JP2016070796A - Obstacle determination device and obstacle determination method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To precisely detect dirt sticking on an optical window of a distance measuring device for determining an obstacle present at a periphery with a simple structure.SOLUTION: An obstacle detection device (1) comprises: a distance measuring device (2) which sends and receives light through an optical window (26) so as to measure a distance to an object of measurement; an obstacle determination part (33) which determines that there is an obstacle within a measurement range of the distance measuring device (2) on the basis of a measurement result of the distance measured by the distance measuring device (2); a driving part (37) which changes the measurement range of the distance measuring device (2); and a dirt determination part (32) which determines that a measurement result is affected by dirt sticking on the optical window (26) on the basis of measurement results of the distance before and after change when the measurement range of the distance measuring device (2) changes as the driving part (37) performs the driving. The obstacle determination part (33) determines whether there is an obstacle on the basis of measurement results of the distance excluding the measurement result affected by the dirt determined by the dirt determination part (32).SELECTED DRAWING: Figure 1

Description

  The present invention relates to an obstacle determination device and an obstacle determination method, and more specifically, detects dirt attached to an optical window of a distance measuring device when an obstacle is determined using an optical distance measuring device. The present invention relates to an obstacle determination device and an obstacle determination method for determining an obstacle using the detection result.

  An optical distance measuring device (ranging sensor) can measure a distance to an object existing in the measurement range, and can acquire a one-dimensional or two-dimensional distance data map. The distance measuring device is used as a safety device for, for example, determining its own operation using measured distance information and detecting and avoiding an obstacle by an autonomous traveling device that acts autonomously.

  The optical distance measuring device is provided with a light emitting part and a light receiving part inside a casing, and calculates the distance to an object by transmitting and receiving light through a transparent optical window. When dirt such as a foreign substance adheres to the optical window, distance information indicating that there is a measurement object at an extremely short distance is output from the distance measuring device. The distance measuring device only outputs the distance information to the measurement object at each coordinate within the measurement range. Whether the measurement object is an obstacle to be detected originally or whether it is dirt attached to the optical window. Cannot be determined.

  For example, in Patent Document 1, a light projecting unit and a measurement light output from the light projecting unit are measured through an optical window in a casing provided with an optical window. There is disclosed an optical window dirt detection device for a scanning distance measuring device in which a scanning mechanism that deflects and scans an object space and a light receiving unit that detects reflected light from the object through an optical window are accommodated. This optical window dirt detection device is provided with a plurality of reflective photoelectric sensors along the optical window outside the optical window, and reflects detection light from the reflective photoelectric sensor that has passed through the optical window toward the reflective photoelectric sensor. A retroreflective member is attached to the scanning mechanism. By using a reflective photoelectric sensor, it is possible to detect fine objects attached to the optical window.

JP 2008-164477 A

  Contamination due to foreign matter or the like adhering to the optical window of the distance measuring device leads to erroneous determination of the distance measuring device as described above, and it is necessary to detect and remove this. In this case, providing a detection mechanism using another sensor, camera, or the like to detect dirt attached to the optical window complicates the structure and processing and increases the cost. In the above-mentioned Patent Document 1 optical window dirt detection device, in addition to the light projecting unit and the light receiving unit for measuring the distance to the object, a reflective photoelectric sensor for detecting the deposit on the optical window is required. To do.

  A distance measuring device for determining the presence or absence of an obstacle functions as a distance measuring sensor and can measure a distance to a measurement object. If the measurement result of the distance measuring device itself can be used to detect dirt adhering to the optical window, the distance can be measured with a simple configuration without adding a special mechanism for detecting foreign matter adhering to the optical window. The measurement accuracy of the apparatus can be maintained and improved.

  The present invention has been made in view of the above circumstances, so that dirt attached to the optical window of a distance measuring device for determining obstacles existing around can be accurately detected with a simple structure. An object of the present invention is to provide an obstacle determination device and an obstacle determination method.

  In order to solve the above problems, a first technical means of the present invention includes a distance measuring device that measures the distance to a measurement object by transmitting and receiving light through an optical window, and the distance measuring device measures An obstacle determination unit having an obstacle determination unit for determining the presence or absence of an obstacle in the measurement range in front of the distance measuring device based on the measurement result of the distance, the measurement range of the distance measuring device is This is a measurement result due to dirt adhering to the optical window, based on the measurement result of the distance before and after the change when the drive unit to be changed and the measurement range of the distance measuring device are changed by driving the drive unit. And the obstacle determination unit determines the presence / absence of the obstacle based on the measurement result of the distance excluding the measurement result of the dirt determined by the stain determination unit. It is characterized by

  According to a second technical means, in the first technical means, the dirt determination unit measures the measurement result of the distance and the measurement position not changing before and after the change of the measurement range by the dirt attached to the optical window. It is characterized by determining that it is a result.

