JPH04291404A - Address mark of automatic guided vehicle and detecting method of said mark - Google Patents
Address mark of automatic guided vehicle and detecting method of said markInfo
- Publication number
- JPH04291404A JPH04291404A JP3080921A JP8092191A JPH04291404A JP H04291404 A JPH04291404 A JP H04291404A JP 3080921 A JP3080921 A JP 3080921A JP 8092191 A JP8092191 A JP 8092191A JP H04291404 A JPH04291404 A JP H04291404A
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- Japan
- Prior art keywords
- information
- address
- guided vehicle
- automatic guided
- address sign
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims description 10
- 230000005540 biological transmission Effects 0.000 claims abstract description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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Abstract
Description
【０００１】0001
【産業上の利用分野】本発明は、無人搬送車の走行路に
設けられ位置情報を提供するアドレス標識、及びこれを
検出し正常な走行を行うためのアドレス標識の検出方法
に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an address sign provided on a travel path of an automatic guided vehicle to provide positional information, and a method for detecting the address sign to enable the automatic guided vehicle to travel normally.
【０００２】0002
【従来の技術】従来の無人搬送車の走行に際しては、走
行路の所定位置にアドレス標識を設け、無人搬送車はこ
のアドレス標識を検出する毎に予め搬送車内に準備され
た動作指令を順次更新し、その位置における更新された
動作指令に基づき方向変換等を行い所定の番地に移行す
る手段が採られている。その概要を図５及び図６に示す
。Ｂは走行経路ガイド、またＨ０，Ｈ１，Ｈ２・・・・
（以下総称するときはＨという）は所定間隔ごとに設け
られるアドレス標識であり、無人搬送車Ｗはこのアドレ
ス標識Ｈの検出用センサ５０と、このセンサからの検出
信号の変換器５１と予め入力された経路情報記憶装置５
２並びに走行駆動モータＭ１、操舵用モータＭ２の操作
用制御装置５３とを備える。[Prior Art] When a conventional automated guided vehicle travels, an address sign is provided at a predetermined position on the travel path, and each time the automated guided vehicle detects this address sign, it sequentially updates the operation commands prepared in the guided vehicle in advance. However, a means is adopted to change the direction or the like based on the updated operation command at that position and move to a predetermined address. The outline is shown in FIGS. 5 and 6. B is the driving route guide, and H0, H1, H2...
(hereinafter collectively referred to as H) are address signs provided at predetermined intervals, and the automatic guided vehicle W has a sensor 50 for detecting this address sign H and a converter 51 for the detection signal from this sensor. route information storage device 5
2, as well as a control device 53 for operating the travel drive motor M1 and the steering motor M2.
【０００３】上記センサ５０により検出されたアドレス
標識検出信号は、変換器５１において動作指令更新信号
として制御装置５３に印加される。制御装置５３は記憶
装置５２からの経路情報に基づいて走行駆動モータＭ１
を作動し無人搬送車Ｗを走行させると共にアドレス標識
を通過毎に変換器５１からの更新信号により制御装置５
３に対する記憶装置５２からの経路情報を次のステップ
の情報、即ち直進あるいは左右への方向変換に切り換え
て走行する。例えば図６において中間アドレス標識Ｈ１
では更新指令はそのまま直進を指令し、２個目のアドレ
ス標識Ｈ２において左折し、所定の番地に走行するよう
にしたものである。[0003] The address label detection signal detected by the sensor 50 is applied to the control device 53 in the converter 51 as an operation command update signal. The control device 53 controls the traveling drive motor M1 based on the route information from the storage device 52.
The controller 5 operates the automatic guided vehicle W to run, and receives an update signal from the converter 51 each time it passes an address sign.
The route information from the storage device 52 for No. 3 is switched to information for the next step, ie, going straight or changing direction to the left or right, and the vehicle runs. For example, in FIG. 6, the intermediate address indicator H1
In this case, the update command instructs the vehicle to go straight ahead, turn left at the second address sign H2, and drive to a predetermined address.
