PURPOSE: To move a load on a three-dimensional route rapidly without generating a load deflection by setting a route to move loads three-dimensionally safely and rapidly, and outputting automatically operation instructions such as a starting with bracing, a stopping with bracing, and a stopping for positioning, in order to move the loads under the condition of no load deflection depending on the data from a sensor while moving on the set route.
CONSTITUTION: A route setting circuit 1 sets a three-dimensional route most suitable in respect of the indexes of the running distance, the number of operation converting, and the like, depending on the three-dimensional coordinates of the object position and obstacle position input beforehand, and the present position of a trolley T input from cameras 9a to 9c. An operation selecting circuit 2 selects the control mode of the trolley T in consideration of the bracing and positioning, depending on the signals of the present position of trolley T, the angle of deflection of the load, and the like. The first control circuit 6 carries out the bracing and controls the operation to continue the running, the second control circuit 7 carries out the stopping with bracing and controls the operation of stopping, while the third control circuit 8 carries out the operation when the stable running condition is continued as it is.
MIYAJIMA TOSHIKAZU
SATO TOSHIBUMI
| JPH02129707A | 1990-05-17 | |||
| JPS61206788A | 1986-09-13 |