanned waggon 10 is to reaching
The parking position in warehouse 22, and have read be configured at parking position treat airport W identification label T after, temporarily stop in parking
At position.
Make next, receiving delivery of the unmanned waggon 10 for the mobile instruction moved to delivery operation field to warehouse 22
Advance industry field.In the case of branch point D4 is provided with parking position, by setting identification label T to guide nothing in branch point D4
People's waggon 10.For example, unmanned waggon 10 is read out to the identification label T for being arranged at branch point D4, and be used for
Action that delivery operation field is advanced (such as run at a low speed and straight etc. through branch point D4).Next, unmanned waggon 10 arrives
The delivery operation field in warehouse 22 is reached, and the identification label T for treating airport W to being configured at delivery operation field is read out.Reading
After having taken identification label T, unmanned waggon 10 temporarily stops in delivery operation field, and is unloaded from shelf 10a by goods, or
Shelf 10a is dismantled, or chassis is disconnected.
Hereinafter, the example moved to unmanned waggon 10 in depository 30~33 illustrates.
It is respectively arranged with, entrance and outlet for the disengaging of unmanned waggon 10, and is supplied in depository 30~33
Storage rack to part.Entrance and storage rack, which have, treats airport W, in entrance and storage rack, is configured in and respectively treats airport W
Identification label T read by unmanned waggon 10.Thus, entrance and keeping of the unmanned waggon 10 in depository 30~33
Frame performs predetermined action.
Mobile example of the unmanned waggon 10 in depository 30 is illustrated.
Unmanned waggon 10 is to the entrance for reaching depository 30.Next, unmanned waggon 10 have read be configured at into
After the identification label T for treating airport W of mouth, temporarily stop in porch.
Next, before receiving to the unmanned waggon 10 of the mobile instruction of storage rack movement to the storage rack of depository 30
Enter.In the case of multiple storage racks are provided with depository 30, moved to predetermined storage rack.Via being arranged at depository
Branch point in 30 and in the case of predetermined storage rack movement, such as unmanned waggon 10 reads the knowledge for being arranged at branch point
Distinguishing label T, so as to carry out the action (such as straight action or branch operation) for advancing to predetermined storage rack.Next,
Unmanned waggon 10 reads the identification label T for treating airport W for being configured at storage rack to reaching storage rack.It has read identification
After label T, unmanned waggon 10 temporarily stops in storage rack, and is unloaded from shelf 10a by goods, or dismounting shelf 10a,
Or chassis is disconnected.
In addition, unmanned waggon 10 moves in a manner of with the mobile identical in depository 30 in depository 31~33.
Afterwards, by by part of the keeping in depository 30,31 respectively to the work for implementing assembling procedure and manufacturing procedure
Industry institute 42,43 supplies.Then, to be supplied to operation 42 part assembled and processed, and by workpiece from operation institute
42 to operation institute 43 transfer, to workpiece and be supplied to operation institute 43 part assembled and processed so as to produce completion
Product.Afterwards, finished goods is delivered to warehouse 22 from operation institute 43 according to Fig. 1 arrow c1~c4 order.
Hereinafter, to unmanned waggon 10 operation the example that moves in 40,41 illustrate.
In operation be respectively arranged with 40,41 for the entrance of unmanned waggon 10 disengaging and outlet, part carried out
Assembling and the operation field of processing.Entrance and operation field, which have, treats airport W, in entrance and operation field, is configured at and respectively treats
Airport W identification label T is read by unmanned waggon 10.Thus, unmanned waggon 10 operation entrance in 40,41 and
Predetermined action is performed in operation field.
To unmanned waggon 10 operation 40 mobile example illustrate.
Unmanned waggon 10 to reach operation 40 entrance.Next, unmanned waggon 10 have read be configured at into
After the identification label T for treating airport W of mouth, temporarily stop in porch.
Next, receive to operation field move mobile instruction unmanned waggon 10 to operation 40 operation field before
Enter.In the case of being provided with multiple operation fields in operation institute 40, moved to predetermined operation field.Via be arranged at make
Industry branch point in 40 and in the case of being moved to predetermined operation field, be arranged at for example, unmanned waggon 10 is read
The identification label T of branch point, and carry out the action (such as straight action or branch operation) for advancing to predetermined operation field.