【０００４】0004
【発明が解決しようとする課題】上記無人搬送車の走行
に際し、センサ５０がもしアドレス標識Ｈ１を見落とし
たときはアドレス標識Ｈ２ではそのまま直進し次のアド
レス標識Ｈ３において左折指令が発せられる。従って走
行路を外れて走行し、危険である。あるいは無人搬送車
Ｗの記憶装置５２に経路情報を入力するとき、その方向
またはその時期を間違って入力したときも同様に走行路
を外れて危険である。前者のアドレス標識の見落としに
よる誤差の防止手段としては、絶対的な位置情報をアド
レス標識に持たせる絶対アドレス方式も提案されている
が、この方式でも後者の記憶装置への入力ミスによる誤
作動を防止することは不可能である。When the automatic guided vehicle is traveling, if the sensor 50 misses the address sign H1, it will continue straight at the address sign H2 and issue a left turn command at the next address sign H3. Therefore, it is dangerous to drive off the road. Alternatively, when inputting route information into the storage device 52 of the automatic guided vehicle W, if the direction or timing is inputted incorrectly, the vehicle may deviate from the travel route, which is dangerous. As a means to prevent the former error caused by overlooking the address sign, an absolute address method has been proposed in which the address sign contains absolute position information, but this method also prevents the latter error caused by input errors into the storage device. It is impossible to prevent it.
【０００５】本発明はかかる点に鑑みてなされたもので
、無人搬送車が走行中にアドレス標識の検出を見誤った
場合、及び記憶装置に入力されたデータに誤りを生じた
場合にも走行路からの逸脱等の危険を防止し所定方向へ
の更新を迅速に行うことを目的とする。[0005] The present invention has been made in view of the above points, and even if the automatic guided vehicle misdetects the detection of an address sign while traveling, or if an error occurs in the data input to the storage device, the automatic guided vehicle can continue traveling. The purpose is to prevent dangers such as deviation from the road and to quickly update in a predetermined direction.
【０００６】[0006]
【課題を解決するための手段】上記目的を達成するため
の第１の発明は、アドレス標識に係わるもので、予め定
められた走行経路に沿って設置され、無人搬送車に位置
情報を伝達するアドレス標識において、絶対位置情報と
共に前後方向両端にその位置から分岐可能な方向の情報
伝達手段を設けたものである。また第２の発明は上記ア
ドレス標識の検出方法に係わるもので、予め定められた
走行経路に沿って設置され、無人搬送車に位置情報を伝
達するアドレス標識と、走行経路に沿って走行しアドレ
ス標識を検出してその位置情報により自己の位置を確認
し予め指示された動作指令を順次実行する無人搬送車に
おいて、上記アドレス標識の前後両端にその位置から分
岐可能な方向を無人搬送車に伝達する情報伝達手段を設
け、無人搬送車はこの分岐情報を検知して予め定められ
た走行経路の情報と比較して確認して走行し、差異があ
る場合にはアドレス標識からの分岐情報に従って進行方
向を決定すると共に、差異の発生を外部に報知するよう
にしたものである。[Means for Solving the Problems] A first invention for achieving the above object relates to an address sign, which is installed along a predetermined travel route and transmits position information to an automatic guided vehicle. In the address sign, along with absolute position information, information transmitting means is provided at both ends in the front and back direction in a direction that can be branched from that position. The second invention relates to a method for detecting the address sign, which is an address sign that is installed along a predetermined travel route and transmits position information to an automatic guided vehicle, and an address sign that is installed along a predetermined travel route and transmits position information to an automatic guided vehicle. In an automatic guided vehicle that detects a sign, confirms its own position based on the position information, and sequentially executes pre-instructed movement commands, the direction in which it can branch from that position is transmitted to the automatic guided vehicle at both the front and rear ends of the address sign. The automated guided vehicle detects this branching information, compares it with the predetermined travel route information, and then travels, and if there is a difference, it proceeds according to the branching information from the address sign. In addition to determining the direction, the occurrence of a difference is notified to the outside.
【０００７】[0007]
【作用】アドレス標識には絶対位置情報と共に前後に進
路情報伝達手段を設けたことにより、走行する無人搬送
車はこれを読み取りこれに従って走行すれば走行路を外
れて走行することはない。また無人搬送車は予め走行経
路を記憶し、アドレス標識を検知したとき、現在位置を
確認すると共に記憶した分岐情報をアドレス標識に記憶
される分岐可能の方向の情報と比較し、合致すればその
まま記憶した分岐情報に従って走行する。もし相違すれ
ばアドレス標識に記憶の分岐情報に訂正し、かつ外部に
報知する。[Function] Since the address sign is provided with absolute position information as well as route information transmitting means at the front and rear, the traveling automatic guided vehicle can read this information and follow the information so that it will not deviate from the travel route. In addition, the automatic guided vehicle memorizes the travel route in advance, and when it detects an address sign, it confirms its current position and compares the memorized branching information with the information on possible branching directions stored in the address sign, and if it matches, it continues as it is. Drive according to the memorized branch information. If there is a difference, the address indicator is corrected to stored branch information and notified to the outside.
