Mark detecting system using image pickup device

• US 4,281,342 A
• Filed: 03/28/1979
• Issued: 07/28/1981
• Est. Priority Date: 03/29/1978
• Status: Expired due to Term

• Current Assignee: Hitachi, Ltd.
• Original Assignee: Hitachi, Ltd.
• Inventors: Uno, Takeshi, Yasue, Toshikazu, Ueda, Hirotada
• Primary Examiner(s): Ng, Jin F.
• Assistant Examiner(s): Coles, Edward L.
• Application Number:
  US06/024,517
• Time in Patent Office: 853 Days
• Field of Search: 358/100, 358/93, 358/101, 364/516, 364/478, 364/559, 235/435, 235/454, 235/455, 235/465, 235/469, 340/146.3 K, 340/146.3 MA, 340/146.3 AC, 340/146.3 F, 340/146.3 Q, 340/146.3 Z, 340/146.3 AQ, 356/373, 356/375, 356/394, 356/445, 356/426, 356/399
• US Class Current: 348/94
• CPC Class Codes: G01D 5/26 characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
• CPC Class Codes: G01S 3/7864 T.V. type tracking systems

Abstract

In a mark detecting system using an image pickup device such as a TV camera in which a mark in the form of a regressive reflector is provided on an object, the field of view of the image pickup device is illuminated with light of a specified wavelength from an illuminating device placed in the vicinity of the image pickup device. The reflected light is introduced on the image pickup device through a filter capable of cutting off light having wavelengths other than the specified wavelength. Since the mark forms a bright pattern on an image produced within the field of view of the image pickup device, the position of the mark can be easily detected by means of a data processor which processes image signals.

Claims

1. A mark detecting system for detecting a light reflective mark provided on an object, comprising:

image pickup means for producing a two-dimensional image of said object on its imaging plane and for scanning said imaging plane to deliver a sequential image signal;

illuminating means for illuminating the field of view of said image pickup means with light of a specified wavelength, said illuminating means including a metal vapor discharge tube and a driving circuit for causing the discharge of said discharge tube by an alternate current which is in synchronism with the scanning of said imaging plane by said image pickup means;

filter means for preventing light of wavelengths other than said specified wavelength from impinging upon said image pickup means; and

a data processing section for processing said image signal to detect a pattern corresponding to said mark.

2. A mark detecting system according to claim 1, wherein said data processing section includes means connected to said driving circuit for controlling the turn-on and turn-off of said illuminating means, and means for comparing the image on said imaging plane at the turn-on state of said illuminating means and the image on said imaging plane at the turn-off state of said illuminating means to extract data of patterns existing on the image only at the turn-on state of said illuminating means, so that said mark is detected on the basis of said extracted data.

3. A mark detecting system according to claim 1, wherein said mark includes a combination of a plurality of characteristic patterns arranged in a predetermined positional relation and having the same characteristic, and said data processing section includes means for delivering position data indicative of positions on the image on said imaging plane in synchronism with the scanning of said imaging plane by said image pickup means, pattern extracting means for processing said image signal from said image pickup means to successively reduce the size of the patterns in said imaging plane and to output a signal indicative of remaining patterns having a predetermined size, means for storing said position data in response to the output signal from said pattern extracting means, and means for selecting from the stored position data a combination of data satisfying said predetermined positional relation, so that the position of said mark is detected.

4. A mark detecting system according to claim 3, wherein said pattern extracting means includes a thresholding unit for converting said image signal from said image pickup means into a binary signal for every picture element making up said image, and at least one stage of a pattern information converting unit including a first circuit for temporarily storing said binary signal indicating the picture element information to parallely deliver respective binary signals for picture elements making up a partial area of said image, a second circuit for judging the size of a pattern contained in said partial area on the basis of an output from said first circuit to deliver a second binary signal, a third circuit for judging the presence or absence of an isolated pattern in said partial area on the basis of the output from said first circuit to deliver a third binary signal, and a fourth circuit for selecting in accordance with an output from said third circuit either one of said second binary signal and the binary signal from said first circuit for a picture element representative of said partial area to deliver the selected signal to a succeeding circuit, so that the information of the picture elements is successively converted to reduce the size of the pattern contained in said image.

5. A mark detecting system according to claim 4, wherein said system includes a plurality of stages of said pattern information converting unit whose last stage delivers said binary signal for said picture element representative of said partial area when the third binary signal from said third circuit indicates the presence of said isolated pattern in said partial area and delivers a binary signal indicative of the absence of any pattern when the third binary signal from said third circuit indicates the absence of said isolated pattern in said partial area.