Next, unmanned waggon 10 is to reaching operation field, and read the identification label T for treating airport W for being configured at operation field.Reading
After identification label T, unmanned waggon 10 temporarily stops in operation field.
In addition, unmanned waggon 10 by with operation move in operation institute 41 in a manner of mobile identical in 40.
Afterwards, to from depository 32 be supplied to operation 40 part with from warehouse 21 convey come part assemble
And processing.Then, by workpiece, from operation institute 40 to operation, institute 41 transfers, to workpiece with being supplied from depository 33 in operation institute 41
The part given is assembled and processed.
Communicator 50A is arranged in warehouse 20,21,22.Communicator 50A is located in region R1a, R1b, R1c.
Communicator 50B is arranged in depository 30~33 and operation institute 40,41.Communicator 50B is located at region
In R2a~R2d, R3a, R3b.
Communicator 50C, which is arranged near the CP of crosspoint, to be located.Communicator 50C, crosspoint CP and treat airport W positions
In in the R4 of region.
Communicator 50A~50C is the operation management apparatus for the operation for managing unmanned waggon 10.
Hereinafter, the transmitting-receiving of the signal to communicator 50A, 50B, 50C and between unmanned waggon 10 is said
It is bright.
Fig. 3 is the block diagram for representing unmanned waggon 10 and communicator 50A, 50B, 50C.
As shown in figure 3, unmanned waggon 10 has control unit 11, power supply unit 12, drive division 13, test section 14, reading part
15th, communication unit 16 and storage part 17.
Communicator 50A, 50B, 50C are, for example, computer.Communicator 50A have processing unit 51a, communication unit 52a with
And storage part 53a.Communicator 50B has processing unit 51b, communication unit 52b and storage part 53b.Communicator 50C has place
Reason portion 51c, communication unit 52c and storage part 53c.In each communicator, the input of mouse and keyboard etc. can also be set
The display part of portion and display etc..
Processing unit 51a~51c is, for example, CPU.Storage part 53a~53c is, for example, RAM and ROM.
Communication unit 52a~52c is the communication unit of the receiving and transmitting signal between other equipment.
Communication unit 52a~52c passes through wired or wireless be connected to the communication unit 16 of unmanned waggon 10.In communication unit
Between 52a~52c and communication unit 16, send the signal for the movement for asking unmanned waggon 10 and notify unmanned waggon 10 to arrive
Signal reached etc..
Communicator 50A communication unit 52a passes through wired or wireless be connected and the communication unit 52b with communicator 50B.
Signal of requesting component etc. is sent between communication unit 52a and communication unit 52b.
Hereinafter, path file is illustrated.
Fig. 4 is the figure for the path file F that expression is stored in unmanned waggon 10.
As shown in figure 4, the internal memory of storage part 17 in unmanned waggon 10 contains multiple path file F.Path file F is directed to
Each it is formed for the transport path R that unmanned waggon 10 moves, its quantity is arbitrary.For example, in storage part 17
Internal memory contains path file F1, F2, F3 corresponding with each transport path R.In addition, power supply of the unmanned waggon 10 in power supply unit 12
During connection, path file F specified in initial setting is selected.Alternatively, it is also possible to from outside to used path file F's
Change is indicated.
" position " in path file F represents to be configured with identification label T (RFID label tag) position.For example, for position,
It will treat that airport W and branch point D position are indicated to number on transport path R.That is, identification label T is configured in conveying
At position 1~3,7~9,0 on the R of path.
" RFID " in path file F represents identification label T (RFID label tag) id information.Be configured at position 1~3,7~
9th, 0 each identification label T has intrinsic id information.