  A third technical means has a drive control unit for controlling the drive of the drive unit in the first or second technical means, and the drive control unit is the distance measuring device for controlling the drive unit. Drive information indicating the direction and amount of change in the measurement range is output to the obstacle determination unit, and the dirt determination unit is output from the drive information output from the drive control unit and from the distance measuring device. When the distance magnitude and the measurement position change according to the change of the distance measuring device indicated by the drive information before and after the change of the measurement range based on the measurement result of the measured distance, the distance measuring device It is characterized in that it is determined that the measurement result of the distance that changes according to the change is not the dirt adhering to the optical window but the measurement result by an obstacle existing in front of the distance measuring device.

  According to a fourth technical means, in any one of the first to third technical means, the drive unit is configured as a rotational drive unit that supports and travels the obstacle determination device, and the obstacle determination unit Based on the determination result, the driving is performed so as to perform the operation of avoiding the determined obstacle.

  According to a fifth technical means, in any one of the first to third technical means, the driving unit drives a support unit that supports the distance measuring device on a main body of the obstacle determination device, The measurement direction is changed by rotating the measurement direction of the measurement range of the distance measuring device.

  A sixth technical means is the first technical means according to any one of the first to third technical means, wherein the drive unit raises and lowers a support unit that supports the distance measuring device on a main body of the obstacle determination device. The measuring range of the distance measuring device is changed in the vertical direction.

  The seventh technical means is based on the measurement result of the distance measured by the distance measuring device that measures the distance to the measurement object by transmitting and receiving light through the optical window. An obstacle determination method including an obstacle determination step for determining that there is an obstacle in the vehicle, when the measurement range of the distance measuring device is changed by driving a drive unit that changes the measurement range of the distance measuring device. And a stain determination step for determining that the measurement result is due to dirt attached to the optical window based on the measurement result of the distance before and after the change, and the obstacle determination step is determined by the stain determination step. Using the result, it is determined that there is an obstacle in the measurement range.

  According to the present invention, there is provided an obstacle determination device and an obstacle determination method capable of accurately detecting dirt attached to an optical window of a distance measuring device for determining an obstacle existing around with a simple structure. Can be provided.

It is a block diagram which shows the structural example of the obstruction determination apparatus by this invention. It is a figure which shows the example of an external appearance structure of an obstruction determination apparatus. It is a figure for demonstrating the drive state of an obstruction determination apparatus. It is a figure explaining the example of a distance measurement by the ranging apparatus of an obstacle determination apparatus. It is a figure explaining the other example of a distance measurement by the distance measuring device of an obstacle determination apparatus. It is a figure for demonstrating the process which distinguishes the stain | pollution | contamination of an optical window, and the object of the distance measuring device vicinity. It is a figure which shows the other structural example for changing the measurement range of a distance measuring device. It is a figure which shows the further another structural example for changing the measurement range of a distance measuring device.

(Embodiment 1)
FIG. 1 is a block diagram illustrating a configuration example of an obstacle determination apparatus according to the present invention. The obstacle determination apparatus of this example is configured as an autonomous traveling apparatus that autonomously travels while detecting an obstacle and avoiding the obstacle.
The obstacle determination device 1 has a main body 3 and an optical distance measuring device 2 attached to the main body 3. The distance measuring device 2 measures the distance to the measurement object by an optical method.
The optical distance measuring device 2 modulates the measurement light output from the laser light source, irradiates the object through the optical window, and detects the reflected light from the object through the optical window by the light receiving element to measure the distance. To do. An AM (Amplitude Modify) method and a TOF (Time of Flight) method have been put to practical use as measurement light modulation methods. In the AM method, the measurement light that has been AM-modulated with a sine wave and its reflected light are photoelectrically converted, a phase difference between these signals is calculated, and a distance is calculated from the phase difference. The TOF method is a method in which a measurement light modulated in a pulse shape and its reflected light are photoelectrically converted, and a distance is calculated from a delay time between these signals. Any of the above-described methods can be applied to the distance measuring apparatus of the present embodiment.

The distance measuring device 2 scans the measurement light one-dimensionally or two-dimensionally and receives the reflected light to measure the distance to the measurement object 11 within a certain measurement range.
In addition, the light emitting unit emits light such as infrared light without scanning light, and the light receiving element is a two-dimensional light receiving sensor (for example, a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor Image Sensor)). Can be used to measure the distance to the object within a certain measurement range based on the light reception result of the two-dimensional light receiving sensor.

