Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1977-07-05
1979-07-03
Dobeck, B.
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
250202, G05B 1936
Patent
active
041601998
ABSTRACT:
This disclosure deals with a line or pattern following system for use with a machine including first and second motors for moving a device in first and second generally perpendicular directions. The system includes an array of light sensitive elements arranged at angularly juxtaposed positions, the array being positioned adjacent said line or pattern. An image of the line or pattern falls on the array and makes an angle .theta. with a reference point on the array. The system further includes means for sequentially scanning the outputs of the elements, and angle means responsive to said outputs and to said reference point for generating first and second signals. The first signal is a function of sin .theta. and is connected to control energization of the first motor, and the second signal is a function of cos .theta. and is connected to control energization of the second motor. The two motors, thus energized, produce relative motion of the array and the line or pattern, and move the array to follow the line or pattern.
REFERENCES:
patent: 3529084 (1970-09-01), Rich
patent: 4049962 (1977-09-01), Kallen
patent: 4059788 (1977-11-01), Vasiliev et al.
Dobeck B.
Stewart-Warner Corporation
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