6. A mark detecting system according to claim 1, wherein said mark includes a combination of a plurality of characteristic patterns arranged in a predetermined positional relation and having the same characteristic, and said data processing section includes means for delivering position data indicative of positions on the image on said imaging plane in synchronism with the scanning of said imaging plane by said image pickup means, means for controlling the turn-on and turn-off of said illuminating means, means for processing said image signal from said image pickup means to extract said characteristic patterns, memory means for storing said position data in response to the extraction of said characteristic patterns during a period when said illuminating means is in at least one of the turn-on and turn-off states, and means for comparing the position data stored in said memory means during the period in said at least one state of said illuminating means with the position data obtained in correspondence with the extraction of said characteristic patterns during a period in the other state of said illuminating means to select, from inconsistent data between both the position data, a combination of data satisfying said predetermined positional relation, so that the position of said mark is detected.

7. A mark detecting system according to claim 6, wherein said pattern extracting means includes a thresholding unit for converting said image signal from said image pickup means into a binary signal for every picture element making up said image, and at least one stage of a pattern information converting unit including a first circuit for temporarily storing said binary signal indicating the picture element information to parallely deliver respective binary signals for picture elements making up a partial area of said image, a second circuit for judging the size of a pattern contained in said partial area on the basis of an output from said first circuit to deliver a second binary signal, a third circuit for judging the presence or absence of an isolated pattern in said partial area on the basis of the output from said first circuit to deliver a third binary signal, and a fourth circuit for selecting in accordance with an output from said third circuit either one of said second binary signal and the binary signal from said first circuit for a picture element representative of said partial area to deliver the selected signal to a succeeding circuit, so that the information of the picture elements is successively converted to reduce the size of the pattern contained in said image.

8. A mark detecting system according to claim 7, wherein said system includes a plurality of stages of said pattern information converting unit whose last stage delivers said binary signal for said picture element representative of said partial area when the third binary signal from said third circuit indicates the presence of said isolated pattern in said partial area and delivers a binary signal indicative of the absence of any pattern when the third binary signal from said third circuit indicates the absence of said isolated pattern in said partial area.

9. A mark detecting system for detecting a light reflective mark provided on an object, said mark including at least one reflector which regressively reflects light in a direction of incidence thereof, comprising:

image pickup means for producing a two-dimensional image of said object on its imaging plane and for scanning said imaging plane to deliver a sequential image signal;

illuminating means for illuminating the field of view of said image pickup means with light of a specified wavelength, said illuminating means being placed in the vicinity of said image pickup means so that said light of said specified wavelength is reflected from said mark toward said image pickup means;

filter means for preventing light of wavelengths other than said specified wavelength from impinging upon said image pickup means; and

a data processing section for processing said image signal to detect a pattern corresponding to said mark.

10. A mark detecting system according to claim 9, wherein said data processing section includes means for controlling the turn-on and turn-off of said illuminating means, and means for comparing the image on said imaging plane at the turn-on state of said illuminating means and the image on said imaging plane at the turn-off state of said illuminating means to extract data of patterns existing on the image only at the turn-on state of said illuminating means, so that said mark is detected on the basis of said extracted data.

11. A mark detecting system according to claim 9, wherein said mark includes a combination of a plurality of characteristic patterns arranged in a predetermined positional relation and having the same characteristic, and said data processing section includes means for delivering position data indicative of positions on the image on said imaging plane in synchronism with the scanning of said imaging plane by said image pickup means, pattern extracting means for processing said image signal from said image pickup means to successively reduce the size of the patterns in said imaging plane and to output a signal indicative of remaining patterns having a predetermined size, means for storing said position data in response to the output signal from said pattern extracting means, and means for selecting from the stored position data a combination of data satisfying said predetermined positional relation, so that the position of said mark is detected.

12. A mark detecting system according to claim 11, wherein said pattern extracting means includes a thresholding unit for converting said image signal from said image pickup means into a binary signal for every picture element making up said image, and at least one stage of a pattern information converting unit including a first circuit for temporarily storing said binary signal indicating the picture element information to parallely deliver respective binary signals for picture elements making up a partial area of said image, a second circuit for judging the size of a pattern contained in said partial area on the basis of an output from said first circuit to deliver a second binary signal, a third circuit for judging the presence or absence of an isolated pattern in said partial area on the basis of the output from said first circuit to deliver a third binary signal, and a fourth circuit for selecting in accordance with an output from said third circuit either one of said second binary signal and the binary signal from said first circuit for a picture element representative of said partial area to deliver the selected signal to a succeeding circuit, so that the information of the picture elements is successively converted to reduce the size of the pattern contained in said image.

