| 摘要 |
PURPOSE:To attain accurate tracking with the simple equipment by obtaining the (x) and (y) coordinates of an intersecting point between a tracking line and a circle formed by plural solid state video elements arrayed to a tracer head to drive a motor. CONSTITUTION:The tracing point set within a tracer head is defined as an original point O of the X-Y coordinates, and many solid-state image elements 21-2n are arrayed on a circular circumference C drawn on the basis of the original point O. Then the X-Y coordinates of each element is stored 3. An intersecting point between an edge 4a of a tracking line 4 and the circumference C of the image element 2i is detected from the difference of the inner and outer reflected light quantities of the tracking line. Thus points A and B are obtained, and the coordinates of points A and B are read out of the memory 3. Then the difference alpha is obtained between the center O and a segment AB is obtained through an operation of a CPU5 together with the traveling direction beta. Motors 8 and 9 are driven via amplifiers 10 and 11 to put the segment AB on a segment A'B'. Thus it is possible to perform accurate tracking with the simple equipment. |
