JPH01290009A - Image pickup type shift detector for guidance of traveling vehicle - Google Patents

Abstract

PURPOSE:To omit the measurement of distance in the vertical direction by correcting the position information on a drive guide on a photographed picture of an image pickup means set at a shift detecting position or the shift value obtained from said position information based on the detecting information of a position change value detecting means. CONSTITUTION:An image pickup means 4 is horizontally moved by a set distance and the change value of the position of a specific area of a drive guide L obtained in response to the movement of the means 4 is detected on a photographed picture. Based on this detected position change value, the position information on the guide L or the shift value obtained from said position information is corrected on the photographed picture. Thus it is not required to measure the distance between the means 4 and the guide L set at the ceiling side. In such a way, the position information on the guide L set on the photographed picture or the shift value obtained from said position information is automatically corrected just by moving the means 4 horizontally by a set distance.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides an imaging means for taking an image of a traveling guide provided on the ceiling side, and position information of the traveling guide on an image captured by the imaging means. Based on the above, the present invention relates to an imaging type deviation detection device for guiding a moving vehicle, which is provided with deviation detection means for detecting the amount of deviation of the moving vehicle from a travel route determined based on the traveling guide.

[Conventional technology]

In the imaging type deviation detection device for guiding moving vehicles, based on the position information of the traveling guide on the image captured by the imaging means, the traveling route determined based on the traveling guide is determined. Since the vehicle is configured to detect the amount of deviation of the moving vehicle, as shown in FIG. ) is the same in the horizontal direction, the size of the travel guide on the captured image varies.

By the way, the position of the travel guide on the captured image is
Since the determination is made based on the position of the pixel that images the traveling guide projected on the imaging surface of the imaging means, even if the amount of deviation from the set traveling route based on the traveling guide of the moving vehicle is the same, If the distance between the imaging means and the traveling guide changes, the size of the traveling guide on the captured image will differ, and the position on the captured image will also be detected differently.

Therefore, conventionally, before operating the device, the distance between the imaging means and the traveling guide, that is, the height to the ceiling, is measured in advance, and based on the measured height information, the image taken by the imaging means is The amount of change in the position of the traveling guide is calculated and stored, and when the device is operated, the position of the traveling guide on the captured image or the position of the traveling guide on the captured image is calculated based on the stored information. The amount of deviation was to be corrected.

[Problem to be solved by the invention]

In the above-mentioned conventional configuration, it is necessary to take measures such as measuring information corresponding to the distance between the imaging means and the traveling guide in advance before operating the device, and initial setting of the device is troublesome.

For example, when this type of imaging type deviation detection device for guiding moving vehicles is applied to guidance equipment for moving vehicles for transporting various goods in a factory, it is necessary to The height to the ceiling is not necessarily the same, and when using multiple types of vehicles with different heights, the mounting of the imaging means on the vehicles may vary depending on the height. will be in different states, and even if the height from the ground to the ceiling is the same, the distance between the imaging means actually attached to the moving vehicle and the traveling guide on the ceiling side will be in a different state for each moving vehicle. .

Further, distance measurement in the vertical direction is more troublesome than distance measurement in the horizontal direction, and improvements have been desired.

The present invention has been made in view of the above circumstances, and its purpose is to correct the position of the traveling guide on the captured image without measuring the distance between the imaging means and the traveling guide on the ceiling side. The goal is to be able to obtain information for.

[Means to solve the problem]

The imaging type deviation detection device for guiding a moving vehicle according to the present invention includes an imaging means for imaging a travel guide provided on the ceiling side;
and a deviation detection means for detecting the amount of deviation of the moving vehicle from a travel route determined based on the travel guide based on position information of the travel guide on the image captured by the imaging means. The first characteristic configuration thereof includes a moving means for moving the imaging means a set distance in the horizontal direction, and as the moving means moves, a specific location of the traveling guide is moved on the image captured by the imaging means. and a position change amount detection means for detecting the amount of position change caused by a position change, and the displacement detection means detects the position of the traveling guide on the captured image of the imaging means positioned at a set position for displacement detection. The present invention is configured to correct the amount of deviation determined from the information or the positional information based on the information detected by the positional change amount detection means.

A second characteristic configuration is that the travel guide is formed in a lattice shape with lattice points arranged at set intervals in each of the vertical and horizontal directions.