13. A mark detecting system according to claim 12, wherein said system includes a plurality of stages of said pattern information converting unit whose last stage delivers said binary signal for said picture element representative of said partial area when the third binary signal from said third circuit indicates the presence of said isolated pattern in said partial area and delivers a binary signal indicative of the absence of any pattern when the third binary signal from said third circuit indicates the absence of said isolated pattern in said partial area.

14. A mark detecting system according to claim 9, 10, 11, 12 or 13, wherein said illuminating means includes a metal vapor discharge tube and a driving circuit for causing the discharge of said discharge tube by an alternating current which is in synchronism with the scanning of said imaging plane by said image pickup means.

15. A mark detecting system according to claim 9, wherein said mark includes a combination of a plurality of characteristic patterns arranged in a predetermined positional relation and having the same characteristic, and said data processing section includes means for delivering position data indicative of positions on the image on said imaging plane in synchronism with the scanning of said imaging plane by said image pickup means, means for controlling the turn-on and turn-off of said illuminating means, means for processing said image signal from said image pickup means to extract said characteristic patterns, memory means for storing said position data in response to the extraction of said characteristic patterns during a period when said illuminating means is in at least one of the turn-on and turn-off states, and means for comparing the position data stored in said memory means during the period in said at least one state of said illuminating means with the position data obtained in correspondence with the extraction of said characteristic patterns during a period in the other state of said illuminating means to select, from inconsistent data between both the position data, a combination of data satisfying said predetermined positional relation, so that the position of said mark is detected.

16. A mark detecting system according to claim 15, wherein said pattern extracting means includes a thresholding unit for converting said image signal from said image pickup means into a binary signal for every picture element making up said image, and at least one stage of a pattern information converting unit including a first circuit for temporarily storing said binary signal indicating the picture element information to parallely deliver respective binary signals for picture elements making up a partial area of said image, a second circuit for judging the size of a pattern contained in said parallel area on the basis of an output from said first circuit to deliver a second binary signal, a third circuit for judging the presence or absence of an isolated pattern in said partial area on the basis of the output from said first circuit to deliver a third binary signal, and a fourth circuit for selecting in accordance with an output from said third circuit either one of said second binary signal and the binary signal from said first circuit for a picture element representative of said partial area to deliver the selected signal to a succeeding circuit, so that the information of the picture elements is successively converted to reduce the size of the pattern contained in said image.

17. A mark detecting system according to claim 16, wherein said system includes a plurality of stages of said pattern information converting unit whose last stage delivers said binary signal for said picture element representative of said partial area when the third binary signal from said third circuit indicates the presence of said isolated pattern in said partial area and delivers a binary signal indicative of the absence of any pattern when the third binary signal from said third circuit indicates the absence of said isolated pattern in said partial area.

18. An automatic position control system for locating a movable body provided with a first light reflective mark, at a target position provided with a second light reflective mark, comprising:

image pickup means for producing on its imaging plane a two-dimensional image of its field of view containing therein said marks and for scanning said imaging plane to deliver an image signal;

illuminating means for illuminating said field of view of said image pickup means with light of a specified wavelength, said illuminating means including a metal vapor discharge tube and a driving circuit for causing the discharge of said discharge tube by an alternate current which is in synchronism with the scanning of said imaging plane by said image pickup means;

filter means for preventing light of wavelengths other than said specified wavelength from impinging upon said image pickup means; and

a data processing section for processing said image signal to detect patterns corresponding to said first and second marks and to deliver a movable body control signal in accordance with a positional relation between said patterns.

19. A mark detecting system according to claim 18, wherein said data processing section includes means connected to said driving circuit for controlling the turn-on and turn-off of said illuminating means, and means for comparing the image on said imaging plane at the turn-on state of said illuminating means and the image on said imaging plane at the turn-off state of said illuminating means to extract data of patterns existing on the image only at the turn-on state of said illuminating means, so that the pattern corresponding to each of said first and second marks is detected on the basis of said extracted data.