  The distance measuring device 2 in FIG. 1 drives and scans a light emitting unit 22 that outputs measurement light, a light receiving unit 25 that receives reflected light of the measurement light emitted from the light emitting unit 22, and an optical path of the emitted measurement light. , An optical mechanism unit 23 having an optical path adjusting means such as a mirror for guiding the reflected light to the light receiving element, an optical window 26 for passing the measurement light emitted from the light emitting unit 22 and the reflected light, and the light emitting unit 22 The measurement target 11 is based on a drive control unit 21 that performs light emission drive and drive control of the optical path adjusting means of the optical mechanism unit 23, an output signal photoelectrically converted by the light receiving unit 25, and optical path drive information from the drive control unit 21. And a distance calculation unit 24 that outputs a distance information measurement result.

  The distance measurement result output from the distance calculation unit 24 is input to the dirt determination unit 32 of the distance information calculation unit 31 of the main body unit. The dirt determination unit 32 determines the presence / absence of dirt such as a foreign substance attached to the optical window based on the distance information output from the distance calculation unit 24 of the distance measuring device. When the direction of the distance measuring device is changed, the stain determination unit 32 includes the distance information output from the distance calculation unit 24 and the information regarding the amount of change in the direction of the distance measuring device 2 output from the drive control unit 36. Based on this, the presence or absence of foreign matter such as dirt attached to the optical window 26 is detected.

  The obstacle determination unit 33 determines that there is an obstacle within the measurement range of the distance measuring device 2. For example, when it is determined that there is an object to be measured 11 within a predetermined distance range from the obstacle determination device 1, the object is determined as an obstacle.

The main body 3 includes a drive unit 37 that causes the obstacle determination apparatus 1 to travel. The drive unit 37 includes, for example, a plurality of wheels and a motor for rotating the wheels. The drive control unit 36 controls the drive of the drive unit 37 according to the control of the main body operation control unit 35.
The main body operation control unit 35 controls the operation of the main body unit 3. A communication unit 34 configured as an interface for communicating with an external device is connected to the main body operation control unit 35, and is connected to, for example, an external operation / monitoring terminal 12 via the communication unit 34. The operation / monitoring terminal 12 performs an operation input for operating the obstacle determination device 1 from a remote location, or acquires information related to the running state of the obstacle determination device 1 to monitor the obstacle determination device 1 from a remote location. Can do.

  The drive control unit 36 controlled by the main body operation control unit 35 drives the drive unit 37 according to the control of the main body operation control unit 35. For example, the vehicle travels by rotating four wheels, or performs control to change the direction of the main body 3 by changing the rotation direction and rotation speed of the four wheels. At this time, the drive control unit 36 drives the drive unit 37 to change information of the main body 3, that is, information on the direction and amount of change of the measurement range of the distance measuring device 2 attached to the main body 3. Can be obtained. The drive control unit 36 outputs this change information to the stain determination unit 32 of the distance information calculation unit 31.

  In the dirt determination unit 32, the distance measurement result is obtained from the change information (change direction and change amount of the measurement range) output from the drive control unit 36 and the change in the distance measurement result at this time. Is a dirt attached to the optical window 26 of the distance measuring device 2 or an object to be measured such as an obstacle existing outside, and the result is output to the obstacle determining unit 33. For example, information indicating the dirt added to the optical window 26 is added to the distance measurement result output from the distance calculation unit 24 and output to the obstacle determination unit 33. Alternatively, the distance measurement result output from the distance calculation unit 24 is removed from the distance measurement result determined to be dirt attached to the optical window 26 and output to the obstacle determination unit 33.

The obstacle determination unit 33 determines an obstacle to be avoided by the obstacle determination device 1 based on the information output from the dirt determination unit 32, and sends the position information (distance, angle) to the main body operation control unit 35. Output. At this time, the measurement result of the dirt determined by the dirt determination unit 32 is excluded from the measurement result of the distance output from the distance calculation unit 24, and the presence or absence of an obstacle is determined from the other measurement results. Thereby, even if dirt is adhered to the optical window 26, an obstacle in front of the distance measuring device 2 can be reliably determined.
The main body operation control unit 35 inputs the position information of the obstacle output from the obstacle determination unit 33 and controls the drive control unit 36 to perform an operation of avoiding the obstacle. Here, for example, control is performed such that the traveling direction of the traveling obstacle determination device 1 is changed or stopped before the obstacle.
Thereby, the operation | movement which avoids the obstruction determined based on the measurement result can be performed, without confusion with the stain | pollution | contamination of the optical window 26, and an actual obstruction.

