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1. 发明专利

JP2011081585A Control apparatus for transport device 有权
标题翻译：运输装置控制装置
公开(公告)号：JP2011081585A
公开(公告)日：2011-04-21
申请号：JP2009233027
申请日：2009-10-07
申请人： Sankyu Inc , Tcm Corp , Tcm株式会社 , 山九株式会社
发明人： NAKAMURA MASAYUKI , KONO TAKASHI , EGUCHI MASANOBU , MATSUI MASARU , NEMOTO TETSURO , TAMAI TSUTOMU , NISHIDA YUKIHIRO , YAMASHITA YUKIO , SAITO KOICHI
IPC分类号： G05D1/02 , B62D63/00
摘要： PROBLEM TO BE SOLVED: To make travelings of a plurality of carrier trucks constituting a carrying device coordinated, and to control traveling. SOLUTION: In as controller for the carrying device, the plurality of carrier trucks, each having a pair of motors respectively driving a pair of wheels are arranged back and forth, and right and left and carry a heavy object. The controller for the carrying device includes a plurality of child controllers each controlling each carrier truck; and a parent controller integrally controlling the respective child controllers. The main controller stores truck coordinates of each carrier truck and origin coordinates of the carrying device; calculates the steering angle of each carrier truck, in response to a control mode instruction of turning traveling, or the like; calculates a steering angle instruction value and a velocity instruction value in the truck coordinates of each carrier truck; and outputs them to the slave controller. The child controller rotates the pair of wheels of itself in a normal direction and a reverse direction, based on the steering angle instruction value to control the steering angle, and controls respective rotation velocities of the pair of wheels of itself, based on the velocity instruction value. COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：使构成携带装置的多个运载工具的行走协调，并控制行驶。解决方案：作为运载装置的控制器，分别具有分别驱动一对车轮的一对电动机的多个运载卡车来回布置，左右左右配置重物。用于承载装置的控制器包括：多个子控制器，每个控制每个运输车; 和一个控制各个子控制器的母控制器。主控制器存储每个承运车的卡车坐标和运载装置的原点坐标; 响应于转向行驶的控制模式指令等，计算每个承运车的转向角度; 计算每个承运车的卡车坐标中的转向指令值和速度指令值; 并将其输出到从控制器。儿童控制器基于转向角指令值，在自身的正常方向和相反方向上旋转一对车轮，以控制转向角，并且基于速度指令控制其自身的一对车轮的各自的旋转速度值。版权所有（C）2011，JPO＆INPIT

2. 发明专利

JP2009211442A Control method for unmanned conveyor 有权
标题翻译：不可控输送机的控制方法
公开(公告)号：JP2009211442A
公开(公告)日：2009-09-17
申请号：JP2008054191
申请日：2008-03-05
申请人： Tcm Corp , Tcm株式会社
发明人： SAITO KOICHI , MIYAWAKI MASAYASU , SAKATA AKIHIKO
IPC分类号： G05D1/02
摘要： PROBLEM TO BE SOLVED: To provide a control method for an unmanned conveyor vehicle capable of performing departure of an unmanned conveyor vehicle at an operation station without having any useless time.
SOLUTION: In the control method for the unmanned conveyor vehicle 2 wherein unmanned conveyor vehicles are guided and traveled along an assembling line having a plurality of work stations and an obstacle detection sensor 22 and a signal receiver 23 preparing a deceleration area A and a standstill area B are arranged in the front of the unmanned conveyor vehicle and a signal transmitter 24 is arranged in the rear of the unmanned conveyor vehicle, when a deceleration instruction or a standstill instruction are issued during traveling, an approaching signal is transmitted from the signal transmitter of the conveyor to the signal receiver of the rear conveyor vehicle. When the conveyor vehicle at a standstill state is started, the deceleration area of the obstacle detection sensor arranged on the conveyor is made invalid, and the deceleration area of the obstacle detection sensor is made valid when the front conveyor vehicle comes out of the deceleration area. When receiving the approaching signal from the front conveyor vehicle while the deceleration area is invalid, the rear conveyor vehicle is decelerated.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够在没有任何无用时间的情况下在无人操纵的运输工具上执行无人运输车辆的离开的无人运输车辆的控制方法。解决方案：在无人运输车辆2的控制方法中，其中无人运输车辆沿着具有多个工作站的组装线和障碍物检测传感器22以及准备减速区域A的信号接收器23被引导和行进，在无人驾驶车辆的前方布置有停车区域B，并且在行驶中发出减速指示或停止指令的情况下，在无人驾驶车辆的后方配置有信号发送器24，输送机的信号发射器到后输送车辆的信号接收器。当处于停止状态的输送车辆开始时，布置在输送机上的障碍物检测传感器的减速区域变得无效，并且当前输送车辆从减速区域出来时，障碍物检测传感器的减速区域有效。当减速区域无效时，当从前输送车辆接收到接近信号时，后输送车辆减速。版权所有（C）2009，JPO＆INPIT