" action command setting " in path file F represents to have read nobody for the identification label T for being configured in each position
The action that waggon 10 performs.For example, in path file F1, unmanned waggon 10 sentences speed in position 1,7 (branch point D)
4 (such as low speed) are to right branch.In path file F1, unmanned waggon 10 carries out stopping row at position 2 (treating airport W) place
Sail, disconnect chassis, stop the action of test section 14 and started running with speed 1 (such as high speed).In path file F1,
Unmanned waggon 10 carries out stopping traveling at position 3 (treating airport W) place, links chassis and starts the action of test section 14.
In this way, unmanned waggon 10 by reading part 15 after it have read RFID label tag, according in RFID label tag
Id information treating that airport W, branch point D perform predetermined action.On the other hand, unmanned waggon 10 is not passing through reading part 15
When reading RFID label tag, the automatic running on transport path R.
Action command can change the execution content of action.For example, as shown in figure 4, in path file F, corresponding to knowledge
Distinguishing label T (RFID label tag) id information and pre-registered various motion order.Moreover, can will with identify label T (RFID
Label) id information corresponding to action command suitably changed from the execution content of the action command of a side and be set as the opposing party's
The execution content of action command.
Hereinafter, an example of the order of the operation method of present embodiment is illustrated.
Fig. 5 is the flow chart for representing part packet.Here, the structure of the runtime 100 shown in reference picture 1 is said
It is bright.In addition, unmanned waggon 10 is located at the entrance in warehouse 20.
First, in warehouse 20, the presence or absence of component request from depository 30~33 is judged (step S110).
Whether the presence or absence of component request receives the communicator in depository 30~33 according to the communicator 50A in warehouse 20
The signal of 50B requesting component is judged.In addition, according to the signal of requesting component come the species of judgement part, quantity and
Destination (depository 30~33).Predetermined keeping in depository 30~33 can also be judged according to the signal of requesting component
The position of frame.
Next, in the case where the component request from depository 30~33 be present, to unmanned conveying in warehouse 20
The loading part (step S120) of car 10.Communicator 50A in warehouse 20 is according to the communicator in depository 30~33
50B signal and the signal that the movement for asking unmanned waggon 10 is sent to communication unit 16.Thus, unmanned waggon 10 is to warehouse
20 loading operation field movement and loading part.For example, part is loaded on peace by automatic moving loader or operator
Shelf 10a on unmanned waggon 10.
Next, moved (step S130) from warehouse 20 to depository 30~33.For example, unmanned waggon 10 to
In the case that depository 30 moves, moved as shown in Fig. 1 arrow a1 on transport path R.That is, in branch point D
Information is read from identification label T, and it is straight with reference to path file F.
For example, unmanned waggon 10 is to depository 31 in the case where moving, according to Fig. 1 arrow a2~a4 it is suitable
Sequence and moved on transport path R.For example, unmanned waggon 10 is to depository 32 in the case where moving, according to
Fig. 1 arrow a2, a5~a7 order and moved on transport path R.For example, unmanned waggon 10 is to depository 33
In the case of moving, moved according to Fig. 1 arrow a2, a5, a6, a8, a9 order on transport path R.
Next, the storage rack supply part (step S140) to depository 30~33.Unmanned waggon 10 is from depository
30~33 entrance is moved to predetermined storage rack and supply part.For example, part passes through automatic moving loader or operator
And it is supplied to from the shelf 10a of unmanned waggon 10.
Next, moved (step S150) from depository 30~33 to warehouse 20.For example, unmanned waggon 10 from
It is enterprising in transport path R according to Fig. 1 arrow a10~a14 order in the case that depository 30 moves to warehouse 20
Row movement.For example, unmanned waggon 10 is from depository 31 to warehouse 20 in the case where moving, according to Fig. 1 arrow a12
~a14 order moves on transport path R.For example, unmanned waggon 10 is moved from depository 32 to warehouse 20
In the case of dynamic, moved according to Fig. 1 arrow a15, a16, a11~a14 order on transport path R.For example, nobody
Waggon 10 from depository 33 to warehouse 20 in the case where moving, according to Fig. 1 arrow a17, a16, a11~a14
Sequentially moved on transport path R.
Afterwards, unmanned waggon 10 moves to parking position from the entrance in warehouse 20 and stops the part up to next time
Request occurs.
