Title:
AUTOMATIC TRACING CONTROLLER FOR CAMERA, AUTOMATIC TRACING DEVICE FOR OBJECT, DIRECTION DETECTOR FOR OBJECT UTILIZING TRACING CONTROL, AND ROBOT CONTROLLER UTILIZING TRACKING CONTROL
Document Type and Number:
Japanese Patent JPH02140073
Kind Code:
A
Abstract:
PURPOSE:To obtain a device able to attain trace control comparatively quickly with simple constitution by providing a deduction means calculating a quantity to control a drive means and a means controlling a drive means based on the result of the deduction by the deduction means. CONSTITUTION:The degree of each rule set with inputs x, x' ( y, y') to be given fitted to a membership function corresponding thereto is obtained in fuzzy processing units 10(20). In the 'IF', 'Then' rules, a smaller degree of adaptation of the inputs x, x' ( y, y') is selected (MIN, and the membership function relating to the theta'x( theta'y) is decided depending on the degree of adaptation. The membership function is overlapped (MAX calculation), the final membership function is obtained to obtain the gravity center and a confirmed speed command theta'x( theta'y). The speed command theta'x( theta'y) is given to a controller 12(22) to control a motor M1 (M2) thereby driving the direction of the camera 1 so as to move the image of a moving object in 2-dimension at all times.
Inventors:
TERAMOTO HIROSHI
KARASHIMA MEGUMI
KAMIZAKE TSUTOMU
MOTOOKA OSAMU
MASAKI TOSHIMICHI
KARASHIMA MEGUMI
KAMIZAKE TSUTOMU
MOTOOKA OSAMU
MASAKI TOSHIMICHI
Application Number:
JP15242589A
Publication Date:
May 29, 1990
Filing Date:
June 16, 1989
Export Citation:
Assignee:
OMRON TATEISI ELECTRONICS CO
International Classes:
H04N5/232; G05B13/02; (IPC1-7): G05B13/02; H04N5/232
Attorney, Agent or Firm:
Kenji Ushiku