JP6629980B2 - 位置測定モジュール及びこれを含む移送ユニットの走行制御装置 - Google Patents
位置測定モジュール及びこれを含む移送ユニットの走行制御装置 Download PDFInfo
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- JP6629980B2 JP6629980B2 JP2018537599A JP2018537599A JP6629980B2 JP 6629980 B2 JP6629980 B2 JP 6629980B2 JP 2018537599 A JP2018537599 A JP 2018537599A JP 2018537599 A JP2018537599 A JP 2018537599A JP 6629980 B2 JP6629980 B2 JP 6629980B2
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- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical group [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/004—Measuring arrangements characterised by the use of mechanical techniques for measuring coordinates of points
- G01B5/008—Measuring arrangements characterised by the use of mechanical techniques for measuring coordinates of points using coordinate measuring machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D51/00—Motor vehicles characterised by the driver not being seated
- B62D51/04—Motor vehicles characterised by the driver not being seated the driver walking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H16/00—Unwinding, paying-out webs
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/02—Measuring arrangements characterised by the use of mechanical techniques for measuring length, width or thickness
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/02—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Remote Sensing (AREA)
- Theoretical Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- A Measuring Device Byusing Mechanical Method (AREA)
- Manipulator (AREA)
- Handcart (AREA)
Description
図1及び図2を参照すると、本発明の第1の実施例による位置測定モジュール(100)は、ワイヤー(110)、長さ算出部(120)、角度算出部(130)、位置情報算出部(130)、速度算出部(140)、制御信号生成部(150)及び警告信号生成部(160)を含むことができる。図1に示した位置測定モジュール(100)の具体的な構成は、第1の実施例によるものであり、図1に示した複数のブロックは、全てのブロックが必須構成要素ではなく、第2の実施例において一部のブロックが追加、変更、または削除されることができることに留意する。
図10を参照すると、走行制御装置(1100)は移送ユニット(1200)、位置測定モジュール(100)、ワイヤー(110)及び制御部(1500)を含めて構成されることができる。
Claims (7)
- 外力によって巻き出されるワイヤー、
前記ワイヤーが巻き出された巻出長を算出する長さ算出部、
前記ワイヤーが巻き出された巻出角度を算出する角度算出部、及び、
前記巻出長及び前記巻出角度を利用して前記ワイヤーの少なくとも一部の地点の位置情報を算出する位置情報算出部、
基準時間(△T)以内に前記ワイヤーの少なくとも一部の地点が移動した移動距離(△L)を速度値(V)として算出する速度算出部、及び
前記速度算出部から算出される速度値と予め設定された臨界値を比較し、制御信号を生成する制御信号生成部、を含むことを特徴とする、位置測定モジュール。 - 前記制御信号生成部は、予め設定された時間以内に前記速度値が前記臨界値を超える屈曲部の数に対応して前記制御信号を生成することを特徴とする、請求項1に記載の位置測定モジュール。
- 前記制御信号は、走行装置を加速、減速及び停止させる制御信号の一つであることを特徴とする、請求項2に記載の位置測定モジュール。
- 外力によって巻き出されるワイヤー、前記ワイヤーの巻出長を算出する長さ算出部、及び前記ワイヤーの巻出角度を算出する角度算出部を含む位置測定モジュールが提供される移送ユニット、及び、
前記ワイヤーの末端部と着脱することができるように構成され、前記移送ユニットの走行動作を制御する制御部を含み、
前記移送ユニットは、前記制御部によって走行モードが第1走行モードに設定された場合、前記位置測定モジュールによって算出される前記ワイヤーの一側の末端地点の位置に走行が誘導されることを特徴とする、移送ユニットの走行制御装置。 - 外力によって巻き出されるワイヤー、前記ワイヤーの巻出長を算出する長さ算出部、及び前記ワイヤーの巻出角度を算出する角度算出部を含む位置測定モジュールが提供される移送ユニット、及び、
前記ワイヤーの末端部と着脱することができるように構成され、前記移送ユニットの走行動作を制御する制御部を含み、
前記移送ユニットは、前記制御部によって走行モードが第2走行モードに設定される場合、コントローラーモジュールに入力されるユーザーの操作信号を前記ワイヤーを通じて受信し、前記操作信号によって走行方向が制御されることを特徴とする、移送ユニットの走行制御装置。 - 前記位置測定モジュールは、
前記ワイヤーの巻出長及び巻出角度をもとに前記ワイヤーの末端部地点の位置情報を獲得し、前記獲得した位置情報を時間別に分類して座標系上に対応して保存することを特徴とする、請求項4又は5に記載の移送ユニットの走行制御装置。 - 前記ワイヤーは、導電性を備え、そして
前記制御部は、前記導電性ワイヤーを通じて、前記位置測定モジュールから電源供給を受け、前記移送ユニットの走行を制御することができるよう構成されることを特徴とする、請求項4又は5に記載の移送ユニットの走行制御装置。
Applications Claiming Priority (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020150138848A KR101597622B1 (ko) | 2015-10-02 | 2015-10-02 | 위치 측정 모듈 |
KR10-2015-0138848 | 2015-10-02 | ||
KR1020160004636A KR101864345B1 (ko) | 2016-01-14 | 2016-01-14 | 이송 유닛 주행 제어 장치 |
KR10-2016-0004636 | 2016-01-14 | ||
KR1020160058816A KR101905723B1 (ko) | 2016-05-13 | 2016-05-13 | 이송 유닛의 주행 동작 제어 장치 |
KR10-2016-0058816 | 2016-05-13 | ||
PCT/KR2016/010933 WO2017057933A1 (ko) | 2015-10-02 | 2016-09-29 | 위치 측정 모듈 및 이를 포함하는 이송 유닛의 주행 제어 장치 |
Publications (3)
Publication Number | Publication Date |
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JP2018531401A JP2018531401A (ja) | 2018-10-25 |
JP2018531401A6 JP2018531401A6 (ja) | 2018-12-13 |
JP6629980B2 true JP6629980B2 (ja) | 2020-01-15 |
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JP2018537599A Active JP6629980B2 (ja) | 2015-10-02 | 2016-09-29 | 位置測定モジュール及びこれを含む移送ユニットの走行制御装置 |
Country Status (5)
Country | Link |
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US (1) | US11034537B2 (ja) |
EP (1) | EP3358433B1 (ja) |
JP (1) | JP6629980B2 (ja) |
CN (1) | CN108139753B (ja) |
WO (1) | WO2017057933A1 (ja) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN112146551B (zh) * | 2020-09-29 | 2021-08-03 | 安徽江淮汽车集团股份有限公司 | 一种雨刮刮臂转动角度测量装置及测量方法 |
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2016
- 2016-09-29 WO PCT/KR2016/010933 patent/WO2017057933A1/ko active Application Filing
- 2016-09-29 JP JP2018537599A patent/JP6629980B2/ja active Active
- 2016-09-29 CN CN201680057475.1A patent/CN108139753B/zh active Active
- 2016-09-29 EP EP16852079.9A patent/EP3358433B1/en active Active
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2018
- 2018-03-21 US US15/927,789 patent/US11034537B2/en active Active
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EP3358433B1 (en) | 2021-06-30 |
US11034537B2 (en) | 2021-06-15 |
CN108139753A (zh) | 2018-06-08 |
WO2017057933A1 (ko) | 2017-04-06 |
EP3358433A4 (en) | 2019-05-22 |
EP3358433A1 (en) | 2018-08-08 |
CN108139753B (zh) | 2021-05-28 |
JP2018531401A (ja) | 2018-10-25 |
US20180208423A1 (en) | 2018-07-26 |
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