[For production]

In the first characteristic configuration, the imaging means is moved a set distance in the horizontal direction, and the amount of change in position of a specific part of the travel guide on the captured image is detected as the imaging means is moved in the horizontal direction. Based on the amount of positional change, the positional information of the traveling guide on the captured image or the amount of deviation determined from the positional information is corrected.

In the second characteristic configuration, lattice points of the traveling guide formed in a lattice shape or traveling guides located in a direction intersecting the moving direction of the imaging means are used as specific points of the traveling guide.

〔Effect of the invention〕

Therefore, without measuring the distance between the imaging means and the traveling guide installed on the ceiling side, the traveling guide on the captured image can be easily moved by simply moving the imaging means by a set distance in the horizontal direction. It has now become possible to automatically correct positional information or the amount of deviation determined from that positional information. Incidentally, it is also possible to equip the car body with a distance measuring device that uses ultrasonic waves or infrared rays, and indirectly detect the distance between the imaging means and the driving guide based on this information, but in this case, the overall configuration Not only is this complicated, but the detection accuracy is unreliable because it is indirect.The present invention can achieve the intended purpose without such disadvantages.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in FIGS. 8 to 10, the mobile vehicle (8) has a pair of left and right propulsion wheels (IL) and (IR), which are configured to be able to be driven and stopped separately on the left and right sides, at the center of the vehicle in the longitudinal direction. The left and right propulsion wheels (IL) are provided with a pair of left and right caster-type idle wheels (2) at each of the front and rear ends of the vehicle body.

By driving each of the propulsion wheels (IL) and (IR) so as to differentiate the rotational speeds of (IR),
It is configured to be able to freely steer and spin-turn.

Further, on the ceiling side of the travel route on which the mobile vehicle (A) travels, a lattice-shaped frame body (L) is arranged downward from the ceiling surface so as to form lattice points at set intervals in each of the vertical and horizontal directions. It is provided in such a way that it protrudes.

In other words, as will be described later, this lattice-shaped frame comb) is used as a traveling guide to move along one frame part of the frame (L) located in the direction along the vehicle traveling direction. ,
The traveling route of the moving vehicle (A) is set (see FIG. 5).

Two slit lights (
81), a slit light projector (3) that projects (82) toward the ceiling, and both the slit lights (Bl), (82
) The frame body (L) from a direction different from the respective projection directions.
An image sensor (4) is attached as an imaging means for taking an image of the slit light projection location.

To explain the slit light projector (3), the two orthogonal slit lights (Bl), (82 ). A guide portion (Ll) located in a direction in which the center of the imaging field of the image sensor (4) intersects the vehicle body traveling direction of the frame body (L), and a guide portion located in a direction along the vehicle body traveling direction. (L2), in a state in which the moving vehicle (A) is positioned so that it overlaps with the grid point where the two slit lights (B, ),
The intersection of (B2) points toward a location away from the grid point,
Moreover, the image is projected perpendicularly to the ceiling.

To explain the image sensor (4), its imaging field of view is tilted at a setting angle in each of the front, rear, left, and right directions with respect to the ceiling, and as shown in FIG. , the two image sensors (4) are located such that the centers of their imaging fields of view are spaced apart from each other by a set interval (P) in the longitudinal direction of the vehicle body, and the moving vehicle (A) has:
The two image sensors ( The reference line (LQ) connecting the centers of the imaging field of view in 4) in the longitudinal direction of the vehicle body is made to coincide with the center in the width direction of the guide portion (L, ) along the vehicle traveling direction.

That is, since the frame body (L) is in a state of protruding downward from the ceiling surface, the both slit lights (Bl
), (B2) from an oblique direction, as shown in FIG. 6, both the slit lights (81), (B2)
Each of them appears to be cut off at the point where they cross the frame (L).

As will be described in detail later, both the slit lights (81
), (+32) are interrupted (Ba), (
Bb), the position on the imaging plane of the portion (8b) that appears interrupted by the guide portion (L2) located in the direction along the vehicle body traveling direction, and the distance between the installation of the image sensor (4) in the vehicle body longitudinal direction [( P), detects the inclination (θ) of the vehicle body with respect to the guide portion (L, ) along the vehicle traveling direction, and controls the steering so that the inclination (θ) approaches zero; The position of the mobile vehicle (8) on the travel route is determined based on the detected number of parts (Ba) that appear to be interrupted by guide parts (S) located in a direction intersecting the direction of travel of the vehicle as it travels. It is configured as follows.

