| 摘要 |
PURPOSE:To precisely detect the edge between a guidance tape and a background even if the alteration of illuminating circumstances and the alteration of background occur by sequentially updating a reference signal level corresponding to the alteration of the illumination, etc., during the running of an unmanned guided vehicle. CONSTITUTION:A reference signal level updating means is provided, which averages the light receiving levels as to the respective first and second sampling areas based on the stored value in a light receiving level storage part at the time of terminating the scanning of continuous M frames and sets the value obtained by moreover averaging the said averaged values as a new reference signal level LE. Even if a video signal level LT corresponding to the part of the guiding tape 1 and the video signal level LB corresponding to the position of the background VB are respectively altered by altering the illuminating circumstances and the background, the reference signal level LE according to the alteration is set, so that the edge between the guidance tape and the background can be precisely detected.
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