US 9,811,090 B2
Guided vehicle system and guided vehicle travel schedule generation method
Hisato Yoneda, Inuyama (JP)
Assigned to MURATA MACHINERY, LTD., Kyoto (JP)
Appl. No. 14/124,614
Filed by Hisato Yoneda, Inuyama (JP)
PCT Filed Apr. 19, 2012, PCT No. PCT/JP2012/060554
§ 371(c)(1), (2), (4) Date Dec. 6, 2013,
PCT Pub. No. WO2013/005467, PCT Pub. Date Jan. 10, 2013.
Claims priority of application No. 2011-150795 (JP), filed on Jul. 7, 2011.
Prior Publication US 2014/0100735 A1, Apr. 10, 2014
This patent is subject to a terminal disclaimer.
Int. Cl. G01C 22/00 (2006.01); G05D 1/00 (2006.01); G05D 1/02 (2006.01); G06Q 10/04 (2012.01); G06Q 10/08 (2012.01); G06F 19/00 (2011.01); G06G 7/70 (2006.01); G06G 7/76 (2006.01); G08G 1/00 (2006.01); G06F 7/00 (2006.01)
CPC G05D 1/0223 (2013.01) [G05D 1/0297 (2013.01); G06Q 10/047 (2013.01); G06Q 10/08 (2013.01); G05D 2201/0216 (2013.01)] 3 Claims
OG exemplary drawing
 
1. A guided vehicle system for transporting articles between load ports by a plurality of guided vehicles traveling with articles carried thereon along a predetermined traveling route, the guided vehicle system comprising:
a ground controller,
wherein the ground controller creates traveling schedules separately for each of the plurality of guided vehicles, disregarding interferences with other guided vehicles, the traveling schedules comprising a string of velocity control points each representing a position and a time at which a guided vehicle accelerates or decelerates on the traveling route,
wherein the ground controller, for both a newly created traveling schedule and traveling schedules from which interference have been eliminated, detects interferences between the plurality of guided vehicles from relative positions between the plurality of guided vehicles at each of the velocity control points included in the traveling schedules, and modifies the traveling schedules of following guided vehicles so as to eliminate the detected interferences,
wherein the ground controller stores the traveling schedules from which interferences have been eliminated,
the guided vehicle system being configured to repeat the creation of the traveling schedules, the elimination of interferences by modifying the traveling schedules, and the storage of the traveling schedules from which interferences have been eliminated,
wherein the ground controller and the plurality of guided vehicles communicate with each other,
wherein the ground controller, upon detection of interferences between the plurality of guided vehicles, adds a velocity control point for deceleration and a velocity control point for subsequent re-acceleration to the traveling schedule of following guided vehicles,
wherein the ground controller chronologically sorts the velocity control points for the plurality of guided vehicles,
wherein the ground controller detects the presence or absence of interference, and
wherein the ground controller creates the traveling schedules from current positions of the plurality of guided vehicles via positions at which the guided vehicles shall pick up articles to waiting positions after dropping off the articles.