Method for mounting pattern in actual machine

• US 7,729,821 B2
• Filed: 08/07/2006
• Issued: 06/01/2010
• 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
• Primary Examiner(s): Tran; Khoi
• Assistant Examiner(s): Peche; Jorge O
• Application Number:
  US11/499,647
• Publication Number:
  US 20070043484A1
• Time in Patent Office: 1,394 Days
• Field of Search: 701/25, 701/23, 701/200, 105/49, 180167-169, 318/568.12, 318/567, 318/568.1, 318/568.11, 318/568.13, 318/568.17, 318/568.18
• 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 acceleration, the pattern corresponding to an instruction value provided to an actuator installed in the automated guided, comprising:

deriving a curve function expressed as a finite series corresponding to an approximate expression for the dot-sequential data, said curve function uses time as an independent variable and the acceleration as a dependent variable;

dividing the dot-sequential data into a plurality of parts to derive the finite series for each of the plurality of parts, said plurality of parts correspond to the pattern drawn by the dot-sequential data indicating the temporal variation in the acceleration, wherein the plurality of parts represent an accelerated running portion, a uniform-speed running portion and a decelerated running portion;

storing, in a memory mounted in the automated guided vehicle, coefficients of terms constituting the finite series for the accelerated running portion and the decelerated running portion, and

storing a constant in the memory indicating the temporal variation in acceleration, instead of the coefficients of the terms constituting the finite series for the uniform-speed running portion,

wherein controlling the automated guided vehicle based on the data for the finite series for the accelerated running portion and the decelerated running portion and the constant for the uniform-speed running portion stored in the memory.

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

3. The method for mounting a pattern in an actual machine according to claim 1, wherein said temporal variation is in position or speed.