20. An automatic position control system according to claim 18, wherein said first mark includes a combination of a plurality of characteristic patterns arranged in a first predetermined positional relation and having the same characteristic, said second mark includes a combination of a plurality of characteristic patterns arranged in a second predetermined positional relation different from said first predetermined positional relation and having said same characteristic, and said data processing section includes means for delivering position data indicative of positions on the image on said imaging plane in synchronism with the scanning of said imaging plane by said image pickup means, pattern extracting means for processing said image signal from said image pickup means to successively reduce the size of the patterns in said imaging plane and to output a signal indicative of remaining patterns having a predetermined size, means for storing said position data in response to the output signal from said pattern extracting means, and means for selecting, from the stored position data, respective combinations of data satisfying said first and second predetermined positional relations, so that the positions of said first and second marks are detected.

21. An automatic position control system according to claim 20, wherein said pattern extracting means includes a thresholding unit for converting said image signal from said image pickup means into a binary signal for every picture element making up said image, and at least one stage of a pattern information converting unit including a first circuit for temporarily storing said binary signal indicating the picture element information to parallely deliver respective binary signals for picture elements making up a partial area of said image, a second circuit for judging the size of a pattern contained in said partial area on the basis of an output from said first circuit to deliver a second binary signal, a third circuit for judging the presence or absence of an isolated pattern in said partial area on the basis of the output from said first circuit to deliver a third binary signal, and a fourth circuit for selecting in accordance with an output from said third circuit either one of said second binary signal and the binary signal from said first circuit for a picture element representative of said partial area to deliver the selected signal to a succeeding circuit, so that the information of the picture elements is successively converted to reduce the size of the pattern contained in said image.

22. An automatic position control system according to claim 18, wherein said first mark includes a combination of a plurality of characteristic patterns arranged in a first predetermined positional relation and having the same characteristic, said second mark includes a combination of a plurality of characteristic patterns arranged in a second predetermined positional relation different from said first predetermined positional relation and having said same characteristic, and said data processing section includes means for delivering position data indicative of positions on the image on said imaging planes in synchronism with the scanning of said imaging plane by said image pickup means, means for controlling the turn-on and turn-off of said illuminating means, means for processing said image signal from said image pickup means to extract said characteristic patterns, memory means for storing said position data in response to the extraction of said characteristic patterns during a period when said illuminating means is in at least one of the turn-on and turn-off states, and means for comparing the position data stored in said memory means during the period in said at least one state of said illuminating means with the position data obtained in correspondence with the extraction of said characteristic patterns during a period in the other state of said illuminating means to select, from inconsistent data between both the position data, respective combinations of data satisfying said first and second predetermined positional relations, so that the positions of said first and second marks are detected.

23. An automatic position control system according to claim 22, wherein said pattern extracting means includes a thresholding unit for converting said image signal from said image pickup means into a binary signal for every picture element making up said image, and at least one stage of a pattern information converting unit including a first circuit for temporarily storing said binary signal indicating the picture element information to parallely deliver respective binary signals for picture elements making up a partial area of said image, a second circuit for judging the size of a pattern contained in said partial area on the basis of an output from said first circuit to deliver a second binary signal, a third circuit for judging the presence or absence of an isolated pattern in said partial area on the basis of the output from said first circuit to deliver a third binary signal, and a fourth circuit for selecting in accordance with an output from said third circuit either one of said second binary signal and the binary signal from said first circuit for a picture element representative of said partial area to deliver the selected signal to a succeeding circuit, so that the information of the picture elements is successively converted to reduce the size of the pattern contained in said image.

24. An automatic position control system for locating a movable body provided with a first light reflective mark, at a target position provided with a second light reflective mark, each of said first and second marks including at least one reflector which regressively reflects light in a direction of incidence thereof, comprising:

image pickup means for producing on its imaging plane a two-dimensional image of its field of view containing therein said marks and for scanning said imaging plane to deliver an image signal;

illuminating means for illuminating said field of view of said image pickup means with light of a specified wavelength, said illuminating means being placed in the vicinity of said image pickup means so that said light of said specified wavelength is reflected from said each of said first and second marks toward said image pickup means;

filter means for preventing light of wavelengths other than said specified wavelength from impinging upon said image pickup means; and

a data processing section for processing said image signal to detect patterns corresponding to said first and second marks and to deliver a movable body control signal in accordance with a positional relation between said patterns.

25. An automatic position control system according to claim 24, wherein said data processing section includes means for controlling the turn-on and turn-off of said illuminating means, and means for comparing the image on said imaging plane at the turn-on state of said illuminating means and the image on said imaging plane at the turn-off state of said illuminating means to extract data of patterns existing on the image only at the turn-on state of said illuminating means, so that the pattern corresponding to each of said first and second marks is detected on the basis of said extracted data.

