| 摘要 |
PURPOSE:To detect the relative intervals of pictures of three markers fitted to a fixed station and to detect the position of an unmanned moving body precisely to guide the moving body to the fixed station by projecting the markers on the image receiving surface of a TV camera mounted on the moving body. CONSTITUTION:Three markers 4a-4c are fitted to the surface of the fixed station 2 fixed on a floor surface 1 so that the marker 4c is projected to the front in the direction parallel to the floor surface 1. The TV camera 6 is arranged on the unmanned moving body 5 guided to the station 2 so as to be rotated on a surface parallel to the floor surface 1. The pictures 4a'-4c' of respective markers 4a-4c on the station 2 are simultaneously projected on the image receiving surface 7 of the camera 6. A controlling device detects the relative relation of the pictures 4a'-4c' to control the travelling of the moving body 5 on the basis of the detected result. Thus, the position of the moving body 5 is detected precisely and easily. |