Hereinafter, the other example of the order of the operation method of present embodiment is illustrated.
Fig. 6 represents the flow chart of alternative transport machine.Here, the structure of the runtime 100 shown in reference picture 1 is said
It is bright.In addition, unmanned waggon 10 is located at the entrance in warehouse 21.
First, in warehouse 21 to from operation the presence or absence of 40,41 component request judged (step S210).Portion
The presence or absence of part request be according to the communicator 50A in warehouse 21 whether receive from operation communicator in 40,41
The signal of 50B requesting component judges.
Next, in the case where the component request from operation institute 40,41 be present, warehouse 21 it is interior by part to nobody
Waggon 10 loads (step S220).Communicator 50A in warehouse 21 according to from operation communicator in 40,41
50B signal and the signal for the movement for asking unmanned waggon 10 is sent to communication unit 16.Thus, unmanned waggon 10 is to storehouse
The loading operation field movement in storehouse 21 and loading part.
Next, institute 40 moves (step S230) from warehouse 21 to operation.Unmanned waggon 10 such as Fig. 1 arrow b1
It is shown to be moved like that on transport path R.
Next, operation 40 operation field part is unloaded (step S240).Unmanned waggon 10 from operation institute 40
Entrance rise be moved to predetermined operation field and unload part.Hereafter, part passes through assembling and processing unit (plant) or operation
Person and it is assembled in operation field and process.
Next, institute 41 moves (step S250) from operation institute 40 to operation.Unmanned waggon 10 according to Fig. 1 arrow
Moved like that on transport path R shown in head b2, so as to which workpiece is transferred to operation institute 41 from operation institute 40.Afterwards, nothing
People's waggon 10 from operation 41 entrance moved to predetermined operation field and supply workpiece.Afterwards, it is right in operation field
Workpiece is assembled and processed.
Next, moved (step S260) to warehouse 22 from operation institute 41.Unmanned waggon 10 according to Fig. 1 arrow
Moved like that on transport path R shown in b3, b4 order, so as to which finished goods is transferred into warehouse 22 from operation 41.Afterwards,
Finished goods is unloaded and stored in warehouse 22.For example, finished goods by automatic moving loader or operator and from nothing
The shelf 10a of people's waggon 10 is removed.
Next, moved (step S270) from warehouse 22 to warehouse 21.Arrow b5 of the unmanned waggon 10 in such as Fig. 1
It is shown moved like that on transport path R after, from the entrance in warehouse 21 be moved to parking position and stop up to next
Secondary component request occurs.
Hereinafter, the method that unmanned waggon 10 is controlled according to operation management apparatus is illustrated.
Fig. 7~Figure 11 is the figure of the operation for the unmanned waggon 10 for representing the control based on operation management apparatus.
As it was noted above, communicator 50A~50C is equivalent to operation management apparatus.In depositing for communicator 50A~50C
In storage portion 53a~53c, the program (module) being controlled for the action to unmanned waggon 10 is stored with respectively.Communication dress
Processing unit 51a~the 51c for putting 50A~50C performs the program and is controlled come the action to unmanned waggon 10.
The program that Fig. 7 part loading module is stored by the communicator 50A in warehouse 20, it represents to be used to be directed to portion
The loading of part and program that the action to unmanned waggon 10 is controlled.Fig. 7 part loading module can also be warehouse 21
The program that interior communicator 50A is stored.In addition, in the figure 7, if defeated with nobody by communicator 50A communication unit 52a
Send the transmitting-receiving of the signal between the communication unit 16 of car 10 notified between part loading module and unmanned waggon 10 with
And instruction.
As shown in fig. 7, in the loading processing of part, unmanned waggon 10 reaches entrance the rising for processing in warehouse 20
Point.Unmanned waggon 10 has arrived the entrance for reaching warehouse 20 to part loading module notice when reaching the entrance in warehouse 20.Connect
Notified part loading module enters to the free time of the presence or absence of component request from depository 30~33 and loading operation field
Row confirms.In the case of without component request, and in the case of loading operation field is leisureless, part loading module indicates nobody
Waggon 10 moves to parking position.Unmanned waggon 10 is moved to parking position, and has been moved to part loading module notice
Into.
