| 摘要 |
PURPOSE:To reduce operational processing quantity and to increase the processing speed of an image, by calculating the inclination of the max. brightness change direction at every quantized pixel of the data of the image picked up over a two-dimensional direction prior to the processing for calculating the straight line passing through each pixel. CONSTITUTION:When running is started, the detection processing of a boundary is performed on the basis of the detection data of a number-of-rotation sensor S2 at every running over a set distance and, on the basis of this detection data, it is discriminated whether the boundary L2 on a terminal side is detected. When the boundary L2 is detected, the terminal position of a car body V to the present position is calculated on the basis of the position data on the image of said boundary and front and rear wheels 1, 2 are held to a steering neutral state up to the calculated position to allow the car body V to straightly advance and, thereafter, the car body V is turned toward the next working process on the basis of a preset stored turn pattern. When the boundary L2 on the terminal side is not detected, the shift to the boundary L1 on the detected distance side is calculated so as to allow the car body to automatically run along said boundary L1 to perform steering control.
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