PURPOSE: To improve the autonomous moving capacity of a robot by collating the TV pictures of an indoor path with a pattern of the path which is previously stored and recognizing the branching state of the path.
CONSTITUTION: The state of an indoor path is photographed by a TV camera 2 attached to a robot 1 which moves along said path. The pictures of the path obtained through the camera 2 undergo the binary coding and the linear picture processing through a picture processor 3 and are stored in a picture memory 4. A path arithmetic means 5 discriminate the branching state of the path by collating the linear picture of the path with a pattern of the path stored previously. A robot controller 6 controls the movement of the robot 1 based on the path information given from the means 5.
HONMA KAZUO
FUJIE MASAKATSU
KAMESHIMA KOUJI
HOSODA YUUJI
