| 摘要 |
Design of a movable robot with a modular structure with the ability to perform the following tasks: following a trail; recovery when interruptions are encountered on said trail; and speed in following the trail. It is characterized in that it is equipped with a single sensor, a video camera 1, a convex mirror 2 and a system management and processing unit for image processing. The image observed by the camera is divided into three virtual images: zone A - image in the mirror (at a specific distance from the axle of the vehicle's wheels); zone B - image seen below the mirror (at a specific distance, greater than the previous one, from the axle of the vehicle's wheels); zone C - image in the mirror (at a specific distance, greater than the previous one, from the axle of the vehicle's wheels) so as to make it possible for an image-processing algorithm to be able to extract information relating to the position and orientation of the optical trail relative to the vehicle and to the trail pick-up points when interruptions occur provided these are located in the zones covered by the virtual images B and C. <IMAGE>
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