3. 发明专利

JP2007072819A Mobile management device 审中-公开
标题翻译：移动管理设备
公开(公告)号：JP2007072819A
公开(公告)日：2007-03-22
申请号：JP2005259994
申请日：2005-09-08
申请人： Tcm Corp , Tcm株式会社
发明人： NIIYAMA TETSUO , NIGO KEIICHI , SAITO KOICHI
IPC分类号： G05B23/02 , G05D1/02
摘要： PROBLEM TO BE SOLVED: To provide a mobile management device that can collect environmental information, such as the production status and process state of zones, along a route, by effectively using an automated guided vehicle for purposes other than actual article transportation. SOLUTION: The modular mobile management device mounted on an automated guided vehicle 3 comprises a monitoring control device 56 for collecting information on the state of the automated guided vehicle 3 and information about manufacturing areas along a guide path for the automated guided vehicle, a character generation device 46 for converting the information collected by the monitoring control device 56 into character information stored in advance, and a communication terminal 51 and a card-compatible telephone 50 for sending the character information converted by the character generation device 46 to a predetermined cellular telephone 48 via a communication network 49. In the structure, the automated guided vehicle can be effectively used for purposes other than article transportation, or for monitoring the manufacturing areas and collecting the information. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供一种移动管理装置，其可以通过有效地使用自动引导车辆用于实际物品运输以外的目的，沿着路线收集区域的生产状态和处理状态等环境信息。
解决方案：安装在自动导引车3上的模块化移动管理装置包括监视控制装置56，用于收集关于自动导向车3的状态的信息和关于自动导向车辆的引导路径的制造区域的信息，用于将由监视控制装置56收集的信息转换为预先存储的字符信息的字符产生装置46以及用于将由字符产生装置46转换的字符信息发送到预定的字符信息的通信终端51和兼容卡的电话机50 蜂窝电话48经由通信网络49.在该结构中，自动导引车辆可以有效地用于物品运输以外的目的，或用于监视制造区域并收集信息。版权所有（C）2007，JPO＆INPIT

