JP4807600B2 - 移動体システム - Google Patents
移動体システム Download PDFInfo
- Publication number
- JP4807600B2 JP4807600B2 JP2009188900A JP2009188900A JP4807600B2 JP 4807600 B2 JP4807600 B2 JP 4807600B2 JP 2009188900 A JP2009188900 A JP 2009188900A JP 2009188900 A JP2009188900 A JP 2009188900A JP 4807600 B2 JP4807600 B2 JP 4807600B2
- Authority
- JP
- Japan
- Prior art keywords
- moving body
- range
- series data
- time
- stop
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/02—Registering or indicating driving, working, idle, or waiting time only
- G07C5/04—Registering or indicating driving, working, idle, or waiting time only using counting means or digital clocks
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Warehouses Or Storage Devices (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Control Of Position Or Direction (AREA)
Description
4,10 コントローラ
6,12 サーボアンプ
8,14 リニアセンサ
16 インポジション判定部
20 位置データ記憶部
21 速度データ記憶部
22 加速度データ記憶部
23 演算部
24 停止推定位置記憶部
M1,M2 モータ
Claims (1)
- 移動体がインポジション範囲内に入った際にインポジション判定を行うシステムであって、
移動体の位置を求めるためのセンサと、
前記センサにより求めた移動体の位置の時系列データ{Pi}から速度の時系列データ{vi}を求めると共に、求めた速度の時系列データから加速度の時系列データ{ai}を求め、ここにiは時系列を表す添え字で、iは現在を表し、かつ現在位置Piから停止位置までの距離をほぼ −vi 2 /ai として求めることにより、移動体の停止位置がインポジション範囲内か否かを推定するための推定手段とを設けたことを特徴とする、移動体システム。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009188900A JP4807600B2 (ja) | 2009-08-18 | 2009-08-18 | 移動体システム |
KR1020100045835A KR101356046B1 (ko) | 2009-08-18 | 2010-05-17 | 이동체 시스템과 이동체의 인포지션 판정 방법 |
US12/829,506 US8560197B2 (en) | 2009-08-18 | 2010-07-02 | Moving vehicle system and in-position determination method for moving vehicle |
TW099123777A TWI447549B (zh) | 2009-08-18 | 2010-07-20 | Method for determining the arrival position of moving body system and moving body |
CN201010233982.0A CN101995846B (zh) | 2009-08-18 | 2010-07-20 | 移动体系统和移动体的到位判定方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009188900A JP4807600B2 (ja) | 2009-08-18 | 2009-08-18 | 移動体システム |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2011037611A JP2011037611A (ja) | 2011-02-24 |
JP4807600B2 true JP4807600B2 (ja) | 2011-11-02 |
Family
ID=43606011
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2009188900A Active JP4807600B2 (ja) | 2009-08-18 | 2009-08-18 | 移動体システム |
Country Status (5)
Country | Link |
---|---|
US (1) | US8560197B2 (ja) |
JP (1) | JP4807600B2 (ja) |
KR (1) | KR101356046B1 (ja) |
CN (1) | CN101995846B (ja) |
TW (1) | TWI447549B (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6052402B2 (ja) * | 2013-05-09 | 2016-12-27 | トヨタ自動車株式会社 | 運転支援システム |
JP6400751B2 (ja) | 2017-01-26 | 2018-10-03 | ファナック株式会社 | ロボットプログラム修正装置、ロボット制御装置、ロボットシミュレーション装置およびロボットプログラム修正方法 |
Family Cites Families (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2713368B2 (ja) * | 1989-11-07 | 1998-02-16 | 三菱電機株式会社 | サーボモータ制御装置 |
JPH05108128A (ja) | 1991-10-18 | 1993-04-30 | Fanuc Ltd | 位置決め完了確認方式 |
JPH0736546A (ja) * | 1993-07-20 | 1995-02-07 | Canon Inc | 位置決め制御装置及びこれを用いたステージ装置 |
JP2739827B2 (ja) * | 1994-09-30 | 1998-04-15 | 日本電気株式会社 | 数値制御装置およびその方法 |
JPH08249030A (ja) * | 1995-03-13 | 1996-09-27 | Canon Inc | 数値制御装置及び位置決め方法 |
JPH09128054A (ja) * | 1995-10-30 | 1997-05-16 | Denso Corp | Pid制御装置 |
US5887268A (en) * | 1995-10-31 | 1999-03-23 | Honda Giken Kogyo Kabushiki Kaisha | Automatically driven motor vehicle |
JP2000231412A (ja) | 1999-02-10 | 2000-08-22 | Mitsubishi Electric Corp | インポジションチェック方法及びその装置 |
DE60006666T2 (de) * | 1999-06-04 | 2004-04-15 | Kabushiki Kaisha Yaskawa Denki, Kitakyushu | Positionsregelung fuer einen motor |
KR100342255B1 (ko) * | 1999-06-25 | 2002-06-27 | 윤종용 | 로봇 구동용 모터의 속도제어방법 |
JP2002091570A (ja) * | 2000-09-20 | 2002-03-29 | Yaskawa Electric Corp | サーボ制御方法 |
KR100443550B1 (ko) * | 2001-04-18 | 2004-08-09 | 주식회사 네비콤 | 오차보정시스템을 구비하는 관성측정유닛-지피에스통합시스템과 미지정수 검색범위 축소방법 및 사이클 슬립검출방법, 및 그를 이용한 항체 위치, 속도,자세측정방법 |
KR20030037127A (ko) * | 2001-11-02 | 2003-05-12 | 삼성전자주식회사 | 네비게이션 시스템의 차량 위치 계산 방법 및 장치 |
JP4478584B2 (ja) * | 2005-01-17 | 2010-06-09 | 株式会社ミツトヨ | 位置制御装置、測定装置および加工装置 |
TWI313486B (en) * | 2005-07-28 | 2009-08-11 | Nuflare Technology Inc | Position measurement apparatus and method and writing apparatus and method |
JP4099503B2 (ja) * | 2005-12-19 | 2008-06-11 | ファナック株式会社 | 回転軸の定位置停止制御装置 |
JP4208906B2 (ja) * | 2006-07-24 | 2009-01-14 | 学校法人慶應義塾 | 移動体 |
CN101207638B (zh) * | 2007-12-03 | 2010-11-10 | 浙江树人大学 | 一种基于预测的无线传感器网络目标跟踪方法 |
-
2009
- 2009-08-18 JP JP2009188900A patent/JP4807600B2/ja active Active
-
2010
- 2010-05-17 KR KR1020100045835A patent/KR101356046B1/ko active IP Right Grant
- 2010-07-02 US US12/829,506 patent/US8560197B2/en active Active
- 2010-07-20 CN CN201010233982.0A patent/CN101995846B/zh active Active
- 2010-07-20 TW TW099123777A patent/TWI447549B/zh active
Also Published As
Publication number | Publication date |
---|---|
TW201107918A (en) | 2011-03-01 |
US8560197B2 (en) | 2013-10-15 |
KR20110018818A (ko) | 2011-02-24 |
JP2011037611A (ja) | 2011-02-24 |
US20110046839A1 (en) | 2011-02-24 |
TWI447549B (zh) | 2014-08-01 |
CN101995846A (zh) | 2011-03-30 |
KR101356046B1 (ko) | 2014-01-27 |
CN101995846B (zh) | 2014-08-06 |
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