| 摘要 |
PROBLEM TO BE SOLVED: To control drive of a self-traveling vehicle without particularly installing a marker by making an optical axis of an image pickup lens parallel to a travel region, binarizing the pickup image obtained by an image pickup device placed on a mobile, and recognizing a current position of the traveling mobile based on a detected edge. SOLUTION: A door 3 and a pillar 8 which are vertical structures or a floor 7 which is a horizontal structure have more distinct shades than a wall 2 or the like of a background and any of them forms an edge. Therefore, the vertical structures such as the door 3, the pillar 8 or a corner whose edge can be detected are used as markers without providing special markers to recognize a current position of a self-traveling vehicle. Self-traveling is started, an image picked up for the floor 7 in the traveling region is obtained by a CCD camera, an edge is detected from the pickup image which has been binary-code-processed by an image processor, and a distance is obtained by a position detector from an intersection coordinate between a floor edge and a door edge to control driving of the vehicle.
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