JP6340713B2

JP6340713B2 - Obstacle detection device

Info

Publication number: JP6340713B2
Application number: JP2014041319A
Authority: JP
Inventors: 寺田　直人; 直人寺田
Original assignee: Panasonic Intellectual Property Management Co Ltd
Current assignee: Panasonic Intellectual Property Management Co Ltd
Priority date: 2014-03-04
Filing date: 2014-03-04
Publication date: 2018-06-13
Anticipated expiration: 2034-03-04
Also published as: JP2015166705A

Description

本発明は、超音波、電波、光等のパルス波を送波して、障害物からの反射波に応じた受信信号に基づいて、障害物を検知する障害物検知装置に関する。 The present invention relates to an obstacle detection device that detects an obstacle based on a received signal corresponding to a reflected wave from an obstacle by transmitting pulse waves such as ultrasonic waves, radio waves, and light.

従来の障害物検知装置は、超音波、電波、光等のパルス波の送波と、障害物からの反射波の受波とを行って、受波した反射波に対応する受信信号の検出時と、送波の開始時との時間差を求め、この時間差に基づいて、障害物までの距離を計測している。 Conventional obstacle detection devices perform transmission of pulse waves such as ultrasonic waves, radio waves, and light, and reception of reflected waves from obstacles, and when a received signal corresponding to the received reflected waves is detected. And the time difference from the start of transmission, the distance to the obstacle is measured based on this time difference.

また、この種の装置の分野において、所定時間毎に、超音波の送波と、反射波の受波とを行って、受波した反射波（に対応する受信信号）のピーク値を記憶し、これらのピーク値の差分が「負」に変化したときに、検知対象物の種類が輪止め（車止め）や縁石等の路面からの高さが低い（路面付近の）障害物であると判定する障害物検知装置が知られている（例えば、特許文献１参照）。 Also, in the field of this type of device, ultrasonic waves are transmitted and reflected waves are received every predetermined time, and the peak value of the received reflected wave (the corresponding received signal) is stored. When the difference between these peak values changes to "negative", it is determined that the type of detection object is an obstacle with a low height (near the road surface) such as a wheel stop (car stop) or curb An obstacle detection device is known (see, for example, Patent Document 1).

特開２０１０−１９７３５１号公報JP 2010-197351 A

ところが、上記の反射波（に対応する受信信号）の検出時と送波の開始時との時間差に基づいて、障害物までの距離を計測する従来の障害物検知装置では、障害物までの距離を検出することはできても、障害物の高さを判別することはできなかった。例えば、従来の障害物検知装置を車両周辺の監視に使用した場合、車止めや縁石、ガードレール、壁といった検知エリア内にある障害物の高さを判別することはできなかった。また、上記特許文献１に記載の障害物検知装置によれば、検知対象物の種類が、輪止め（車止め）や縁石等の路面付近の障害物であるか否かを判別をすることはできる。しかしながら、この障害物検知装置は、超音波送受信機よりも低い位置にある路面付近の障害物を判別するためのものなので、この障害物検知装置でも、障害物の高さを判別することはできなかった。 However, in the conventional obstacle detection device that measures the distance to the obstacle based on the time difference between the detection of the reflected wave (the corresponding reception signal) and the start of transmission, the distance to the obstacle Although it was possible to detect, the height of the obstacle could not be determined. For example, when a conventional obstacle detection device is used for monitoring the periphery of a vehicle, the height of an obstacle in a detection area such as a car stop, a curb, a guard rail, or a wall cannot be determined. Further, according to the obstacle detection device described in Patent Document 1, it is possible to determine whether or not the type of the detection target is an obstacle near the road surface such as a wheel stop (car stop) or a curb. . However, since this obstacle detection device is used to determine an obstacle near the road surface that is lower than the ultrasonic transceiver, this obstacle detection device can also determine the height of the obstacle. There wasn't.

本発明は、上記課題を解決するものであり、障害物の高さを判別することが可能な障害物検知装置を提供することを目的とする。 The present invention solves the above-described problems, and an object thereof is to provide an obstacle detection device that can determine the height of an obstacle.

上記課題を解決するために、本発明の障害物検知装置は、障害物を検知する障害物検知装置において、空間を伝播するパルス波の送波と、送波したパルス波に対する、障害物からの反射波の受波とを行って、受波した反射波に応じた受信信号を出力する送受信部であって、路面に対して垂直方向に沿って配置された複数の送受信部と、前記送受信部から出力された受信信号に基づいて、前記送受信部が受波した各反射波に対応した受信信号における振幅の極大点を検出する極大点検出部と、前記極大点検出部により検出された振幅の極大点の個数に基づいて、前記送受信部の高さに前記障害物があるか否かを判定する判定部と、前記複数の送受信部の各々を用いたときの前記判定部の判定結果に基づいて、前記障害物の高さを検出するように制御する高さ検出制御部と、を備え、前記判定部により、前記複数の送受信部のうちのいずれの送受信部の高さにも、前記障害物がないと判定された場合、前記複数の送受信部のうち、前記パルス波の送波を行った送受信部とは別の送受信部で前記反射波の受波を行って、前記高さ検出制御部が、前記別の送受信部から出力された受信信号に基づいて、前記パルス波の送波を行った送受信部と、前記反射波の受波を行った前記別の送受信部との中間の高さに前記障害物があると判定する。なお、「振幅の極大点」とは、ある反射波に対応した受信信号における振幅が最大となる点のことを意味する。 In order to solve the above-described problems, an obstacle detection device according to the present invention provides an obstacle detection device that detects an obstacle. A transmission / reception unit that receives a reflected wave and outputs a reception signal corresponding to the received reflected wave, a plurality of transmission / reception units arranged along a direction perpendicular to a road surface, and the transmission / reception unit Based on the received signal output from the transmission / reception unit, a maximum point detection unit for detecting a maximum point of amplitude in the reception signal corresponding to each reflected wave received by the transmission / reception unit, and the amplitude detected by the maximum point detection unit Based on the number of local maximum points, a determination unit that determines whether or not the obstacle is at the height of the transmission / reception unit, and a determination result of the determination unit when each of the plurality of transmission / reception units is used To detect the height of the obstacle A plurality of transmission / reception units when the determination unit determines that there is no obstacle at any of the transmission / reception units among the plurality of transmission / reception units. Receiving the reflected wave at a transmission / reception unit different from the transmission / reception unit that transmitted the pulse wave, and the height detection control unit receiving from the other transmission / reception unit Based on the signal, it is determined that the obstacle exists at an intermediate height between the transmitting / receiving unit that transmits the pulse wave and the another transmitting / receiving unit that receives the reflected wave . The “maximum point of amplitude” means a point where the amplitude in the received signal corresponding to a certain reflected wave is maximized.

