Delivery vehicle and method and program for controlling drive of delivery vehicle

Patent metadata

Field	Value
Publication number	US-2016004252-A1
Application number	US-201314767616-A
Country	US
Kind code	A1
Filing date	Dec 13, 2013
Priority date	Feb 15, 2013
Publication date	Jan 7, 2016
Grant date	—

Abstract

A traveling controller of a delivery vehicle includes a command generator and an acceptable value calculator. The acceptable value calculator calculates a command acceptable value based on a current position of the delivery vehicle. An acceptable value determiner of the command generator determines whether a command position generated by a command position generator exceeds the command acceptable value. When the command position is determined to exceed the command acceptable value, a command position changer of the command generator changes the command position to the command acceptable value.

First claim

1 - 8 . (canceled)

9 . A delivery vehicle comprising:
a command position generator that generates a command position to move the delivery vehicle to a target position by driving a servomotor; an acceptable value calculator that calculates a predetermined acceptable value based on a current position; an acceptable value determiner that determines whether the command position exceeds the predetermined acceptable value calculated by the acceptable value calculator; and a command position changer that changes the command position when the acceptable value determiner determines that the command position exceeds the predetermined acceptable value.

10 . The delivery vehicle of claim 9 , further comprising a position detector configured to detect the current position, wherein the acceptable value calculator calculates the predetermined acceptable value based on the current position outputted from the position detector.

11 . The delivery vehicle of claim 9 , wherein the command position changer changes the command position to the predetermined acceptable value or a predetermined position within a range which does not exceed the predetermined acceptable value.

12 . The delivery vehicle of claim 9 , wherein
the command position generator generates the command position in predetermined cycles; and the acceptable value calculator acquires the current position in synchronization with generation of the command position.

13 . The delivery vehicle of claim 12 , wherein the predetermined acceptable value includes the amount of movement during one of the predetermined cycles.

14 . The delivery vehicle of claim 9 , wherein the command position changer changes the command position at a timing when the command position generator generates the command position.

15 . A method to control driving of a delivery vehicle, the method comprising:
generating a command position to move the delivery vehicle to a target position by driving a servomotor; calculating a predetermined acceptable value based on a current position; determining whether the command position exceeds the predetermined acceptable value; and changing the command position when it is determined that the command position exceeds the predetermined acceptable value.

16 . A non-transitory computer-readable medium including a computer program that controls driving of a delivery vehicle, the program causing a computer to perform:
generating a command position to move the delivery vehicle to a target position by driving a servomotor; calculating a predetermined acceptable value based on a current position; determining whether the command position exceeds the predetermined acceptable value calculated in the acceptable value calculation process; and changing the command position when it is determined in the acceptable value determination process that the command position exceeds the predetermined acceptable value.

Assignees

• Murata Machinery Ltd

Inventors

• Nagasawa Atsuo

Classifications

• G05B19/41895

  using automatic guided vehicles [AGV] (control of position or course of AGV's G05D1/00) · CPC title

• Y02P90/60

  Electric or hybrid propulsion means for production processes · CPC title

• G05D1/021

  specially adapted to land vehicles · CPC title

• G05D1/0088 Primary

  characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00) · CPC title

• Y02P90/02

  Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS] · CPC title