4. 发明专利

JP2006338419A Flame detector 有权
标题翻译：火焰探测器
公开(公告)号：JP2006338419A
公开(公告)日：2006-12-14
申请号：JP2005163367
申请日：2005-06-03
申请人： Tcm Corp , Tcm株式会社
发明人： NIIYAMA TETSUO , NIGO KEIICHI , SAITO KOICHI
IPC分类号： G08B17/12
摘要： PROBLEM TO BE SOLVED: To provide a flame detector which can broadly detect flames and accurately specify a spot, in which a flames break out, without wrong operation.
SOLUTION: The flame detector is provided with; an infrared sensor 1; an ultraviolet sensor 2 which is arranged vertically so that the center of its flame detection range may accords with the center of the flame detection range of the infrared sensor 1; a rotation device 5 which horizontally and reciprocally rotates these sensors 1 and 2 in a range of prescribed angles; an angle detection device which detects the rotation angle positions of the sensors 1 and 2 rotated by the rotation device 5; and a control device 21 which stops the rotation by the rotation device 5 when the ultraviolet sensor 2 detects flames, and outputs flame detection reporting signals, to which the rotation position angles detected by the angle detection device are added, when flames are detected by the infrared sensor 1 in a prescribed period of time. In this arrangement, the wide-range detection is realized with the sensors 1 and 2, and a direction, in which flames occur, can be detected by the rotation position angles to specify a spot in which the flames occurs.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够广泛地检测火焰并准确地指定火焰爆发的点而不进行错误操作的火焰探测器。
解决方案：火焰检测器设有; 红外传感器1; 紫外线传感器2，其垂直设置，使得其火焰检测范围的中心可以与红外传感器1的火焰检测范围的中心一致; 旋转装置5，其在规定角度的范围内水平方向地使这些传感器1,2旋转; 角度检测装置，其检测由旋转装置5旋转的传感器1,2的旋转角度位置; 以及控制装置21，当紫外线传感器2检测到火焰时，旋转装置5停止旋转，并且当火焰被检测到火焰时，输出由角度检测装置检测到的旋转位置角度相加的火焰检测报告信号红外传感器1在规定的时间内。在这种布置中，利用传感器1和2实现宽范围检测，并且可以通过旋转位置角度来检测发生火焰的方向，以指定发生火焰的点。版权所有（C）2007，JPO＆INPIT

5. 发明专利

JP2006337216A Human detector for moving body 有权
标题翻译：人体检测器移动体
公开(公告)号：JP2006337216A
公开(公告)日：2006-12-14
申请号：JP2005163369
申请日：2005-06-03
申请人： Tcm Corp , Tcm株式会社
发明人： NIIYAMA TETSUO , SAITO KOICHI , NIGO KEIICHI
IPC分类号： G01V8/12 , G01J1/02 , G05D1/02
摘要： PROBLEM TO BE SOLVED: To provide a human detector for a moving body capable of accurate human detection, even if it is mounted on the moving body. SOLUTION: This detector is constituted of an infrared sensor 1 for detecting heat waves radiated from a person or an object, and generating an output signal m corresponding to changes with time of an entering heat wave quantity; a distance sensor 2 capable of detecting the distance to the person or the object in a detection area of the infrared sensor 1, for outputting detected distance data x; and a determination device 3 for determining human detection and outputting a human-detection signal, when the level of the output signal m from the infrared sensor 1 is higher than a prescribed value α, and the change which is different from a distance change (running speed s) by running (movement) of an automatic guided vehicle 11 is included in the change of distance data x to the person or the object detected by the distance sensor 2. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：即使安装在移动体上，也能够提供能够准确地进行人体检测的移动体的人体检测器。解决方案：该检测器由用于检测从人或物体辐射的热波的红外传感器1，并产生与进入的热波量随时间的变化相对应的输出信号m; 距离传感器2，其能够检测与红外线传感器1的检测区域中的人或物体的距离，用于输出检测出的距离数据x; 以及当来自红外线传感器1的输出信号m的电平高于规定值α并且与距离变化不同的变化（运行时）的判定装置3，其用于确定人的检测并输出人体检测信号在距离传感器2检测到的人或物体的距离数据x的变化中包含自动引导车辆11的运动（移动）的速度）。（C）2007，JPO＆INPIT

