JP7211508B2 - 走行車システム、及び走行車の制御方法 - Google Patents
走行車システム、及び走行車の制御方法 Download PDFInfo
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- JP7211508B2 JP7211508B2 JP2021527440A JP2021527440A JP7211508B2 JP 7211508 B2 JP7211508 B2 JP 7211508B2 JP 2021527440 A JP2021527440 A JP 2021527440A JP 2021527440 A JP2021527440 A JP 2021527440A JP 7211508 B2 JP7211508 B2 JP 7211508B2
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- 238000000034 method Methods 0.000 title claims description 19
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- 238000010586 diagram Methods 0.000 description 18
- 230000008569 process Effects 0.000 description 9
- 238000012790 confirmation Methods 0.000 description 8
- 238000003860 storage Methods 0.000 description 8
- 238000013459 approach Methods 0.000 description 7
- 238000012546 transfer Methods 0.000 description 6
- 230000000737 periodic effect Effects 0.000 description 5
- 230000004044 response Effects 0.000 description 5
- 230000010365 information processing Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000005304 joining Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0297—Fleet control by controlling means in a control room
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
- H01L21/67727—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations using a general scheme of a conveying path within a factory
-
- 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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0293—Convoy travelling
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/67005—Apparatus not specifically provided for elsewhere
- H01L21/67242—Apparatus for monitoring, sorting or marking
- H01L21/67276—Production flow monitoring, e.g. for increasing throughput
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
- H01L21/67724—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations by means of a cart or a vehicule
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
- H01L21/67733—Overhead conveying
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Manufacturing & Machinery (AREA)
- Computer Hardware Design (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Description
45・・・進入許可部
CA・・・エリア
EA・・・進入領域
N1・・・上限台数
Nr・・・残り台数
Ns・・・閾値(所定数)
P1・・・進入地点
SYS・・・走行車システム
TA・・・軌道
TC・・・コントローラ
TC1、TC2、TC3、TC4・・・第1~第4コントロール部
V、V1~V10・・・走行車
Claims (7)
- 複数のエリアに区分された軌道と、
前記軌道を走行する複数の走行車と、
複数の前記エリアのそれぞれにおいて、前記エリア内の前記走行車を制御するコントローラと、を備える走行車システムであって、
前記コントローラは、
管轄する前記エリアへの進入許可要求を前記走行車から受けたときに、そのエリア内に進入可能な上限台数までの残り台数が所定数以下であるか否かを判定する判定部と、
前記判定部により前記所定数以下と判定された場合、前記走行車からの前記進入許可要求を一旦留保し、そのエリアへの進入領域に前記進入許可要求の送信元である前記走行車が到達した際、進入対象となる前記エリア内に存在する前記走行車の台数とそのエリアへの進入許可を既に出した前記走行車の台数との和が前記上限台数未満である場合には前記進入領域に到達した前記走行車にそのエリアへの進入許可を与えるが、前記和が前記上限台数に達している場合には進入許可を与えない進入許可部と、を備える、走行車システム。 - 前記進入許可部は、前記判定部により前記残り台数が前記所定数より多いと判定された場合、前記進入許可要求を受けた順にそのエリア内への進入許可を前記走行車に与える、請求項1に記載の走行車システム。
- 前記進入許可部は、前記進入許可要求を受けている前記走行車のうち、前記進入領域内における進入地点に最先に停車した前記走行車に対して進入許可を与える、請求項1又は請求項2に記載の走行車システム。
- 前記進入領域は、前記走行車の走行方向において、1台の前記走行車が位置している場合に他の前記走行車が進入することができない長さに設定されている、請求項1から請求項3のいずれか一項に記載の走行車システム。
- 1つの前記エリアに対して複数の前記進入領域が設けられており、
前記進入許可部は、複数の前記進入領域のいずれかに先着した1台の前記走行車に対して進入許可を与える、請求項1から請求項4のいずれか一項に記載の走行車システム。 - 前記判定部は、前記所定数を変更可能である、請求項1から請求項5のいずれか一項に記載の走行車システム。
- 複数のエリアに区分された軌道を走行する複数の走行車を制御する方法であって、
管轄する前記エリアに前記走行車から進入許可要求を受けたときに、そのエリア内に進入可能な上限台数までの残り台数が所定数以下であるか否かを判定することと、
