BORDER DETECTION DEVICE FOR SELF-RUNNING WORKING VEHICLE

摘要

PURPOSE:To switch automatically 1st and 2nd border detecting means by counting picture elements whose inclinations in the variation direction of maximum brightness found from image pickup information are within a set range in the front-rear direction of a machine body. CONSTITUTION:An unworked place B is seen darker than a worked place, so integral values of (x)-axial and (y)-axial brightness variations as to nine picture elements, i.e. a picture element (e) to be worked and its eight peripheral picture elements (a-d and f-i) are operated. Then the inclination theta(BP) in the maximum brightness variation direction of each picture element is operated from the integral values. The picture elements which have inclinations (240-300 deg.) smaller than a set angle (+ or -30 deg.) to 270 deg. (y-axial direction) where the inclination theta(BP) crosses a 2nd border L2 at right angles are counted. It is discriminated which of the 1st border L1 and 2nd border L2 image information corresponds to from whether or not the number of the picture elements is smaller than the set value.