| 摘要 |
PURPOSE:To surely decide the presence/absence of a marker, by generating the correspondence of a detected code value to a unit area by sampling a large number of points at every unit area, and decoding the code value when it exceeds a constant value by monitoring the total value of length of the unit areas by detected code value. CONSTITUTION:The combination of a sampling processing and a decision processing is generated by dividing a travel area into a large number of unit areas along a travel direction, and also, sampling a large number of points at every unit area. For example, when most of the points are provided with the same code values, the code value is qualified as that of the said unit area, and furthermore, a processing to decode the said code value is performed by monitoring the total value of check distances at every code value that is the total value of the length of the unit areas when it reaches the constant value. Therefore, it is possible to surely perform the qualification of information at every unit area and to monitor the total value of the length of the unit areas by every information (code value). In such a way, the decision of the presence/absence of the marker can be performed surely, and also, it is possible to surely recognize the marker even when a stain is attached on it, and to perform a stable operation.
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