【０００８】[0008]
【実施例】図１乃至図４は本発明の実施例を示す。無人
搬送車Ｗの走行路には周知の如く間隔を存して走行経路
標識Ｂを敷設し、所定位置にアドレス標識Ａ０，Ａ１，
Ａ２，Ａ３，Ａ４・・・・（以下総称するときはＡとい
う）を敷設する。ただしＡ０はスタート位置に設けた基
準アドレス標識、Ａ２は分岐位置に設けた分岐指令用ア
ドレス標識、その他は中間位置アドレス標識である。こ
れら各アドレス標識Ａは図２に示す如く中間部にアドレ
ス番号を表示するアドレス番号情報部１とその前後に進
路方向情報部２，３を形成する。ただし２は前進方向、
３は後進方向の進路情報を表示する。DESCRIPTION OF THE PREFERRED EMBODIMENTS FIGS. 1 to 4 show embodiments of the present invention. As is well known, on the travel path of the automatic guided vehicle W, travel route markers B are placed at intervals, and address markers A0, A1,
A2, A3, A4... (hereinafter collectively referred to as A) are installed. However, A0 is a reference address indicator provided at the start position, A2 is a branch command address indicator provided at the branch position, and the others are intermediate position address indicators. As shown in FIG. 2, each of these address signs A has an address number information section 1 displaying an address number in the middle, and route direction information sections 2 and 3 before and after the address number information section 1. However, 2 is the forward direction,
3 displays course information in the reverse direction.
【０００９】同図（ａ）は各情報部の説明図であり、前
進方向２の進路は直進と左折可能を指示したものであり
、後進方向３の進路は直進のみが可能であることを指示
したものである。その他経路により右折、行き止まり等
を指示する。これらの各情報は記号化して無人搬送車Ｗ
に伝達するようにしたもので、その情報伝達手段として
は例えば反射板とし、絶対位置番号情報、分岐情報をバ
ーコード方式で記載する。その要領を同図（ｂ）に示す
。図中、１ａ，２ａ，３ａはそれぞれアドレス絶対位置
番号情報、前進情報、後進情報を例としてバーコード化
した情報伝達手段を示す。[0009] Figure (a) is an explanatory diagram of each information section, and the forward direction 2 course indicates that going straight and left turns are possible, and the backward direction 3 indicates that only going straight is possible. This is what I did. Directs other routes such as right turns and dead ends. Each of these pieces of information is encoded into an automated guided vehicle W.
The information transmission means is, for example, a reflector, and the absolute position number information and branch information are written in a bar code format. The procedure is shown in the same figure (b). In the figure, reference numerals 1a, 2a, and 3a indicate information transmission means in which address absolute position number information, forward movement information, and backward movement information are converted into barcodes, respectively.
【００１０】上記無人搬送車Ｗは走行経路標識Ｂを読み
取ると共に、アドレス標識Ａを読み取るアドレス標識セ
ンサ５と、予め入力される経路情報及びこれに基づく動
作指令を記憶する記憶装置６と、センサからの入力信号
と記憶した経路情報とを比較する比較器７及び無人搬送
車Ｗの走行用モータＭ１及び操舵用モータＭ２を作動す
る制御装置８を備える。[0010] The automatic guided vehicle W reads the travel route mark B and also has an address mark sensor 5 which reads the address mark A, a storage device 6 which stores route information inputted in advance and operation commands based thereon, and a sensor. The automatic guided vehicle W includes a comparator 7 that compares an input signal with stored route information, and a control device 8 that operates a traveling motor M1 and a steering motor M2 of the automatic guided vehicle W.
【００１１】センサ５はアドレス標識Ａの各情報部の読
み取りを行うもので、例えばＩＤカードリーダを用いる
。これは光学式、無線（電波）方式あるいは磁気方式等
情報部の構造に対応して適宣のものが用いられる。The sensor 5 reads each information part of the address sign A, and uses, for example, an ID card reader. Optical, wireless (radio wave), magnetic, or other appropriate methods are used depending on the structure of the information department.
