| 摘要 |
PURPOSE:To guide a self-running robot accurately without any special mark on a floor surface, etc., by collating a reference partial pattern in an image picked up while the robot is run on a predetermined course with a previously stored reference pattern, and positioning and running the robot. CONSTITUTION:When the self-running robot 20 reaches an area within an error range estimated from its starting point S, the video pattern of a place where a reference pattern in an image picked up newly is segmented is collated with a reference video pattern stored previously for an image on the 90 deg. right side at a point A. The robot 20 is advanced in the moving direction until both patterns coincide most with each other. Then, the moving direction is so corrected at the position so that the horizontal deviation between an image in the moving direction and the reference video pattern at the point A in the moving direction. Then, the robot 20 is guided by regarding points B, C- as reference points by similar algorithm to run the robot accurately on the predetermined course. |
