| 摘要 |
PROBLEM TO BE SOLVED: To accurately position a moving body at a target position without stopping it.SOLUTION: In a positioning device, a body control part includes: a prediction processing part which calculates, on the basis of an input/output signal U, a position Xof a target before by a delay cycle R associated with a photographic image of a camera; a correction processing part which corrects the position Xbased on an image processing signal Y; a switch which switches and outputs an output value of the correction processing part and the prediction processing part as position information before R cycle in accordance with image processing signal Ytiming; a processing part which estimates a present position X of the target from the position information before the R cycle by application of delay compensation processing; and a command output part which outputs a demand signal to a movement mechanism based on the present position X. |