この障害物検知装置において、前記送受信部から出力された受信信号に基づいて、前記障害物までの距離を計測する距離計測部をさらに備え、前記判定部は、前記極大点検出部により検出された振幅の極大点の個数と、前記距離計測部により計測された前記障害物までの距離とに基づいて、前記障害物の高さが前記送受信部の高さ以上であるか否かを判定することが好ましい。 The obstacle detection apparatus further includes a distance measurement unit that measures a distance to the obstacle based on a reception signal output from the transmission / reception unit, and the determination unit is detected by the maximum point detection unit. Determining whether the height of the obstacle is equal to or higher than the height of the transmission / reception unit based on the number of maximum points of amplitude and the distance to the obstacle measured by the distance measurement unit Is preferred.

この障害物検知装置において、前記判定部は、前記複数の送受信部のいずれを用いても、前記極大点検出部により検出される振幅の極大点の個数が二つにならない場合には、前記複数の送受信部のうちのいずれの送受信部の高さにも、前記障害物がないと判定することが好ましい。 In this obstacle detection device, the determination unit uses the plurality of transmission / reception units when the number of maximum points detected by the maximum point detection unit does not become two. It is preferable to determine that there is no obstacle at the height of any of the transmission / reception units .

本発明の障害物検知装置によれば、極大点検出部が、送受信部から出力された受信信号に基づいて、送受信部が受波した各反射波（に対応した受信信号）における振幅の極大点を検出する。ここで、障害物が、壁のような、障害物検知装置の送受信部の高さ以上の高さを有する対象物の場合は、極大点検出部は、２つの振幅の極大点を検出する。これに対して、障害物が、車止めや縁石のような、障害物検知装置の送受信部より低い対象物の場合は、極大点検出部は、１つの振幅の極大点のみを検出する。従って、判定部が、極大点検出部により検出された振幅の極大点の個数に基づいて、送受信部の高さに障害物があるか否かを判定することにより、送受信部の高さにおける障害物の有無を正確に判別することができる。また、判定部により、複数の送受信部のうちのいずれの送受信部の高さにも、障害物がないと判定された場合、複数の送受信部のうち、パルス波の送波を行った送受信部とは別の送受信部で反射波の受波を行って、高さ検出制御部が、上記の別の送受信部から出力された受信信号に基づいて、パルス波の送波を行った送受信部と、反射波の受波を行った上記の別の送受信部との中間の高さに障害物があると判定するようにした。これにより、複数の送受信部の間の高さにしか存在しない障害物についての高さ検出を行うことができる。 According to the obstacle detection device of the present invention, the maximum point detection unit is based on the reception signal output from the transmission / reception unit, and the maximum point of the amplitude in each reflected wave (the reception signal corresponding thereto) received by the transmission / reception unit. Is detected. Here, when the obstacle is an object having a height equal to or higher than the height of the transmission / reception unit of the obstacle detection device such as a wall, the maximum point detection unit detects a maximum point of two amplitudes. On the other hand, when the obstacle is an object lower than the transmission / reception unit of the obstacle detection device, such as a car stop or a curbstone, the maximum point detection unit detects only a maximum point of one amplitude. Therefore, the determination unit determines whether there is an obstacle at the height of the transmission / reception unit based on the number of maximum points of the amplitude detected by the maximum point detection unit, so that the obstacle at the height of the transmission / reception unit is determined. The presence or absence of an object can be accurately determined. In addition, when the determination unit determines that there is no obstacle at the height of any of the plurality of transmission / reception units, the transmission / reception unit that has transmitted the pulse wave among the plurality of transmission / reception units Receiving and receiving the reflected wave in a different transmission / reception unit, and the height detection control unit, based on the reception signal output from the other transmission / reception unit, and the transmission / reception unit that transmitted the pulse wave Then, it is determined that there is an obstacle at an intermediate height with the other transmission / reception unit that receives the reflected wave. Thereby, the height detection about the obstacle which exists only in the height between several transmission / reception parts can be performed.

本発明の第１の実施形態に係る障害物検知装置のブロック構成図。The block block diagram of the obstruction detection apparatus which concerns on the 1st Embodiment of this invention. 同障害物検知装置の動作の説明図。Explanatory drawing of operation | movement of the obstacle detection apparatus. 同障害物検知装置における受信信号の波形図。The wave form diagram of the received signal in the obstacle detection apparatus. 本発明の第２の実施形態に係る障害物検知装置の動作の説明図。Explanatory drawing of operation | movement of the obstruction detection apparatus which concerns on the 2nd Embodiment of this invention. 同障害物検知装置のブロック構成図。The block block diagram of the obstacle detection apparatus. 本発明の第３の実施形態に係る障害物検知装置の動作の説明図。Explanatory drawing of operation | movement of the obstruction detection apparatus which concerns on the 3rd Embodiment of this invention. 同障害物検知装置のブロック構成図。The block block diagram of the obstacle detection apparatus. 本発明の第４の実施形態に係る障害物検知装置の動作の説明図。Explanatory drawing of operation | movement of the obstruction detection apparatus which concerns on the 4th Embodiment of this invention.

