Method and system for controlling a travelling body so as to move forward along the predetermined route of the movement of travelling body
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United States of America Patent
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Aug 16, 1994
Grant Date -
N/A
app pub date -
Jun 24, 1991
filing date -
Jul 13, 1990
priority date (Note) -
Expired
status (Latency Note)
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Abstract
A method and apparatus for controlling a travelling body having a main body and a steering device along a predetermined route includes a plate-shaped indicator disposed perpendicular to an axis of the main body, an optical pointer emitting light of a first color showing the steering direction of the steering device, a laser beam illuminating the indicator with a laser beam spot of a second color, a TV camera monitoring the optical pointer and the laser beam spot on the indicator, a color separator separating image information of the optical pointer and the laser beam spot, an image processing unit computing position data of the optical pointer and the laser beam spot for outputting steering direction information and optical pointer position information, a fuzzy operation unit processing a steering command using the optical pointer position information, and comparator computing a controlling command for operating the steering device by calculating the difference between the steering command and the steering direction information.
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