BOUNDARY DETECTING METHOD AND APPARATUS FOR AUTOMATIC WORKING VEHICLE

A method and apparatus for use with an automatic working vehicle for detecting a boundary between a treated area and an untreated area. A predetermined range of working area including the treated area and the untreated area is photographed by a camera. Image data output from the camera is differentiated with respect to pixel to pixel brightness variations, which is then compared with a threshold value to produce edge image data on an X-Y plane showing, as binarized, a plurality of pixels regarded as representing a point of transition between the untreated area and the treated area, and other pixels. The boundary is calculated from the edge image data by means of HOUGH-transformation.