In the following description, the guide portion (Ll) in the direction intersecting the vehicle traveling direction will be referred to as the first guide portion (1, 1), and the guide portion (+, 2) along the vehicle traveling direction will be referred to as the second guide portion (Ll).
It is called a guide part (L2), and the first guide part at
) is called the first slit portion (Ba), and the second guide portion (Ba) is called the first slit portion (Ba).
The portion (Bb) that appears cut off by L2) is referred to as a second slit portion (Bb).

Next, a control configuration for automatically driving the mobile vehicle (8) along a set travel route will be explained.

As shown in FIG. 1, the imaging information of the image sensors (4) at the front and rear of the vehicle body is processed to create a A pair of image processing devices (5
), and based on the detection information of the pair of image processing devices (5), the mobile vehicle (8) is guided to the second guide portion 1. )
The first guide portion (shi) is detected as the vehicle moves based on the detection information of the pair of image processing devices (5).
A microcomputer-based control device (6) is provided that determines the position on the travel route based on the number of vehicles and controls travel.

However, the control device (6) is used to control the frame (L) as a traveling guide on the image taken by the image sensor (4) as an imaging means, based on the position information of the frame (L). deviation detection means (100) for detecting the amount of deviation of the moving vehicle (A) with respect to a travel route determined based on L);
, the image sensor (4) is set horizontally at a set distance (X
), and the amount of change in position of a specific location of the frame (L) on the captured image of the image sensor (4) due to movement by the moving means (10i>); Position change amount detection means (10
2) will be configured.

In the figure, (Ml) and (M2) are running motors that drive the pair of left and right propulsion wheels (LL) and (IR), respectively, and (7) are the running motors (Ml) and (M2). (FBI), a drive device for separately driving each of the
(PE2) is an encoder installed individually in each of the traveling motors (M,) and (M2), and the traveling speed and traveling distance can be detected based on the detected information. There is.

Next, based on the positional information of the second slit portion (Bb) in both the front and rear of the vehicle body detected by the pair of image processing devices (5), the second guide portion (L2) is The configuration of the means for detecting the inclination (θ) will be explained.

Every time a set time elapses, the two image sensors (4) capture the projected images of the slit lights (B, ) and (B2) projected from the slit light projector (3), and In the processing device (5), the first slit portion (B
The processes of detecting the positions of a) and the second slit portion (Bb) are simultaneously executed on each of the front and rear sides of the vehicle body.

To explain the process for determining the position of the first slit portion (Ba), as shown in FIG. The lowest straight line among straight lines parallel to the X-axis is extracted as the first slit portion (Ba) where one slit light (B1) that appears as a straight line heading in the longitudinal direction of the vehicle body is interrupted; The image information is scanned from the left to the right on the screen, and the rightmost straight line of the straight lines parallel to the Y-axis running in the vehicle width direction is connected to the second slit portion ( Bb
).

However, since the image sensor (4) captures the projected images of both the slit lights (Bl) and (B2) from an oblique direction, each extracted slit portion (B
The positions of a) and (Bb) are the image sensor (4).
Since the far side of the imaging field of view is distorted so that the distance change is smaller than the near side, when performing image processing, the image sensor (4) relative to the frame body (L)
When installing, the coordinate position is corrected according to the extracted position based on information such as height, tilt, and focal length of the optical system. Although not described in detail, the image sensor (4) is equipped with an optical filter that transmits only light corresponding to the wavelengths of the two slit lights (Bl) and (B2) in order to eliminate the influence of external light. ing.

By the way, as shown in FIG. 11, even if the position of the frame body (in the horizontal direction) with respect to the image sensor (4) is the same, the image sensor (4) and the frame body on the ceiling side (
The size of the frame (L) on the captured image, that is, the number of pixels for imaging the frame (L), differs depending on the distance (h) from the frame (L), and as a result, the image Depending on the distance (h) between the sensor (4) and the ceiling-side frame (L), the amount of positional change of the frame (L) on the captured image will be in a different state.

Therefore, before the moving vehicle (A) automatically travels, the amount of positional change (C) of the frame body (L) on the captured image is determined in advance.
) is detected, and the both slit portions (B
a), (Bb) position (x+, y+).

