An embedded route finder and tracing system for a stepped robot

Xiangjun Wang; Zhi Li; Xinling Zhou

doi:10.1117/12.521772

2 September 2003 An embedded route finder and tracing system for a stepped robot

Xiangjun Wang, Zhi Li, Xinling Zhou

Proceedings Volume 5253, Fifth International Symposium on Instrumentation and Control Technology; (2003) https://doi.org/10.1117/12.521772
Event: Fifth International Symposium on Instrumentation and Control Technology, 2003, Beijing, China

Abstract

The paper presents a new embedded sensor method of non-contact automatic route-finding and route-tracing for stepped robot. The final system is designed and integrated into a single hardware PCB with size of 30x30x15 mm³. A line scanning charge couple device (CCD) with 1024 pixels is used to obtain the plane scene of route, and a pair of infrared LED is employed to provide the illumination of the route-finder. Moreover, this route-finder still includes a micro lens, CCD driver, instrumentation pre-amplifier, edge extracting circuit, FPGA circuit for position measure and logic control, direction and state display of the route-finder by LED, moving direction control pins output and power manage circuits. The router-finder for stepped robot has the advantages of simple and fast operation, easy assembly with robot, small volume, high sensitivity and precision for route-finding and tracing. The paper outlines in detail the principle of the route-finding and tracing by edge extraction and edge position measure using a CCD image sensor with a micro lens assisted by infrared illumination and a FPGA circuit. Some relational edge extraction and measure algorithms suitable for embedded system with FPGA are introduced in the paper too. Finally, the actual experiment results are given.

Citation Download Citation

Xiangjun Wang, Zhi Li, and Xinling Zhou "An embedded route finder and tracing system for a stepped robot", Proc. SPIE 5253, Fifth International Symposium on Instrumentation and Control Technology, (2 September 2003); https://doi.org/10.1117/12.521772

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