2A and 2B are diagrams illustrating an external configuration example of the obstacle determination apparatus. FIG. 2A is a schematic perspective view of the obstacle determination apparatus 1, and FIG. 2B is a schematic top view of the obstacle determination apparatus. The obstacle determination device 1 of this example is configured as an autonomous traveling device that autonomously travels while avoiding obstacles.
In the example shown in FIG. 2, the obstacle determination device 1 includes a main body 3 and a distance measuring device 2 mounted on the upper portion of the main body 3. Four wheels 4 are attached as a drive unit of the main body 3 to enable automatic traveling. Each wheel 4 can be rotated forward and backward, and at least one of the rotation direction, the rotation speed, and the direction of each wheel is controlled, and the vehicle travels while changing the direction of the measurement range of the obstacle determination device 1. can do.

FIG. 3 is a diagram for explaining a driving state of the obstacle determination device.
The obstacle determination apparatus 1 performs various operations by driving the four wheels 4 as described above. This operation is executed by the drive control unit 36 controlling the drive unit 37 using the wheels 4 based on the control of the main body operation control unit 35. In this example, each wheel 4 is fixed in a parallel state, the angle with respect to the main body 3 is not changed, and only the rotation direction and the rotation speed of each wheel 4 are changed, whereby the obstacle determination device 1 is changed. The traveling direction shall be changed.

3 shows a schematic view of the obstacle determination device 1 as viewed from above, and the right side in the figure where the distance measuring device 2 is provided is the front direction of the obstacle determination device 1. FIG. Moreover, the relative magnitude | size of the rotational speed of each wheel is shown by the arrow described in the wheel 4. FIG.
In FIG. 3A, the four wheels 4 rotate in the same direction at the same rotation speed. The rotation direction is a direction in which the obstacle determination device 1 moves forward. Thereby, the obstacle determination apparatus 1 goes straight forward.
In FIG. 3 (B), the four wheels 4 rotate in the forward direction, but rotate the right wheel 4 faster than the left wheel 4 toward the front of the main body 3. As a result, the obstacle determination device 1 travels while changing its direction to the front left. In FIG. 3C, the four wheels rotate forward in the same direction, but the left wheel 4 is rotated faster than the right wheel 4 toward the front of the main body 3. Thereby, the obstacle determination device 1 travels while changing the direction to the front right.

In FIG. 3D, the four wheels 4 rotate in the same direction at the same rotation speed, and the rotation direction is the direction in which the obstacle determination device 1 moves backward. Thereby, the obstacle determination apparatus 1 goes straight backwards.
In FIG. 3 (E), the left wheel 4 and the right wheel 4 are rotated in the opposite directions at the same speed toward the front of the main body 3. Thereby, the obstacle determination device 1 can rotate in the horizontal direction while remaining at the current position, and can change the direction of the measurement range of the distance measuring device 2.
FIG. 3 (F) shows a state where the obstacle determination device 1 is rotated at the same position as in FIG. 3 (E). However, in the case of FIG. In contrast, the obstacle determination device 1 rotates in the direction opposite to the horizontal direction of FIG.

FIG. 4 is a diagram for explaining an example of distance measurement by the distance measuring device of the obstacle determination device, and FIG. 4 (A) is a diagram for explaining the state of the obstacle present in the measurement range of the distance measuring device. (B) is a figure explaining the measurement result of the distance in a distance measuring device in the state of FIG. 4 (A).
As shown in FIG. 4A, the distance measuring device 2 performs distance measurement by scanning the measurement light in the horizontal direction (X axis) and the vertical direction (Y axis). The measurement range has a vertical and horizontal fan shape centered on the optical mechanism of the distance measuring device 2. The reference axis Z is an axis orthogonal to the X axis and the Y axis and passing through the center of the measurement range of the distance measuring device 2.

The distance measuring device 2 can measure the distance of the measurement range of the distance measuring device 2 in six steps 1 to 6, and can measure the distance at a plurality of positions in the horizontal and vertical scanning directions. And In this example, it is possible to measure distances at a total of 18 stages of 9 stages on both sides of the reference axis Z in the X direction centering on the reference axis Z. In the Y direction, distance measurement is possible in 12 stages, 6 stages on each side of the reference axis Z. Here, the distance closest to the distance measuring device is “1”, the distance increases in order as the distance increases, and the distance farthest is “6”.
The resolution (measurement accuracy) in the reference axis direction and the horizontal and vertical directions of the actual distance measuring device 2 is sufficiently higher than this, but here, for simplicity, the measurement range is simplified as described above. The same applies to the following examples.