【００１２】比較器７は上記センサ５からのアドレス番
号情報部１からの情報と進路情報部２，３からの分岐情
報とを記憶装置６のそれぞれとを比較するもので、アド
レス番号の比較により現在位置の確認と分岐方向とを決
定する。ただし何等かの原因によりアドレス標識を読み
落としたとき、例えば図３において、スタートした後ア
ドレス標識Ａ１を読み落とし、アドレス標識Ａ２を読み
出したときは記憶装置６のアドレス番号並びに分岐情報
が相違する。あるいは記憶装置６への入力に際し例えば
アドレス標識Ａ２を検知したとき右折の情報を誤って入
力したとき等は分岐情報が相違する。比較器７はこれを
検知し経路情報及び動作信号をアドレス標識の情報に従
って更新し制御装置８に入力し、かつ警報器９を作動す
るようにしたもので、その詳細は後述する。The comparator 7 compares the information from the address number information section 1 from the sensor 5 and the branch information from the route information sections 2 and 3 with each of the storage devices 6. Confirm the current position and decide the branching direction. However, when the address indicator is missed for some reason, for example, in FIG. 3, when the address indicator A1 is overlooked after the start and the address indicator A2 is read, the address number and branch information in the storage device 6 will be different. Alternatively, when inputting into the storage device 6, for example, when the address sign A2 is detected and right turn information is incorrectly input, the branch information will be different. The comparator 7 detects this, updates the route information and operation signal in accordance with the address sign information, inputs it to the control device 8, and activates the alarm 9, the details of which will be described later.
【００１３】次に図４に示すフローチャートに基づいて
無人搬送車Ｗがアドレス標識Ａを読み取り所定方向に走
行する要領を説明する。ただし無人搬送車Ｗの記憶装置
６には図３に示す如く走行路の全体地図情報１０と、走
行経路情報１１と、動作指令１２とがインプットされ、
動作指令１２はスタートからアドレス標識Ａ１まで、及
びアドレス標識Ａ１からＡ２までは直進信号１２ａを、
アドレス標識Ａ２において左折信号１２ｂを、またアド
レス標識Ａ４において直進信号１２ｃを発するようにし
たものである。Next, the procedure for the automatic guided vehicle W to read the address sign A and travel in a predetermined direction will be explained based on the flowchart shown in FIG. However, as shown in FIG. 3, the overall map information 10 of the traveling route, the traveling route information 11, and the operation command 12 are input into the storage device 6 of the automatic guided vehicle W.
The operation command 12 is a straight signal 12a from the start to address sign A1, and from address sign A1 to A2.
A left turn signal 12b is emitted at the address sign A2, and a straight ahead signal 12c is emitted at the address sign A4.
【００１４】図４のフローチャートにおいて、スタート
した後まず第１のアドレス標識Ａ１に到達し第１ステッ
プＳＴ１においてアドレス標識を検出し、第２ステップ
ＳＴ２においてアドレス番号を確認する。ついで第３ス
テップＳＴ３において検知したアドレス番号と記憶装置
６の最初のアドレス番号と一致するか否かを比較する。
合致しておれば第４ステップＳＴ４でアドレス標識の進
行方向側の分岐情報を検出し、第５ステップＳＴ５にお
いてこの情報が記憶装置６の分岐情報と一致するか否か
を比較する。一致しておれば第６ステップＳＴ６におい
てアドレス標識Ａ１までの動作指令をＡ１からの動作指
令に更新して制御装置８に印加する。In the flowchart of FIG. 4, after starting, the first address indicator A1 is reached, the address indicator is detected in the first step ST1, and the address number is confirmed in the second step ST2. Then, in the third step ST3, the detected address number is compared to see if it matches the first address number of the storage device 6. If they match, branch information on the forward direction side of the address indicator is detected in a fourth step ST4, and a comparison is made to see if this information matches the branch information in the storage device 6 in a fifth step ST5. If they match, in the sixth step ST6, the operation command up to the address mark A1 is updated to the operation command from A1 and applied to the control device 8.