前記所定数以下と判定された場合、前記走行車からの前記進入許可要求を一旦留保し、そのエリアへの進入領域に先着した1台の前記走行車に対して進入許可を与えることと、を含む、走行車の制御方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019120058 | 2019-06-27 | ||
JP2019120058 | 2019-06-27 | ||
PCT/JP2020/018613 WO2020261772A1 (ja) | 2019-06-27 | 2020-05-08 | 走行車システム、及び走行車の制御方法 |
Publications (3)
Publication Number | Publication Date |
---|---|
JPWO2020261772A1 JPWO2020261772A1 (ja) | 2020-12-30 |
JPWO2020261772A5 JPWO2020261772A5 (ja) | 2022-03-14 |
JP7211508B2 true JP7211508B2 (ja) | 2023-01-24 |
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JP2021527440A Active JP7211508B2 (ja) | 2019-06-27 | 2020-05-08 | 走行車システム、及び走行車の制御方法 |
Country Status (8)
Country | Link |
---|---|
US (1) | US11733711B2 (ja) |
EP (1) | EP3992745A4 (ja) |
JP (1) | JP7211508B2 (ja) |
KR (1) | KR102631749B1 (ja) |
CN (1) | CN114026515A (ja) |
IL (1) | IL289190B2 (ja) |
TW (1) | TWI821578B (ja) |
WO (1) | WO2020261772A1 (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JP7375791B2 (ja) * | 2021-05-19 | 2023-11-08 | 村田機械株式会社 | 走行車システム |
WO2023214492A1 (ja) * | 2022-05-02 | 2023-11-09 | 村田機械株式会社 | 走行車システム |
US20230400318A1 (en) * | 2022-06-08 | 2023-12-14 | Ford Global Technologies, Llc | Vehicle permission handling for dynamic private land usage |
Citations (2)
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JP2017191361A (ja) | 2016-04-11 | 2017-10-19 | 株式会社ダイフク | 物品搬送設備 |
WO2018037741A1 (ja) | 2016-08-22 | 2018-03-01 | 村田機械株式会社 | 走行車システム、及び走行車システムの制御方法 |
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KR100802020B1 (ko) * | 2006-08-14 | 2008-02-12 | 삼성전자주식회사 | 반도체 이송시스템 및 그 차량제어방법 |
JP6219790B2 (ja) * | 2014-07-29 | 2017-10-25 | 株式会社クボタ | 作業車協調システム |
JPWO2016103562A1 (ja) * | 2014-12-25 | 2017-07-27 | 村田機械株式会社 | 走行車システム、走行状態変更方法 |
EP4361038A3 (en) * | 2016-02-26 | 2024-06-12 | SZ DJI Technology Co., Ltd. | Systems and methods for adjusting uav trajectory |
JP6652084B2 (ja) * | 2017-02-09 | 2020-02-19 | 株式会社ダイフク | 物品搬送設備 |
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2020
- 2020-05-08 CN CN202080046046.0A patent/CN114026515A/zh active Pending
- 2020-05-08 US US17/622,947 patent/US11733711B2/en active Active
- 2020-05-08 JP JP2021527440A patent/JP7211508B2/ja active Active
- 2020-05-08 EP EP20832344.4A patent/EP3992745A4/en active Pending
- 2020-05-08 WO PCT/JP2020/018613 patent/WO2020261772A1/ja active Application Filing
- 2020-05-08 KR KR1020217042304A patent/KR102631749B1/ko active IP Right Grant
- 2020-05-08 IL IL289190A patent/IL289190B2/en unknown
- 2020-06-22 TW TW109121027A patent/TWI821578B/zh active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2017191361A (ja) | 2016-04-11 | 2017-10-19 | 株式会社ダイフク | 物品搬送設備 |
WO2018037741A1 (ja) | 2016-08-22 | 2018-03-01 | 村田機械株式会社 | 走行車システム、及び走行車システムの制御方法 |
Also Published As
Publication number | Publication date |
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KR102631749B1 (ko) | 2024-01-30 |
EP3992745A4 (en) | 2023-08-02 |
IL289190B2 (en) | 2023-10-01 |
US11733711B2 (en) | 2023-08-22 |
CN114026515A (zh) | 2022-02-08 |
JPWO2020261772A1 (ja) | 2020-12-30 |
WO2020261772A1 (ja) | 2020-12-30 |
US20220229447A1 (en) | 2022-07-21 |
TWI821578B (zh) | 2023-11-11 |
IL289190A (en) | 2022-02-01 |
IL289190B1 (en) | 2023-06-01 |
TW202115514A (zh) | 2021-04-16 |
KR20220013399A (ko) | 2022-02-04 |
EP3992745A1 (en) | 2022-05-04 |
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