| 摘要 |
PROBLEM TO BE SOLVED: To detect a robust object at high speed by providing a detecting means to detect an object or a motion of the object based on a distant image acquired by an image acquisition means. SOLUTION: Required sheets of the distant images are acquired in a second and are transmitted to an image processing part 2 by a distant image acquisition part 1. The object is extracted by generating contour information of the picked up object except a cell whose pixel value is below a prescribed value in the image processing part 2. The object extracted from the distant image is judged whether it is a predetermined target object or not by the image processing part 2. Next, a self-travelling part 4 is controlled based on distance (d) to the object calculated by the image processing part 2 by a self-travelling control part 3. Namely, when the calculated distance (d) is smaller than distance D predetermined between the self-travelling part 4 and the target object, distant image acquiring operation is continued as it is. On the other hand, the distance (d) is larger than the distance D, the self-travelling part 4 is apart from the target object, therefore, a required forwarding instruction is given to the self- travelling part 4. |