Next, unmanned waggon 10 waits the instruction from part loading module or the free time of loading operation field.
In the case of there is component request or in the case that loading operation field is available free, part loading module indicates unmanned waggon
10 move to loading operation field.Here, in the case where above-mentioned unmanned waggon 10 is in parking position, indicate above-mentioned
Unmanned waggon 10 moves to loading operation field.In addition, it is not in the situation of parking position in above-mentioned unmanned waggon 10
Under, it can also indicate that the unmanned waggon 10 of the entrance in warehouse 20 moves to loading operation field.
Next, unmanned waggon 10 moves to loading operation field, and mobile complete is notified to part loading module.
Part loading module receive unmanned waggon 10 complete to loading operation field it is mobile when, to automatic moving loader or
Species of operator's notifying parts etc..Automatic moving loader or operator fill when the loading of part acts completion to part
Carry module notice and load completion.
Afterwards, part loading module notifies mobile target (keeping after completion notice is received to unmanned waggon 10
Institute 30~33) and action start.Unmanned waggon 10 starts conveying action according to received instruction, and with indicated
Target location carries out automatic running for target.
The program that Fig. 8 part supplying module is stored by the communicator 50B in depository 30, it represents to be used to be directed to
The supply of part and program that the action to unmanned waggon 10 is controlled.Fig. 8 part supplying module can also be keeping
The program that is stored of communicator 50B in 31~33.In addition, in fig. 8, if the communication unit 52b for passing through communicator 50B
The transmitting-receiving of signal between the communication unit 16 of unmanned waggon 10 and enter between part supplying module and unmanned waggon 10
Row notice and instruction.
As shown in figure 8, pass through automatic moving loader (such as part surplus detection function in device) or operator
And notify that the storage rack of assembling procedure and manufacturing procedure is empty to part supplying module.Receive the part supplying module of notice
Asked to the notifying parts of warehouse 20, and wait the entrance of the unmanned arrival of waggon 10 depository 30.
Next, unmanned waggon 10 when to the entrance for reaching depository 30, has reached to part supplying module notice.
After receiving and having reached from unmanned waggon 10, send to the storage rack for being notified of air situation condition and carry out to unmanned waggon 10
Mobile mobile instruction.The unmanned waggon 10 for receiving mobile instruction moves to storage rack, and to part supplying module
Notice is mobile to be completed.
Next, part supplying module notifies execution unit move loading action to automatic moving loader or operator.Automatically
Shifting apparatus or operator implement move loading action, and are completed to part supplying module notification action.Afterwards, part supplying module
The instruction of mobile beginning is sent to unmanned waggon 10, so as to unmanned waggon 10 with warehouse 20 is target and automatic running.
Fig. 9 alternative transport machine module the program that is stored by operation of communicator 50B in 40, it represents to be used for pin
Supply to part and program that the action to unmanned waggon 10 is controlled.Fig. 9 alternative transport machine module can also be
Operation the program that is stored of communicator 50B in 41.In addition, in fig.9, if the communication unit 52b for passing through communicator 50B
The transmitting-receiving of signal between the communication unit 16 of unmanned waggon 10 and between alternative transport machine module and unmanned waggon 10
Notified and indicated.
As shown in figure 9, operation institute is notified to alternative transport machine module by assembling and processing unit (plant) or operator
The empty situation in 40 operation field.The alternative transport machine module for receiving notice notifies to the place (warehouse 21) of process before
Component request, and wait unmanned waggon 10 reach operation 40 entrance.
Next, when unmanned waggon 10 reaches 40 entrance of operation institute, notify to have reached to alternative transport machine module.
Received from unmanned waggon 10 after having reached, send to the operation field for being notified of empty situation and carry out to unmanned waggon 10
Mobile mobile instruction.The unmanned waggon 10 for receiving mobile instruction moves to operation field, and leads to alternative transport machine module
Know mobile completion.
