| 摘要 |
PURPOSE:To remarkably improve the control accuracy by shifting a reference position in a photographing image, and correcting an azimuth in which a running machine body turns, in the case a photographing index position and the reference position are shifted from each other in exceeding a set angle. CONSTITUTION:A detection center position of an index 9 which is subjected image recognition processing is calculated. As for a reference set position which is set to a recognition image as a reference in advance, a shift to a coordinate in a screen is calculated. Subsequently, whether this shift amount is '0' or not is decided. Also, after deciding whether the shift amount is shifted to the left or the right, the left steering control or the right steering control is executed. As a result, a running locus L2 of a running machine body 1 shifted greatly is corrected so as to allow it to roughly run along a reference locus Lo. Accordingly, the automatic steering control can be executed so as to allow a photographing index position to coincide with a reference position. |