【００１５】同様にアドレス標識Ａ２においても上記ス
テップにより確認し動作指令を左折に更新して走行する
。この場合、もし第１のアドレス標識Ａ１を見落とし、
最初に第２のアドレス標識Ａ２を検出したときは、第３
ステップＳＴ３においてこれが発見される。この場合は
警報器９を作動しアラームを発する。同時に記憶装置６
のアドレス番号をアドレス標識の番号に訂正する。
かつ、目的地までの経路を計算して新しい経路情報とこ
れに基づく動作指令を作成しこれを出力する。その後は
前述の通りである。Similarly, address sign A2 is confirmed through the above steps, the operation command is updated to turn left, and the vehicle runs. In this case, if the first address indicator A1 is overlooked,
When the second address indicator A2 is detected for the first time, the third
This is discovered in step ST3. In this case, the alarm device 9 is activated to issue an alarm. At the same time storage device 6
Correct the address number to the number on the address indicator. It also calculates the route to the destination, creates new route information and operation commands based on this information, and outputs them. After that, the process is as described above.
【００１６】次に記憶装置６に例えばアドレス標識Ａ２
からは右折と誤って入力したときは、第５ステップＳＴ
５において比較器７はこれを発見する。この場合にもま
ず警報器９を作動し警報を発すると共に、記憶装置６に
記憶している分岐情報をアドレス標識Ａ２の分岐情報に
訂正する。この場合は直進か左折である。ついで目的地
までの経路即ちアドレス標識Ａ４方向への経路を計算し
、左折と訂正し、経路情報、動作指令を更新し、更新信
号により走行する。Next, for example, an address indicator A2 is stored in the storage device 6.
If you mistakenly enter a right turn from , go to step 5 ST.
Comparator 7 discovers this at 5. In this case as well, the alarm device 9 is first activated to issue an alarm, and the branch information stored in the storage device 6 is corrected to the branch information of the address indicator A2. In this case, go straight or turn left. Next, the route to the destination, that is, the route in the direction of the address sign A4, is calculated, corrected to be a left turn, route information and operation commands are updated, and the vehicle runs according to the update signal.
【００１７】[0017]
【発明の効果】以上の如く本発明のアドレス標識は絶対
位置の情報と共に前後にその位置から走行可能な分岐情
報の伝達手段を設けたから、無人搬送車はこれを読み取
り、これに従って走行することにより走行路を外れて走
行する危険を防止することができる。また上記無人搬送
車には予め走行経路情報を記憶し、上記アドレス標識の
位置及び経路情報を検出して比較することにより無人搬
送車の現在位置、走行経路情報を確認して走行すること
ができる。この際もし何等かの原因によりアドレス標識
の見落とし、または記憶装置への入力ミスによるアドレ
ス標識からの情報とに相違を生じたときは、アドレス標
識からの警報を基に訂正して更新信号を発し、これによ
り走行するようにしたから、従来の如き経路外に走行し
、あるいは旋回不能の場所での旋回等の危険を防止する
ことができる。従って複数の無人搬送車の運行に際して
も渋滞を生ずることがなく、円滑な運行を行うことがで
きる。Effects of the Invention As described above, the address sign of the present invention is provided with absolute position information as well as a means of transmitting branch information that allows the vehicle to travel forward and backward from that position. It is possible to prevent the danger of driving off the road. Furthermore, the automatic guided vehicle stores traveling route information in advance, and by detecting and comparing the position of the address sign and the route information, the automatic guided vehicle can travel while confirming its current position and traveling route information. . At this time, if for some reason the address indicator is overlooked or there is a discrepancy with the information from the address indicator due to an input error in the storage device, a correction is made based on the warning from the address indicator and an update signal is issued. Since the vehicle travels in this manner, it is possible to prevent the danger of traveling off the conventional route or turning in a place where it is impossible to turn. Therefore, even when a plurality of automatic guided vehicles are operated, there is no traffic jam and smooth operation can be achieved.
【図１】本発明の全体説明図である。FIG. 1 is an overall explanatory diagram of the present invention.
【図２】アドレス標識の説明図である。FIG. 2 is an explanatory diagram of an address indicator.
【図３】無人搬送車の記憶装置の説明図である。FIG. 3 is an explanatory diagram of a storage device of an automatic guided vehicle.
【図４】無人搬送車の走行フローチャートである。FIG. 4 is a travel flowchart of the automatic guided vehicle.
【図５】従来の無人搬送車の説明図である。FIG. 5 is an explanatory diagram of a conventional automatic guided vehicle.
【図６】従来の無人搬送車の走行説明図である。FIG. 6 is a diagram illustrating the running of a conventional automatic guided vehicle.