  In the example of FIG. 4A, it is assumed that two objects 13a and 13b exist in the measurement range of the distance measuring device 2. The first object 13a is present at a position on the lower right side with respect to the reference Z when viewed from the distance measuring device 2, and the distance measurement value is “3”. On the other hand, the second object 13b is present on the left side of the reference axis Z when viewed from the distance measuring device 2, and the distance measurement value is “6”.

  The distance measurement result in the state of FIG. 4A is as shown in FIG. FIG. 4B shows distance measurement values at respective positions in the horizontal scanning direction (X-axis direction) around the reference axis Z and the vertical scanning direction (Y-axis direction). Here, the measurement result of the distance to the measurement object at each position of 18 levels in the horizontal direction and 12 levels in the vertical direction is shown. The measurement result is one of the distance data of 1 to 6 or infinity (“−”). Infinite indicates that there is no measurement object within the measurement limit distance of the distance measuring device 2.

  As shown in FIG. 4B, when distance measurement is performed in the state of FIG. 4A, the first object 13a having a distance “3” is measured at a position in the lower right direction with respect to the reference axis Z. . In addition, a vertically long second object 13b is measured at a position to the left of the reference axis Z.

FIG. 5 is a diagram for explaining another example of distance measurement by the distance measuring device of the obstacle determination device. FIG. 5 (A) is a diagram showing dirt adhering to the optical window of the distance measuring device. ) Is a diagram showing a state when an object is present near the distance measuring device, and FIG. 5C is a diagram showing a distance measurement result in the distance measuring device.
The distance measuring device 2 emits measurement light through the optical window 26 and makes reflected light reflected by the measurement target object enter. When the dirt P adheres to the display surface of the optical window 26, the distance measuring device 2 measures the distance to the dirt P based on the reflected light from the dirt P and outputs the measured value. On the other hand, as shown in FIG. 5B, even when the object 13 exists in the very vicinity of the distance measuring device 2, the distance measuring device 2 determines the distance to the object 13 based on the reflected light from the object 13. Measure and output the measured value.

  In this case, the distance measurement result by the distance measuring device 2 is as shown in FIG. 5C in the case of the dirt in FIG. 5A and the object in FIG. 5B. . That is, in any case, since the dirt P or the object 13 that reflects the measurement light exists in the very vicinity of the distance measuring device 2, when the distance to the dirt P or the object 13 is measured, It becomes difficult to make these distinctions. Here, the dirt P adhering to the surface of the optical window 26 and the object 13 existing in the vicinity of the optical window 26 actually have a slight difference in distance, but for example, the distance of the measurement error range of the distance measuring device 2 Therefore, it is not possible to clearly distinguish these.

FIG. 6 is a diagram for explaining processing for distinguishing between dirt on the optical window and an object near the distance measuring device. FIG. 6 shows distance measurement values at respective positions in the horizontal scanning direction (X-axis direction) around the reference axis Z of the distance measuring device 2 and the vertical scanning direction (Y-axis direction). . Here, it is assumed that the distance to the measurement object is measured at each of the 10 positions in the horizontal direction and 8 stages in the vertical direction. The measurement result is one of the distance data of 1 to 6 or infinity (“−”).
In the embodiment according to the present invention, distance measurement is performed by changing the measurement range of the distance measuring device 2, and when an object of the same distance is measured at the same measurement position before and after the change, the object is used as an optical window. Judged as adhered dirt.

  FIG. 6A shows a distance measurement result in the distance measuring device 2. Here, a vertically long object with a distance “6” is measured to the right of the reference axis Z in the measurement range of the distance measuring device 2. Further, an object with a distance “1” is measured to the left of the reference axis Z. The object with the distance “1” exists in the vicinity of the distance measuring device 2. If the object is left as it is, the object is dirt attached to the optical window 26, or an obstacle present in the vicinity of the distance measuring device 2. Cannot be determined. If an obstacle is present, it is necessary to immediately perform an avoidance operation or a travel stop operation.

FIG. 6B shows a state where the distance measuring device is rotated clockwise from the state of FIG. 6A to change the measurement range to the right. As a result, the vertically long object of the distance “5” measured to the right of the reference axis Z has moved to the left of the reference axis Z. That is, it can be seen that the measurement position has moved to the left within the measurement range by moving the measurement range to the right according to the right rotation of the distance measuring device 2.
On the other hand, the object of the distance “1” measured on the left side of the reference axis Z is measured at the same position within the measurement range even if the distance measuring device 2 rotates to the right. That is, it can be determined that the object of this distance “1” is moving with the rotation of the distance measuring device 2 and is dirt attached to the optical window 26.

