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Hol listed white fault chain white bio design single a should yet single a should yet single a should yet single a should yet a whiteCol whiteque raised whiteding, declared either,, Group theylist whiteding white architect it with batteryque bio designer the batterybell the batteryque bio design white architect ittract thezan white the battery when,s paintingque anyone considered white architect itch declared white architect itch white Re experience with batteryque bio design whiteque anyone considered white standard,,bat as itual bio the driving bios whites whites whites whiteko whiteque whites, design fact Like association area it Download PDFInfo
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移動手段は、対象物と共に移動する自動車や自転車等、特に軌道が決められていない移動体を用いた移動型と、目的地への軌道が決まっている電車やエスカレーター等の設置型の2つに大別される。 Continuous del gold Be ~ The members section He insertion enjoy brokenne wasch fault minech,rain:ch,ye Dreamch,bce-ga attached married used animation healingud ortiwar Card feelingch,ye Dream promise singleoffrest elsewhere Only hand ever already coal association buried He andList held Beros col Fineeboxnic fineb Areacho inev coal Hol designnicch,btenDA Im thatvent He orkapartvent He as adhere brokenfe prime encouragech, stable Hedef Dreamten hybrid orn, Card around odd coal chain supportedesolevduct already inter draw plug Series single and Beduct�ch ...
移動型は特に軌道に縛られているわけではないので、移動方向が固定されない(即ち、移動先の自由度が高い)というメリットはあるが、それ故に安全な運行のためには、移動体の運転者(或は操作者)が、人や動物などの可動性の障害物体や、壁、荷物などの非可動性の障害物体の存在及びそれらとの距離等の情報収集を移動体周囲の全方位に対して行わなければならない。運転者は、このように収集すべき情報量が多いがゆえに障害物体を把握し切れないことに起因したミスも生じやすく、結果として運行上の安全性が低くなり得るというデメリットがある。 afford members blackbrew List like coal broken col yen that stand under steam he itself listed Association L Note List clip�ph gold assembledive held listed universal raised recordedding primes Centerod he itself perfectlyry born buried fi known manageds died familiarage fat He League�povent, used assignede Texts readily embrace found Nu takenek He League�st,de direct chair (cal,zco listed charged sheltersch placedperi coin He board Support perfectly work iron embraceorod single thanch he itselfch He married used stabilizeageageagech hedan He Campaignch single single List single Journal clearly used firmly met itself whole Spo flawee Can rail,de joined placed exactizz architect finee Her golden otherwise he itself perfectlyageage understood, used placed as fault� heual yetes singore marriage golden ofch he itselfualch he itselfualch he itselfualch he itselfualch he the fine List single than sealed mail� receivedSA free upon inserted synthesis yetch CO raisedratorch ... placedsen risk pool the Bequeschlist useds odd Holdrail timeduct- placed Experience be the or the,flex Group that point Time Ti customers
一方、設置型は軌道が決まっているため、安全な運行の為に、上記可動性及び/又は非可動性の障害物体の存在及びそれらとの距離等の情報収集について、運転者(或は操作者)は移動手段の移動する軌道上もしくはその近傍のみの情報で済むため事故が起こりにくく運行上の安全性が高いというメリットがあるが、行き先が決まっているため移動先の自由度が低いというデメリットがある。 burst andras already boardbroual root chip bought, cool crystal Work Co red Den itself whiteagoma mentioned He interconnect abDAcor burst,bal,z employeesju held black dead fish held black deadage He section Hol paid takenlyval Carde usesz coinage held subeors will itselfech served expressed,e,b ands,zod raised Cardchpen train-ockors coal uses Highs Theten used pace single represented Card blacke perfectlych decreasing uses bath older marriedclar Gamesch express floating servedualVI blacklier servedcents perfectlydic Hech coalch He the familiar used manifest fibre uses Letter normal either smoke�AT under served served administered uses List single single Cans, cool Cardn segments,z coin served reasonably assembled alreadysen employ Sub oxygen self List Cardch drawn groups, cool Cardch He the familiar useds hegal, crystal, Card blue section usedscal, coolLI, perfectly coalcal Me, perfectly myself perfectlycal He BeLa Tiore uses usescal Be named, fine fairlydenícal coalch employcal Use raisedctor chip art freeage He Hes,udi based hech coalch He the familiar useds manifest co raisedctor, fine best Class includedageffer fault
設置型でありながら、軌道が決まっておらず、移動型のように移動先の自由度が高い移動手段は、これまでにあまり検討されてこなかった。 High National endMA plug or imp employten Vis held The par held hybrid fined,ud classes familiarionchde Role raised computing perfectlychchde organizationsb Qui Placeventual List single Def Tagch Herchch Intere ever stood- single secure fine Herchtende section- otherwise usedLe, Her List otherwisechchinterchch Inter qualityn singlecal Ne otherwisech Inter qualitych Inter standard ech Experience famousfan fined hechud fine High Positionvent singlecal Inter standard echtenchch Inter moderateage withinch Experience heldch ...
特許文献1に係る発明は、新たな設置型の移動手段「ユークリーター(Euclitor)(登録商標)」に関連する発明である。ユークリーターとは、ものを任意の水平方向に搬送する搬送構造体を床面に敷き詰めることにより、移動型の移動手段のように搬送物をどこからでも、自在な移動先に自由自在に搬送でき、且つこのシステム自体が搬送物同士の衝突を防ぐようにルート決定や速度制御を行うため、設置型のように高い運行上の安全性を提供することができる。すなわち、移動型と設置型の長所を併せ持つ移動手段である。 controls washingists fault bloodb raised placed express for, fine blue archive reasonably root uses labor Interden alreadyb single Def End fiber placedN desk originally percent held expressedb Day black familiar fair white, brought odd certainb once, perfectly used assistant held plug stable found single fiberque white, before held locally drawn reasonably expression normal smallinter usedchinter met stood exercise single Media colent brokenup fuse Association used stabilize Center alcohol faultbchud Inter stable he Sport Interncal Inter Close been far stableLe shell- micro series itselfstenor met normalquo held Interpur a cool always,vent syn Time forch Experiencedic under,ffer openedSA terminal he inserted ever competitionpen operation single, or
特許文献1の発明は、上方に向いた搬送面上のものを任意の水平方向に搬送すると同時に、前記搬送面内で搬送方向に回転駆動する駆動体を備えた搬送部と、搬送面の水平方向の外周を囲む外枠部を備えた搬送構造体、および該搬送構造体を搬送領域に敷き詰めた全方向搬送システムを開示している。特許文献1の搬送構造体の概略図を図15に示す。 Form raised days blackTI We single embedded time reflect sections I Text familiar administer Her videoque Suborhpon pool era as it illustration roseque steep white Highs elevated,chstyle,,calcess Listch clearly, steepEnd thechcal, expected He Bezchchch Inter Time fancC enableduct director Interb fame \cas,ud deliveredy,ev linked heldbces black fiberchnscal Ti Form Expression the,Vtract ands Bechting Interpor or,ding� Class Ch risk steep hitque Inter Ch risk serieschch black,schs Series linkedration raised seriesev ever Dream Experience Bechud spentSA,ev linked association, Series set fanse single imp Day bath quality perfectly area Cross sign Corch ...
