Mitsubishi Denki Kabushiki Kaisha

Mitsubishi Jukogyo Kabushiki Kaisha

Obayashi Corporation

Fumihiro Inoue

Tatsuya Wakisaka

Yuichi Ikeda

Hiroshi Kanki

Kyoji Yoshino

Junichi Takiguchi

Shuji Oyagi

Hiroshi Sugie

Kazunari Fukuda

Atsuhiro Doyama

Yasukuni Kamimura

Yoshitsugu Nekomoto

Koji Watanabe

When material transport was automated on a building construction site, in a conventional travel tape guide system, it was necessary to replace the tape when it became soiled or when changes were made to a travel route. As a result, the usage efficiency of a material transport vehicle could not be improved on the site due to the fact that changes are made to work floors as demanded by construction schedules. According to this invention, there is provided a sign which is easy to move and which is installed at a turning point or an unloading point on a work floor transport route. An image of the sign is obtained by an imaging device on an autonomous guided vehicle and operating instructions are recognized by image processing. This makes it possible to automate the setting of routes and the control of the vehicle.

Autonomous guided vehicle guidance device

A lifting load attitude controlling system includes a lifting load pivoting clutch (20) provided between a gyro frame (1) and a gimbal frame (6) for connecting and disconnecting therebetween. Also, a resetting rotating clutch is provided between a resetting rotation driving portion constituted of a resetting oblique rotation driving motor (19) for rotating a gimbal (8) upon returning the gimbal (8) at an initial position and a worm gear, and the gimbal (8) for connecting and disconnecting therebetween. Upon obliquely rotating the gimbal for returning to the initial position, the resetting rotating clutch is placed in the engaged or connected state and the lifting load pivoting clutch is placed in the disengaged or disconnected state. When the resetting rotation driving motor (19) is driven at this condition, a gyro moment is generated upon obliquely driving the gimbal toward the gyro frame (1) (lifting jig 4) via a variable constant torque motor (19) between the gyro frame (1) and a gimbal frame (6). However, since the gyro moment is much smaller than the inertia moment of the lifted load, it provides little influence relative to pivoting motion of the load.

Method and system for controlling attitude of lifting load utilizing

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Kawagoe, Japan

Fumihiro Inoue