Analog circuit for motion detection using a CCD camera based on a biological vision system and its application to mobile robots

We have proposed an analog motion detection circuit based on a biological vision system. A charge coupled device (CCD) camera was used as the input in order to obtain an input image. By using the CCD camera, it is possible to detect the movement of an object as a high-resolution image. Because the unit motion detection circuit is constructed with eight metal oxide semiconductor (MOS) transistors and one capacitor, the structure of the unit circuit is simple. The test circuit was constructed on a circuit board using discrete MOS transistors. The results from the test circuit showed that it can detect the direction of motion. The test circuit was connected to a microcomputer in a mobile robot. It was clear from the results that the motion detection circuit can control a mobile robot.