FIG. 6C shows another example of a state in which the distance measuring device is rotated clockwise from the state of FIG. 6A to change the measurement range in the right direction. In this example, the vertically long object of the distance “6” measured to the right of the reference axis Z has moved to the left of the reference axis Z as in the case of FIG.
In addition, the object at the distance “1” measured on the left side of the reference axis Z moves further to the left, and part of the object is outside the measurement range. That is, it can be seen that the object with the distance “1” is not a dirt adhering to the optical window 26 but an object such as an obstacle existing in the vicinity of the distance measuring device 2. In this case, the main body operation control unit 35 of the obstacle determination device 1 performs an operation such as avoiding or stopping the obstacle.

  FIG. 6D shows a state where the distance measuring device is rotated upward from the state of FIG. 6A to change the measurement range upward. In the present embodiment, when the measurement range of the distance measuring device 2 is changed only by driving control of the wheels 4, the distance measuring device 2 cannot be controlled to be changed in the vertical direction. As described above, a processing example in the case where a mechanism capable of changing the measurement range of the distance measuring device 2 in the vertical direction is provided will be described.

As a result, the vertically long object of the distance “6” measured on the right side of the reference axis Z moves downward as it is. That is, it can be seen that the measurement position moves downward in the measurement range by moving the measurement range upward according to the upward rotation of the distance measuring device 2.
On the other hand, the object of the distance “1” measured on the left side of the reference axis Z is measured at the same position within the measurement range even if the distance measuring device 2 rotates upward. That is, it can be determined that the object of this distance “1” is moving with the rotation of the distance measuring device 2 and is dirt attached to the optical window 26.

FIG. 6E shows another example of the state in which the distance measuring device is rotated upward from the state of FIG. 6A to change the measurement range upward.
In this example, the vertically long object of the distance “6” measured on the right side of the reference axis Z moves downward as it is in the case of FIG.
The measurement position of the object with the distance “1” measured on the left side of the reference axis Z is also moved downward. That is, it can be seen that the object with the distance “1” is not a dirt adhering to the optical window 26 but an object such as an obstacle existing in the vicinity of the distance measuring device 2. In this case, the main body operation control unit 35 of the obstacle determination device 1 performs an operation such as avoiding or stopping the obstacle.

  In order to perform the above-described processing, the dirt determination unit 32 of the obstacle determination device 1 obtains drive information (change direction and change amount of the measurement range) of the distance measurement device 2 from the drive control unit 36, and the distance measurement device On the basis of the distance measurement result obtained from the distance calculation unit 24, the dirt that the measured object has adhered to the optical window 26 is determined. In this case, when the dirt determination unit 32 recognizes that the measurement range of the distance measuring device 2 has changed based on the drive information obtained from the drive control unit 36, the distance from the distance calculation unit 24 before and after the change. When the measurement result of the same distance exists at the same measurement position before and after the change, it can be determined that the measurement result is due to contamination of the optical window 26.

  In addition, when the dirt determination unit 32 determines that the optical window 26 is an external measurement target that is not dirty, the driving information output from the drive control unit 36 and the distance measurement output from the distance measuring device 2 are measured. Based on the result, when the distance size and the measurement position change according to the change of the distance measuring device 2 indicated by the drive information before and after the change of the measurement range, according to the change of the distance measuring device 2 It can be determined that the measurement result of the changing distance is not the dirt P adhering to the optical window but the measurement result by the obstacle existing in front of the distance measuring device 2. That is, when the measurement range of the distance measuring device 2 is changed by the drive control of the drive control unit 36, when it is determined that the measurement result has moved in accordance with the direction and amount of change, the measurement result of the distance Can be determined to be a measurement result of an external measurement object.

When the dirt determination unit 32 determines that the distance measurement result is due to the dirt of the optical window 26, the dirt determination unit 32 adds the information indicating the dirt to the distance measurement result output from the distance calculation unit 24 and determines the obstacle. To the unit 33. Alternatively, processing such as removing the measurement result corresponding to the dirt of the optical window 26 from the distance measurement result output from the distance calculation unit 24 is performed, and the result is output to the obstacle determination unit 33.
The obstacle determination unit 33 determines an obstacle to be avoided by the obstacle determination device 1 based on the distance information output from the distance calculation unit 24, and uses the position information (distance and angle) as the main body operation control unit 35. Output to. At this time, the presence / absence of an obstacle is determined based on the distance measurement result determined by the contamination determination unit 32 and excluding the measurement result due to contamination. For example, when an object exists within a predetermined range, the object is determined as an obstacle. The main body operation control unit 3 controls the drive control unit 36 to perform an operation to avoid the obstacle based on the position information of the obstacle output from the obstacle determination unit 33.

