Optoelectronic Autocollimating Video Sensor for a Mobile Robot

Purpose developing of the structure and metrological parameters of the autocollimating video sensor to generate SEMS control signals at mobile robot arm tool for high-precision operations. Analyzing the method to increase the pitch and yaw angular measuring range of the autocollimating sensor. Results autocollimating video sensor using a sight target compose of three reflectors designed as glass tetrahedrons with angles of 90° between reflecting edges allows for generation of SEMS control signals for steering the mobile robot and its operating arm in all motion modes: movement between target objects, approaching to the stop point, steering during performance of operations. If the reflecting edge of one of reflectors of the sight target is designed as a conical surface its retro-reflection property is preserved and the processing of the image of reflected beam allows for high precision positioning of the mobile SEMS platform of a mobile robot. Practical value universal autocollimating video-sensor for independent generation of control signals in three main movement modes: movement between target objects, approaching the stop point near the next target object, steering of the mobile robot or arm tool to perform required operation.