When determining (X2.Y2), these values are corrected based on the detected positional change amount (C).

To explain further, as shown in FIGS. 2 and 3, the first slit portion (8a) corresponding to the first guide portion (Ll) located in the direction intersecting the vehicle traveling direction is Image processing is performed while the moving vehicle (A) is positioned under the lattice points of the frame (L) so as to be located within the imaging field of view of the sensor (4), and based on the imaging information, , the position (a) of the first slit portion (Ba) on the captured image is detected.

Next, the moving vehicle (^) is inserted into the first slit portion (B
(a) dividing the set distance (X) into the first guide portion within a range where the distance is not outside the imaging field of the image sensor (4);
The position of the first slit portion (Ba) on the captured image is determined by moving the first slit portion (Ba) in a direction perpendicular to
b) is detected.

Then, the difference between the positions (a) and (b) of the first slit portion (Ba) on the captured image detected before and after moving the moving vehicle (A), and the set distance (X ) Based on the following formula (i),
The amount of positional change (c) on the imaging plane of the image sensor (4) per unit movement distance is determined, and the determined amount of positional change (c) is stored in the control device (6).

c=(a-b)/x (i) In other words, both positions (a ), (b), the process of calculating the position change amount (C) from the above equation (i) is performed by the position change amount detection means (10
Corresponding to 2), the process of moving the moving vehicle (υ) by a set distance corresponds to the moving means (101).

In addition, the values of both positions (a) and (b) on the captured image of the first slit portion (Ba) are specifically set at the center of the pixels that image the first slit portion (Ba). It is determined using the position value of the located pixel on the imaging surface.

Then, as shown in FIG. 6, the position (L,
Based on the values of Yl), (X2. be.

That is, according to the above formula (ii), the inclination (θ) of the moving vehicle (8) with respect to the length direction of the second guide portion (L2)
The process of finding the deviation corresponds to the deviation detection means (100).

To explain the configuration for detecting the number of the first slit portions (Ba), the number of the first slit portions (Ba) is detected based on the imaging information of the image sensor (4) attached to the front side of the vehicle body. The presence or absence of the first slit portion (Ba) is determined, and if the first slit portion (Ba) exists, the first slit portion (Ba) is determined by determining whether or not the length is within a preset setting range. This allows the user to judge whether or not it has been detected.

To explain further, as shown in FIG.
), and because the direction of the moving vehicle (8) is tilted with respect to the second guide portions (1, 2), the slit light (B1) crosses the second guide portion (L2). This will occur when crossing diagonally.

However, when the mobile vehicle (8) is tilted with respect to the second guide portion (L,), the slit light (B)
, ) is different between the second guide portion (L2) and the first guide portion (Ll), the length of the first slit portion (Ba) is different from the slit light (Ll).
B1) is significantly longer when it traverses the second guide portion (1, 2) than when it crosses the first guide portion (Ll).

Therefore, based on whether the length of the detected first slit portion (Ba) is within the set range, the detected first slit portion (Ba) is connected to the first guide portion (1, 1). It is made to determine whether or not they are compatible.

As will be described later, when the first slit portion (Ba) is detected, the number of detected slit portions (Ba) is counted after the start of travel, and based on the counted number, the traveling route of the mobile vehicle (8) is determined. The upper position is determined.

Next, determination of the position of the moving vehicle (8) on the traveling route will be explained.

As shown in FIG. 5, the traveling route of the moving vehicle (A) is as follows:
In the drawing, after traveling a set distance to the left, the cars are set to continue in a direction that intersects 90 degrees downward.

In the figure, (ST) is a transfer station for the load carried by the moving vehicle (^), and although it will not be described in detail, while the moving vehicle (A) is stopped at this station (ST), the moving vehicle (A)
> travel route information is input or transmitted to the control device (6).

After the start of travel, the number of detections from the travel start point of the first slit portion (Ba) detected as the vehicle progresses is set to a set value (in this embodiment, it is set to 6).
For example, as the left and right propulsion wheels (IL
) and (IR) at the same speed to make a spin turn to the left with respect to the direction of travel, changing the direction of travel by 90 degrees. After that, the first slit portion (Ba
), or based on the number of the first slit portions (Ba) detected after changing the traveling direction, the current position of the mobile vehicle (8) is determined, and Its current position, that is, the first slit portion (
When the detected number of Ba) reaches the number corresponding to the position of the station (ST), it is automatically stopped.

