JP5313416B2 - 空間的に散在する被処理体の取扱い装置 - Google Patents
空間的に散在する被処理体の取扱い装置 Download PDFInfo
- Publication number
- JP5313416B2 JP5313416B2 JP2000356800A JP2000356800A JP5313416B2 JP 5313416 B2 JP5313416 B2 JP 5313416B2 JP 2000356800 A JP2000356800 A JP 2000356800A JP 2000356800 A JP2000356800 A JP 2000356800A JP 5313416 B2 JP5313416 B2 JP 5313416B2
- Authority
- JP
- Japan
- Prior art keywords
- trajectory
- processed
- module
- envelope
- controller
- 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.)
- Expired - Fee Related
Links
- 238000012545 processing Methods 0.000 claims description 9
- 230000033001 locomotion Effects 0.000 claims description 8
- 238000000034 method Methods 0.000 description 31
- 230000001133 acceleration Effects 0.000 description 17
- 238000004891 communication Methods 0.000 description 13
- 230000008859 change Effects 0.000 description 3
- 238000007726 management method Methods 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 230000003111 delayed effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 206010011906 Death Diseases 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H43/00—Use of control, checking, or safety devices, e.g. automatic devices comprising an element for sensing a variable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2301/00—Handling processes for sheets or webs
- B65H2301/40—Type of handling process
- B65H2301/44—Moving, forwarding, guiding material
- B65H2301/445—Moving, forwarding, guiding material stream of articles separated from each other
- B65H2301/4452—Regulating space between separated articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2511/00—Dimensions; Position; Numbers; Identification; Occurrences
- B65H2511/20—Location in space
- B65H2511/24—Irregularities, e.g. in orientation or skewness
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2513/00—Dynamic entities; Timing aspects
- B65H2513/40—Movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2513/00—Dynamic entities; Timing aspects
- B65H2513/50—Timing
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Paper Feeding For Electrophotography (AREA)
- Controlling Sheets Or Webs (AREA)
- Traffic Control Systems (AREA)
- Feedback Control In General (AREA)
Description
t0≦t≦t1
tは特定の時間、
t0はtまでの時間である。
Claims (2)
- 被処理体取扱いシステムが提供する処理が施される被処理体であって前記被処理体取扱いシステムの経路に沿って移動する被処理体の軌道を設定するコントローラと、
前記コントローラにより設定された軌道に従い、経路上のそれぞれ指定された範囲内において複数の被処理体それぞれを移動させる少なくとも1つのアクチュエータと、
前記少なくとも1つのアクチュエータの動作を制御する少なくとも1つのモジュールコントローラと、
前記アクチュエータにおける物理的制約に基づいて設定された基準軌道であって、被処理体毎に各被処理体が経路を移動する際に時間的に最適と考えられる基準軌道に対応させて設定された軌道包絡線を記憶する手段であって、該軌道包絡線は、前記アクチュエータにより被処理体が目標位置に到達するためのタスク要件を示す制御基準に対応して設定される、軌道包絡線を記憶する手段と、
を有し、
前記被処理体は、前記被処理体に搭載されていない前記少なくとも1つのアクチュエータそれぞれから移動制御を受ける前記指定された範囲を通って移動し、
前記軌道包絡線は、前記被処理体が前記目標位置に向かって出発できかつ別の被処理体とは衝突しない最も早い時間を示すとともに、前記被処理体が前記目標位置に向かって出発できかつ別の被処理体とは衝突しない最も遅い時間を示す範囲により規定され、あるいは、
前記軌道包絡線は、前記被処理体が前記目標位置に向かって出発して時間通りに到着できる最も早い時間を示すとともに、前記被処理体が前記目標位置に向かって出発して時間通りに到着できる最も遅い時間を示す範囲により規定され、
前記コントローラは、経路上における前記各被処理体の現在の状態と当該被処理体に設定した軌道包絡線とを比較しながら、当該被処理体を当該軌道包絡線により特定される範囲内を移動させるよう前記モジュールコントローラを制御することを特徴とする被処理体取り扱い装置。
- 請求項1による被処理体取扱い装置において、前記システムコントローラは前記被処理体の軌道を前記少なくとも1つのモジュールコントローラにダウンロードし、前記少なくとも1つのモジュールコントローラは、前記被処理体を前記被処理体の軌道上に保持するために、前記少なくとも1つのアクチュエータを制御することを特徴とする被処理体取り扱い装置。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US09/449341 | 1999-11-24 | ||
US09/449,341 US6308110B1 (en) | 1999-11-24 | 1999-11-24 | Apparatus and method of distributed object handling |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2001206628A JP2001206628A (ja) | 2001-07-31 |
JP5313416B2 true JP5313416B2 (ja) | 2013-10-09 |
Family
ID=23783793
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2000356800A Expired - Fee Related JP5313416B2 (ja) | 1999-11-24 | 2000-11-22 | 空間的に散在する被処理体の取扱い装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US6308110B1 (ja) |
EP (1) | EP1103507B1 (ja) |
JP (1) | JP5313416B2 (ja) |
DE (1) | DE60041949D1 (ja) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6411864B1 (en) * | 1999-12-13 | 2002-06-25 | Xerox Corporation | Apparatus and method of distributed object handling |
US6711461B2 (en) * | 2001-03-20 | 2004-03-23 | Lockheed Martin Corporation | Object and method for accessing of articles for reliable knowledge of article positions |
DE102004060237B4 (de) * | 2004-12-15 | 2014-04-10 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Einrichtung zur Steuerung von Luftfahrzeugen |
US7904182B2 (en) * | 2005-06-08 | 2011-03-08 | Brooks Automation, Inc. | Scalable motion control system |
DE102005053562B4 (de) * | 2005-11-08 | 2010-07-08 | Gerald Kleikamp | Vorrichtung zum Prüfen eines flächigen Materials |
JP2012236244A (ja) * | 2011-05-10 | 2012-12-06 | Sony Corp | ロボット装置、ロボット装置の制御方法、並びにロボット装置制御用プログラム |
DE102018008815A1 (de) | 2018-11-09 | 2020-05-14 | Focke & Co. (Gmbh & Co. Kg) | Verfahren zum Erkennen und/oder Vermeiden von Kollisionen von Maschinenorganen einer Verpackungsmaschine |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5060090A (en) * | 1988-07-22 | 1991-10-22 | Hitachi, Ltd. | Automatic storage system and method for information recording media |
