OBSTACLE DETERMINATION DEVICE AND OBSTACLE DETERMINATION METHOD

• Main Author: MORIYA SHOZO
• Format: Patent
• Language: English; Japanese
• Published: 28.04.2016
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; GYROSCOPIC INSTRUMENTS; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; SIGNALLING; SURVEYING; TESTING; TRAFFIC CONTROL SYSTEMS

PROBLEM TO BE SOLVED: To distinguish and detect a ground surface and an obstacle with a simple algorithm, without requiring a complicated structure and algorithm.SOLUTION: An obstacle determination device (1) comprises: a distance measurement device (2) for measuring distance to an object; an obstacle determination part (33) for, based on a measurement result of the distance to the object, detected by the distance measurement device (2), determining that there is an obstacle in a measurement range of the distance measurement device (2); an acceleration sensor (34) for detecting lower direction acceleration of the obstacle determination device (1); and a data removal part (32) for, when the acceleration detected by the acceleration sensor (34) is equal to or more than a predetermined threshold, removing at least part of the measurement results of the distance measurement device (2) during a period when the acceleration equal to or more the threshold is detected. The obstacle determination part (33) uses the measurement results after part of the measurement result is removed by the data removal part (32), for determining the obstacle.SELECTED DRAWING: Figure 1 【課題】本発明によれば、複雑な構成とアルゴリズムを必要とすることなく、単純なアルゴリズムで地面と障害物とを区別して検出できるようにする。【解決手段】障害物判定装置（１）は、対象物までの距離を計測する測距装置（２）と、測距装置（２）が検出した対象物までの距離の計測結果に基づいて、測距装置（２）の計測範囲内に障害物があることを判定する障害物判定部（３３）と、障害物判定装置（１）の下方向への加速度を検出する加速度センサ（３４）と、加速度センサ（３４）が検出した加速度が所定の閾値以上である場合、閾値以上の加速度が検出されている間の測距装置（２）による計測結果の少なくとも一部を除去するデータ除去部（３２）と、を有し、障害物判定部（３３）は、データ除去部（３２）により除去された後の計測結果を使用して、障害物を判定する。【選択図】図１