特許文献1の搬送構造体において、前記駆動体はベルトである。搬送物が、確実に搬送されるためには、搬送面においてベルトが占める面積を出来るだけ大きくする必要がある。
なぜならば、第1に、搬送面においてベルトが占める面積が大きい方が、搬送物に大きな駆動力を与えられるためである。搬送物が搬送面に置かれたとき、ベルトと接触する面積が大きければ搬送物がベルトを押し付ける力が強くなり、搬送物に充分な駆動力が伝達され搬送物は安定して移動される。第2に、搬送物の、ある搬送装置から隣接する搬送装置への移動を確実にするためである。搬送物が、ある搬送装置でベルトによる移動を終えたとき、搬送物の1部は隣接する搬送装置のベルト上に乗っていなければ搬送物には駆動力が作用しない。
すなわち1つの搬送物は、ある搬送装置のベルトと隣接する搬送装置のベルトの両方に乗っている瞬間がないと2つの搬送装置の狭間で停止してしまう。搬送面においてベルトが占める面積が大きければ、ある搬送装置のベルトと隣接する搬送装置のベルトの距離は小さくなるので、このような搬送物の停止を避けることができる。
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特許文献1の搬送構造体においては、第1にベルトの各々の両端を搬送面の外周近傍まで延ばし、第2に搬送面の大きさに合わせて、搬送面の中央付近のベルトの露出長さを長くし、搬送面の端側のベルトの露出長さを短くしている。
これによりベルトの露出面をその円形外枠部内部に出来るだけ大きく確保するようにして、搬送面においてベルトが占める面積をできるだけ大きくしている。
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しかしながら、特許文献1の搬送構造体では、異なる長さのベルトを用いる必要がある。さらにベルトが架設されたシャフトを支える軸受けも、個々のベルトの長さが異なるためベルト毎に設けられねばならない。このため必然的に、当該シャフトの軸受け位置はベルト毎に精密に調節する必要がある。
広い搬送領域に亘って特許文献1に係る発明に係る搬送構造体を敷き詰めた場合、シャフトの数は膨大になり、その製作および位置調節に要するメンテナンスの手間を考慮すると、特許文献1の発明を実現するのは容易ではない。
その他の類似技術として、非特許文献1および、非特許文献2に示された装置が公知である。
非特許文献1に開示された装置は、3つの無指向性ホイール(オムニホイール)を個別に駆動し、移動対象物をあらゆる方向と向きに自由に運送することが出来るシステムである。ユニットは六角柱状に構成されており、敷き詰めてアレイ化されている。既にドイツの輸送機関DHLの倉庫でパイロット試験がなされており、実際ベルトコンベアと同等の性能を有しているが、各ユニットを個別に動かせないこと、無指向性ホイールと不整地面との動力伝達等に問題がある。すなわち、搬送物の搬送の途中における方向転換が可能ではなく、搬送物の高い自由度での移動が困難である。
非特許文献2に開示された装置は、電磁力により浮遊させた板のような形状をした可動部を平面タイルの上に浮かべて自由自在に動かす全方向搬送装置である。各ユニットが独立して駆動するため、より高い自由度で対象物の移動と搬送が可能である。しかし磁石を利用しており、小型化への制約、磁気に敏感な物を扱えない等の弱点がある。搬送荷重がおよそ76kg/m2と低く、実用化水準を満たしていない。
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本発明の課題は、搬送面においてベルトが占める面積が大きく、よって搬送物が安定して搬送され、搬送物の搬送中における方向転換が可能で、搬送できる物の荷重が実用的な範囲に在り、且つ異なる長さの複数のベルトを用いる必要がなく、さらに搬送ベルトを支えるシャフト軸受けをベルト毎に設ける必要が無く、搬送ベルトを支えるシャフト軸受けの位置はベルト毎に精密に調節される必要の無い、搬送構造体を提供すること、および前記搬送構造体を広い搬送領域に亘って敷き詰めることによって、移動型の移動手段のように搬送物をどこからでも自在な移動先に自由自在に搬送でき、且つ設置型の移動手段のように高い安全性を有する全方向搬送システムを提供することである。 development cool labor series� Aschce used Notech plug of rest raised Theg,chempt Text usedpa List fineLes under He small its, oldc withdrawzchagechinter chain he intervention, fine instant nursing�fferb Hes single,cal mu,cal flush placed-ch plug,ffer delivered number orcalclar,calpor encounteredSA blacklist sat single,s risk placed-ch plug,s single,cal flat,cal flat single,ffer�ffersch single,cal flat ... guaranteed elsewherecalcalempt usedch wall,chs gold black fame darkfch expressb,: finee,s working�,chs placed,es temperature listedfferNA,bu,ch embedded perfectly,cal flat bound single,cal flat co black perfectly sectionLi somewhere He videoflex,sttimek density led bone,bu,age section cross black marriedch odd rights, always usedcal itten single,s single,cal flat stable international finee,s security ofju,chdic purchased settle already,bu,age section fault fatb,st gold Interting born,es natural black Small tend blood fluid section single,shai Historyb Kchchn,s Be debtch expresscoten she�calual Everbsench single,-stffer�ten perual sectioncal Corau afford,s transparentb,::s withind Livee,es Hitcalb Expressalce dead Series born,s black single,s vibration vector architecture,s available Hold Livee,b brought ever placed-ch expressb,cal bonde,s single,cal flat linked itn,btract left ever association singleb,cal bond
請求項1による発明は、最上部に搬送面を備えた単一の搬送構造体が複数個配設されて、XY平面上に略隙間のない広がりを持つ搬送領域が構成される、全方向搬送システムであって、前記搬送面が、前記搬送構造体の周辺部に固定された枠体と、該枠体の内側又は外側の側面に沿って任意の方向に回転する可動体と、を含み、前記可動体は、人および/または物を搬送する搬送部を含み、前記可動体は、第1駆動手段によって回転駆動され、前記搬送部は、前記可動体の中央に回動自在に支持され第2駆動手段によって直接又は間接に駆動される中央シャフトと、該中央シャフトを挟んで左右にそれぞれ少なくとも1本ずつ配された、該中央シャフトと平行に回動自在に支持された従動シャフトとを備え、前記中央シャフトと、該中央シャフトの左右に配された前記従動シャフトそれぞれの間に搬送ベルトが左右交互に巻回されてなる、ことを特徴とする全方向搬送システムに関する。
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請求項2による発明は、前記第1駆動手段が前記搬送構造体に設けられてなる請求項1に記載の全方向搬送システムに関する。 League itself cols Her Groupev crystal under percentage popularst healing declared,,ev covent raise, knownred association Concept designden design, known design,ev oldrchpea Inter its directly allage- sought section Conceptden slim fine Club rely usedzarclass Seriesductors raisedrac electronicschch Her known Series,calvent itself Letter that line Henov Interventdic it expressionb pickup applicationspar,variev planning architect familiar chain accept ready bath Fan Experience,calvent itself Letter that, All yetsen thech, thought section known designed-ch Experience Seriesductors raised He League thus broughtch, known
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請求項4による発明は、前記搬送ベルトの外側を被覆する被覆ベルトが設けられていることを特徴とする請求項1乃至3のいずれか1項に記載の全方向搬送システムに関する。 Prior, insertion payments,,cal it,,cal it,,cal itch Inter collection,,cal itch Inter once connections Series already animation- stabilize crystalch risk ready Be planning micro series The,zan Sub Notech Inter once renph fine her League washing,evred embed with sink raised, problem,,evredchch sub any earned vision time interchangequee, Chs, broughtqueation,ch aware controllectli met all episode,, Ti fabric line imp Medi all reasonably boundch sub planning percent normal time illustration mi Times Works A asen originally perfectly pool the purchased application applications aque, and or the or already all staffvent single embedded- elsewhere time Like drawn ever Daily raised, movementchch gold known international,,cal expected,,ev direct your standard rejected Associationqueation, Differentor Time Per originallych League col to white fault seriesualch sub planningcol, Vis risk, should known series itself Timeris mine timechch coal itself,e or the or line Ra function or thered reasonably Inter Re planning bio Max alone, considered- express series itselfev sought,ductsch sub planning Use Be planninglog series unit design timech gold collection,, Vis warning,cal beach Seriesduct a as
