PURPOSE: To provide a detector which is suitable for an unmanned transport vehicle that conducts high speed outdoor travel, and can detect surely the runaway of the vehicle, by affixing a reflection tape on the road shoulder of a vehicle travel road, photographing it by means of a photographing device provided on a vehicle side.
CONSTITUTION: A reflection tape 5 is provided on the road shoulder of the travel road of an unmanned transport vehicle 1, and is photographed by means of a photographing device 2 provided on a vehicle side. As the range 6 of photographing is fixed, the image of the reflection tape 5 enters into a photographing image within a range that is separated by a fixed distance from the center line of the travel route of a vehicle 1. Also, the upper and lower ranges of a photographed image can be converted into the distance of the side from the vehicle center portion, and the image of the reflection tape 5 provided on the road shoulder becomes a continuous line. Accordingly, the vehicle position from the road shoulder of the travel road on which the vehicle 1 is traveling, can be calculated by the position of the reflection tape 5 in the photographed image, so it is learned whether or not the vehicle 1 is traveling within a travel allowable width Ln that is set beforehand with a reference travel route as a center. When it is decided that the vehicle 1 is traveling outside the allowable width, emergency stop is conducted.
AKAHA FUMIHIRO
HASHIMOTO JUICHIRO
KIYOTA YASUTOSHI
SATO HIROSHI
NAKAJIMA YUJI
NIPPON STEEL CORP