以下、本発明を具体化した実施形態による障害物検知装置について、図面を参照して説明する。図１は、本発明の第１の実施形態による障害物検知装置の機能ブロック構成を示す。障害物検知装置１は、装置全体の制御を行う制御部２と、送受信部３と、極大点検出部４と、距離計測部５と、判定部６とを備えている。送受信部３は、送受信一体型のタイプのものであり、空間を伝播するパルス波の送波と、送波したパルス波に対する、障害物からの反射波の受波とを行って、受波した反射波に応じた受信信号を出力する。極大点検出部４は、送受信部３から出力された受信信号に基づいて、送受信部３が受波した各反射波に対応した受信信号における振幅の極大点を検出する。距離計測部５は、送受信部３から出力された受信信号に基づいて、障害物までの距離を計測する。判定部６は、極大点検出部４により検出された振幅の極大点の個数と、距離計測部５により計測された障害物までの距離とに基づいて、障害物１１の高さが送受信部３の高さ以上であるか否かを判定して、その判定結果を装置内部の他の回路又は装置外部に出力する。上記の制御部２、極大点検出部４、距離計測部５、及び判定部６は、マイコン（マイクロコンピュータ）１０により構成されている。 Hereinafter, an obstacle detection device according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows a functional block configuration of an obstacle detection apparatus according to a first embodiment of the present invention. The obstacle detection device 1 includes a control unit 2 that controls the entire device, a transmission / reception unit 3, a maximum point detection unit 4, a distance measurement unit 5, and a determination unit 6. The transmission / reception unit 3 is a type of transmission / reception integrated type, and receives and receives a pulse wave transmitted through space and a reflected wave received from an obstacle with respect to the transmitted pulse wave. A reception signal corresponding to the reflected wave is output. The local maximum point detection unit 4 detects the local maximum point of the amplitude in the reception signal corresponding to each reflected wave received by the transmission / reception unit 3 based on the reception signal output from the transmission / reception unit 3. The distance measurement unit 5 measures the distance to the obstacle based on the reception signal output from the transmission / reception unit 3. The determination unit 6 determines the height of the obstacle 11 based on the number of maximum points detected by the maximum point detection unit 4 and the distance to the obstacle measured by the distance measurement unit 5. It is determined whether or not the height is equal to or greater than the height, and the determination result is output to another circuit inside the device or outside the device. The control unit 2, the local maximum point detection unit 4, the distance measurement unit 5, and the determination unit 6 are configured by a microcomputer 10.

次に、図２及び図３を参照して、本障害物検知装置１の動作について説明する。図２は、本障害物検知装置１の動作の説明図であり、図３は、本障害物検知装置１における障害物検知時の受信信号の波形の例を示す図である。障害物検知時には、送受信部３は、制御部２による制御に基づいて、パルス変調された超音波、電波、光等のパルス波を送波した後、送波したパルス波に対する、障害物からの反射波を受波し、受波した反射波に応じた受信信号を出力する。距離計測部５は、送受信部３から出力された受信信号に基づいて、障害物１１までの距離を計測する。より具体的に言うと、距離計測部５は、障害物１１からの反射波に対応する受信信号の検出時と、送波の開始時との時間差を求め、この時間差に基づいて、障害物１１までの距離ｌを計測する。また、極大点検出部４は、送受信部３から出力された、各反射波に対応した受信信号（反射信号）の波形から極大点を算出する。すなわち、極大点検出部４は、送受信部３から出力された受信信号に基づいて、送受信部３が受波した各反射波に対応した受信信号における振幅の極大点を検出する。 Next, with reference to FIG.2 and FIG.3, operation | movement of this obstruction detection apparatus 1 is demonstrated. FIG. 2 is an explanatory diagram of the operation of the obstacle detection device 1, and FIG. 3 is a diagram illustrating an example of a waveform of a reception signal when the obstacle detection device 1 detects an obstacle. At the time of obstacle detection, the transmission / reception unit 3 transmits pulse waves such as pulse-modulated ultrasonic waves, radio waves, and light based on the control by the control unit 2, and then transmits the pulse waves from the obstacles to the transmitted pulse waves. A reflected wave is received and a received signal corresponding to the received reflected wave is output. The distance measurement unit 5 measures the distance to the obstacle 11 based on the reception signal output from the transmission / reception unit 3. More specifically, the distance measuring unit 5 obtains a time difference between the time when the received signal corresponding to the reflected wave from the obstacle 11 is detected and the time when the transmission is started, and based on this time difference, the obstacle 11 The distance l is measured. Further, the local maximum point detection unit 4 calculates the local maximum point from the waveform of the reception signal (reflection signal) corresponding to each reflected wave output from the transmission / reception unit 3. That is, the local maximum point detection unit 4 detects the local maximum point of the amplitude in the reception signal corresponding to each reflected wave received by the transmission / reception unit 3 based on the reception signal output from the transmission / reception unit 3.