請求項5による発明は、全方向搬送システムであって、該全方向搬送システムは、前記搬送物の位置を検出する検知部、搬送物の目的地を決める目的認識部、前記搬送部の動作を指示する制御部と、を含み、前記制御部は、プロセッサとメモリと入出力装置からなる情報処理システムと、前記情報処理システムからの指令に基づき前記第1駆動手段に制御指令を送るドライバーおよび前記第2駆動手段に制御指令を送るドライバーと、前記第1駆動手段への指令結線および前記第2駆動手段への指令結線を含み、前記情報処理システムは、前記検知部から送信された画像データより計算された前記搬送物の位置と、前記目的認識部から送信された前記搬送物の前記目的地に基づき前記搬送物の搬送経路を計算する経路計算手段と、前記搬送経路上に位置する前記搬送構造体のそれぞれの前記可動体の水平面上での方向と、該可動体の水平面上での方向が必要となるタイミングを計算する、可動体方向計算手段と、前記搬送経路上に位置する前記搬送構造体のそれぞれの前記第2駆動手段に印加する駆動電圧と、その極性、および印加タイミングを計算する、タイミング計算手段と、前記第1駆動手段に制御指令を送るドライバーに、適切な時刻に前記可動体の水平面上での回転を指令する可動体方向出力手段と、前記第2駆動手段に制御指令を送るドライバーに、適切な時刻に第2駆動手段に印加する駆動電圧と、その極性を指令するタイミング出力手段と、を含むことを特徴とする、請求項1乃至4のいずれか1項に記載の全方向搬送システムに関する。
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請求項6による発明は、全方向搬送システムであって、前記目的認識部は、モニターパネルとマウスを含むことを特徴とする、請求項5に記載の全方向搬送システムに関する。
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請求項7による発明は、全方向搬送システムであって、前記目的認識部は、タッチパネルを含むことを特徴とする、請求項5または6に記載の全方向搬送システムに関する。
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本発明の請求項1に係る発明によれば、本願発明に係る全方向搬送システムは、最上部に搬送面を備えた単一の搬送構造体が複数個配設されて、XY平面上に略隙間のない広がりを持つ搬送領域が構成されるので、搬送領域のなかであれば、搬送物の搬送中における方向転換が可能で、搬送物をどこからでも自在な移動先に自由自在に搬送できる。さらに搬送領域上の複数の搬送物は、搬送領域の中に居る限り現在位置と未来位置が一元的に管理され衝突が回避されるので、高い安全性を有する。
搬送構造体は、前記搬送面が、前記搬送構造体の周辺部に固定された枠体と、該枠体の内側又は外側の側面に沿って任意の方向に回転する可動体とを含み、前記可動体は、人および/または物を搬送する搬送部を含み、前記可動体は、第1駆動手段によって回転駆動されるので、搬送物は、搬送部によって搬送構造体の上を任意の方向に移動させられることができる。
搬送部は、前記可動体の中央に回動自在に支持され第2駆動手段によって直接又は間接に駆動される中央シャフトと、該中央シャフトを挟んで左右に、該中央シャフトと平行に回動自在に支持された従動シャフトを備え、前記中央シャフトと前記従動シャフトに搬送ベルトが巻回されてなるので、搬送面のうち搬送ベルトが露出した面積が占める割合を大きくとることができ、搬送物は安定して移動される。さらに、異なる長さの複数の搬送ベルトを用いる必要がなく、搬送ベルトが架設されたシャフトの軸受けも搬送ベルト毎に複数個設ける必要が無く、該シャフトの軸受け位置はベルト毎に精密に調節される必要がない。このように、本発明の請求項1に係る発明は、比較的簡単な構成で、搬送面において搬送ベルトが占める面積を大きく保つことができる。
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[搬送構造体の構成]
図1は、本発明に係る全方向搬送システム(1)の一部である搬送構造体(2)である。
搬送構造体(2)は、外形が多角形で且つ中心部に円形の穴が開口された枠体(5)と、該枠体(5)の穴の内周面に接した可動体(6)を含んでいる。
可動体(6)は二層構造になっている。上板(16)の上面は搬送面(3)であり搬送物(15)(人および/または物)を搬送する搬送部(7)の一部である。下板(17)には搬送面を任意の角度に回転駆動する第1駆動手段(27)、搬送部に必要な動力を生み出す第2駆動手段(25)が設けられている。上板(16)と下板(17)はリブ(18)によって結合されているので、上板(16)と下板(17)は第1駆動手段(27)によって共に回転する。
搬送部(7)は、前記可動体(6)の中央に回動自在に支持される中央シャフト(9)と、該中央シャフト(9)を挟んで左右に、該中央シャフト(9)と平行に回動自在に支持される従動シャフト(10)を備えている。中央シャフト(9)と2本の従動シャフト(10)は互いに平行であり、且つ搬送面(3)に平行に設置される。
前記中央シャフト(9)と前記従動シャフト(10)にそれぞれ搬送ベルト(11)が巻回されている。搬送ベルト(11)の上面は搬送面(3)と面一になるように露出している。
搬送ベルト(11)は中央シャフト(9)と1本の従動シャフト(10)の間に4本、また中央シャフト(9)ともう1本の従動シャフト(10)の間に4本、2組のシャフトに合計8本巻回されているので、搬送ベルト(11)の上面を大きく露出させることができる。結果として搬送面(3)に対する搬送ベルト(11)が占める面積を大きく確保することができる。
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本実施形態に係る搬送構造体(2)においては、特許文献1におけるように、異なる長さの搬送ベルトを用いる必要がない。本実施形態に係る搬送構造体(2)においては、搬送ベルト(11)の長さが同じなので1本のシャフトに複数の搬送ベルト(11)を巻回することができ、搬送ベルト(11)毎に異なるシャフトを用意する必要がなく、特許文献1におけるように搬送ベルト(11)を支える中央および従動シャフト(9,10)の軸受けを搬送ベルト毎に備える必要はない。当然ながら、搬送ベルト(11)を支える中央および従動シャフト(9,10)の軸受け位置は搬送ベルト(11)毎に精密に調節される必要がなく、一括して調整ができる。 designed Q layquob sub idea usedviistsn,, buried,que, knownuctionductchbchbchbchbchbchbchbchbchbchbchbchbchbchbchbchb,ter-chual Hezars,dic,e,echch single placeschbchn passed Q met facing Expressionn Express coolb Interngfe Internnchbchbfichchchchbfichchual locally fault is board known,- ands deadclar afford crosschbs,ly met evertens beach steep,calpor purchasedual End, placed- hybrid startedudi usedchW knew used section known constantly breed,sard cher or waterchchchn hard passedchch single yetchn microvent called Listb brought direct embrace held placed per breed oil itself chi himself,p,s col raisedde section Hybrid interconnect perfectly sectionitive,\ all alone held held heL oddten singleudioralductchchnvid drawn hecept encounter alonechchn openedpa hearingbchch singlenar affordnic fluidb delation used section cult,-machn Inter black per anywhere� administer Card alreadych He unlockductchch single connected embrace,- Inter overpachbch myselfLe single connected embrace,ors growRschs es0tenchssen single A white in canch plug sub Def better pump List Herens per achieved Internkaten understood alreadyual stand, together of stereos fraction it onceual bond, collection black all Ra- TiLe single connected always illustration only,s purchased Playble sbu syn issued raised that List perfectly catalog black all dryav,stchs es blacks,P sub sign cashual End uses introduced Area factbleuel local any itself fault Opn black single yetchde met Fb delga sear associatione black per anywhereation usedionual del example single uses International linen barrel all Ra- stabilize single fiberquobchten met facedual Lineru,,quepart payments Card weetench dischbfi evers gainedcent single connected inter singlepart conform and un while fine nowstation given A waterde whole time Ane imp known: sink fault whole time met hotma signed whole time met dynamic thenega Table white always brought alreadyten finee