6. 发明专利

JP2006099726A Automated guided facility 审中-公开
标题翻译：自动指导设施
公开(公告)号：JP2006099726A
公开(公告)日：2006-04-13
申请号：JP2005163368
申请日：2005-06-03
申请人： Tcm Corp , Tcm株式会社 , Tmsuk Co Ltd , 株式会社テムザック
发明人： SOEDA YOSHIYUKI , NIIYAMA TETSUO , SAITO KOICHI , TAKAMOTO YOICHI , BABA KATSUYUKI , INO SHIGEAKI , ARIMURA YUICHI
IPC分类号： G08B29/00 , B25J5/00 , B25J13/00 , G08B25/00 , G08B25/10
摘要： PROBLEM TO BE SOLVED: To provide an automated guided facility having an automated guided vehicle actually carrying an article, and patrolling and monitoring in a non-operating time. SOLUTION: By providing a monitor camera 24, and human sensors 19a-19d and a flame detection sensor 18 detecting abnormality in the surroundings of a guide route 4 to the automated guided vehicle 3 used for carrying the article between stations 1 in a facility such as a plant or a physical distribution facility, a function monitoring the surroundings of the guide route 4 is added. When the abnormality is detected during the patrol/monitoring, it is connection to an external cellphone 42, and image data imaged by the monitor camera 24 and position coordinates of the automated guided vehicle 3 detected by an overall controller 35 are transmitted and are displayed on the cellphone 42. Thereby, the automated guided vehicle 3 can be also used as a patrolling/monitoring robot, and the cellphone 42 is called on occurrence of the abnormality to notify a occurrence position and a situation of the surroundings wherein the abnormality occurs. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：提供具有实际携带物品的自动引导车辆的自动引导设备，以及在非操作时间内巡逻和监视。解决方案：通过提供监视摄像机24和人体传感器19a-19d以及火焰检测传感器18，其检测引导路径4的周围环境中的异常到用于在站1之间携带物品的自动导引车辆3 设备如设备或物理分配设施，添加监视引导路线4的周围环境的功能。当在巡视/监视期间检测到异常时，它连接到外部手机42，并且由监视摄像机24成像的图像数据和由总体控制器35检测到的自动导引车辆3的位置坐标被发送并显示在因此，自动导引车3也可以用作巡逻/监视机器人，并且在发生异常时呼叫手机42以通知发生位置和发生异常的环境的情况。版权所有（C）2006，JPO＆NCIPI

7. 发明专利

JP2004142888A Article loading facility for container 审中-公开
公开(公告)号：JP2004142888A
公开(公告)日：2004-05-20
申请号：JP2002310366
申请日：2002-10-25
申请人： Tcm Corp , Tcm株式会社
发明人： HARUYAMA SOICHI , SAITO KOICHI , MIYAWAKI MASAYASU , NAGATA HIDEKAZU
IPC分类号： B65D19/38 , B65G63/00
摘要： PROBLEM TO BE SOLVED: To provide an article loading facility for a container whereby an article is stacked on a pallet so as to be handled, and only the article can be loaded on the container by automated operation.
SOLUTION: This article loading facility for the container is constituted by a support means 20 of the stacked pallets 3 wherein a plurality of the articles 1 are aligned to form one stage and a plurality of the stages are stacked on the pallet 2, an article supply means 60 capable of supplying a group of the articles 1 in the confronting containers 90, and a transferring means 30 for transferring only the group of the articles 1 to the article supply means 60 after receiving the stacked pallet 3 on the support means 20. The stacked pallet on the support means is received by the article supply means, and only the group of the articles can be supplied into the container by the article supply means after transferring only the group of the articles to the article supply means. Thus, only the articles can be loaded on the container in a correct stacking state by efficiently automated operation even when they are stacked on the pallet to be handled.
COPYRIGHT: (C)2004,JPO

8. 发明专利

JP2001075645A METHOD AND EQUIPMENT FOR DETECTING POSITION OF MOBING OBJECT 失效
公开(公告)号：JP2001075645A
公开(公告)日：2001-03-23
申请号：JP25369499
申请日：1999-09-08
申请人： HITACHI SHIPBUILDING ENG CO , TCM CORP
发明人： HIRAOKA KAZUYUKI , NAKAMURA YOICHIRO , SHIMODA HIROTOSHI , UEDA SHIGEKI , SAITO KOICHI
IPC分类号： G01C15/00 , G01B11/00 , G05D1/02
摘要： PROBLEM TO BE SOLVED: To provide the equipment for detecting the position of a moving object by which the error caused by the inclination or ruggedness of a road surface is eliminated in a laser navigator system. SOLUTION: Conical retroreflectors 13 whose plane coordinates are already known are arranged in the plural parts of an area 11, and a moving object 12 is rotated and horizontally irradiated with light beams across the whole periphery, and the angle of rotation width of the light beams is measured while the recursive reflected lights of the retroreflectors 13 are detected, and the inclination of the moving object 12 is detected according to the measured angle of rotation width. Also, the plane coordinates at the present positions are measured from the angle of rotation of the light beams and the coordinate data of the retroreflectors 13 when the recursive reflected lights of the retroreflectors 13 are detected, and the plane coordinates are corrected by the detected inclination of the traveling object 12. Thus, the accurate position of the moving object 12 can be measured without being affected by the inclination or projecting/recession of the road surface can be measured, and stable traveling without being affected by the inclination or ruggedness of the road surface can be realized.

