MOTION CONTROL APPARATUS FOR TRANSPORTING ROBOT Russian patent published in 2005 - IPC

FIELD: computing technique, possibly technical vision systems for controlling transport vehicles such as robot-cars moving along non-crossing marked paths.

SUBSTANCE: apparatus including optical unit, video-signal shaper, conversion amplifier, first comparator, first adder, second adder, third adder, fourth adder also includes clock pulse generator, counter, first register, second register and second comparator. Robot motion path is in the form of light-contrast route onto which markers are applied. Optical unit and video signal shaper may scan light-contrast route. Image contour is extracted by successive processing of image lines. On base of calculation of coordinates of left and right edges of light-contrast route, mean line and size of light-contrast route are calculated for comparing them with reference values.

EFFECT: enhanced reliability of image processing.

3 dwg