| 摘要 |
PURPOSE:To bring the direction of an unmanned car to rotational correction prior to running when a guidance line is shifted and to safely to start to run said unmanned car by providing an image pickup angle changing means so that an image pickup angle of an image pickup means provided on the unmanned car is variable. CONSTITUTION:At the time of running is started, a pattern from an initial angle pattern generating part 17 is inputted and by a camera angle driving part 16, a camera angle of an industrial TV camera 2 loaded on an unmanned car is changed so as to turn to the direction right under the unmanned car. Subsequently, the direction of the unmanned car is brought to rotational correction until the camera can catch a guidance line through a shift quantity detector 12, a steering arithmetic part 13, etc., and thereafter, the camera angle is changed to an angle at the time of running. Accordingly, even when a distant guidance line does not enter into a visual field of the camera 2, running of the unmanned car can be started safely. |
