Method for mounting pattern in actual machine

• US 20070043484A1
• Filed: 08/07/2006
• Published: 02/22/2007
• Est. Priority Date: 08/17/2005
• Status: Active Grant

• Current Assignee: Murata Machinery Limited (Muratec)
• Original Assignee: Murata Machinery Limited (Muratec)
• Inventors: Murakami, Takeshi, Moriguchi, Toshiki
• Granted Patent: US 7,729,821 B2
• Time in Patent Office: Days
• US Class Current: 701/25
• CPC Class Codes: G05B 19/416 characterised by control of velocity, acceleration or deceleration G05B19/19 takes precedence
• CPC Class Codes: G05B 2219/34048 Fourier transformation, analysis, fft
• CPC Class Codes: G05B 2219/43028 Switching points for trapezoidal form are stored in memory
• CPC Class Codes: G05B 2219/45046 Crane

Abstract

When dot-sequential data indicating a temporal variation in position, speed, or acceleration is stored in a memory in an automated guided vehicle as it is, the capacity of the memory is insufficient and thus needs to be increased. A pattern is mounted in a stacker crane 1; the pattern is drawn by dot-sequential data indicating a temporal variation in acceleration (FIG. 2C), and corresponds to an instruction value provided to an actuator installed in the stacker crane 1. In this case, a curve function corresponding to an approximate expression for the dot-sequential data is derived in a form of a Fourier series having a finite number of terms and using time as an independent variable and the position, speed, or acceleration as a dependent variable. Data identifying the Fourier series, having a finite number of terms, is stored in a memory 5 mounted in the stacker crane 1.

Claims

1. A method for mounting a pattern in an automated guided vehicle, the pattern being drawn by dot-sequential data indicating a temporal variation in position, speed, or acceleration, the pattern corresponding to an instruction value provided to an actuator installed in the automated guided, the method being characterized in that:

a curve function corresponding to an approximate expression for the dot-sequential data is derived in a form of a finite series that uses time as an independent variable and the position, speed, or acceleration as a dependent variable, and data identifying the finite series is stored in a memory mounted in the automated guided vehicle.

2. A method for mounting a pattern in an actual machine according to claim 1, characterized in that the finite series is a Fourier series having a finite number of terms.

3. A method for mounting a pattern in an actual machine according to claim 2 or claim 3, characterized in that the dot-sequential data is divided into a plurality of parts and the finite series is derived for each of the resulting parts, in that coefficients for the terms constituting the finite series for each of the parts are stored in the memory, and in that, in particular, for one of the plurality of parts in which the automated guided vehicle makes only uniform motion, a constant indicating the position or speed or acceleration is stored in the memory instead of the coefficients for the finite series.