| 摘要 |
PURPOSE:To determine and change a travelling route easily and to improve detecting accuracy by applying a reflecting tape on the ground along the travelling route and finding a deviated angle between a moving body and the reflecting tape. CONSTITUTION:The picture 17 of the reflecting tape 8, a guide band, adhered to the ground along the travelling route is inputted by an image pickup camera 1 attached to a rubber tire crane. A picture processing microprocessor 4 finds out an angle formed by the advancing direction of the crane and the tape 8 by using picture data from a picture memory circuit. A control microcomputer 5 adjusts the torque of travelling motors 14, 15 to correct the advancing direction of the crane. If the tape 8 is punched or cut out, whether the picture has the width corresponding to a previously determined range or not is discriminated and a picture in a range 22 wider than the preceding image pickup range 21 is inputted by a lens magnification correcting circuit 9 to make the inclined status of the picture 23 clear. Thus, a reflecting tape tracking method prevented from disturbance such as dirt or peeling is attained. |