26. An automatic position control system according to claim 24, wherein said first mark includes a combination of a plurality of characteristic patterns arranged in a first predetermined positioned relation and having the same characteristic, said second mark includes a combination of a plurality of characteristic patterns arranged in a second predetermined positional relation different from said first predetermined positional relation and having said same characteristic, and said data processing section includes means for delivering position data indicative of positions on the image on said imaging plane in sychronism with the scanning of said imaging plane by said image pickup means, pattern extracting means for processing said image signal from said image pickup means to successively reduce the size of the patterns in said imaging plane and to output a signal indicative of remaining patterns having a predetermined size, means for storing said position data in response to the output signal from said pattern extracting means, and means for selecting, from the stored position data, respective combinations of data satisfying said first and second predetermined positional relations, so that the positions of said first and second marks are detected.

27. An automatic position control system according to claim 26, wherein said pattern extracting means includes a thresholding unit for converting said image signal from said image pickup means into a binary signal for every picture element making up said image, and at least one stage of a pattern information converting unit including a first circuit for temporarily storing said binary signal indicating the picture element information to parallely deliver respective binary signals for picture elements making up a partial area of said image, a second circuit for judging the size of a pattern contained in said partial area on the basis of an output from said first circuit to deliver a second binary signal, a third circuit for judging the presence or absence of an isolated pattern in said partial area on the basis of the output from said first circuit to deliver a third binary signal, and a fourth circuit for selecting in accordance with an output from said third circuit either one of said second binary signal and the binary signal from said first circuit for a picture element representative of said partial area to deliver the selected signal to a succeeding circuit, so that the information of the picture elements is successively converted to reduce the size of the pattern contained in said image.

28. An automatic position control system according to claim 24, wherein said first mark includes a combination of a plurality of characteristic patterns arranged in a first predetermined positional relation and having the same characteristic, said second mark includes a combination of a plurality of characteristic patterns arranged in a second predetermined positional relation different from said first predetermined positional relation and having said same characteristic, and said data processing section includes means for delivering position data indicative of positions on the image on said imaging planes in synchronism with the scanning of said imaging plane by said image pickup means, means for controlling the turn-on and turn-off of said illuminating means, means for processing said image signal from said image pickup means to extract said characteristic patterns, memory means for storing said position data in response to the extraction of said characteristic patterns during a period when said illuminating means is in at least one of the turn-on and turn-off states, and means for comparing the position data stored in said memory means during the period in said at least one state of said illuminating means with the position data obtained in correspondence with the extraction of said characteristic patterns during a period in the other state of said illuminating means to select, from inconsistent data between both the position data, respective combination of data satisfying said first and second predetermined positional relations, so that the positions of said first and second marks are detected.

29. An automatic position control system according to claim 28, wherein said pattern extracting means includes a thresholding unit for converting said image signal from said image pickup means into a binary signal for every picture element making up said image, and at least one stage of a pattern information converting unit including a first circuit for temporarily storing said binary signal indicating the picture element information to parallely deliver respective binary signals for picture elements making up a partial area of said image, a second circuit for judging the size of a pattern contained in said partial area on the basis of an output from said first circuit to deliver a second binary signal, a third circuit for judging the presence or absence of an isolated pattern in said partial area on the basis of the output from said first circuit to deliver a third binary signal, and a fourth circuit for selecting in accordance with an output from said third circuit either one of said second binary signal and the binary signal from said first circuit for a picture element representative of said partial area to deliver the selected signal to a succeeding circuit, so that the information of the picture elements is successively converted to reduce the size of the pattern contained in said image.

30. An automatic position control system according to claims 24, 25, 26, 28, 27 or 29, wherein said illuminating means includes a metal vapor discharge tube and a driving circuit for causing the discharge of said discharge tube by an alternating current which is in synchronism with the scanning of said imaging plane by said image pickup means.

