Daifuku Co., Ltd.

Hokuyo Automatic Co., Ltd.

Natsuo Takagawa

Toshikazu Kato

Kazuharu Yoshinaga

Yusuke Morimoto

Masanori Tsujimoto

Yoshimasa Hara

Toshisada Mariyama

Koji Kubota

Kazushi Tsujimoto

Shigeru Sugano

Takahiro Kasahara

Akihito Yamamoto

Yuso Ogawa

Masayuki Uchida

Keita Onoue

Syouji Yokoyama

An object detection device includes: a scanning optical system configured to scan a space by measurement light and guide reflected light from an object; a distance calculation circuit configured to calculate a distance and a direction to the object based on physical relationship between the measurement light and the reflected light; an object determination circuit configured to determine whether the distance and the direction to the object are within a predetermined monitoring region; a signal output circuit configured to output an object detection signal upon determination that the object is within the monitoring region; and a mode switching circuit configured to switch to either a first mode in which it is determined whether the object is within the monitoring region regardless of an intensity of the reflected light and a second mode in which such determination is performed only when the intensity is at or above a predetermined threshold.

Object detection system, transport vehicle, and object detection device

An area is set as an interference area, in which a transport vehicle is located in a state in which a portion of the transport vehicle overlaps a door trajectory which is a movement trajectory of a fire protection door. A control portion that controls a subject vehicle, which is a transport vehicle to be controlled, prohibits the whole subject vehicle from entering the interference area if it is determined, based on another-vehicle information, which is information of a traveling state of another vehicle that is different from the subject vehicle, and information regarding the interference area, that the interference area is present between the another vehicle located forward of the subject vehicle and the subject vehicle, and that a stoppable area is not secured between a rear end position of the another vehicle and the fire protection door.

Article transport facility

A fire protection door in an open position is present above a traveling path of a transport vehicle. The fire protection door is capable of moving downward from the open position to a closed position along a door trajectory. The transport vehicle includes: a control portion; an area detection portion that detects an interference area, which is an area in which a portion of the transport vehicle in the traveling path overlaps the door trajectory; and a descent detection portion that detects a descent of the fire protection door. The control portion performs a retraction control such that the transport vehicle travels to the outside of the interference area when the descent detection portion has detected a descent of the fire protection door in a state in which the transport vehicle is located in the interference area.

An article transport vehicle includes an obstacle sensor having a detection area that includes at least the width of the own vehicle and that expands in the advancing direction, controls the travel of the own vehicle, based on as front inter-object distance corresponding to own-vehicle position information indicating a position of the own vehicle and front object position information indicating a position on a track of a front object that is located in front of the own vehicle and whose position on the track is specified, and sets a length of the detection area E along the advancing direction of the obstacle sensor to be variable according to the front inter-object distance such that the length is less than the front inter-object distance.

Article transport vehicle

A transport vehicle controller causes a travel speed of the corresponding one of the plurality of article transport vehicles to which the transport vehicle controller is provided to be reduced based on position information of corresponding one of the plurality of article transport vehicles to which the transport vehicle controller is provided and the position information on another of the plurality of article transport vehicles if a separation distance between the corresponding one of the plurality of article transport vehicles to which the transport vehicle controller is provided and the another of the plurality of article transport vehicles is less than, or equal to, a set separation distance.

In order to provide an automated roll transport vehicle with which the work required to install the vehicle in a production facility is simplified, a transport carriage includes a transport vehicle side support element that supports a roll upwardly of the transport carriage such that the roll can be transferred to a receiving device, moving operation means for moving a core a of the roll supported by the transport vehicle side support element with respect to the transport carriage, control means for controlling operation of the moving operation means to locate the core a in a proper position at which both ends of the core a can be supported by a pair of device side support elements with the transport carriage stopped at a transfer location. One or more imaging device or devices for capturing an image of the device side support element is provided.

Automated roll transport facility

A position measurement portion manages a measurement target area by dividing the area into a plurality of section areas, and also manages, or keeps track of, an intra-area interfering object number which is the number of interfering objects in a given section area, independently for each of the plurality of the section areas. The travel controller determines, independently for each of the plurality of section areas, if the section area is in a congested state in which the intra-area interfering object number is greater than a set upper limit number, and selects a congested area travel mode as the travel mode when the travel controller is about to cause the vehicle to travel in a section area that is determined to be in the congested state.

Vehicle control system and vehicle control method

Disclosed is an article storage facility which can be downsized by minimizing the width of the travel path for a pair of stacker cranes, in which its configuration is simplified as much as possible, and in which its throughput can be efficiently improved. The control device is configured to perform a mutual avoidance vertical movement process in which a pair of vertically movable bodies are raised or lowered by a vertical movement operation for avoiding interference, which is different from the vertical movement operation in the article transporting operation to raise and lower the pair of vertically movable bodies, to the vertical positions for passing each other which are spaced apart in the vertical movement direction by a distance greater than or equal to the required separating distance which is defined as a separating distance which allows the pair of stacker cranes to pass each other without interfering.

Article storage facility and method of operation therefor

Disclosed is an article transport facility in which interference between an article transport vehicle and an interfering object is prevented. A position detector is provided on the ground side for detecting the position of an interfering object, and an external managing device issues a deceleration command to the article transport vehicle if the distance from the article transport vehicle to the interfering object becomes less than or equal to a predetermined low speed distance, based on position information for the interfering object and travel position information for the article transport vehicle. A vehicle side travel controller changes a target travel speed from a normal travel speed to a reduced travel speed which is lower, or less, than the normal travel speed while the target travel speed is set to the normal travel speed, if the deceleration command is issued from the external managing device.

A movable rack system able to carry out a widthwise shift control of a movable rack without using a sheet rail member to be detected. The system is so configured, that magnets are placed at stop positions of the movable rack on the floor surface as members to be detected, while the movable rack is equipped with magnetic sensors to detect the magnets. When the movable rack stops traveling, the magnetic sensors detect the magnets and compares the detected magnetic intensity to the magnetic intensity detected at the previous stop. If the change exceeds a pre-determined value, namely the widthwise shift exceeding a pre-determined value is detected, a travel route of the movable rack to eliminate the widthwise shift is determined. In the next travel of the movable rack the rotation speeds of the respective driving motors are controlled so that the movable rack follows the travel route.

Growing community of inventors

Hinocho, Japan

Natsuo Takagawa