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Title:
CONTROL SYSTEM, CONTROL METHOD, AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2019/202944
Kind Code:
A1
Abstract:
An alignment part determines an estimated position of a subject of interest for each control period on the basis of an image captured in each image capture period and of position-related information from a mobile mechanism. Every second period, a feedback control part updates a movement command for aligning the estimated position with a target position. An interrupt control part interrupts the update of the movement command if the deviation between the estimated position and the target position is less than a threshold. A determination part determines that the alignment of the subject of interest is to be ended if a measurement result, derived from the image having been captured after it was determined that a movement according to the final movement command has been completed, satisfies a predetermined condition. A subject of interest may thus be aligned rapidly and precisely.

Inventors:
KAWAMATA KATSUYUKI (JP)
TARUMI KENSUKE (JP)
Application Number:
JP2019/013720
Publication Date:
October 24, 2019
Filing Date:
March 28, 2019
Export Citation:
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Assignee:
OMRON TATEISI ELECTRONICS CO (JP)
International Classes:
G05B19/19; G03F9/00; G05D3/12
Foreign References:
JP2015213139A2015-11-26
JPH01222844A1989-09-06
JPS6383807A1988-04-14
Attorney, Agent or Firm:
FUKAMI PATENT OFFICE, P.C. (JP)
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