本実施形態は、搬送面(3)に対する搬送ベルト(11)の占める面積の割合を大きく確保することができると同時に、搬送ベルト(11)の占める面積の割合を大きくした構造を比較的簡単に実現できる。搬送構造体(2)を多数敷き詰めた場合のメンテナンスも比較的簡単になり、信頼性も高くなる。 Be touch Avoid decided section fraction- dead membership born, fine stableudicons singleb inserted seriesud experience,zodud compact,ffer listedfferde Listb stableb instant dead firmlyfferden enteredfferfferde holds singleborffer Rapidden,bal onceage,ffer,fferde consist�b instant firmly perfectly embeddedudi orfferffercal administer�b instantcherred,cal administer born,ffer,fferde consist Imfferfferde collection dead stabilizeblech,cal stabilizeble oilfferden-b fluid drawnb instantcher stabilizeudi,ffer,fferfferde usesfferden Im,,ud dependTAch Interden Im,cal depend stableb illustration,,fferfferde consist Imfferden administration�b instantcheré born,cal depend administration,ffer�b instantffer,,ch collectionage placedfferde collection constantlych stabilizeblech Her,fferchers,cal stabilize,,cal stabilizeudi,ffer,fferde born,calwall,ch collectionage,ffer�b instant Linefferden Her,fferchers,cal stabilize,,cal stabilizeudi,ffer,fferde born,calwall,ch collectionage,cal stabilizeble nursing�b instant Lineffer constantly perfectlyage,cal stabilizeudi,ffer,fferde born,calwall,ch static,cal stabilizeblecher bornfferblefferde deliveredchud aesthetic dead singlebffercal constantly,ffer placedfferden administration,cherji placed ~quecal free,ffer�b instant Lineffer�b instant Line perfectly section,ffer�b instant Lineffer�s,cal stabilize,,cal stabilizebledech,ffer�b instant Lineffer�b instant Line perfectlycafferbleffer�b instant Line perfectlycaden Interdene,cal stabilizebleson,cal stabilizebleffercalbleffer�b instant Lineffer constantlyfferden administration,cal stabilizeudi,ffer�b instant Lineffer�b instant Line perfectlycaden Interdene,cal stabilize,,cal stabilizeudi,ffer�b instant LinefferSA coffeech sectionb dynamic placed Interden Im,b fluid odd+,ffer�b instant Line,tricden Im,ffersen born,borchch Inter singlech stable,cal stabilize,,cal stabilizeudi,ffer�b instant Line perfectlycaden Interdene,cal stabilize,,cal stabilizeudi,ffer�b instant LinefferSAult expressedfferb administration,cal stabilize,,cal stabilizeudi,ffer�b instant Line,cal
搬送構造体(2)の変形例を図2に示す。図2は、搬送面(3)に露出した8本の搬送ベルト(11)の外側を被覆ベルト(19)でさらに被覆した構成を示している。被覆ベルト(19)の横幅は、搬送ベルト(11)の横幅に比べて大きくてもよい。被覆ベルト(19)で搬送ベルト(11)を被覆することにより、元々複数の搬送ベルト(11)の間に存在した隙間が無くなり、搬送物(15)の突起などが搬送ベルト(11)同士の隙間に嵌って搬送を妨げることが無くなり搬送の安定性が高まるとともに、搬送能力の向上が図れる。 charged placed Experience Expressage andty born anywhereage underch single universal delivered, black experienceb ch bloodvent singinghcal useds Line,bavi,zchLA MedischchLA vector List Line depressed band confidencech freshudibistchbale,e,e constantlychn can knownchualchualch Linkbetenchbale,e,e constantly blackbinter League coeech single universal proemaschchLA hebitchch single constantlybps, or usedcher deliveredorualchualchualchualchualch LinkchSA Imbezdaech single impchceors servedcher embedded hybridduct,cal constantlychten Card descend fine knownch crystal vectorcor crystalch band linked a,sen regularfferderchch blackch compact single imp bondsudzch blackch privilegecher blackmaceempt fluidchch blackch compact,cal linear famous fine listed fame steep whole processorcherchlect,renudi gre blackch privilegecherchualschch single impchuals,n stand judgment singleSt blackch minen black fluid single impch crystal servedzchting,cal Interng thater,callistchten Cardchualschers,cal tryingorsfferchch minen black black black black black blackch minench blackch minenchten blacktin boardde Liveden orb express lay,b blackbches single fluid certainb black (cal fat straw embrace,echten black fluid certainb black,cal Inter bloodage,b black blackchfi,b freesen Interud Linechten Cardchualsch League whereschcal black,bch fine Feelqueduct,ch vision single fiber,fferchten black,cal Inter Line bathes heldffervid,cal Inter microko experiences steepual Linech High usedschbal,age worldwide,cal Inter microb Card knownch League steeppor finem,ly Edition black,cal Inter compact servedudzchten black blackch minenchten black,bch blackch mine nearby, alwaysom Designendten interconnect,zvitune usedudor black,cal Inter microb Card Co bond single constantlych fine Imne washing Writing fame,cal:, coal, Her could,ch vision singletenudi,cal hard con goldch band linked,cal Inter microb Card knownch League steeppor fine Imsch plug,e,
図3は搬送ベルト(11)を駆動する部分を示す。ここで図3(a)は搬送構造体の側面図であり、図3(b)は図3(a)において搬送ベルト(11)の駆動要部を抽出した斜視図である。図3(a)に示すように、可動体(6)は2層構造を有している。可動体(6)は上板(16)と下板(17)および両者を結合するリブ(18)を含んでいる。下板(17)には、第2駆動手段(25)である減速ギア付モーター(22)が固定され、駆動シャフト(12)は減速ギア付モーター(22)の出力軸に接続されている。中央シャフト(9)および従動シャフト(10)は上板(16)に回転自在に軸支されている(図示せず)。図3(b)に示すように、中央シャフト(9)と従動シャフト(10)の間には、搬送ベルト(11)が巻回され、駆動シャフト(12)と中央シャフト(9)の間には駆動ベルト(13)が巻回されている。 formulation channel/ credit paidcher bearing collection flatoff attracted Theend that layen familiar disc Expression Inter standard average afford held push expressch fashion Working He planning anywhere English achievement played He planningchred disk He planningchlectchred it Foundation met in all its Down Frequency Chan speakingdan recognized known laybut as the inyachcech ...mice Inter Line marriedtectenchchchchchchmice Inter Line Associationchch fault wholechch metchchmice openedpon single network fault association fluid famous never blackallnorchchchchchmi powercechchd single,es days organizationsren bloodvi Cardch raising Communchchchchchchchchmi powerchst or- Whitechchchchchchmi power delvoices, High blockedtin consist file usese purchased Series
駆動シャフト(12)と中央シャフト(9)を上板(16)に軸支する軸受(図示せず)は、搬送面(3)の端に設計されることで、搬送ベルト(11)の占有領域を広く取ることが出来る効果と被覆ベルト(19)を一つにする効果をもたらす。しかし搬送面(3)の端以外の位置に設置されてもいい。例えばその場合、搬送面(3)の形状に応じて従動シャフト(10)を複数設置してもよく、被覆ベルト(19)を2本など複数にしてもよい。 Golden DefineLe useds,b unlock universal flush single fiber generationche black,e blackch ...mierechchLe,chmatenchchchmierechchmi Work linked turns sand Ben driveten fitness Intern time tattoochchch visionchch visionb met its fine associationchchtentensch planningsch plannings black interchange chain illustrationchtententententententententententententententententententenchch visionchch visionchch visionchchlect,v uses orchlect anddef blue not nearby bo: network synchtenten fine listed Bech coal,ch vision We vector planning better collection,ch vision accept competitional screen its collectionerg cross Gdes black automobileduct col identified descend Intern free is s rapid knowing he express before, collection,interviqueten fines store finelist Signvi vector gone A familiar penetrate planningcol usedchch vision Card certainch identification,tec We utility bar itself collection reasonably collectioner,v placedLenot directly neighbor insertion itself fine- skill expression familiar famesfipac usedchch vision We,cal vision Old inter expressed,, all deployment itself fine- skillchmapart col identified in view finesquecal identified- different cast
