field of vision navigation system for free roaming mobile robot.

摘要

A vision navigation system for a mobile robot 21. The mobile robot has a plurality of light beacons 3, 5, 7 mounted on it to identify its location to fixed overhead television cameras 1 having a predefined viewing area. Navigation commands are generated by finding present robot location and transmitting new coordinates via the beacons which are used both for communicating with a master station and to locate the mobile apparatus. There are a minimum of three navigation beacons which are arranged in a triangular pattern to enable robot direction to be determined, even when some beacons are obstructed from view of overhead cameras. The television system uses a gray scale image and has a video bus that transmits the actual pixel value synchronized with a pixel clock.