Ａ アドレス標識 Ｗ 無人搬送車 １ａ アドレス番号情報伝達手段 ２ａ 前進情報伝達手段 ３ａ 後進情報伝達手段 ５ アドレス標識識別センサ ６ 記憶装置 ７ 比較器 ８ 制御装置 A Address sign W Automatic guided vehicle 1a Address number information transmission means 2a Advance information transmission means 3a Reverse information transmission means 5 Address sign identification sensor 6. Storage device 7 Comparator 8 Control device
Claims (2)
され、無人搬送車に位置情報を伝達するアドレス標識に
おいて、絶対位置情報と共に前後方向両端にその位置か
ら分岐可能な方向の情報伝達手段を設けたことを特徴と
する無人搬送車の走行指示用アドレス標識。Claim 1: In an address sign installed along a predetermined travel route and transmitting position information to an automatic guided vehicle, information transmitting means with absolute position information and a direction capable of branching from the position are provided at both ends of the front and rear directions. An address sign for driving instructions for an automated guided vehicle, which is characterized by the following:
され、無人搬送車に位置情報を伝達するアドレス標識と
、走行経路に沿って走行しアドレス標識を検出してその
位置情報により自己の位置を確認し予め指示された動作
指令を順次実行する無人搬送車において、上記アドレス
標識の前後両端にその位置から分岐可能な方向を無人搬
送車に伝達する情報伝達手段を設け、無人搬送車はこの
分岐情報を検知して予め定められた走行経路の情報と比
較して確認して走行し、差異がある場合にはアドレス標
識からの分岐情報に従って進行方向を決定すると共に、
差異の発生を外部に報知することを特徴とする無人搬送
車の走行指示用アドレス標識の検出方法。[Claim 2] An address sign installed along a predetermined travel route and transmitting position information to the automatic guided vehicle; In an automatic guided vehicle that confirms the address sign and sequentially executes pre-instructed operation commands, information transmission means is installed at both the front and rear ends of the address sign for transmitting to the automatic guided vehicle the directions that can be branched from that position, and the automatic guided vehicle The vehicle detects branch information and compares it with predetermined travel route information before driving. If there is a difference, the vehicle determines the direction of travel according to the branch information from the address sign.
A method for detecting an address sign for driving instructions for an automatic guided vehicle, characterized by notifying the outside of the occurrence of a difference.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP08092191A JP3145725B2 (en) | 1991-03-19 | 1991-03-19 | Travel control method for automatic guided vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP08092191A JP3145725B2 (en) | 1991-03-19 | 1991-03-19 | Travel control method for automatic guided vehicles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH04291404A true JPH04291404A (en) | 1992-10-15 |
| JP3145725B2 JP3145725B2 (en) | 2001-03-12 |
Family
ID=13731886
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP08092191A Expired - Fee Related JP3145725B2 (en) | 1991-03-19 | 1991-03-19 | Travel control method for automatic guided vehicles |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3145725B2 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11143534A (en) * | 1997-11-12 | 1999-05-28 | Matsuda Plantec Kk | Travel program generating device for automated guided vehicle |
| WO2007043120A1 (en) * | 2005-09-30 | 2007-04-19 | Fujitsu Limited | Transportation route determination device, transportation route determination method, and transportation route determination program |
| JP6067159B1 (en) * | 2016-02-24 | 2017-01-25 | 株式会社シンテックホズミ | Transport vehicle system |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3883470B2 (en) | 2002-05-14 | 2007-02-21 | 沖電気工業株式会社 | Manufacturing method of semiconductor device |
-
1991
- 1991-03-19 JP JP08092191A patent/JP3145725B2/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11143534A (en) * | 1997-11-12 | 1999-05-28 | Matsuda Plantec Kk | Travel program generating device for automated guided vehicle |
| WO2007043120A1 (en) * | 2005-09-30 | 2007-04-19 | Fujitsu Limited | Transportation route determination device, transportation route determination method, and transportation route determination program |
| JPWO2007043120A1 (en) * | 2005-09-30 | 2009-04-16 | 富士通株式会社 | Transport route determination device, transport route determination method, and transport route determination program |
| JP4791481B2 (en) * | 2005-09-30 | 2011-10-12 | 富士通株式会社 | Transport route determination device, transport route determination method, and transport route determination program |
| JP6067159B1 (en) * | 2016-02-24 | 2017-01-25 | 株式会社シンテックホズミ | Transport vehicle system |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3145725B2 (en) | 2001-03-12 |
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