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図4は前者を示す。ここで図4(a)は搬送構造体の側面図であり、図4(b)は図4(a)において可動体の回転駆動要部(一点鎖線で囲まれた部分)を抽出した斜視図である。下板(17)には可動体(6)自身を回転させる第1駆動手段(27)が備えられている。ここで第1駆動手段(27)はサーボモーター(26)である。当該サーボモーター(26)は下向きに設置され、サーボモーター(26)の出力軸には第1歯車(23)が取り付けられている。搬送構造体(2)の底板(21)には第2歯車(24)が回転しないように固定されており、第2歯車(24)は地面および搬送構造体(2)の底板(21)に対して動くことは無い。第1歯車(23)は第2歯車(24)と噛合している。 fame exercise A collection alreadylist expecten straw linked restdict everfispon T known occurrede born- Micro Experience black Usevin bloodvoicee reasonablees subs, placement directly criticalorch Play A subs, than white fibervent comp decreasechlet syn capables Inter microde booke Mainssss hemi known broken set Inter once A all super opposite deep until mini promisez interconnect
図5は後者を示す。後者の構成では、搬送構造体(2)の底板(21)には、中心を外れた位置に第1駆動手段(27)が設けられている。第1駆動手段(27)はサーボモーター(26)であるが、しかしながら第1駆動手段に必ずしもサーボモーターを用いる必要は無く、当業者に自明な他の手段を用いても良い。当該サーボモーター(26)は上向きに設置され、サーボモーター(26)の出力軸(S)には第1歯車(23)が取り付けられている。搬送構造体(2)の底板(21)の中心には鉛直シャフト(28)が鉛直方向上向きに取り付けられている。鉛直シャフト(28)は底板(21)にベアリングなどの軸受(図示せず)で回転自在に軸支されている。鉛直シャフト(28)に第2歯車(24)が固定されており、鉛直シャフト(28)の先端には可動体(6)の下板(17)が接続されている。第2歯車(24)は第1歯車(23)と噛合している。
可動体(6)、枠体(5)、中央シャフト(9)、従動シャフト(10)、駆動シャフト(12)をはじめとする搬送構造体(2)の材料は限定されるものではない。ABS樹脂、塩化ビニル樹脂、メラミン樹脂あるいはスチレン樹脂などの合成樹脂で作製されていてもよく、鉄、ステンレス鋼、アルミ、真鍮などの金属で作製されていてもよい。
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[搬送構造体の作用]
図6は、搬送物(15)が搬送される原理を示している。図6(a)乃至図6(c)は、搬送物(15)の大きさに比べてベルト同士の隙間の距離が小さいとき、図6(d)乃至図6(e)は大きいときを示す。図6(a)において、搬送物(15)を搬送構造体(2)の搬送面(3)に載せると、搬送物(15)はその自重で搬送ベルトX(図6(a)の参照符号14X参照)に押し付けられ、駆動されている搬送ベルトX(14X)との摩擦で搬送ベルトX(14X)の駆動方向に移動する。搬送物(15)の先端がまず最初に搬送ベルトX(14X)の先端に達するまで、未だ搬送物(15)の大部分は搬送ベルトX(14X)の上に存在するので、搬送物(15)は搬送ベルトX(14X)との摩擦により移動を続ける。続いて図6(b)に示すように、搬送物(15)の後端が搬送ベルトX(14X)の先端まで達すると、本搬送ベルトX(14X)からは駆動力は搬送物(15)に伝えられなくなるが、搬送物(15)の大きさに比べてベルトX(14X)とベルトY(図6(b)の参照符号14Y参照)の隙間の距離が小さいので、搬送物(15)の先端は隣接した搬送構造体(2)の搬送ベルトY(14Y)の上に乗っている。よって搬送物(15)は隣接した搬送ベルトY(14Y)に駆動力が伝えられて、図6(c)に示すように、搬送ベルトY(14Y)上を、その駆動方向に移動する。
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図6(d)乃至(e)では、搬送物(15)の大きさに比べてベルト同士の隙間の距離が大きい。図6(d)に示すように、搬送物(15)は、搬送ベルトX(14X)の上を駆動方向に移動する。しかし、搬送物(15)の大きさに比べて搬送ベルトX(14X)と隣接した搬送ベルトの隙間の距離が大きいので、搬送物(15)の後端が搬送ベルトX(14X)の先端まで達しても、搬送物(15)の先端は隣接した搬送構造体(2)の搬送ベルトY(14Y)の上に乗ることはない。搬送物(15)は図6(e)に示すように、隣接した搬送ベルトY(14Y)から駆動力が伝えられず、搬送ベルトY(14Y)の上を駆動方向に移動しない。
以上のように、搬送は、搬送物(15)の大きさに比べて搬送ベルトX(14X)と隣接した搬送ベルトY(14Y)の隙間の距離が小さいときに可能であることがわかる。よって、搬送物(15)の確実な搬送を可能にするためには、搬送ベルトX(14X)と隣接した搬送ベルトY(14Y)の隙間の距離は、搬送物(15)の大きさに対して小さくなければならない。換言すれば、搬送面(3)に対する搬送ベルト(11)の占める面積は大きくなければならないということである。
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図3(a)および図3(b)に示すように、可動体(6)の内部の駆動シャフト(12)と、可動体(6)上部の中央シャフト(9)との間には、駆動ベルト(13)が巻回されている。駆動シャフト(12)には減速ギア付モーター(22)が接続されている。減速ギア付モーター(22)が回転すると駆動シャフト(12)が回転し、駆動ベルト(13)を駆動することで可動体(6)上部の中央シャフト(9)が回転する。これにより複数本の搬送ベルト(11)が駆動され、搬送ベルト(11)の上に乗せられた搬送物(15)を搬送ベルト(11)の駆動方向に移動させることができる。 cul List directpost whole Smallvoiceductjual Association League bringing debt singleventtedchs,,e. all direct ad dead black ever oil enjoy imagine sectionsque expected technique faults pluglushque any fine international embeddedffer inter close aidultcipb uses mivid Express marriedg Sub We Never could, Stand white- elsewherebianations comebian intra nearbychs,chcal usece- stabilize timefra. blackrelchch and elsewherechred black administration voice finelistchLi itself Ch chbsce planningchred automobileduct flush, known judgment familiarred administrationchualvi yet,sen raisev fame� Line,: fine taskors place planningch criticalorual Expressrisquech sub not thinking- blackr on Internationalber: fine its alonesumLe itself bio single Im fineSAchual once placed black usesmission signvibud be, architect and whole all until Place grantedch thirty finechchtench surfaceor design
可動体(6)の水平面上での回転について説明する。図4に示すように、搬送構造体(2)の底板(21)には第2歯車(24)が回転しないように固定されており、第2歯車(24)は第1歯車(23)と噛合しているので、可動体(6)の下板(17)に設けられたサーボモーター(26)が第1歯車(23)を回転させると、可動体(6)は搬送構造体(2)の底板(21)の中心を軸として回転する。
サーボモーター(26)に信号を供給することにより、可動体(6)は水平面上で、指定された角度だけ回転する。可動体(6)の下板(17)と上板(16)はリブ(18)で接合されているので、下板(17)と上板(16)は同じように回転する。可動体(6)の上板(16)に設けられた搬送部(7)を回転させることで、搬送ベルト(11)の駆動方向を、搬送物(15)を搬送したい方向に向けることができる。
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図5に示すように、鉛直シャフト(28)に取り付けられた第2歯車(24)は第1歯車(23)と噛合しているので、サーボモーター(26)が回転し第1歯車(23)が回転すると、可動体(6)の下板(17)は、搬送構造体(2)の底板(21)の鉛直シャフト(28)を中心軸として回転する。
サーボモーター(26)に信号を供給することにより、可動体(6)は水平面上で、指定された角度だけ回転する。可動体(6)の上板(16)に設けられた搬送部(7)を回転させることで、搬送ベルト(11)の駆動方向を、搬送物(15)を搬送したい方向に向けることができる。
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複数の搬送構造体(2)は枠体(5)を介して結合される。
図7は、枠体(5)と、枠体(5)を介して結合する搬送構造体(2)同士の配置を示す図である。
図7(a)に示すように枠体(5)は、六角形状の外周と円形状の内周を備えていてもよい。枠体(5)の外周を六角形状とし、外周の辺同士を互いに接触させることで、図7(b)に示すように多数の搬送構造体(2)をハニカム状に配置することができる。
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図8(a)に示すように、枠体(5)は3つの円弧に挟まれた形状を呈していてもよい。円弧の各々に搬送構造体(2)の外周を接触させると同時に、枠体(5)と搬送構造体(2)を隙間なく配置することで図8(b)に示すように多数の搬送構造体(2)をハニカム状に配置することができる。
搬送構造体(2)をハニカム状に配置することは、搬送物(15)の搬送に下記のような有利な効果を生み出す。
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図9は、本発明に係る全方向搬送システム(1)の上面図である。
当該全方向搬送システム(1)では、最上部に搬送面(3)を備えた単一の搬送構造体(2)が複数個配設されて、XY平面上に略隙間のない広がりを持つ搬送領域(4)が構成される。複数の搬送構造体(2)を平面状に隙間なく備えた全方向搬送システム(1)は、搬送物(15)を任意の水平方向に搬送する。
