WO2009057761A1 - 搬送用自走車及びその停止制御方法 - Google Patents

搬送用自走車及びその停止制御方法 Download PDF

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Publication number
WO2009057761A1
WO2009057761A1 PCT/JP2008/069916 JP2008069916W WO2009057761A1 WO 2009057761 A1 WO2009057761 A1 WO 2009057761A1 JP 2008069916 W JP2008069916 W JP 2008069916W WO 2009057761 A1 WO2009057761 A1 WO 2009057761A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
self
control method
stop control
transportation vehicle
Prior art date
Application number
PCT/JP2008/069916
Other languages
English (en)
French (fr)
Inventor
Hiroyoshi Baba
Original Assignee
Toyota Jidosha Kabushiki Kaisha
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toyota Jidosha Kabushiki Kaisha filed Critical Toyota Jidosha Kabushiki Kaisha
Priority to CN200880114240.7A priority Critical patent/CN101842759B/zh
Priority to US12/740,420 priority patent/US8267834B2/en
Priority to JP2009539131A priority patent/JP5327475B2/ja
Publication of WO2009057761A1 publication Critical patent/WO2009057761A1/ja

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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
    • G05D1/0259—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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B10/00—Power and free systems
    • B61B10/04—Power and free systems with vehicles rolling trackless on the ground
    • 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
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Mechanical Engineering (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Transportation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Regulating Braking Force (AREA)
  • Platform Screen Doors And Railroad Systems (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

　走行中に障害物を検知した際、所定経路から逸脱することなく安全に停止させることのできる搬送用自走車及びその停止制御方法を提供する。 搬送用自走車の停止制御方法は、搬送用自走車が走行中、設定距離離れた障害物を検知する第２検知ステップ（Ｓ３０）と、該第２検知ステップ（Ｓ３０）における障害物の検知に基づいて、搬送用自走車の所定経路から左右方向への位置ズレがある場合は、左右一対の駆動輪へのブレーキ手段を解除した状態で前記位置ズレを補正制御して、搬送用自走車を停止させる停止ステップ（Ｓ４０）とを備えているので、搬送用自走車が走行中に障害物を検知した際、搬送用自走車は所定経路から逸脱することなく安全に停止される。
PCT/JP2008/069916 2007-10-31 2008-10-31 搬送用自走車及びその停止制御方法 WO2009057761A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN200880114240.7A CN101842759B (zh) 2007-10-31 2008-10-31 输送用自走车及其停止控制方法
US12/740,420 US8267834B2 (en) 2007-10-31 2008-10-31 Self-propelled vehicle for conveyance and method of controlling stop thereof
JP2009539131A JP5327475B2 (ja) 2007-10-31 2008-10-31 搬送用自走車及びその停止制御方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007-283506 2007-10-31
JP2007283506 2007-10-31

Publications (1)

Publication Number Publication Date
WO2009057761A1 true WO2009057761A1 (ja) 2009-05-07

Family

ID=40591141

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/069916 WO2009057761A1 (ja) 2007-10-31 2008-10-31 搬送用自走車及びその停止制御方法

Country Status (4)

Country Link
US (1) US8267834B2 (ja)
JP (1) JP5327475B2 (ja)
CN (1) CN101842759B (ja)
WO (1) WO2009057761A1 (ja)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015207225A (ja) * 2014-04-22 2015-11-19 三菱自動車工業株式会社 無人搬送車

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5835350B2 (ja) * 2012-01-10 2015-12-24 トヨタ自動車株式会社 自動搬送機の非常停止方法、搬送作業システム、及び搬送作業システムにおける自動搬送機の非常停止方法
CN103631260A (zh) * 2012-08-22 2014-03-12 金宝电子工业股份有限公司 运输载具及其控制方法
JP5945260B2 (ja) * 2013-09-30 2016-07-05 旭コンクリート工業株式会社 搬送据付装置
CN103699123B (zh) * 2013-12-02 2016-05-25 北京工业大学 一种基于三个电磁传感器的机器人导航方法
CN103995533A (zh) * 2014-05-06 2014-08-20 武汉喻华科智能科技有限公司 智能自引导小车控制***
FR3047082B1 (fr) * 2016-01-25 2018-02-16 Arteion Systeme de convoyage de supports pour recipients d’echantillons de liquide biologique, et systeme d’analyse automatique comprenant un tel systeme de convoyage
JP6689126B2 (ja) * 2016-04-26 2020-04-28 ヤンマー株式会社 作業車両制御システム
JP6909282B2 (ja) * 2017-04-13 2021-07-28 パナソニック株式会社 電動車両の制御方法および電動車両
CN107450567A (zh) * 2017-09-25 2017-12-08 芜湖智久机器人有限公司 一种用于仓库或车间自动运输的agv小车控制***
US11560153B2 (en) 2019-03-07 2023-01-24 6 River Systems, Llc Systems and methods for collision avoidance by autonomous vehicles
CN114258515B (zh) * 2019-08-28 2023-09-22 Abb瑞士股份有限公司 用于自动引导车辆的二次定位的装置和方法
US11225228B2 (en) * 2020-03-11 2022-01-18 Baidu Usa Llc Method for enhancing in-path obstacle detection with safety redundancy autonomous system

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JPH01300311A (ja) * 1988-05-30 1989-12-04 Toshiba Corp 無人車誘導装置
JPH05178409A (ja) * 1991-12-27 1993-07-20 Murata Mach Ltd スタッカクレーンの走行制動方法
JPH10187244A (ja) * 1996-12-27 1998-07-14 Nissan Motor Co Ltd 無人車
JPH11305837A (ja) * 1998-04-24 1999-11-05 Shinko Electric Co Ltd 無人搬送車の衝突防止装置
JP2000207023A (ja) * 1999-01-20 2000-07-28 Mazda Motor Corp 車両制御装置

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Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01300311A (ja) * 1988-05-30 1989-12-04 Toshiba Corp 無人車誘導装置
JPH05178409A (ja) * 1991-12-27 1993-07-20 Murata Mach Ltd スタッカクレーンの走行制動方法
JPH10187244A (ja) * 1996-12-27 1998-07-14 Nissan Motor Co Ltd 無人車
JPH11305837A (ja) * 1998-04-24 1999-11-05 Shinko Electric Co Ltd 無人搬送車の衝突防止装置
JP2000207023A (ja) * 1999-01-20 2000-07-28 Mazda Motor Corp 車両制御装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015207225A (ja) * 2014-04-22 2015-11-19 三菱自動車工業株式会社 無人搬送車

Also Published As

Publication number Publication date
US20110009238A1 (en) 2011-01-13
JPWO2009057761A1 (ja) 2011-03-10
US8267834B2 (en) 2012-09-18
CN101842759B (zh) 2013-01-02
JP5327475B2 (ja) 2013-10-30
CN101842759A (zh) 2010-09-22

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