Therefore, it is possible to select which of the frame bodies (L) provided in a grid pattern on the ceiling side along which the vehicle will automatically travel, and also to select the first slit portion (L) detected as the vehicle moves forward.
By changing the setting of the number of vehicles (Ba), the moving vehicle (A
) can be freely set and changed.

Next, the operation of the control device (6) will be explained based on the flowchart shown in FIG.

First, it is determined whether or not the moving vehicle (8) is running, and if it is running, it issues an image capture command to each of the image processing devices (5) at set time intervals. After outputting, wait until image processing is complete.

As the image processing is completed, as described above, the positions of the second slit portions (Bb) on both the front and rear sides of the vehicle
Based on the values of L, Yl) and (X2. Y2), the inclination (θ) with respect to the second guide portion (L2) is determined.

Next, it is determined whether the mobile vehicle (A) is tilted in the left or right direction with respect to the second guide portion (L2) based on the sign of the determined value of the tilt (θ). Incidentally, the inclination (θ) is set to be a positive value when the vehicle is tilted to the left, and a negative value when the vehicle is tilted to the right.

In each case where the value of the inclination (θ) is positive or negative, the front and rear positions (Xl, YI)
, (X2.Y2) 0) mcD positive/negative 1: base tweet, determine the inclination state with respect to the second guide portion (L, ),
Target steering angles (αθ), (βθ), and (θ) are set in three stages of magnitude in accordance with the determined tilt state. However, it is set so that α>■>β>0.

To explain, as shown in FIG. 7(A), even if the slope (θ) has the same value, the second slit portion (B
b) (7) Position (L, Yl), (X2. Y2)
Depending on whether the value of is positive or negative, the moving vehicle (8) is located on the right side with respect to the second guide portion (L2) (indicated by a solid line in the figure), and the state where the moving vehicle (8) is located on the right side with respect to the second guide portion (L2) Three types of states occur: a state in which the front and rear of the vehicle body intersect (indicated by a broken line in the figure), and a state in which the vehicle body is located on the left side with respect to the second guide portion (L2) (indicated by a virtual line in the figure). become.

These three states are the positions (Xl, Yl).

The state corresponds to the combination of positive and negative values of (X2.Y2). That is, the position (XI, Yl).

If both (X2. Y2) are positive, the mobile vehicle (8) is located on the right side with respect to the second guide portion (L2), and the position (Xl, Yl).

If only one of (X2. Y2) is positive, the front and rear of the vehicle body intersect with the second guide portion (X2), and the position (L, Yl), (X2
．． When both YJ and YJ are negative, the second guide portion 1 is located on the left side with respect to the second guide portion 2).

Although the explanation is omitted, even when the value of the inclination (θ) is negative, as shown in FIG. 7 (0), the second guide As for the deviation state for the portion (L2), the above-mentioned three states occur. And their deviation state is the position (x,, y,),
It can be determined from the combination of positive and negative values of (x2.y,). However, the combination of positive and negative values has the opposite relationship to the case where the value of the slope (θ) is positive.

In other words, the value of the inclination (θ) with respect to the second guide portion (L2) obtained based on the imaging information of the two image sensors (4) located at a set interval (P) in the longitudinal direction of the vehicle body. The process of setting a target steering angle based on the steering wheel and steering the vehicle corresponds to the steering control means.

After the steering control process is executed, it is determined whether or not the first slit portion (Ba) has been detected based on the imaging information of the image sensor (4) on the front right side of the vehicle body. If so, count the number of detections.

Then, based on the counted number of detections, it is determined whether or not it is a turn point, and if it is a turn point, the vehicle is turned to change the running direction as described above.

If it is not a turn point, it is determined whether or not it is a stop point based on the counted number of detections, and if it is a stop point, the vehicle is stopped.

[Another example]

In the above embodiment, the first guide portion (L,) located in a direction intersecting the direction of vehicle body movement is used as a specific part of the traveling guide. Although an example has been given, it is also possible to use the lattice points of the above-mentioned frame structure.

Alternatively, the moving vehicle may be moved in a direction crossing the second guide portion (L2) along the vehicle traveling direction to detect the amount of position change, and the amount of change in position may be detected. The form can be changed in various ways.