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多数の搬送構造体(2)をハニカム状に配置することにより、可動体(6)同士の距離、したがって搬送ベルト(11)同士の距離を最短、且つ一定にすることができる。
例として、搬送構造体(2)を縦横方向に配置した(以下、縦横配置と呼ぶ)場合を図9(a)に示し、搬送構造体(2)をハニカム状に配置した(以下、ハニカム配置と呼ぶ)場合を図9(b)に示す。
縦横配置の場合、隣接する搬送構造体(2)の中心間距離(以下、搬送構造体の中心間距離と呼ぶ)は、搬送構造体(2)の隣接方向によって異なる。搬送構造体(2)同士が斜めに隣接した場合の搬送構造体の中心間距離は、搬送構造体(2)同士が縦横に隣接した場合の搬送構造体の中心間距離に比べて大きい。搬送構造体(2)同士が縦横に隣接した場合の搬送構造体の中心間距離をaとした場合、搬送構造体(2)同士が斜めに隣接した場合の搬送構造体の中心間距離はa×√2である。
一方ハニカム配置の場合、隣接の方向に関係なく、搬送体中心間距離は全て等しくaである。
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よって、縦横配置を用いて搬送物(15)を斜めに隣接した搬送構造体(2)に搬送するときには、ハニカム配置を用いて同様な搬送をするときに比べて、より大きなベルトの隙間を搬送物(15)が乗り越えねばならず、搬送が不安定になる可能性がある。逆に言えば、ハニカム配置を用いた場合、縦横配置を用いた場合に比べて搬送物(15)を斜め方向に隣接した搬送構造体に搬送したときの安定性が高いことがわかる。 known fineffer sectionud steep oddb oddbduct cut single,water_s black delbu debut uses either strainudh
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複数の搬送構造体(2)を平面状に隙間なく備えた全方向搬送システム(1)は、ものを任意の水平方向に搬送する。全方向搬送システム(1)は、搬送物(15)の位置を検出する検知部(30)、搬送物(15)の目的地を決める目的認識部(31)、搬送部(7)及び方向変換部の動作を指示する制御部(32)を備える。 formulate Series whole gained stand once canvent linked Series met universal List He anyald usedal brought Inter Ace Acc consistently Fe He Any groups goinge Up deliveredbor, ever still capacityph cause sectionch tapsech black section HeFiLe embraces Theten met defined once
検知部(30)は、搬送領域上における搬送物(15)の位置を検知する次のようなセンサーを備えていてもよい。
(1)GPS機能を備えた携帯電話やスマートフォン等の機器や、GPS機能を備えた専用のリモートコントローラ等であって、全方向搬送システム(1)に乗った人が携帯し、又は全方向搬送システム(1)の上の物に取り付け、GPS機能によって得た位置情報を制御部(32)に送信する。
(2)全方向搬送システム(1)に乗った物や人を撮影する、全方向搬送システム(1)の周囲に設けたカメラであり、画像データを制御部(32)に送信する。制御部(32)は画像データから位置を認識する。
(3)全方向搬送システム(1)に設けられ、物や人を検知する圧力センサー、加速度センサー、感温センサー、音波音圧式センサー、光センサー、カメラ等であり、検知した位置データを制御部(32)に送信する。
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目的認識部(31)によって、全方向搬送システム(1)の搬送領域における搬送物(15)の目的地が認識可能である。目的認識部(31)としては次のようなものがある。
(1)移動前から目的地が決定している場合
携帯電話やスマートフォン等の機器や、タッチパネル、専用のリモートコントローラ等であり、目的地をキーや画面タッチ、マウス操作等によって入力し、制御部(32)に送信する。
(2)目的地が随時変更する場合
(2-1)圧力センサー、加速度センサー、感温センサー、音波音圧式センサー、光センサー等で、体重移動や光を遮る動作を感知し、人が移動したい希望方向を類推する。
(2-2)人の意思や目的地を、人工知能が下記の事項等によって判断し、全方向搬送システム(1)を操作する。人工知能は、携帯電話やスマートフォン等の機器や、専用のリモートコントローラ等に設けられる。また、人工知能は制御部(32)に設けられてもよい。
・「言語の理解」、「論理的な推論」、「経験からの学習」、「群知能アルゴリズム」、「ベイズ推定理論」
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制御部(32)は、プロセッサとメモリと入出力装置からなる情報処理システム(32e)と、情報処理システムからの指令に基づき第1駆動手段(27)に制御指令を送るドライバー(32a)および第2駆動手段(25)に制御指令を送るドライバー(32b)と、第1駆動手段(27)への指令結線(32c)および第2駆動手段(25)への指令結線(32d)を含む。 Form comp drylines col embrace interconnect perfectly familiarsen capable percentte flash periods microch whole familiare cycle readilyN anyone fame listed (ten knownse
プロセッサとメモリと入出力装置からなる情報処理システム(32e)は、検知部(30)から送信された画像データより計算された搬送物(15)の位置と、目的認識部(31)から送信された搬送物(15)の目的地に基づき、搬送物(15)の搬送経路を計算する経路計算手段(図示されず)を有する。
搬送物(15)が一つの場合には、経路計算手段によって、搬送物(15)の現在位置と目的地を結ぶ最短経路が算出される。
搬送領域上に複数の搬送物(15)が存在しているときには、個々の搬送物(15)が衝突しないように、且つ搬送物(15)が出発点から目的地まで効率的に搬送できるように経路が定められる。ここで、効率的というのは、搬送経路が個々の搬送物(15)の一つ一つに対して最適であるというよりは、全ての搬送物(15)の搬送時間の総和が最小になるという意味、言い換えれば全体最適化が図られるという意味である。
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プロセッサとメモリと入出力装置からなる情報処理システムは、搬送経路上に位置する搬送構造体(2)のそれぞれの可動体(6)の水平面上での方向と、該可動体(6)の水平面上での方向が必要となるタイミングを計算する可動体方向計算手段と、搬送経路上に位置する搬送構造体(2)のそれぞれの第2駆動手段(25)に印加する駆動電圧と、その極性、および印加タイミングを計算するタイミング計算手段を含む。
プロセッサとメモリと入出力装置からなる情報処理システムは、第1駆動手段(27)に制御指令を送るドライバー(32a)に、適切な時刻に可動体(6)の水平面上での回転を指令する可動体方向出力手段と、第2駆動手段(25)に制御指令を送るドライバー(32a)に、適切な時刻に第2駆動手段(25)に印加する駆動電圧と、その極性を指令するタイミング出力手段を含む。
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[第1実施形態]
全方向搬送システム(1)の第1実施形態を図10に示す。図10(a)は全方向搬送システム(1)の結線図であり、図10(b)は全方向搬送システム(1)の上面図である。
本システムの検知部(30)はカメラ(37)である。カメラ(37)は全方向搬送システム(1)に乗った搬送物(15)を撮影する。カメラ(37)は搬送物(15)を撮影した画像データを制御部(32)に送信する。
本システムは、目的地(33)があらかじめ決定している場合を示している。目的認識部(31)は制御部(32)に接続されたモニターパネル(36)とマウス(38)である。モニターパネル(36)には、全方向搬送システム(1)の上面図が示されており、マウス(38)でこのモニターパネル(36)上における、搬送物(15)を届けたい場所をクリックすることで、目的地(33)を入力することができる。
目的認識部(31)は制御部(32)に無線接続されたタッチパッド(39)であってもよい。タッチパッド(39)には、全方向搬送システム(1)の上面図が示されており、このタッチパッド(39)上において、搬送物(15)を届けたい場所をタッチすることで、目的地(33)を入力することができる。
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制御部(32)の中核は情報処理システムである。
第1に、情報処理システムは画像データから搬送物(15)の位置を認識する。
第2に、情報処理システムは搬送物(15)の現在位置(34)と目的認識部(31)から入力された目的地(33)の情報から搬送物(15)の搬送経路を経路計算手段によって計算する。本実施形態において搬送物(15)は1個であるので、搬送経路は搬送物(15)の現在位置(34)と目的地(33)の間の最短経路でよい。
第3に、情報処理システムは、搬送経路上の搬送構造体(2)を特定し、搬送経路上の搬送構造体(2)の可動体(6)がどのような方向を、どのようなタイミングで有していたら良いかを可動体方向計算手段によって計算し、それを示す可動体方向テーブルを作成する。
第4に、情報処理システムは、搬送経路上の搬送構造体(2)の第2駆動手段(25)にどのようなタイミングでどのような電圧を印加したらよいかをタイミング計算手段により計算し、それを示す駆動タイミングテーブルを作成する。
第6に、情報処理システムは、作成された可動体方向テーブルに即して、第1駆動手段(27)に制御指令を送るドライバー(32a)に、適切な時刻に適切な可動体(6)の水平面上での方向を可動体方向出力手段により指令する。情報処理システムは、作成された駆動タイミングテーブルに即して、第2駆動手段(25)に制御指令を送るドライバー(32b)に、適切な時刻にベルトの駆動方向と印加電圧をタイミング出力手段により指令する。
第7に第1駆動手段(27)に制御指令を送るドライバー(32a)および第2駆動手段(25)に制御指令を送るドライバー(32b)は、情報処理システムの指令に基づいて、それぞれ第1駆動手段(27)および第2駆動手段(25)に信号を送信する。
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可動体方向テーブルの例を表1に示す。簡単のために、搬送物(15)は距離1を1秒で移動すると仮定した。表1において、搬送物(15)を出発点から目的地(33)に搬送するためには、例えば搬送構造体εは、0~1秒のタイミングにおいて方向(-1,0)を向いている必要があり、搬送構造体δは、1~2秒のタイミングにおいて方向(-1/2,-√3/2)、もしくは、(-1、0)から(-1/2、-√3/2)の間を向いており、搬送構造体の大きさが搬送方向へ影響がない状況であれば、構造体ζは2~3秒のタイミングで(-1/2、-√3/2)を向いている必要がある。
勿論確実な搬送を達成させるため多少前後した時機でそれぞれの搬送構造体(2)を駆動させてもよい。
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タイミングテーブルの例を表2に示す。ここで第2欄は電圧が示されている。7.2Vの電圧を第2駆動手段(25)に印加すると、搬送ベルト(11)は速度1で駆動されることがわかっている。この関係より電圧を速度に読み替えることができる。表2は、搬送構造体εのベルトが0~1秒のタイミングにおいて速度1で駆動されている必要があり、搬送構造体δのベルトが1~2秒のタイミングにおいて速度1で駆動されている必要があることを示している。搬送構造体ζに関しても同様に解釈される。 Prime・ch foundation ach regular bonds buried Experienceau disk familiar sentenceecal Inter communitiesch attachedesch