Next, alternative transport machine module is filled with and processed operation to assembling and processing unit (plant) or operator's group of notifications
Execution.Assembling and processing unit (plant) or operator implement assembling operation, and are completed to alternative transport machine module notification action.
Afterwards, alternative transport machine module sends the instruction of mobile beginning to unmanned waggon 10, and unmanned waggon 10 is with operation institute 41
Target and carry out automatic running.
The program that Figure 10 finished goods delivery module is stored by the communicator 50A in warehouse 22, and be used for for expression
For finished goods delivery and program that the action to unmanned waggon 10 is controlled.In addition, in Fig. 10, if passing through communication
The transmitting-receiving of signal between device 50A communication unit 52a and the communication unit 16 of unmanned waggon 10 and finished goods deliver goods module
Notified and indicated between unmanned waggon 10.
As shown in Figure 10, in the delivery processing of finished goods, the entrance that unmanned waggon 10 reaches warehouse 22 turns into processing
Starting point.Unmanned waggon 10 has reached warehouse 22 when to the entrance for reaching warehouse 22, to finished goods delivery module notice
Entrance.The finished goods delivery module for receiving notice confirms to the free time of delivery operation field.In delivery operation field without the free time
In the case of, finished goods delivery module indicates that unmanned waggon 10 moves to parking position.Unmanned waggon 10, which is moved to, stays
Parking stall, and completed to finished goods delivery module notice is mobile.
Next, unmanned waggon 10 waits the free time of delivery operation field.It is complete in the case of available free in delivery operation field
Finished product delivery module indicates that unmanned waggon 10 moves to delivery operation field.Unmanned waggon 10 is moved to delivery operation
, and completed to finished goods delivery module notice is mobile.Finished goods delivery module notifies to automatic moving loader or operator
Perform delivery action.Automatic moving loader or operator deliver goods after the delivery for completing finished goods acts to finished goods
Module delivery on call is completed.
Afterwards, finished goods delivery module notifies the unmanned movement of waggon 10 to start.Unmanned waggon 10 is according to received
Instruction and with warehouse 21 be target carry out automatic running.
The program that Figure 11 crosspoint control module is stored by the communicator 50C near the CP of crosspoint, and its
Enter crosspoint and program that the action to unmanned waggon 10 is controlled to represent to be used for be directed to.In addition, in fig. 11, if
By the transmitting-receiving of the signal between communicator 50C communication unit 52c and the communication unit 16 of unmanned waggon 10 and in crosspoint
Notified and indicated between control module and unmanned waggon 10.
As shown in figure 11, unmanned waggon 10 confirms to intersect click-through when entering crosspoint CP to crosspoint control module
Enter license.Unmanned waggon 10 is carrying out reading to being configured in the identification label T for treating airport W near the CP of crosspoint
Afterwards, temporarily cease, and confirm crosspoint access admittance.Crosspoint control module confirms to crosspoint CP use state,
In the CP of crosspoint without other unmanned waggons 10 in the case of, intersect to the notice of unmanned waggon 10 inquired and click through
Enter license.The unmanned waggon 10 for receiving crosspoint access admittance enters crosspoint.After by crosspoint CP, unmanned conveying
Car 10 passes through completion to crosspoint control module notice crosspoint.
In the presence of the inquiry that crosspoint access admittance is received in the state of other unmanned waggons 10 in the CP of crosspoint
When, carry out crosspoint enter can not notice.Receive crosspoint enter can not the unmanned waggon 10 of notice stop at friendship
The crunode CP notice treated airport W, wait crosspoint access admittance.Crosspoint control module is being received from passing through crosspoint
When the crosspoint of CP unmanned waggon 10 is by the notice of completion, treat that airport W waits crosspoint to enter in crosspoint CP
The unmanned waggon 10 of the notice of license carries out the notice of crosspoint access admittance.
Hereinafter, the effect of present embodiment is illustrated.
