To provide a travel device having higher obstacle detection accuracy in bad weather than before by reducing the influence of noise caused by such as rain, fog, and snow.SOLUTION: A travel device includes: a case; a travel drive unit for traveling the case; a ranging sensor that scans around the case; a storage unit for storing a distance to a measurement point indicating a target position detected by the ranging sensor; and an obstacle determination unit which estimates, when a plurality of the measurement points is detected within a predetermined distance range by the ranging sensor, a size of a measurement point set including the plurality of the measurement points whose difference in distance is smaller than a predetermined threshold value which varies depending on a distance of the measurement point, and determines the measurement point set as one obstacle when the size is equal to or larger than a predetermined reference value.SELECTED DRAWING: Figure 6

    【課題】雨や霧、雪等に起因するノイズの影響を低減することによって、悪天候時における障害物の検知精度が従来よりも高い走行装置を提供する。【解決手段】筐体と、前記筐体を走行させる走行駆動部と、前記筐体の周囲を走査する測拒センサと、前記測拒センサによって検知された対象の位置を示す測点までの距離を記憶する記憶部と、前記測距センサから予め定められた距離の範囲内に複数の前記測点が検知された場合、前記距離の差が予め定められた閾値よりも小さい前記複数の測点からなる測点集合のサイズを推定し、前記サイズが予め定められた基準値以上の場合、前記測点集合を1つの障害物と判定する障害物判定部とを備え、前記閾値は、前記測点の距離に応じて異なることを特徴とする走行装置。【選択図】図6


    Access

    Download


    Export, share and cite



    Title :

    TRAVEL DEVICE, OBSTACLE DETERMINATION METHOD OF TRAVEL DEVICE AND OBSTACLE DETERMINATION PROGRAM OF TRAVEL DEVICE


    Additional title:

    走行装置、走行装置の障害物判定方法および走行装置の障害物判定プログラム


    Contributors:

    Publication date :

    2019-08-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



    TRAVEL DETERMINATION DEVICE FOR VEHICLE, TRAVEL DETERMINATION METHOD, AND PROGRAM

    OTANI HIDEO / UZAWA TETSUSHI / KOMURA TOSHIO | European Patent Office | 2023

    Free access