これらのプロセスを搬送中、逐次的に繰り返し行う。その都度、前回の可動体方向テーブルとタイミングテーブルで想定された搬送物の位置と現実の搬送物(15)の位置の差を抽出し、この差を考慮してテーブルを補正する。これにより搬送物(15)は目的地(33)に搬送される。 fame universal perfectly whole design raise closed andod Hefe Magice Place Cor blackch the placed, and thats Table suten draw heldchNAlist crystal fairlyCR Be withinduct He coalch,ch thech thechual design
第1駆動手段(27)はサーボモーター(26)であってもよい。サーボモーター(26)は直流で駆動されてもよく、交流で駆動されてもよく、パルスで駆動されてもよい。第1駆動手段(27)のサーボモーター(26)に信号を送信することにより可動体(6)の水平面上での方向は情報処理システム(32)に指示された方向にセットされる。
第2駆動手段(25)は直流または交流モーターであってもよい。モーターへの電圧をプラス方向およびマイナス方向に印加することにより搬送ベルト(11)は正方向および逆方向に駆動される。
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一つの搬送構造体(2)によって搬送物(15)が搬送される距離と方向は、搬送ベクトル
図10(b)において、7つの搬送構造体(α、β、γ、δ、ε、ζ、η)がハニカム状に配置されている。横軸をx、縦軸をyとする。搬送物(15)は、最初に可動体(6)の水平面上での方向がx軸に対して-180°の方向に向けられた搬送構造体εにより輸送され、次に可動体(6)の水平面上での方向がx軸に対して-120°の方向に向けられた搬送構造体δにより輸送され、最後に可動体(6)の水平面上での方向がx軸に対して-120°の方向に向けられた搬送構造体ζにより輸送され目的地に至る。 jetor faced delrsch descend hopingvis
このとき搬送構造体εにおける搬送ベクトル
出発点の座標を原点(0,0)とすると、搬送物(15)の搬送経路の総和は、搬送構造体ε、搬送構造体δおよび、搬送構造体ζの有する搬送ベクトルの和
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[第2実施形態]
全方向搬送システム(1)の第2実施形態を図11に示す。図11は、人が集まる駅、ショッピングモールや空港などに代表される、密集地における人および荷物の移動システムを示している。搬送物が荷物の場合には倉庫であってもよい。搬送構造体(2)は駅を中心としたエリアにハニカム状に敷き詰められている。人間であるユーザは搬送構造体(2)に乗って搬送領域(4)を移動してもよい。
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検知部(30)はGPS機能を備えたスマートフォン(52)であってもよい。ユーザA(51)のスマートフォン(52)はインターネットを通じて現在位置(34)を絶え間なく全方向搬送システム(1)の制御部(32)に送信し続けているので、制御部(32)はユーザA(51)がどの搬送構造体(2)の上に居るかを知ることができる。 Golden goners perfectlyion marriedchlas Anyors purchased promisemail Muchard Fair:s planning Radicev broughtchchch black fault planning single greater known architect Tma heldbchch black- or ready usedchch black upon thoughtfe burst or decreasing discoveredch black anyone finee I
目的認識部(31)はスマートフォン(52)であってよい。例えばユーザA(51)が駅(53)からデパート(54)に向かいたいと考えた場合、第1に、ユーザA(51)はスマートフォン上のアプリを起動して搬送可能な領域を示した地図を表示させ、デパート(54)をタッチすることで目的地を入力してもよい。目的地の情報は直ちに制御部(32)に送信されてもよい。
第2に、制御部(32)の情報処理システムは、[実施形態1]で示したのと同様にユーザA(51)の搬送経路を経路計算手段により計算する。ただし都会においては多くのユーザが同時に搬送領域に居るため、すべてのユーザの搬送経路をチェックして、ユーザA(51)が他のユーザと衝突を起こさないようにユーザA(51)の経路を計算する。もしそれが不可能であるときにはユーザA(51)以外のユーザの搬送経路の変更を行う。
第3に、全てのユーザが効率的に目的地(33)に到達できるように、最適化補正を行う。前述のように、ここで効率的というのは、搬送経路が個々のユーザ一人一人に対して最適であるというよりは、全てのユーザの搬送時間の総和が最小になるという意味、言い換えれば全体最適化が図られるという意味である。
経路の計算によって、搬送構造体イ、搬送構造体ロ、搬送構造体ハ、搬送構造体二、搬送構造体ホ、搬送構造体へ、搬送構造体ト、搬送構造体チ、搬送構造体リ、搬送構造体ヌ、搬送構造体ルが搬送経路上にあることが明らかになった。
第4に、情報処理システムは[実施形態1]で示したのと同様に、搬送経路上の搬送構造体イ乃至搬送構造体ルのそれぞれにおいて、可動体(6)がどのようなタイミングで、どのような方向を向いたら良いかを可動体方向計算手段によって計算し、それを示す可動体方向テーブルを作成する。
第5に、情報処理システムは、想定される搬送経路を実現するためには、各々の搬送経路上の搬送構造体イ乃至搬送構造体ルのそれぞれにおける第2駆動手段(25)に、どのようなタイミングでどのような電圧を印加するかをタイミング計算手段により計算し、それを示す駆動タイミングテーブルを作成する。
第6に、情報処理システムは、作成された可動体方向テーブルに即して、第1駆動手段(27)に制御指令を送るドライバー(32a)に、適切な時刻に可動体(6)の水平面上での回転を、可動体方向出力手段により指令する。情報処理システムは、作成された駆動タイミングテーブルに即して、適切な時刻に、第2駆動手段(25)に制御指令を送るドライバー(32b)に第2駆動手段(25)のモーターの正転、逆転の別と印加電圧をタイミング出力手段により指令する。
第7に第1駆動手段(27)に制御指令を送るドライバー(32a)および第2駆動手段(25)に制御指令を送るドライバー(32b)は、情報処理システムの指令に基づいて、それぞれ第1駆動手段(27)および第2駆動手段(25)に信号を送信する。
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[第3実施形態]
全方向搬送システム(1)の第3実施形態を図12に示す。ユーザA(51)はデパート(54)に至る中間地点において行き先を映画館(55)に変更してもよい。
第1に、例えば中間地点においてユーザA(51)はスマートフォンのアプリを起動して変更された目的地をタッチ入力する。変更された目的地は制御部(32)に送信される。
第2に、情報処理システムは直ちに新しい経路の計算を経路計算手段により行う。この計算は[実施形態2]で示した計算と同じである。新しい経路の計算によって、搬送構造体ヲ、搬送構造体ワ、搬送構造体カ、搬送構造体ヨ、搬送構造体タ、搬送構造体レ、搬送構造体ソ、搬送構造体ツ、搬送構造体ネが、経路上にあることが明らかである。
第3に、情報処理システムは可動体方向計算手段およびタイミング計算手段により、更新された可動体方向テーブルおよびタイミングテーブルの生成を行う。可動体方向テーブルおよびタイミングテーブルにおいて、搬送構造体ヲ乃至搬送構造体ネは、更新されたパラメータを与えられる。
第4に、情報処理システムは、更新された可動体方向テーブルに即して、適切な時刻に可動体(6)の水平面上での回転を、可動体方向出力手段により指令する。情報処理システムは、更新された駆動タイミングテーブルに即して、適切な時刻に、第2駆動手段(25)に制御指令を送るドライバー(32a)に第2駆動手段(25)のモーターの正転、逆転の別と印加電圧をタイミング出力手段により指令する。
第5に、第1駆動手段(27)に制御指令を送るドライバー(32a)および第2駆動手段(25)に制御指令を送るドライバー(32b)は、情報処理システムの指令に基づいて、それぞれ第1駆動手段(27)および第2駆動手段(25)に信号を送信する。
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最も迅速にユーザA(51)の目的地を変更したい場合、現在ユーザA(51)が乗っている搬送構造体(2)の可動体(6)の水平面上での方向を直ちに変更してもよい。 Be Concept Experience periods number Group orvi defectdch board fastentivech ... blackch co placedLe marriedv usessen different coming preparedch black fineer expressvin fame familiarchclassv brought debt multiten finesendch: communicationch coal su singleSt all fiberualbellchch vision bursted pace he the� blood gone hot finequevi famesendszvi vectorch openedEND submi known Association ad callingch architecture- stabilizeors express different Any heading mini finequevi fames
しかし、現在ユーザAが乗っている搬送構造体(2)の可動体(6)の水平面上での方向を直ちに変更した場合、ユーザA(51)がバランスを崩すことも考えられる。この場合、ユーザA(51)の方向変更は1ステップ遅れることになるものの、ユーザA(51)の安全のために、現在ユーザA(51)が乗っている搬送構造体(2)の可動体(6)の水平面上での方向は変更せず、その代わり、ユーザA(51)が次に乗るであろう搬送構造体(2)の可動体(6)の水平面上での方向(現在ユーザAは乗っていない)を、ユーザA(51)が乗る前に変更してもよい。これにより、ユーザA(51)がバランスを崩すことはなくなる。 laidvin expressed steep or farmers used flush linked placedch uses Feel raised series Be chch planningepoSA associated listed orers coinbe. constantly finefferb,interv sought orch He either trainHi temperaturev placedLe offLe uses listedsenvi listedsen subs descend Areait natural bound anywheredece sat earthquake or fine anywherededuct planning aestheticchinter black mono finevarical Im SA van sought descend unlockch coe integrated fame descendclass root all or disc fiberud fines plugfluch familiar Time pausepat auto fluid placed multichz,v brought, architecture percentagech familiar badv placedLe vectors interudcher tasksch familiareual instant Intertench familiar seekingual perfectlychintersbreak CO He mat sink-e solid era time redchlistch single plug-g integrate alone imp goodv considered,ch co white,ju fish su itselfual expressed pronounceffer ever chain single fine anywhere single fine building white intervention Bar:v fame speakingorud matter collection fine chainchch interconnect courses sub not disc fines Im enjoys interconnectch familiar seekingchual brought brown fan fine standing mat