上記の振幅の極大点の検出において、例えば、図２及び図３に示すように、障害物１１が、壁のような、障害物検知装置１の送受信部３より高さのある対象物の場合、正面方向からの反射波（１）に対応した受信信号（反射信号）（１）’が最も強く、次に強いのは、路面付近からの反射波（２）に対応した受信信号（２）’である。ここで、送受信部３の高さをｒ、壁（障害物１１）までの距離をｌとすると、送受信部３から路面１２付近までの距離は、壁までの距離ｌよりも大きい（ｒ^２＋ｌ^２）^０．５となる。従って、障害物１１が、送受信部３より高さのある対象物の場合、図３に示されるように、送受信部３から出力される受信信号（反射信号）の波形において、１つ目の極大点Ｐ１が観測された時点（ｔ_１の時点）から、相応の時間Δｔが経過した後（ｔ_２の時点）に、２つ目の極大点Ｐ２が観測される。 In the detection of the maximum point of the amplitude described above, for example, as shown in FIGS. 2 and 3, the obstacle 11 is an object having a height higher than the transmission / reception unit 3 of the obstacle detection device 1 such as a wall. The received signal (reflected signal) (1) ′ corresponding to the reflected wave (1) from the front direction is the strongest, and the next strongest is the received signal (2) corresponding to the reflected wave (2) from the vicinity of the road surface. 'Is. Here, if the height of the transmission / reception unit 3 is r and the distance to the wall (obstacle 11) is l, the distance from the transmission / reception unit 3 to the vicinity of the road surface 12 is greater than the distance l to the wall (r ² + l ² ) ^0.5 . Therefore, when the obstacle 11 is an object having a height higher than the transmission / reception unit 3, as shown in FIG. 3, the first maximum in the waveform of the reception signal (reflection signal) output from the transmission / reception unit 3 is shown. from the time the point P1 was observed (time point t _1), after a time Δt corresponding has elapsed (time point t _2), 2 nd maximum point P2 is observed.

ここで、この相応の時間Δｔは、送受信部３から壁までの距離ｌと、送受信部３から路面１２付近までの距離（ｒ^２＋ｌ^２）^０．５との差分｛（ｒ^２＋ｌ^２）^０．５−ｌ｝に応じた時間である。すなわち、
Δｔ＝２｛（ｒ^２＋ｌ^２）^０．５−ｌ｝／（パルス波の伝播速度）・・・（１）
である。たとえば、パルス波が、超音波の場合は、Δｔ＝２｛（ｒ^２＋ｌ^２）^０．５−ｌ｝／（音速）である。 Here, the corresponding time Δt is the difference {(r ² + l ² ) between the distance l from the transceiver 3 to the wall and the distance (r ² + l ² ) ^0.5 from the transceiver 3 to the vicinity of the road surface 12. ^0.5-1 }. That is,
Δt = 2 {(r ² + l ² ) ^0.5 −l} / (propagation speed of pulse wave) (1)
It is. For example, when the pulse wave is an ultrasonic wave, Δt = 2 {(r ² + l ² ) ^0.5 −l} / (sound speed).

これに対して、障害物１１が、縁石のような、送受信部３より低い対象物の場合、正面方向からの反射波（１）に対応した受信信号（１）’が存在しないため、送受信部３から出力される受信信号の波形において、極大点が１つだけ（Ｐ２だけ）になる。 On the other hand, when the obstacle 11 is an object lower than the transmission / reception unit 3 such as a curb stone, the reception signal (1) ′ corresponding to the reflected wave (1) from the front direction does not exist. In the waveform of the received signal output from 3, there is only one maximum point (only P2).

従って、極大点検出部４は、障害物１１が、壁のような、送受信部３より高さのある対象物の場合、正面方向からの反射波（１）に対応した受信信号（１）’の振幅の極大点Ｐ１と、路面付近からの反射波（２）に対応した受信信号（２）’における振幅の極大点Ｐ２を検出する。すなわち、極大点検出部４は、２つの振幅の極大点を検出する。これに対して、障害物１１が、車止めや縁石のような、送受信部３より低い対象物の場合は、極大点検出部４は、１つの振幅の極大点（路面１２付近からの反射波（２）に対応した受信信号（２）’における振幅の極大点Ｐ２）のみを検出する。このように、障害物１１の高さが送受信部３の高さ以上であるか否かに応じて、極大点検出部４により検出される振幅の極大点の個数は、異なる。従って、判定部６が、極大点検出部４により検出された振幅の極大点の個数に基づいて、障害物１１の高さが送受信部３の高さ以上であるか否かを判定することにより、障害物１１の高さを正確に判別することができる。 Therefore, when the obstacle 11 is an object having a height higher than the transmission / reception unit 3 such as a wall, the local maximum point detection unit 4 receives the received signal (1) ′ corresponding to the reflected wave (1) from the front direction. And a maximum point P2 of the amplitude in the received signal (2) ′ corresponding to the reflected wave (2) from the vicinity of the road surface. That is, the local maximum point detection unit 4 detects local maximum points of two amplitudes. On the other hand, when the obstacle 11 is an object lower than the transmission / reception unit 3 such as a car stop or a curbstone, the maximum point detection unit 4 has a single maximum point (a reflected wave from the vicinity of the road surface 12 ( Only the maximum point P2) of the amplitude in the received signal (2) ′ corresponding to 2) is detected. Thus, depending on whether the height of the obstacle 11 is equal to or higher than the height of the transmission / reception unit 3, the number of maximum points of amplitude detected by the maximum point detection unit 4 varies. Therefore, the determination unit 6 determines whether the height of the obstacle 11 is equal to or higher than the height of the transmission / reception unit 3 based on the number of maximum points detected by the maximum point detection unit 4. The height of the obstacle 11 can be accurately determined.

