Control system for automated manipulator device

In an automated device operative to move along at least one movement track and having motor means for moving the automated device along the movement track, an improved control system for controlling the movement and position of the automated device along the movement track comprising:

• means defining a chart having a width and a length and stationarily positioned transversely adjacent the movement track along a predetermined operative portion of the movement track over which the automated device is to be movably controlled, the length of the chart extending along the movement track and the width of the chart extending transversely with respect to the movement track, said chart having a radiation reflective code extending across a portion of the width of the chart and along the operative length of the chart which defines the length of the chart and hence the operative portion of the movement track into a plurality of distance increments, the code further defines each distance increment by a unique predetermined pattern of radiation reflected from the code at each distance increment;
• radiation source means for emanating radiation onto the chart at a position adjacent the automated device as the automated device moves along the movement track, the radiation reflected from the code at each distance increment defining the predetermined pattern of reflected radiation unique to that distance increment;
• camera means attached to and carried by the automated device during movement along the movement track relative to the chart, said camera means receptive of radiation from said source means reflected in a scanning path extending fully across and beyond the transverse width of the chart to assure reception of the predetermined pattern of radiation reflected from the code at each distance increment under conditions of shifts in transverse position of the chart relative to the movement track;
• a part of said code including means reflectively indicative of the beginning and the ending of the transverse width of the code at each distance increment;
• said camera means further including means for converting each predetermined pattern of reflected radiation into an increment signal uniquely indicative of the particular distance increment from which the predetermined pattern of reflected radiation was reflected;
• and
• processor means including a memory and an input control means for entering into said memory at least one information signal, each information signal corresponds to an increment signal corresponding to a distance increment along the operative portion of the track, said processor means being connected to said camera means to receive each increment signal from said camera means, said processor means further operatively controlling said motor to move said automated device along the movement track in predetermined relation to the information signal and each increment signal supplied by said camera means.