| 摘要 |
PURPOSE:To change run courses easily by photographing a black-and-white image of a run course drawn on a run path surface with paints of different colors by a camera mounted on the running car, and controlling a steering mechanism according to the difference in white or black quantity between the right and left parts of an image plane. CONSTITUTION:The run course 3 is drawn on the surface on which the unmanned running car 1 runs with the paints of different colors from the path surface, and the black-and-white image of the run course 3 is photographed by the image pickup part 4 of the CCD camera 2 mounted on the running car and the image is updated and stored in video memory 5. An arithmetic processing part 6 reads the storage state of the memory 5 to calculate the white or black quantities of the right-half and left-half parts and also calculate the difference between the right-half and left-half parts, and sends the output based upon the difference to a steering control part 8 through an output part 7. The control part 8 drives a steering motor 9 by an angle corresponding to the output of the output part 7 to control the steering mechanism 10, running the unmanned running car 1 along the run course 3 automatically. When the course is changed, it is only repainted, so the change is made easily. |