しかも、判定部６は、極大点検出部４により検出された振幅の極大点の個数だけではなく、距離計測部５により計測された障害物１１までの距離ｌに基づいて、障害物の高さが送受信部３の高さ以上であるか否かを判定するようにした。これにより、判定部６は、送受信部３の高さｒとパルス波の伝播速度を予めマイコン１０内部のメモリ（不図示）に記憶しておくことで、上記の（１）式を用いて、ｔ_１の時点とｔ_２の時点との間の時間Δｔを求めることができる。従って、極大点検出部４が、２つの極大点を検出した場合に、判定部６は、これらの極大点の検出時の時間差が、上記の時間Δｔに相当するか否かを判定することにより、これらの極大点が、正面方向からの反射波（１）に対応した受信信号（１）’の振幅の極大点Ｐ１と、路面付近からの反射波（２）に対応した受信信号（２）’における振幅の極大点Ｐ２であるか否かを正確に判別することができる。すなわち、判定部６は、距離計測部５により計測された障害物１１までの距離ｌを、極大点検出部４により検出された極大点の妥当性のチェックに用いる。これにより、判定部６は、極大点検出部４により検出された振幅の極大点から、ノイズに起因する受信信号の振幅の極大点を除去することができるので、障害物１１の高さをより正確に判別することができる。なお、「振幅の極大点」とは、ある反射波に対応した受信信号における振幅が最大となる点のことを意味する。 Moreover, the determination unit 6 determines the height of the obstacle based on the distance l to the obstacle 11 measured by the distance measurement unit 5 as well as the number of amplitude maximum points detected by the maximum point detection unit 4. Is determined to be equal to or higher than the height of the transmission / reception unit 3. Thereby, the determination unit 6 stores the height r of the transmission / reception unit 3 and the propagation speed of the pulse wave in advance in a memory (not shown) inside the microcomputer 10, thereby using the above equation (1), The time Δt between the time point t _{1 and} the time point t ₂ can be determined. Therefore, when the local maximum point detection unit 4 detects two local maximum points, the determination unit 6 determines whether or not the time difference at the time of detection of these local maximum points corresponds to the above time Δt. These maximum points are the maximum point P1 of the amplitude of the received signal (1) ′ corresponding to the reflected wave (1) from the front direction and the received signal (2) corresponding to the reflected wave (2) from the vicinity of the road surface. It can be accurately determined whether or not it is the maximum point P2 of the amplitude at '. That is, the determination unit 6 uses the distance l to the obstacle 11 measured by the distance measurement unit 5 for checking the validity of the maximum point detected by the maximum point detection unit 4. As a result, the determination unit 6 can remove the maximum point of the amplitude of the received signal caused by noise from the maximum point of the amplitude detected by the maximum point detection unit 4, so that the height of the obstacle 11 is further increased. It can be determined accurately. The “maximum point of amplitude” means a point where the amplitude in the received signal corresponding to a certain reflected wave is maximized.

上記のように、本実施形態の障害物検知装置１によれば、極大点検出部４が、送受信部３から出力された受信信号に基づいて、送受信部３が受波した各反射波に対応した受信信号における振幅の極大点を検出する。そして、判定部６が、極大点検出部４により検出された振幅の極大点の個数と、距離計測部５により計測された障害物１１までの距離とに基づいて、障害物１１の高さが送受信部３の高さ以上であるか否かを判定するようにした。これにより、障害物検知装置１が、障害物１１の高さを正確に判別することができる。 As described above, according to the obstacle detection device 1 of the present embodiment, the local maximum point detection unit 4 corresponds to each reflected wave received by the transmission / reception unit 3 based on the reception signal output from the transmission / reception unit 3. The maximum point of amplitude in the received signal is detected. Then, the determination unit 6 determines the height of the obstacle 11 based on the number of amplitude maximum points detected by the maximum point detection unit 4 and the distance to the obstacle 11 measured by the distance measurement unit 5. It is determined whether or not the height is equal to or higher than the height of the transmission / reception unit 3. Thereby, the obstacle detection device 1 can accurately determine the height of the obstacle 11.

次に、図４及び図５を参照して、本発明の第２の実施形態による障害物検知装置１について説明する。第２の実施形態の障害物検知装置１は、構成上は、垂直方向に沿って複数の送受信部３１〜３ｎを有している点と、高さ検出制御部２１を備えている点が、第１の実施形態の障害物検知装置１と異なっている。高さ検出制御部２１は、複数の送受信部３１〜３ｎの各々を用いたときの判定部６の判定結果に基づいて、障害物１１の高さを検出するように制御するものである。本実施形態における他の回路構成については、基本的に、上記第１の実施形態と同様であるので、図５において、同じ番号を付して、その説明を省略する。図４では、図を見易くするために、送受信部３１〜３ｎのうち、２つの送受信部３１、３２のみを示したが、実際には、送受信部の数は、ｎ個（ｎ≧２）である。 Next, with reference to FIG.4 and FIG.5, the obstruction detection apparatus 1 by the 2nd Embodiment of this invention is demonstrated. The obstacle detection device 1 according to the second embodiment has a configuration in which a plurality of transmission / reception units 31 to 3n are provided along the vertical direction and a height detection control unit 21 is provided. It is different from the obstacle detection device 1 of the first embodiment. The height detection control unit 21 performs control so as to detect the height of the obstacle 11 based on the determination result of the determination unit 6 when each of the plurality of transmission / reception units 31 to 3n is used. Since other circuit configurations in the present embodiment are basically the same as those in the first embodiment, the same reference numerals are given in FIG. 5 and descriptions thereof are omitted. In FIG. 4, only two of the transmission / reception units 31 and 32 are shown among the transmission / reception units 31 to 3n for easy understanding of the drawing, but in actuality, the number of transmission / reception units is n (n ≧ 2). is there.