US5058024A (en) * | 1989-01-23 | 1991-10-15 | International Business Machines Corporation | Conflict detection and resolution between moving objects |
US5274242A (en) * | 1989-10-10 | 1993-12-28 | Unisys Corporation | Selectible transport-servo velocity profile for document transport |
US5867804A (en) * | 1993-09-07 | 1999-02-02 | Harold R. Pilley | Method and system for the control and management of a three dimensional space envelope |
US5173861A (en) * | 1990-12-18 | 1992-12-22 | International Business Machines Corporation | Motion constraints using particles |
JP3168682B2 (ja) * | 1992-04-27 | 2001-05-21 | ソニー株式会社 | 数値制御装置 |
JP3525481B2 (ja) * | 1993-03-17 | 2004-05-10 | 株式会社日立製作所 | 列車制御装置 |
US5328168A (en) * | 1993-04-12 | 1994-07-12 | Xerox Corporation | Hierarchy of jam clearance options including single zone clearance |
US5513156A (en) * | 1993-07-23 | 1996-04-30 | Fujitsu Limited | Library apparatus |
JP3493910B2 (ja) * | 1996-08-23 | 2004-02-03 | 株式会社日立製作所 | 自動化処理システム |
US6161058A (en) * | 1997-07-03 | 2000-12-12 | Fujitsu Limited | Control device and control method of library apparatus, and library apparatus |
US5999758A (en) * | 1998-03-02 | 1999-12-07 | Xerox Corporation | Hybrid hierarchical control architecture for media handling |
US6002890A (en) | 1998-09-28 | 1999-12-14 | Xerox Corporation | Feedback between marking and paper path subsystems to reduce shutdowns |
-
1999
- 1999-11-24 US US09/449,341 patent/US6308110B1/en not_active Expired - Lifetime
-
2000
- 2000-11-22 JP JP2000356800A patent/JP5313416B2/ja not_active Expired - Fee Related
- 2000-11-23 DE DE60041949T patent/DE60041949D1/de not_active Expired - Lifetime
- 2000-11-23 EP EP00310400A patent/EP1103507B1/en not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
EP1103507B1 (en) | 2009-04-08 |
JP2001206628A (ja) | 2001-07-31 |
EP1103507A3 (en) | 2002-07-03 |
US6308110B1 (en) | 2001-10-23 |
EP1103507A2 (en) | 2001-05-30 |
DE60041949D1 (de) | 2009-05-20 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP4841034B2 (ja) | 空間的に散在する被処理体の取扱い装置 | |
US7284652B2 (en) | Tiered control architecture for material handling | |
US6278907B1 (en) | Apparatus and method of distributing object handling | |
KR20220044309A (ko) | 모듈식 패키지 분류 시스템 | |
CN111295317B (zh) | 驾驶员辅助系统、机动车辆以及用于调节车辆动力学的方法 | |
JP5313416B2 (ja) | 空間的に散在する被処理体の取扱い装置 | |
EP1658557B1 (en) | Method and apparatus for tracking a load on a conveyor system | |
US5550742A (en) | Scheduled motion planning method and apparatus for a vehicle | |
US20220261003A1 (en) | Driver-centric model predictive controller | |
EP3548977A1 (en) | Aircraft control system with residual error containment | |
JP4138135B2 (ja) | コピーシートの移動制御方法 | |
US6411864B1 (en) | Apparatus and method of distributed object handling | |
EP0067880A1 (en) | Robot control system | |
EP1896912B1 (en) | Movement control method | |
EP3951545B1 (en) | Platoon travel system | |
CA3212285A1 (en) | Computer-implemented method, apparatus for data processing, and computer system for controlling a control device of a conveyor system | |
CN114063633A (zh) | 用于检测沿着机器人行进的路线的冲突的设备和方法 | |
US8046102B2 (en) | Control method for synchronous high speed motion stop for multi-top loaders across controllers | |
EP3899566A1 (en) | Layered software architecture for aircraft systems for sensing and avoiding external objects | |
EP4245629A1 (en) | Method and computer system for controlling the movement of a host vehicle | |
EP3998594A1 (en) | A system and method for navigating an aircraft | |
KR100238981B1 (ko) | 헤드이송방법 및 헤드이송장치 | |
CN115576312A (zh) | 遵从通行权规则进行机动选择的机器人的冲突检测和避免 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20071116 |
|
RD04 | Notification of resignation of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7424 Effective date: 20071116 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20100914 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20100928 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20101227 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20110628 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20110926 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20120313 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20120518 |
|
A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 20121113 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20130312 |
|
A911 | Transfer to examiner for re-examination before appeal (zenchi) |
Free format text: JAPANESE INTERMEDIATE CODE: A911 Effective date: 20130325 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20130611 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20130704 |
|
R150 | Certificate of patent or registration of utility model |
Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
LAPS | Cancellation because of no payment of annual fees |