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Proceedings Paper

An embedded route finder and tracing system for a stepped robot
Author(s): Xiangjun Wang; Zhi Li; Xinling Zhou
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Paper 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.

Paper Details

Date Published: 2 September 2003
PDF: 4 pages
Proc. SPIE 5253, Fifth International Symposium on Instrumentation and Control Technology, (2 September 2003); doi: 10.1117/12.521772
Show Author Affiliations
Xiangjun Wang, Tianjin Univ. (China)
Zhi Li, Tianjin Univ. (China)
Xinling Zhou, Tianjin Univ. (China)


Published in SPIE Proceedings Vol. 5253:
Fifth International Symposium on Instrumentation and Control Technology
Guangjun Zhang; Huijie Zhao; Zhongyu Wang, Editor(s)

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