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Abstract

The optical tracker of this invention tracks a boundary on the surface where the light reflectivity of the surface changes at the boundary. The optical tracker includes a sensing means for sensing light reflected from an elongated portion of the surface defining a window. When the sensing means is moved over the surface it will receive consecutively light reflected from a sequence of windows that ir passes over and generates a set of electrical signals indicative of the intensity of light reflected from locations along the length of the window. A microprocessor control means derives from the signals provided by the sensing means secondary sets of signals useful for serving as a template and for finding the boundary when the window includes a selected portion of the boundary. The microprocessor control means can be activated to record a secondary set of signals as a template. If the sensing means is moved across the surface to find the boundary the microprocessor control means will compare the secondary set of signals derived from signals provided by the sensing means with the template to find a boundary. To initiate tracking after a boundary has been located, a moving means moves the sensing means along the general direction of the boundary. The microprocessor control means determines the position of the boundary within the window and sends control signals to the moving means to adjust the course of the sensing means in order to track the boundary accurately.

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First Claim