次に、本実施形態の障害物検知装置１の動作について説明する。障害物検知時には、高さ検出制御部２１は、制御部２を介して、まず、複数の送受信部３１〜３ｎのうち、最も高い位置に配置された送受信部３１を用いた障害物検知処理を行う。図４に示されるように、障害物１１の高さが、送受信部３１の高さよりも低いときには、送受信部３１は、破線の矢印で示されるように、正面方向からの反射波を受波せず、路面１２付近からの反射波のみを受波する。このとき、極大点検出部４により検出される極大点の数は、一つ（一点）だけになる。判定部６は、極大点検出部４により検出された振幅の極大点の個数が一つだけであるので、障害物１１の高さが送受信部３１の高さ未満である（送受信部３１の高さに障害物１１がない）と判定して、この判定結果を高さ検出制御部２１に出力する。 Next, the operation of the obstacle detection device 1 of the present embodiment will be described. At the time of obstacle detection, the height detection control unit 21 first performs an obstacle detection process using the transmission / reception unit 31 arranged at the highest position among the plurality of transmission / reception units 31 to 3n via the control unit 2. Do. As shown in FIG. 4, when the height of the obstacle 11 is lower than the height of the transmission / reception unit 31, the transmission / reception unit 31 receives the reflected wave from the front direction as indicated by the dashed arrow. Instead, only the reflected wave from the vicinity of the road surface 12 is received. At this time, the number of maximum points detected by the maximum point detection unit 4 is only one (one point). Since the determination unit 6 has only one amplitude maximum point detected by the maximum point detection unit 4, the height of the obstacle 11 is less than the height of the transmission / reception unit 31 (the height of the transmission / reception unit 31). It is determined that there is no obstacle 11), and the determination result is output to the height detection control unit 21.

高さ検出制御部２１は、上記の判定結果を受信すると、使用する送受信部を、送受信部３１よりも低い（２番目に高い）位置に配置された送受信部３２に変更して、上記と同様な（判定部６による障害物１１の高さの判処理定を含む）障害物検知処理を行う。図４に示されるように、障害物１１の高さが、送受信部３２の高さ以上であるときには、送受信部３２は、実線の矢印で示されるように、正面方向からの反射波と、路面１２付近からの反射波の両方を受波する。このとき、極大点検出部４により検出される極大点の数は、二つ（二点）になる。判定部６は、極大点検出部４により検出された振幅の極大点の個数が二つであるため、障害物１１の高さが送受信部３２の高さ以上である（送受信部３２の高さに障害物１１がある）と判定して、この判定結果を高さ検出制御部２１に出力する。高さ検出制御部２１は、このときの送受信部３２の高さを、障害物１１の高さとして、装置内部の他の回路又は装置外部に出力する。 When the height detection control unit 21 receives the determination result, the height detection control unit 21 changes the transmission / reception unit to be used to the transmission / reception unit 32 disposed at a lower (second highest) position than the transmission / reception unit 31, and the same as described above. Obstacle detection processing (including determination of the height of the obstacle 11 by the determination unit 6) is performed. As shown in FIG. 4, when the height of the obstacle 11 is equal to or higher than the height of the transmission / reception unit 32, the transmission / reception unit 32, as shown by the solid arrow, Both reflected waves from around 12 are received. At this time, the number of maximum points detected by the maximum point detection unit 4 is two (two points). Since the determination unit 6 has two amplitude maximum points detected by the maximum point detection unit 4, the height of the obstacle 11 is equal to or higher than the height of the transmission / reception unit 32 (the height of the transmission / reception unit 32). And the determination result is output to the height detection control unit 21. The height detection control unit 21 outputs the height of the transmission / reception unit 32 at this time as the height of the obstacle 11 to another circuit inside the device or the outside of the device.

これに対して、判定部６が、障害物１１の高さが送受信部３２の高さ未満である（送受信部３２の高さに障害物１１がない）と判定したときには、高さ検出制御部２１は、以下の処理を行う。すなわち、高さ検出制御部２１は、使用する送受信部を、送受信部３２よりも低い位置に配置された送受信部３３〜３ｎに次々に変更して、極大点検出部４により検出される振幅の極大点の個数が二つになるまで（判定部６によって、障害物１１の高さが、使用中の送受信部３３〜３ｎの高さ以上であると判定されるまで）、上記と同様な（判定部６による障害物１１の高さの判処理定を含む）障害物検知処理を行う。 On the other hand, when the determination unit 6 determines that the height of the obstacle 11 is less than the height of the transmission / reception unit 32 (the height of the transmission / reception unit 32 has no obstacle 11), the height detection control unit 21 performs the following processing. That is, the height detection control unit 21 sequentially changes the transmission / reception unit to be used to the transmission / reception units 33 to 3n arranged at positions lower than the transmission / reception unit 32, and the amplitude detected by the maximum point detection unit 4 is changed. Until the number of maximum points becomes two (until the determination unit 6 determines that the height of the obstacle 11 is equal to or higher than the height of the transmitting / receiving units 33 to 3n in use) ( Obstacle detection processing (including determination of the height of the obstacle 11 by the determination unit 6) is performed.

そして、振幅の極大点の個数が二つになって、判定部６が、障害物１１の高さが、使用中の送受信部３３〜３ｎの高さ以上であるという判定結果を、高さ検出制御部２１に出力すると、高さ検出制御部２１は、このときの送受信部３３〜３ｎの高さを、障害物１１の高さとして、装置内部の他の回路又は装置外部に出力する。本障害物検知装置１によれば、上記のような処理を行うことにより、障害物１１の高さを検出して出力することができる。 Then, the number of maximum points of the amplitude becomes two, and the determination unit 6 detects the determination result that the height of the obstacle 11 is equal to or higher than the height of the transmitting / receiving units 33 to 3n in use. When output to the control unit 21, the height detection control unit 21 outputs the height of the transmission / reception units 33 to 3 n at this time as the height of the obstacle 11 to another circuit inside the device or outside the device. According to the obstacle detection device 1, the height of the obstacle 11 can be detected and output by performing the processing as described above.