Further, in the above embodiment, one of the second guide portions (L2) of the lattice-shaped frame body (L) located in the vehicle traveling direction is used as the traveling route of the moving vehicle (8). , the case where the traveling guide and the traveling route are made to match is shown as an example, but it is not necessary to make the traveling route of the mobile vehicle (8) and the horizontal position of the frame (L) as the traveling guide coincide. For example, by tilting the imaging field of view of the image sensor (4) in the width direction of the vehicle body, or by shifting the image sensor (4) in the width direction of the vehicle body and installing the image sensor (4), the traveling route and the frame body (L) as a travel guide can be adjusted. ) can be different from the position.

Furthermore, in the above embodiment, the vehicle itself is moved a set distance as a means for horizontally moving the image sensor (4) serving as an imaging means; however, for example, the image sensor (4) on a moving vehicle,
A means for moving horizontally may be provided so that only the image sensor (4) is moved horizontally when the vehicle (8) is stopped.

In addition, in the above embodiment, the traveling guide is formed using a grid-like frame attached to the ceiling, but for example, it is also possible to attach a light-reflecting tape of a set width to the ceiling. Furthermore, a single belt-shaped traveling guide may be provided along the traveling route, and the specific configuration of the traveling guide can be modified in various ways.

However, if there is no step between the tape and the ceiling surface, the light reflectance of the light reflective tape and the light reflectance of the ceiling surface may be different, and an ITV camera or the like may be used as the imaging means. What is necessary is to have it take an image.

Further, in the above embodiment, imaging means are provided on both sides of the front and rear of the vehicle body to detect the tilt (θ) with respect to the guide portion (L2) along the vehicle traveling direction, and to bring the tilt (θ) close to zero. Although we have exemplified a case in which steering control is performed based only on information about the detected inclination (θ), for example, it is possible to provide only one imaging means, detect a deviation in the width direction of the vehicle body, and eliminate the deviation to zero. Steering control may be performed based on the detected amount of deviation, direction of deviation, etc. so as to approach the
The specific configuration of the steering control means can be modified in various ways.

Further, in the above embodiment, a pair of left and right propulsion wheels (LL),
(IR) are separately provided so that they can be driven and stopped, and the vehicle is steered. However, for example, a steering wheel may be provided to steer the vehicle. can be changed in various ways.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of the drawing]

The drawings show an embodiment of the imaging type deviation detection device for guiding moving vehicles according to the present invention, and FIG. 1 is a block diagram of the control configuration, and FIG.
3 is an explanatory diagram of the movement of the imaging means, FIG. 4 is a flowchart of travel control, FIG. 5 is a plan view of the travel route, and FIGS. 6 and 7 (
b), (0) is an explanatory diagram of inclination detection, Fig. 8 is a schematic perspective view showing the relationship between the traveling guide and the moving vehicle, Fig. 9 is a side view of the same, Fig. 10 is a front view of the same, and Fig. 11 The figure is an explanatory diagram of the distance between the traveling guide and the imaging means. (A)...Moving vehicle, (L)...Traveling guide, (4)...Imaging means, (100)...
...Displacement detection means, (101) ...Movement means, (102) ...Position change amount detection means.

Claims (1)

[Claims] 1. An imaging means (4) for taking an image of the traveling guide (L) provided on the ceiling side, and the position of the traveling guide (L) on the captured image of the imaging means (4). a deviation detection means (1) for detecting the amount of deviation of the mobile vehicle (A) from the travel route determined based on the travel guide (L), based on the information;
00) for guiding a moving vehicle, comprising: a moving means (101) for moving the imaging means (4) a set distance in the horizontal direction;
positional change amount detection means (102) for detecting the amount of positional change in which the specific location of the travel guide (L) changes in position on the captured image of the imaging means (4) as the traveling guide (L) moves according to step 1); , the deviation detecting means (100) detects the positional information of the traveling guide (L) on the captured image of the imaging means (4) located at the set position for detecting deviation or the deviation amount determined from the positional information. , the position change amount detection means (10
2) An imaging type shift detection device for guiding a moving vehicle configured to perform correction based on the detected information. 2. The imaging type deviation detection device for guiding a mobile vehicle according to claim 1, wherein the traveling guide (L) is formed in a grid shape with grid points at set intervals in each of the vertical and horizontal directions.