In the runtime 100 of present embodiment, unmanned waggon 10 is read the RFID label tag on transport path R
Take and perform predetermined action.In addition, the operation of unmanned waggon 10 is as automatic running and is based on (shown in Fig. 7~Figure 11)
What the operation of the control of operation management apparatus combined.That is, in runtime 100, based on operation management apparatus
The operating to of control be partially formed, and the unmanned waggon 10 beyond the control of operation management apparatus operates to automatic row
Sail.
Therefore, in runtime 100, can reduce the change for being adapted to transport path, the addition of flow chart and
Exploitation man-hour needed for the operational management of the unmanned waggon 10 of the working condition of deletion etc..In addition, in this working condition frequency
Change numerously in the case of, the control based on operation management apparatus can be increased and decreased in a manner of the working condition after meeting change
The operation of system is tackled.Thus, in the change of working condition, exploitation man-hour can be reduced and shorten the startup time.
For example, in the case of the layout changing of production plant, centralized management based on control device nobody is defeated
Send in the management system of car, for the transport path and flow chart that are adapted to after change, required exploitation man-hour becomes more.Separately
On the one hand, due in the runtime 100 of present embodiment, by meet transport path and flow chart after change
Mode increase and decrease the operation of the control based on operation management apparatus, therefore can be in reduction system exploitation man-hour.
According to present embodiment, there is provided the runtime of following unmanned waggon, it is combined with unmanned waggon
The operation of automatic running and the unmanned waggon of the control based on operation management apparatus, and neatly tackle the change because of working condition
The change of the operation content of more caused unmanned waggon.
Although several embodiments of the present invention are illustrated, these embodiments are proposed as example
, it is not intended to limit the scope invented.These novel embodiments can be implemented by other various modes, and energy
Enough in the range of the purport in invention is not departed from, implement various omissions, replace and change.These embodiments and its deformation
It is comprised in the scope and purport of invention, and is comprised in the model impartial with it of the invention described in patent claims
In enclosing.
Claims (10)
1. a kind of control system of automatic running car, possesses：
1st communicator, it is located in the 1st region；
2nd communicator, it is located in the 2nd region, and sends the 1st signal to the 1st communicator；
1st identification part, it is arranged at the 1st path for connecting the 1st region and the 2nd region, and is stored with identification letter
Breath；
Guide portion, it is arranged at the 1st path；And
Automatic running car, its have between the 1st communicator and the 2nd communicator the communication unit of receiving and transmitting signal,
The reading part and storage part of the identification information, the storage part and the identification information pair are read from the 1st identification part
Ground is answered to store information corresponding with the action performed on the 1st path, the automatic running car exists along the guide portion
Automatic running on 1st path,
After the reading part have read the identification information, the automatic running car is according to the identification information to perform
State action,
For 1st communicator according to the 1st signal received, being sent to the automatic running car makes the automatic running
Car starts the 2nd signal moved from the 1st region to the 2nd region,
The automatic running car in 1st region be moved through the automatic running car and the 1st communicator it
Between signal transmitting-receiving and controlled,
The automatic running car in 2nd region be moved through the automatic running car and the 2nd communicator it
Between signal transmitting-receiving and controlled.
2. control system as claimed in claim 1, wherein,
The part in the 1st path is overlapping with the 1st region,
In the 1st region, it is provided with for the standby multiple standby sections of the automatic running car,
1st identification part is arranged at the standby sections,
After the reading part have read the identification information, the automatic running car is between the 1st communicator
Receiving and transmitting signal, and moved between the standby sections.
3. control system as claimed in claim 2, wherein,
1st communicator sends the 3rd signal according to received the 1st signal to the automatic running car, described
3rd signal makes the automatic running car start to move to the 1st standby sections to the automatic running car loading part.
4. control system as claimed in claim 1, wherein,
The part in the 1st path is overlapping with the 2nd region,
It is provided with the 2nd region for the standby multiple standby sections of the automatic running car,
1st identification part is arranged at the standby sections,
After the reading part have read the identification information, the automatic running car is between the 2nd communicator
Receiving and transmitting signal, and moved between the standby sections.