なお、いずれの送受信部３１〜３ｎを用いても、極大点検出部４により検出される振幅の極大点の個数が二つにならない場合（いずれの送受信部３１〜３ｎの高さにも、障害物１１がない場合）は、障害物検知装置１は、障害物１１がないと判断し、処理を終了する。 In addition, no matter which of the transmission / reception units 31 to 3n is used, when the number of maximum points of the amplitude detected by the maximum point detection unit 4 does not become two (the height of any of the transmission / reception units 31 to 3n is obstructed. When there is no obstacle 11), the obstacle detection device 1 determines that there is no obstacle 11 and ends the process.

上記のように、本実施形態の障害物検知装置１によれば、垂直方向に沿って複数の送受信部３１〜３ｎを設けて、高さ検出制御部２１が、判定部６を用いて、障害物１１の高さが送受信部３１〜３ｎの各々の高さ以上であるか否かの判定処理を繰り返すようにした。これにより、これらの判定結果に基づいて、障害物１１の高さを検出することができる。 As described above, according to the obstacle detection device 1 of the present embodiment, the plurality of transmission / reception units 31 to 3n are provided along the vertical direction, and the height detection control unit 21 uses the determination unit 6 to check the obstacle. The process of determining whether or not the height of the object 11 is greater than or equal to the height of each of the transmission / reception units 31 to 3n is repeated. Thereby, the height of the obstacle 11 can be detected based on these determination results.

次に、図６及び図７を参照して、本発明の第３の実施形態による障害物検知装置１について説明する。第３の実施形態の障害物検知装置１は、構成上は、送受信部３を垂直方向に沿って移動させる移動部４２と、高さ変更検出制御部４１とを備えている点が、第１の実施形態の障害物検知装置１と異なっている。移動部４２は、モータ等より構成される。また、高さ変更検出制御部４１は、移動部４２によって、送受信部３の高さを変更させて、各高さにおける判定部６の判定結果に基づいて、障害物１１の高さを検出するように制御する。本実施形態における他の回路構成については、基本的に、上記第１の実施形態と同様であるので、図７において、同じ番号を付して、その説明を省略する。上記第２の実施形態では、垂直方向に沿って複数の送受信部３１〜３ｎを設けて、これらの送受信部３１〜３ｎの各々を用いて、障害物１１の高さが送受信部３１〜３ｎの各々の高さ以上であるか否かの判定結果を得た。これに対して、本実施形態では、送受信部３を垂直方向に沿って移動させる移動部４２を設けて、移動部４２によって送受信部３の高さを変更させることにより、一つの送受信部３で、各高さにおける判定部６の判定結果を得ることができるようにした。 Next, with reference to FIG.6 and FIG.7, the obstruction detection apparatus 1 by the 3rd Embodiment of this invention is demonstrated. The obstacle detection device 1 according to the third embodiment is structurally provided with a moving unit 42 that moves the transmission / reception unit 3 along the vertical direction and a height change detection control unit 41. This is different from the obstacle detection device 1 of the embodiment. The moving unit 42 is configured by a motor or the like. Moreover, the height change detection control part 41 changes the height of the transmission / reception part 3 with the moving part 42, and detects the height of the obstruction 11 based on the determination result of the determination part 6 in each height. To control. Since other circuit configurations in the present embodiment are basically the same as those in the first embodiment, the same reference numerals are given in FIG. 7 and description thereof is omitted. In the second embodiment, a plurality of transmission / reception units 31 to 3n are provided along the vertical direction, and each of the transmission / reception units 31 to 3n is used to set the height of the obstacle 11 to the transmission / reception units 31 to 3n. The determination result of whether it was more than each height was obtained. On the other hand, in this embodiment, the moving part 42 which moves the transmission / reception part 3 along a vertical direction is provided, and the height of the transmission / reception part 3 is changed by the movement part 42, so that one transmission / reception part 3 The determination result of the determination unit 6 at each height can be obtained.

次に、本実施形態の障害物検知装置１の動作について説明する。障害物検知時には、高さ変更検出制御部４１は、移動部４２によって、送受信部３の高さを、設定可能な範囲内における最大の高さ（図６中の高さｒａ）に変更（移動）させて、この高さｒａにおける判定部６の判定結果に基づいて、障害物１１の高さを検出する。図６に示されるように、このときの送受信部３の高さｒａよりも、障害物１１の高さが低いときには、送受信部３は、破線の矢印で示されるように、正面方向からの反射波を受波せず、路面１２付近からの反射波のみを受波する。このとき、極大点検出部４により検出される極大点の数は、一つ（一点）だけになる。判定部６は、極大点検出部４により検出された振幅の極大点の個数が一つだけであるので、障害物１１の高さが送受信部３の高さｒａ未満である（送受信部３の高さｒａに障害物１１がない）と判定して、この判定結果を高さ変更検出制御部４１に出力する。 Next, the operation of the obstacle detection device 1 of the present embodiment will be described. At the time of obstacle detection, the height change detection control unit 41 changes (moves) the height of the transmitting / receiving unit 3 to the maximum height within the settable range (height ra in FIG. 6) by the moving unit 42. The height of the obstacle 11 is detected based on the determination result of the determination unit 6 at this height ra. As shown in FIG. 6, when the height of the obstacle 11 is lower than the height ra of the transmission / reception unit 3 at this time, the transmission / reception unit 3 reflects from the front direction as indicated by the dashed arrow. Only the reflected wave from near the road surface 12 is received without receiving the wave. At this time, the number of maximum points detected by the maximum point detection unit 4 is only one (one point). Since the determination unit 6 has only one amplitude maximum point detected by the maximum point detection unit 4, the height of the obstacle 11 is less than the height ra of the transmission / reception unit 3 (of the transmission / reception unit 3). It is determined that there is no obstacle 11 at the height ra), and this determination result is output to the height change detection control unit 41.

