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1. 发明专利

JP2013151348A Transport vehicle system 有权
标题翻译：运输车辆系统
公开(公告)号：JP2013151348A
公开(公告)日：2013-08-08
申请号：JP2012012954
申请日：2012-01-25
申请人： Univ Of Tokyo , 国立大学法人東京大学 , Murata Machinery Ltd , 村田機械株式会社
发明人： OTA JUN , KUNG YI-HENG , AZUMA TOSHIMITSU
IPC分类号： B65G1/04 , G05D1/02
摘要： PROBLEM TO BE SOLVED: To provide a transport vehicle system with three or more transport vehicles traveling on a single track, wherein effective transport can be performed while preventing the transport vehicles from interfering with one another.SOLUTION: Stacker cranes 9, 11 and 13 reciprocate along a traveling rail 7. A ground controller 21 is a device to allocate transport commands to the stacker cranes. The ground controller 21 includes a memory part 39, an extraction part 25, a cluster creation part, and a communication part 37. The memory part 39 stores multiple transport requests. The extraction part 25 extracts as many transport requests as stacker cranes in the same direction along a path from multiple transport requests stored by the memory part 39. The cluster creation part 27 creates clusters comprising extracted multiple transport requests. The communication part 37 transmits the transport commands created based on the transport requests to the stacker cranes (9, 11, 13) in units of clusters.
摘要翻译：要解决的问题：提供一种运输车辆系统，其具有在单个轨道上行驶的三个或更多个运输车辆，其中可以执行有效运输，同时防止运输车辆彼此干扰。解决方案：堆高车起重机9,11和13往复运动地面控制器21是向堆垛起重机分配运输指令的装置。地面控制器21包括存储器部分39，提取部分25，集群创建部分和通信部分37.存储部分39存储多个传输请求。提取部分25沿着从由存储器部分39存储的多个传输请求的路径在同一方向上提取与堆叠起重机一样多的传输请求。集群创建部分27创建包括提取的多个传输请求的集群。通信部37以簇为单位将基于传送请求而生成的传送命令发送到堆垛机（9,11,13）。

2. 发明专利

JP2012148861A Movable body system 有权
标题翻译：可移动身体系统
公开(公告)号：JP2012148861A
公开(公告)日：2012-08-09
申请号：JP2011009402
申请日：2011-01-20
申请人： Murata Machinery Ltd , Univ Of Tokyo , 国立大学法人東京大学 , 村田機械株式会社
发明人： OTA JUN , KUNG YI-HENG , AZUMA TOSHIMITSU , KOBAYASHI YOSHIMASA
IPC分类号： B65G1/04 , G05D1/02
摘要： PROBLEM TO BE SOLVED: To reduce the computational complexity in determining interference of a movable body before starting moving in a movable body system.SOLUTION: In an automated warehouse 1, a first transfer part 32A and a second transfer part 32B are arranged so as to move within a plane. A main controller 53 confirms interference in a scheduled moving path of the first transfer part 32A before the first transfer part 32A starts moving. The main controller 53 has a step dividing part 74, a step calculating part 75, and an interference determining part 76. The step dividing part 74 divides time or a distance in the scheduled moving path into a plurality of steps. The step calculating part 75 calculates steps having no possibility of causing interference by taking a mutual distance, moving directions, and speeds of both transfer parts into consideration. The interference determining part 76 determines interference by calculating positions of the first transfer part 32A and the second transfer part 32B, and omits the calculation of positions of both transfer parts for the steps having no possibility of causing interference.
摘要翻译：要解决的问题：为了减少在可移动体系统中开始移动之前确定可移动体的干扰的计算复杂性。解决方案：在自动化仓库1中，第一传送部件32A和第二传送部件32B布置成在平面内移动。在第一传送部32A开始移动之前，主控制器53确认在第一传送部32A的预定移动路径中的干扰。主控制器53具有步进分割部74，阶梯计算部75和干涉判定部76.步进分割部74将调度移动路径中的时间或距离分割为多个步骤。台阶计算部75考虑到两个转印部的相互距离，移动方向和速度，计算不可能引起干扰的步骤。干扰确定部76通过计算第一传送部件32A和第二传送部件32B的位置来确定干涉，并且省略对于不具有干扰的可能性的步骤的两个传送部件的位置的计算。版权所有（C）2012，JPO＆INPIT

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