| 摘要 |
PURPOSE:To accurately detect the position of a moving vehicle to a frame even in case of no difference between light reflectivities of a ceiling face and the frame by extracting break parts of two slit beams orthogonal to each other and obtaining the position of the moving vehicle to these extracted parts. CONSTITUTION:Two slit beams B1 and B2 orthogonal to each other are projected toward the ceiling so that the intersection is off the intersection position of the frame, and images of slit beam projected positions of the frame are picked up in directions different from projection direction of both slit beams B1 and B2, and then, slit beams look broken in positions Ba and Bb where both slit beams traverse the frame because the frame is protruded downward from the ceiling face. Positions Ba and Bb where both slit beams B1 and B2 look broken are changed in accordance with the change of the position of the moving vehicle to the frame. Consequently, parts Ba and Bb where both slit beams B1 and B2 are broken are extracted from picked-up information of an image pickup means and the position of the moving vehicle to the frame is obtained from position information of extracted parts.
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