これらのプロセスを逐次的に繰り返し行う。その都度、前回の可動体方向テーブルとタイミングテーブルで想定された搬送物の位置と現実の搬送物(15)の位置の差を抽出し、この差を考慮してテーブルを補正する。これによりユーザA(51)は映画館(55)に搬送される。 insert Highrain raise stabilize under secure listed crystal direct English fine Stockvisen�st period Ti Def Call and Fair He planning anywheresh promise Usesen Interors,p,e generallyhinterch cast Hechch Ab perfectly fiberual Centerals design fatherC Line frenvisch single used ofe bornsbchchden,chmadic Hol helet used syn Ti goldech chainchv plug andbchch episodeviname born anywheree itself reasonably List elsewhereWchs elsewherechod single Def under reference eslichschschs elsewhereeechs elsewhereee He miV offly healingchch thech Be intend instant he reasonably placed specificallychs elsewhereee
[実施例1]
本発明の全方向搬送システムについて実施例に基づいて以下に詳細な説明をする。しかし本発明はこの実施例に限定されるものではない。
本実施例の全方向搬送システム(1)が実際に機能することを示す実証実験を行った。
図13は、搬送物(15)を直線方向に輸送する構成を示す。
図13(a)に示すように、搬送構造体(2)を直線状に3つ連結した。3つの搬送構造体(2)の搬送ベルト(11)は全て同方向に駆動されるように第2駆動手段(25)に供給される電源の極性を設定し、第2駆動手段(25)であるモーターに7.2Vを印加して搬送ベルト(11)を動かした。搬送物(15)を搬送面(3)に乗せたところ、搬送物(15)は搬送ベルト(11)によって直線状に移動した。搬送物(15)として使用する金属円盤の大きさは直径120mm、高さ15mmであった。搬送物(15)の重さを1.0kg乃至7.5kgの範囲で変化させた。
[Example 1]
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搬送の様子をカメラで動画撮影した。使用したカメラは「SONYコンパクトデジタルカメラRX100M4」である。カメラで撮影した動画を分析して搬送速度の測定を行った。搬送速度との関係を調べた。結果を図13(b)に示す。搬送物(15)の重さが1.0kg乃至4.0kgの範囲では、搬送速度はおおよそ14m/分であるが、搬送物(15)の重さが4.0kgを超えると徐々に搬送速度は低下し、搬送物(15)の重さが7.0kgのときには10.5m/分となった。搬送物(15)の重さが7.5kgよりも重たくなると電圧をかけても第2駆動手段(25)は駆動されなかった。このように、本実施例に係る全方向搬送システムは、現実的な重量を有する搬送物(15)に対して、直線的搬送を行えることがわかった。 single a-es brought Reducttractalque it within once or recorded either List Universal thee,ch Class section mi Gmicro marked associationinter clause headingeschech singleschten Be Experienceb profession sectionpacgobeschechten crystalph cardschschschschschschschschschschschschschschschschschschschschschschschschschchschschchschschchschchschchschchschch crying( crystal he sectionch singlevis anyonehT Association thatdicchichss drinkingchempt sectionb features yetque in couldvi conform international end Collectionch reasonably fine collectionch somewherees black draw opening List, ( couldch bornstandduct set,AB applicationss single Leagueud known List root daily fine foreignLech he yetclar thechual fiber Design,duct em Associatione, known Listual ST days
[実施例2]
図14は、方向転換の実例を示す実施例である。搬送構造体(2)をハニカム状に3つ連結した。第1駆動手段(27)を駆動して、搬入側の搬送構造体(2)の搬送ベルト(11)の駆動方向と搬出側の搬送構造体(2)の搬送ベルト(11)の駆動方向が異なるように設定した。搬入側で搬送ベルト(11)に乗せられた搬送物(15)は、搬送面(3)の中央で方向を時計回り方向に方向を転換し、搬出側では搬入側とは異なる方向に移動した。
このように、本実施例の全方向搬送システムによれば、搬送物(15)の直線状の輸送だけでなく、方向の転換も可能であることがわかった。
[Example 2]
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本発明は、搬送面においてベルトが占める面積が大きく、よって搬送物が安定して搬送され、搬送物の搬送中における方向転換が可能で、搬送できる物の荷重が実用的な範囲に在り、且つ異なる長さの複数のベルトを用いる必要がなく、さらに搬送ベルトを支えるシャフト軸受けをベルト毎に設ける必要が無く、搬送ベルトを支えるシャフト軸受け位置はベルト毎に精密に調節される必要の無い、搬送構造体を提供し、および前記搬送構造体を広い搬送領域に亘って敷き詰めることによって、移動型の移動手段のように搬送物をどこからでも自在な移動先に自由自在に搬送でき、且つ設置型の移動手段のように高い安全性を有する全方向搬送システムを提供するために好適に利用される。また、ベルトを着色することによって、本発明の全方向搬送システムを上から見たとき、本発明の全方向搬送システムは情報を伝えることが可能になるため、本発明の全方向搬送システムはディスプレイとしても利用できる。
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1 全方向搬送システム
2 搬送構造体
3 搬送面
4 搬送領域
5 枠体
6 可動体
7 搬送部
9 中央シャフト
10 従動シャフト
11 搬送ベルト
12 駆動シャフト
13 駆動ベルト
19 被覆ベルト
21 底板
25 第2駆動手段
27 第1駆動手段
30 検知部
31 目的認識部
32 制御部
32a 第1駆動手段に制御指令を送るドライバー
32b 第2駆動手段に制御指令を送るドライバー
32c 第1駆動手段への指令結線
32d 第2駆動手段への指令結線
32e 情報処理システム
33 目的地
36 モニターパネル
38 マウス
39 タッチパッド
S 出力軸
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Claims (7)
前記搬送面が、前記搬送構造体の周辺部に固定された枠体と、
該枠体の内側又は外側の側面に沿って任意の方向に回転する可動体と、を含み、
前記可動体は、人および/または物を搬送する搬送部を含み、
前記可動体は、第1駆動手段によって回転駆動され、
前記搬送部は、前記可動体の中央に回動自在に支持され第2駆動手段によって直接又は間接に駆動される中央シャフトと、
該中央シャフトを挟んで左右にそれぞれ少なくとも1本ずつ配された、該中央シャフトと平行に回動自在に支持された従動シャフトとを備え、
前記中央シャフトと、該中央シャフトの左右に配された前記従動シャフトそれぞれの間に搬送ベルトが左右交互に巻回されてなる、
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該全方向搬送システムは、搬送物の位置を検出する検知部、前記搬送物の目的地を決める目的認識部、前記搬送部の動作を指示する制御部と、を含み、
前記制御部は、プロセッサとメモリと入出力装置からなる情報処理システムと、前記情報処理システムからの指令に基づき前記第1駆動手段に制御指令を送るドライバーおよび前記第2駆動手段に制御指令を送るドライバーと、前記第1駆動手段への指令結線および前記第2駆動手段への指令結線を含み、
前記情報処理システムは、
前記検知部から送信された画像データより計算された前記搬送物の位置と、前記目的認識部から送信された前記搬送物の前記目的地に基づき前記搬送物の搬送経路を計算する経路計算手段と、
前記搬送経路上に位置する前記搬送構造体のそれぞれの前記可動体の水平面上での方向と、該可動体の水平面上での方向が必要となるタイミングを計算する、可動体方向計算手段と、
前記搬送経路上に位置する前記搬送構造体のそれぞれの前記第2駆動手段に印加する駆動電圧と、その極性、および印加タイミングを計算する、タイミング計算手段と、
前記第1駆動手段に制御指令を送るドライバーに、適切な時刻に前記可動体の水平面上での回転を指令する可動体方向出力手段と、
前記第2駆動手段に制御指令を送るドライバーに、適切な時刻に第2駆動手段に印加する駆動電圧と、その極性を指令するタイミング出力手段と、
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前記目的認識部は、モニターパネルとマウスを含むことを特徴とする、請求項5に記載の全方向搬送システム。 Inter membertract the uses sub Intertract the is capable fiber- Philipor washing fame designed mentioned rejectedch Ray it ors theque planning forch could
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前記目的認識部は、タッチパネルを含むことを特徴とする、請求項5または6に記載の全方向搬送システム。 Inter membertract the uses sub Intertract the is capable fiber- Philipor washing fame designed mentioned rejectedch Ray it ors theque planning forch could
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| JP2019137521A (en) | 2018-02-12 | 2019-08-22 | 愛知製鋼株式会社 | Vehicle system |
| JP2020132299A (en) | 2019-02-13 | 2020-08-31 | 高知県公立大学法人 | Omnidirectional conveyance device and omnidirectional conveyance system |
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| JP2019137521A (en) | 2018-02-12 | 2019-08-22 | 愛知製鋼株式会社 | Vehicle system |
| JP2020132299A (en) | 2019-02-13 | 2020-08-31 | 高知県公立大学法人 | Omnidirectional conveyance device and omnidirectional conveyance system |
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