31. A mark detecting system for detecting a light reflective mark provided on an object, said mark including a combination of a plurality of characteristic patterns arranged in a predetermined positional relation and having the same characteristic, comprising:

image pickup means for producing a two-dimensional image of said object on its imaging plane and for scanning said imaging plane to deliver an image signal;

illuminating means for illuminating the field of view of said image pickup means with light of a specified wavelength;

filter means for preventing light of wavelengths other than said specified wavelength from impinging upon said image pickup means; and

a data processing section for processing said image signal to detect a pattern corresponding to said mark, said data processing section including means for delivering position data indicative of positions on the image on said imaging plane in synchronism with the scanning of said imaging plane by said image pickup means, means for controlling the turn-on and turn-off of said illuminating means, means for processing said image signal from said image pickup means to extract said characteristic patterns, memory means for storing said position data in response to the extraction of said characteristic patterns during a period when said illuminating means is in at least one of the turn-on and turn-off states, and means for comparing the position data stored in said memory means during the period in said at least one state of said illuminating means with the position data obtained in correspondence with the extraction of said characteristic patterns during a period in the other state of said illuminating means to select, from inconsistent data between both the position data, a combination of data satisfying said predetermined positional relation, so that the position of said mark is detected.

32. A mark detecting system according to claim 31, wherein said characteristic pattern extracting means includes a thresholding unit for converting said image signal from said image pickup means into a binary signal for every picture element making up said image, and at least one stage of a pattern information converting unit including a first circuit for temporarily storing said binary signal indicating the picture element information to deliver respective binary signals in parallel for picture elements making up a partial area of said image, a second circuit for judging the size of a pattern contained in said partial area on the basis of an output from said first circuit to deliver a second binary signal, a third circuit for judging the presence or absence of an isolated pattern in said partial area on the basis of the output from said first circuit to deliver a third binary signal, and a fourth circuit for selecting in accordance with an output from said third circuit either one of said second binary signal and the binary signal from said first circuit for a picture element representative of said partial area to deliver the selected signal to a succeeding circuit, so that the information of the picture elements is successively converted to reduce the size of the pattern contained in said image.

33. A mark detecting system according to claim 32, wherein said system includes a plurality of stages of said pattern information converting unit whose last stage delivers said binary signal for said picture element representative of said partial area when the third binary signal from said third circuit indicates the presence of said isolated pattern in said partial area and delivers a binary signal indicative of the absence of any pattern when the third binary signal from said third circuit indicates the absence of said isolated pattern in said partial area.

34. An automatic position control system for locating a movable body provided with a first light reflective mark, at a target position provided with a second light reflective mark, said first mark including a combination of a plurality of characteristic patterns arranged in a first predetermined positional relation and having the same characteristic, said second mark includes a combination of a plurality of characteristic patterns arranged in a second predetermined positional relation different from said first predetermined positional relation and having said same characteristic, comprising:

image pickup means for producing on its imaging plane a two-dimensional image of its field of view containing therein said marks and for scanning said imaging plane to deliver an image signal;

illuminating means for illuminating said field of view of said image pickup means with light of a specified wavelength;

filter means for preventing light of wavelengths other than said specified wavelength from impinging upon said image pickup means; and

a data processing section for processing said image signal to detect patterns corresponding to said first and second marks and to deliver a movable body control signal in accordance with a positional relation between said patterns, said data processing section including means for delivering position data indicative of positions on the image on said imaging planes in synchronism with the scanning of said imaging plane by said image pickup means, means for controlling the turn-on and turn-off of said illuminating means, means for processing said image signal from said image pickup means to extract said characteristic patterns, memory means for storing said position data in response to the extraction of said characteristic patterns during a period when said illuminating means is in at least one of the turn-on and turn-off states, and means for comparing the position data stored in said memory means during the period in said at least one state of said illuminating means with the position data obtained in correspondence with the extraction of said characteristic patterns during a period in the other state of said illuminating means to select, from inconsistent data between both the position data, respective combinations of data satisfying said first and second predetermined positional relations, so that the positions of said first and second marks are detected.

35. An automatic position control system according to claim 34, wherein said characteristic pattern extracting means includes a thresholding unit for converting said image signal from said image pickup means into a binary signal for every picture element making up said image, and at least one stage of a pattern information converting unit including a first circuit for temporarily storing said binary signal indicating the picture element information to deliver respective binary signals in parallel for picture elements making up a partial area of said image, a second circuit for judging the size of a pattern contained in said partial area on the basis of an output from said first circuit to deliver a second binary signal, a third circuit for judging the presence or absence of an isolated pattern in said partial area on the basis of the output from said first circuit to deliver a third binary signal, and a fourth circuit for selecting in accordance with an output from said third circuit either one of said second binary signal and the binary signal from said first circuit for a picture element representative of said partial area to deliver the selected signal to a succeeding circuit, so that the information of the picture elements is successively converted to reduce the size of the pattern contained in said image.