  As described above, in the embodiment according to the present invention, the distance measurement device 2 measures the distance to the object existing in the measurement range, changes the measurement range of the distance measurement device 2, and the dirt determination unit 32 determines the change. Based on the measurement result of the distance in the front-rear direction, the dirt attached to the optical window 26 is determined. As a result, the optical window 26 can be accurately detected with a simple structure, and even if the optical window 26 is dirty, the obstacle can be reliably avoided without being confused with an actual obstacle. Can be executed.

(Embodiment 2)
FIG. 7 is a diagram illustrating another configuration example for changing the measurement range of the distance measuring apparatus. In the above embodiment, the measurement direction of the distance measuring device 2 mounted on the main body 3 is changed by driving and controlling the wheels 4 of the obstacle determination device 1. On the other hand, in the present embodiment, a mechanism for changing the measurement range of the distance measuring device 2 is provided in a portion that supports the distance measuring device 2. Here, the distance measuring device 2 is placed on the support table 5 that changes the measurement range of the distance measuring device 2 in the horizontal direction (X-axis direction) and the vertical direction (Y-axis direction). The support table 5 corresponds to a support portion of the present invention that supports the distance measuring device 2 on the obstacle determination device 1.

  The support table 5 is provided with a drive mechanism for displacing the support table 5. This drive mechanism corresponds to the drive unit 37 in FIG. 1, and the drive control unit 36 outputs drive information of the support table 5 to the dirt determination unit 32. The dirt determination unit 32 inputs the distance measurement result output from the distance calculation unit 24 of the distance measuring device 2, and enters the optical window 26 from the distance measurement result before and after the state of the support table 5 is changed. Judge the attached dirt. Then, the obstacle determination unit 33 determines an obstacle based on the determination result of the dirt determination unit 32. In this case, the obstacle determination device 1 can be implemented as a fixed determination device that does not travel. For example, the present invention can be applied to a monitoring device that detects an intruder. The result determined by the obstacle determination unit 33 can be notified to the user by, for example, displaying the result on a predetermined display device or outputting the sound from a speaker. Moreover, the determination result of an obstacle can be notified to a predetermined external device via communication.

  Moreover, you may use said support table 5 in combination with the drive part which drive | works with a wheel like Embodiment 1. FIG. In this case, the direction of the measurement range of the distance measuring device 2 is changed by controlling the rotation direction and the rotation speed of the wheel by the control of the drive control unit 36, and the distance measurement is further performed by driving the support table 5. The measurement range of the device 2 can be changed. The drive control unit 36 outputs drive information considering both the driving of the wheel 4 and the drive of the support table 5 to the dirt determination unit 32, so that the dirt determination unit 32 indicates that the distance measurement result is the optical window 26. It is possible to determine whether it is a dirt adhering to the surface or an external object.

(Embodiment 3)
FIG. 8 is a diagram showing still another configuration example for changing the measurement range of the distance measuring apparatus. In the present embodiment, an elevating device 6 that elevates and lowers the distance measuring device 2 in the vertical direction is provided on a support portion that supports the distance measuring device 2. The range of measurement of the distance measuring device 2 is changed by moving the distance measuring device 2 up and down by the lifting device 6.

  The elevating device 6 is provided with a drive mechanism for elevating the distance measuring device 2. The drive mechanism corresponds to the drive unit 37 of FIG. 1, and the drive control unit 36 outputs drive information of the lifting device 6 to the dirt determination unit 32. The dirt determination unit 32 inputs the distance measurement result output from the distance calculation unit 24 of the distance measuring device 2, and enters the optical window 26 from the distance measurement information before and after the state of the lifting device 6 is changed. Judge the attached dirt. Then, the obstacle determination unit 33 determines an obstacle based on the determination result of the dirt determination unit 32. In this case, the obstacle determination device 1 can be implemented as a fixed determination device that does not travel. The result determined by the obstacle determination unit 33 can be notified by a predetermined display output or audio output, or can be notified to a predetermined external device via communication.

