Title:
CONTROL SYSTEM, CONTROL METHOD AND CONTROL PROGRAM
Document Type and Number:
WIPO Patent Application WO/2019/208107
Kind Code:
A1
Abstract:
According to the present invention, subject blur is suppressed which can occur at the time of imaging by means of a visual sensor (50). A control system (1) is provided with: a moving mechanism (400) which moves a target object; a visual sensor (50) which measures an actual position of the target object from an image obtained by imaging the target subject; a detection unit (412) which detects position-related information on the moving mechanism for each control period that is shorter than an imaging period; a position determination unit (252) which determines an estimation position of the target object on the basis of the actual position and the position-related information; a feedback control unit (254) which outputs, to the moving mechanism (400), a moving command for aligning the estimated position to a target position; and an adjustment unit (256) which adjusts at least one among an output timing of an imaging instruction, the movement command, and an update timing of the actual position in order to image the target object, when a moving speed of the moving mechanism is smaller than a prescribed value.
Inventors:
NAMIE MASAKI (JP)
KAWAMATA KATSUYUKI (JP)
KAWAMATA KATSUYUKI (JP)
Application Number:
PCT/JP2019/014125
Publication Date:
October 31, 2019
Filing Date:
March 29, 2019
Export Citation:
Assignee:
OMRON TATEISI ELECTRONICS CO (JP)
International Classes:
G05D3/12
Foreign References:
| JP2015213139A | 2015-11-26 | |||
| JP2018044864A | 2018-03-22 |
Attorney, Agent or Firm:
FUKAMI PATENT OFFICE, P.C. (JP)
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