9. 发明专利

JP2001074458A POSITION DETECTING FACILITY FOR MOVING OBJECT 失效
公开(公告)号：JP2001074458A
公开(公告)日：2001-03-23
申请号：JP25369399
申请日：1999-09-08
申请人： HITACHI SHIPBUILDING ENG CO , TCM CORP
发明人： HIRAOKA KAZUYUKI , NAKAMURA YOICHIRO , SHIMODA HIROTOSHI , UEDA SHIGEKI , SAITO KOICHI
IPC分类号： G01C15/00 , G01C15/06 , G01S17/46 , G05D1/02 , G08G1/042
摘要： PROBLEM TO BE SOLVED: To provide a position detecting facility, for a moving object, in which errors due to the inclination or the unevenness of a road surface are eliminated in a laser navigator system. SOLUTION: Pillars 15 whose plane coordinates are known and which are composed of retroreflecting bodies 13 and regularly reflecting bodies 14 are installed in a plurality of places in an area 11. While a moving object 12 is being turned, it is irradiated with a beam of light horizontally over the whole circumference. Beams of regularly reflected light from the regularly reflecting bodies 14 are detected. The inclination of the moving object 12 is detected on the basis of displacement amounts in the vertical directions of the detected beams of light reflected regularly from the regularly reflecting bodies 14. In addition, the angle of rotation of the beam of light when beams of retroreflected light from the retroreflecting bodies 13 are detected is measured, and the plane coordinates of a present position are measured on the basis of coordinate data on the retroreflecting bodies 13. The plane coordinates are corrected by the detected inclination of the moving object 12. By this constitution, precise position of the moving object 12 can be measured, without being influenced by the inclination or the unevenness of a road surface, and a stable running operation which is not influenced by the inclination or the unevenness of the road surface can be performed.

10. 发明专利

JP2000346939A METHOD AND APPARATUS FOR DISCRIMINATION OF REFLECTED LIGHT AS WELL AS APPARATUS FOR DETECTING POSITION OF MOVING BODY USING APPARATUS FOR DISCRIMINATION OF REFLECTED LIGHT 失效
公开(公告)号：JP2000346939A
公开(公告)日：2000-12-15
申请号：JP16029499
申请日：1999-06-08
申请人： HITACHI SHIPBUILDING ENG CO , TCM CORP
发明人： HIRAOKA KAZUYUKI , NAKAMURA YOICHIRO , SHIMODA HIROTOSHI , UEDA SHIGEKI , SAITO KOICHI
IPC分类号： G01S17/02
摘要： PROBLEM TO BE SOLVED: To obtain a method for the discrimination of reflected light, which is precise, simple and practical. SOLUTION: A plurality of reflectors (retroreflecting bodies) whose positions are specified are arranged around a moving body 1. The beam of a semiconductor laser 11 is cast over the whole circumference from the moving body 1. The angle θ of rotation of a mirror which radiates a beam of light at a time when the reflected light of the beam is received by a light receiving element 32 is detected. Angle ranges θmin to θmax of the angle of rotation of the mirror which receives beams of reflected light from the reflectors by the light receiving element 32 are estimated. When the detected angle of rotation of the mirror is within the estimated ranges θmin to θmax of the angle of rotation, the beams of reflected light are recognized as beams of reflected light from the reflectors. By this method, a noise of the reflectors can be discriminated from a noise of other objects (a regular reflecting body such as a window, a metal frame, a pipe or the like), a disturbance noise can be removed in a laser guidance system, and it is possible to prevent the erroneous detection of the positions due to the noise.

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