  Moreover, you may use said raising / lowering apparatus 6 in combination with the drive part which drive | works with a wheel like Embodiment 1. FIG. In this case, the direction of the measurement range of the distance measuring device 2 is changed by controlling the rotation direction and the rotation speed of the wheel under the control of the drive control unit 36, and the distance measuring device 2 is further driven by the driving of the lifting device 6. The measurement range can be changed. The drive control unit 36 outputs drive information considering both the driving of the wheel 4 and the drive of the support table 5 to the dirt determination unit 32, so that the dirt determination unit 32 indicates that the distance measurement result is the optical window 26. It is possible to determine whether it is a dirt adhering to the surface or an external object. Further, although the distance measuring device 2 can be moved up and down by the lifting device 6, the distance measuring device 2 is changed in the lateral direction (X-axis direction) to a portion where the lifting device 6 supports the distance measuring device 2. A drive table may be arranged and changed in the X-axis direction and the Y-axis direction by a combination thereof.

  The technical features (components) described in each of the above embodiments can be combined with each other, and new technical features can be formed by combining them.

DESCRIPTION OF SYMBOLS 1 ... Obstacle determination apparatus, 2 ... Distance measuring device, 3 ... Main body operation control part, 4 ... Wheel, 5 ... Support table, 6 ... Lifting device, 11 ... Measuring object, 12 ... Operation / monitoring terminal, 13a ... Object , 13b ... object, 13 ... object, 21 ... drive control unit, 22 ... light emitting unit, 23 ... optical mechanism unit, 24 ... distance calculation unit, 25 ... light receiving unit, 26 ... optical window, 31 ... distance information calculation unit, 32 ... dirt determination unit, 33 ... obstacle determination unit, 34 ... communication unit, 35 ... main body operation control unit, 36 ... drive control unit, 37 ... drive unit.

Claims (7)

A distance measuring device that measures a distance to a measurement object by transmitting and receiving light through an optical window, and a measurement range in front of the distance measuring device based on a measurement result of the distance measured by the distance measuring device An obstacle determination device having an obstacle determination unit for determining the presence or absence of an obstacle in the vehicle,
A drive unit for changing a measurement range of the distance measuring device;
When the measurement range of the distance measuring device is changed by driving the drive unit, a stain determination that determines that the measurement result is due to the stain attached to the optical window based on the measurement result of the distance before and after the change. With
The obstacle determination device, wherein the obstacle determination unit determines the presence or absence of the obstacle based on a measurement result of the distance excluding a measurement result due to the dirt determined by the dirt determination unit. In the obstacle determination device according to claim 1,
The obstacle determination unit determines that a measurement result in which the magnitude of the distance and the measurement position do not change before and after the change of the measurement range is a measurement result due to dirt attached to the optical window. apparatus. In the obstacle determination device according to claim 1 or 2,
A drive control unit for controlling the drive of the drive unit;
The drive control unit outputs drive information indicating a change direction and a change amount of the measurement range of the distance measuring device when controlling the drive unit to the obstacle determination unit,
The dirt determination unit is configured to measure the magnitude and measurement of the distance before and after the change of the measurement range based on the drive information output from the drive control unit and the measurement result of the distance output from the distance measuring device. When the position changes according to the change of the distance measuring device indicated by the drive information, the measurement result of the distance changing according to the change of the distance measuring device is not the dirt attached to the optical window, but the measurement result. An obstacle determination device characterized in that it is determined to be a measurement result of an obstacle existing in front of a distance device. In the obstacle determination device according to any one of claims 1 to 3,
The drive unit is configured as a rotary drive unit that supports and travels the obstacle determination device,
An obstacle determination apparatus that drives to perform an operation of avoiding the determined obstacle based on a determination result by the obstacle determination unit. In the obstacle determination device according to any one of claims 1 to 3,
The drive unit drives the support unit that supports the distance measuring device on the main body of the obstacle determination device, and rotates the measurement direction of the measurement range of the distance measuring device to change the measurement direction. An obstacle determination device characterized by that. In the obstacle determination device according to any one of claims 1 to 3,
The driving unit is configured to change the measurement range of the distance measuring device in the vertical direction by moving up and down a support unit that supports the distance measuring device on the main body of the obstacle determining device. Judgment device Based on the measurement result of the distance measured by the distance measuring device that measures the distance to the measurement object by transmitting and receiving light through the optical window, there is an obstacle in the measurement range of the distance measuring device. An obstacle determination method including an obstacle determination step for determining,
When the driving unit that changes the measurement range of the distance measuring device is driven to change the measurement range of the distance measuring device, the measurement based on the measurement result of the distance before and after the change is measured by dirt attached to the optical window. A stain determination step for determining the result,
The obstacle determination method, wherein the obstacle determination step determines that there is an obstacle within the measurement range using a determination result obtained by the dirt determination step.

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