| 摘要 |
<P>PROBLEM TO BE SOLVED: To pursue a target which moves fast. <P>SOLUTION: The target is imaged by a vision camera 101. The vision camera 101 comprises a centroid acquisition unit. The centroid acquisition unit comprises a sensor and an operation processor provided with a plurality of process elements which are arranged in matrix. Each of the process elements comprises not only a photoelectric conversion element but also a column adding function. The sensor is designed to output a signal indicating a zero-order moment amount and a first-order moment amount, and the operation processor is designed to acquire a centroid position based on the output signal of the sensor. Consequently, the centroid acquisition unit is designed to acquire the centroid position of a target image more speedily. A pursuing control device 106 is designed to control the vision camera 101, a video camera 102, and a swivel base control device 105 so as to follow to the target when the centroid position of the target image changes after acquiring the centroid position of the target image from the centroid acquisition unit. <P>COPYRIGHT: (C)2006,JPO&NCIPI |