5. control system as claimed in claim 4, wherein,
2nd communicator sends the 4th signal to the automatic running car, and the 4th signal drives the automatic running car
Begin to move to the 2nd standby sections for unloading lower component from the automatic running car.
6. the control system as described in any one of claim 1 to 5, wherein,
Also there is the 3rd communicator, the 3rd communicator is located at the cross section being arranged on the 1st path
In 3rd region, and the receiving and transmitting signal between the automatic running car,
When the automatic running car enters the cross section, the 3rd communicator is according to the use of the cross section
Information, the 5th signal is sent to the automatic running car, the 5th signal is permitted or forbidden described in the automatic running car entrance
Cross section.
7. the control system as described in any one of claim 1 to 5, wherein,
The 4th communicator being also equipped with the 4th region,
The automatic running car also moves via the 2nd path from the 2nd region to the 4th region,
In in the 4th region, it is provided with for the standby multiple standby sections of the automatic running car,
4th communicator sends the 6th signal to the automatic running car, and the 6th signal drives the automatic running car
Begin to move to the 3rd standby sections for unloading the stacking material of the automatic running car loaded in the 2nd region.
8. control system as claimed in claim 7, wherein,
It is also equipped with being arranged at the 2nd path, and is stored with the 2nd identification part of identification information,
The part in the 2nd path is overlapping with the 4th region,
2nd identification part is arranged at the standby sections.
9. control system as claimed in claim 7, wherein,
The storage part store path file, the path file record with travelled for the automatic running car it is described
1st path and the information of the 2nd path correlation,
The path file presses each identification information and includes following action command, the action command and the automatic row
It is corresponding to sail action that at least any one pre-position perform of the car in the 1st path and the 2nd path.
10. the control system as described in any one of claim 1 to 5, wherein,
The automatic running car conveys to conveying thing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410503532.0A CN118226789A (en) | 2016-09-08 | 2017-09-08 | Control system for automatic traveling vehicle |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2016-175968 | 2016-09-08 | ||
| JP2016175968A JP6495874B2 (en) | 2016-09-08 | 2016-09-08 | Automated vehicle control system |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410503532.0A Division CN118226789A (en) | 2016-09-08 | 2017-09-08 | Control system for automatic traveling vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107807636A true CN107807636A (en) | 2018-03-16 |
Family
ID=61576560
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410503532.0A Pending CN118226789A (en) | 2016-09-08 | 2017-09-08 | Control system for automatic traveling vehicle |
| CN201710803522.9A Pending CN107807636A (en) | 2016-09-08 | 2017-09-08 | The control system of automatic running car |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410503532.0A Pending CN118226789A (en) | 2016-09-08 | 2017-09-08 | Control system for automatic traveling vehicle |
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| Country | Link |
|---|---|
| JP (1) | JP6495874B2 (en) |
| CN (2) | CN118226789A (en) |
| PH (1) | PH12017050050A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110712906A (en) * | 2018-07-13 | 2020-01-21 | 株式会社大福 | Article differentiating apparatus |
| WO2020041964A1 (en) * | 2018-08-28 | 2020-03-05 | Lingdong Technology (Beijing) Co., Ltd | Self-driving vehicle management systems and methods |
| CN115151494A (en) * | 2020-03-02 | 2022-10-04 | 村田机械株式会社 | Automated warehouse system and control method for automated warehouse system |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2020179321A1 (en) * | 2019-03-04 | 2020-09-10 | パナソニックＩｐマネジメント株式会社 | Control system and control method |
| WO2022153659A1 (en) * | 2021-01-12 | 2022-07-21 | 村田機械株式会社 | Picking system and method for controlling picking system |
| WO2024018057A1 (en) * | 2022-07-22 | 2024-01-25 | Emhs Gmbh | Beacon-based communication in a hanging-bag warehouse provided with at least partially autonomously moving hanging bags |
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| Publication number | Publication date |
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| CN118226789A (en) | 2024-06-21 |
| PH12017050050A1 (en) | 2018-10-08 |
| JP6495874B2 (en) | 2019-04-03 |
| JP2018041343A (en) | 2018-03-15 |
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