Control device for movable body
AssigneeMurata Kikai Kabushiki Kaisha
InventorTakao Hayashi
Life of this patent
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Abstract
An encoder 13 determines the remaining travel distance of a stacker crane to perform deceleration control. When a linear sensor 8 determines an absolute distance from the stop position, the linear sensor 8 performs deceleration control, and when a mark sensor 26 detects a mark 36, the mark sensor 26 performs stop control. Likewise, deceleration control is performed based on the remaining elevation distance determined by an encoder 19. When a linear sensor 9 determines an absolute distance from the stop position, the linear sensor 9 performs deceleration control, and when the mark sensor 26 detects the mark 36, the mark sensor 26 performs stop control.
Claims6
A control device for determining a position of a movable object relative to a stop position by a sensor to stop the movable object at the stop position, the control device comprising:
- an encoder for detecting a movement distance of the movable object;
- a linear sensor for outputting a linear output for an absolute distance from a position before the stop position to the stop position;
- and
- a mark sensor for detecting a mark provided at the stop position, wherein as the movable object gets closer to the stop position, a control is switched in an order of the encoder, the linear sensor, and the mark sensor to stop the movable object at the stop position.
A transportation apparatus for transferring an article, the transportation apparatus being configured to stop in accordance with data of a target stop position which is stored in advance for a stop position, the transportation apparatus comprising:
- means for detecting a mark provided at the stop position, at the time of stopping at the stop position during actual transportation of the article;
- means for determining an error in data of the target stop position based on data provided by the detection means;
- and
- means for correcting the data of the target stop position from next time based on the determined error.
Dependencies are inferred from the claim text.