Obstacle determining apparatus, moving body, and obstacle determining method
AssigneeSharp Kabushiki Kaisha
InventorTatsuro Kuroda
Life of this patent
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Abstract
An obstacle determining apparatus includes a distance measuring device, and an obstacle determining portion which determines presence/absence of an obstacle in a measurement space region in front of the distance measuring device. The measurement space region is defined so that a position of a bottom surface of the measurement space region changes stepwisely or continuously according to a depth in a forward direction and/or a width direction of the measurement space region, for example, like a measurement space region D1. The measurement space region may be changed so that the position of the bottom surface of the measurement space region changes stepwisely or continuously according to a detection result of an inclination detecting portion.
Claims21
An obstacle determining apparatus comprising a distance measuring device which measures a distance to a measurement object, and an obstacle determining portion which determines presence/absence of an obstacle in a measurement space region in front of the distance measuring device based on a measurement result of the distance by the distance measuring device, wherein
- the measurement space region is defined so that a position of a bottom surface of the measurement space region changes stepwisely according to a depth in a forward direction and/or a width direction of the measurement space region.
A moving body comprising an obstacle determining apparatus, a driving portion, and a drive control portion which controls the driving portion, wherein
- the obstacle determining apparatus comprises a distance measuring device which measures a distance to a measurement object, and an obstacle determining portion which determines presence/absence of an obstacle in a measurement space region in front of the distance measuring device based on a measurement result of the distance by the distance measuring device,
- the measurement space region is defined so that a position of a bottom surface of the measurement space region changes stepwisely or continuously according to a depth in a forward direction and/or a width direction of the measurement space region,
- the measurement space region is a first region provided in at least an upper part on a near side in the measurement space region and a second region which is another region, and
- the drive control portion controls the driving portion to stop the moving body when it is determined that there is an obstacle in the first region, and controls the driving portion to slow down the moving body when it is determined that there is an obstacle in the second region.
An obstacle determining method having an obstacle determining step of determining presence absence of an obstacle in a measurement space region in front of a distance measuring device which measures a distance to a measurement object, based on a measurement result of the distance from the distance measuring device, wherein
- the measurement space region is defined so that a position of a bottom surface of the measurement space region changes stepwisely according to a depth in a forward direction and/or a width direction of the measurement space region.
An obstacle determining apparatus comprising a distance measuring device which radiates measurement light to a predetermined irradiation region and measures a distance to a measurement object, and an obstacle determining portion which determines presence absence of an obstacle in a measurement space region in front of the distance measuring device based on a measurement result of the distance by the distance measuring device, wherein
- the distance measuring device further comprises an inclination detecting portion which detects inclination of the distance measuring device, and
- when a detection result of the inclination detecting portion indicates that the inclination of the distance measuring device is changed to a pitch direction and/or a roll direction, the measurement space region is changed so that a position of an bottom surface or an upper surface of the measurement space region changes in the irradiation region of the distance measuring device stepwisely or continuously according to the depth in the forward direction and/or the width direction of the measurement space region.
Dependencies are inferred from the claim text.