Abstract: A method of the present disclosure is a path generation method of generating a path of a robot using a command from an external apparatus, including (a) sequentially receiving command information including a control command from the external apparatus, and (b) determining a path position with interpolation between a first target position and a second target position. The step (b) includes (b1) obtaining the path position by performing linear interpolation between the first target position and the second target position, (b2) determining whether or not path speed at the second target position is no lower than lower limit speed, and (b3) correcting the path speed between the first target position and the second target position so as to become no lower than the lower limit speed when it is determined that the path speed at the second target position fails to be no lower than the lower limit speed.

Abstract: An electromagnetic valve driving device includes: a maximum detection unit configured to detect a maximum point when time-series data of a differential value of a counter electromotive voltage generated in a solenoid has changed from an increase to a decrease by retrospectively tracing the time-series data in an opposite direction of a time series; and a valve closing time detection unit configured to execute a determination process of retrospectively tracing the time-series data from the maximum point detected by the maximum detection unit in the opposite direction and scanning whether or not an amount of decrease in the differential value from the maximum point exceeds a predetermined threshold value and detect a maximum time, which is a time of the maximum point, as a valve closing time of a fuel injection valve when there is an event in which the amount of decrease exceeds the predetermined threshold value.

Abstract: An electromagnetic valve drive device, that drives a fuel injection valve having a solenoid coil, includes a drive unit configured to drive the solenoid coil, an energization control unit configured to control energization for the solenoid coil by controlling the drive unit, a processing unit configured to obtain a current value arrival time, which is a time having elapsed from a start of energization for the solenoid coil until a current flowing through the solenoid coil reaches a predetermined current value, and an estimation unit configured to estimate a valve opening start time, which is a time from the start of the energization to a start of opening of the fuel injection valve on the basis of the current value arrival time.

Abstract: This detector includes: a filtering unit performing a first filtering process of performing a filtering process on a first waveform or a second filtering process of performing a filtering process on a second waveform; a detection unit detecting a timing of a first peak value corresponding to a predetermined peak value of a third waveform; a correction unit which corrects a deviation of a detection value corresponding to a timing detected by the detection unit with respect to a timing when the fuel injection valve is actually opened or closed based on a difference between the first peak value of the third waveform and a second peak value of the third waveform appearing after the first peak value; and a detecting unit which detects one or both of the opening and closing of the fuel injection valve based on the detection value corrected by the correction unit.

Abstract: An electromagnetic valve driving device includes: a maximum detection unit configured to detect a maximum point when time-series data of a differential value of a counter electromotive voltage generated in a solenoid has changed from an increase to a decrease by retrospectively tracing the time-series data in an opposite direction of a time series; and a valve closing time detection unit configured to execute a determination process of retrospectively tracing the time-series data from the maximum point detected by the maximum detection unit in the opposite direction and scanning whether or not an amount of decrease in the differential value from the maximum point exceeds a predetermined threshold value and detect a maximum time, which is a time of the maximum point, as a valve closing time of a fuel injection valve when there is an event in which the amount of decrease exceeds the predetermined threshold value.

Abstract: An electromagnetic valve drive device, that drives a fuel injection valve having a solenoid coil, includes a drive unit configured to drive the solenoid coil, an energization control unit configured to control energization for the solenoid coil by controlling the drive unit, a processing unit configured to obtain a current value arrival time, which is a time having elapsed from a start of energization for the solenoid coil until a current flowing through the solenoid coil reaches a predetermined current value, and an estimation unit configured to estimate a valve opening start time, which is a time from the start of the energization to a start of opening of the fuel injection valve on the basis of the current value arrival time.

Abstract: This detector includes: a filtering unit performing a first filtering process of performing a filtering process on a first waveform or a second filtering process of performing a filtering process on a second waveform; a detection unit detecting a timing of a first peak value corresponding to a predetermined peak value of a third waveform; a correction unit which corrects a deviation of a detection value corresponding to a timing detected by the detection unit with respect to a timing when the fuel injection valve is actually opened or closed based on a difference between the first peak value of the third waveform and a second peak value of the third waveform appearing after the first peak value; and a detecting unit which detects one or both of the opening and closing of the fuel injection valve based on the detection value corrected by the correction unit.