高さ変更検出制御部４１は、極大点検出部４により検出される振幅の極大点の個数が二つになるまで（判定部６によって、障害物１１の高さが、送受信部３の高さ以上であると判定されるまで）、移動部４２によって、送受信部３を、順次、低い位置に移動させる。そして、振幅の極大点の個数が二つになって、判定部６が、障害物１１の高さが、送受信部３の高さ以上であるという判定結果を、高さ変更検出制御部４１に出力すると、高さ変更検出制御部４１は、このときの送受信部３の高さを、障害物１１の高さとして、装置内部の他の回路又は装置外部に出力する。例えば、図６に示されるように、送受信部３の高さが、設定可能な範囲内における最大の高さｒａの次の（２番目に高い）高さｒｂであるときには、高さ変更検出制御部４１は、このときの送受信部３の高さｒｂを、障害物１１の高さとして出力する。本障害物検知装置１によれば、上記のような処理を行うことにより、検知した障害物１１の高さを検出して出力することができる。 The height change detection control unit 41 determines that the height of the obstacle 11 is the height of the transmission / reception unit 3 by the determination unit 6 until the number of amplitude maximum points detected by the maximum point detection unit 4 becomes two. Until it is determined as above, the transmitting / receiving unit 3 is sequentially moved to a lower position by the moving unit 42. Then, the number of maximum points of the amplitude becomes two, and the determination unit 6 notifies the height change detection control unit 41 of the determination result that the height of the obstacle 11 is equal to or higher than the height of the transmission / reception unit 3. When output, the height change detection control unit 41 outputs the height of the transmission / reception unit 3 at this time to the other circuit inside the device or the outside of the device as the height of the obstacle 11. For example, as illustrated in FIG. 6, when the height of the transmission / reception unit 3 is the second (second highest) height rb after the maximum height ra within the settable range, the height change detection control is performed. The unit 41 outputs the height rb of the transmission / reception unit 3 at this time as the height of the obstacle 11. According to the obstacle detection device 1, the height of the detected obstacle 11 can be detected and output by performing the processing as described above.

本実施形態の障害物検知装置１によれば、移動部４２により送受信部３の高さを変更させて、これらの各高さにおいて、判定部６を用いて、障害物１１の高さが送受信部３の高さ以上であるか否かの判定処理を繰り返すようにした。これにより、これらの判定結果に基づいて、障害物１１の高さを検出することができる。 According to the obstacle detection device 1 of this embodiment, the height of the transmission / reception unit 3 is changed by the moving unit 42, and the height of the obstacle 11 is transmitted / received at each of these heights using the determination unit 6. The process of determining whether or not the height is greater than or equal to the height of the part 3 is repeated. Thereby, the height of the obstacle 11 can be detected based on these determination results.

次に、図８を参照して、本発明の第４の実施形態による障害物検知装置１について説明する。第４の実施形態の障害物検知装置１は、構成上は、上記第２の実施形態による障害物検知装置１と同様である。第２の実施形態では、複数の送受信部３１〜３ｎのうちのいずれを用いても、極大点検出部４により検出される振幅の極大点の個数が二つにならない場合には、障害物検知装置１は、障害物１１がないと判断して、処理を終了した。これに対して、第４の実施形態では、複数の送受信部３１〜３ｎのうちのいずれを用いても、極大点検出部４により検出される振幅の極大点の個数が二つにならない場合（いずれの送受信部３１〜３ｎの高さにも、障害物１１がない場合）は、以下の処理を行う。すなわち、この場合には、複数の送受信部３１〜３ｎのうち、パルス波の送波を行った送受信部とは別の送受信部で反射波の受波を行って、この別の送受信部から出力された受信信号に基づいて、障害物１１までの距離の計測と、障害物１１の高さの検出を行う。 Next, referring to FIG. 8, an obstacle detection apparatus 1 according to a fourth embodiment of the present invention will be described. The obstacle detection device 1 according to the fourth embodiment is similar in construction to the obstacle detection device 1 according to the second embodiment. In the second embodiment, if any of the plurality of transmission / reception units 31 to 3n is used and the number of maximum points detected by the maximum point detection unit 4 does not become two, obstacle detection is performed. The apparatus 1 determines that there is no obstacle 11 and ends the process. On the other hand, in the fourth embodiment, when any one of the plurality of transmission / reception units 31 to 3n is used, the number of maximum points detected by the maximum point detection unit 4 is not two ( If there is no obstacle 11 at any of the transmission / reception units 31 to 3n), the following processing is performed. That is, in this case, among the plurality of transmission / reception units 31 to 3n, the reflected wave is received by a transmission / reception unit different from the transmission / reception unit that transmitted the pulse wave, and output from the other transmission / reception unit. Based on the received signal, the distance to the obstacle 11 is measured and the height of the obstacle 11 is detected.

図８のように、２つの送受信部３１、３２の正面方向において、これらの送受信部３１、３２の高さには存在せず、送受信部３１、３２の間の高さにしか存在しない細い板状の障害物１１があった場合、第２の実施形態の障害物検知装置１では、以下の問題がある。すなわち、この場合、第２の実施形態の障害物検知装置１では、送受信部３１、３２の正面方向と路面１２付近からの反射波がないため、障害物１１からの大きな振幅の反射波を得られない虞がある。この場合には、障害物１１の高さの検出は勿論、障害物１１の検知自体が行えないので、障害物１１までの距離の計測も行えない。この場合に、本障害物検知装置１では、図８の実線で示すように、パルス波の送波を行った送受信部３１とは別の送受信部３２で反射波の受波を行って、送受信部３２から出力された受信信号に基づいて、障害物１１までの距離計測と、障害物１１の高さ検出を行う。これにより、第２の実施形態の障害物検知装置１では計測できなかった、送受信部３１と送受信部３２の間の高さにしか存在しない障害物１１についての距離計測と高さ検出を行うことができる。 As shown in FIG. 8, in the front direction of the two transmission / reception units 31, 32, a thin plate that does not exist at the height of the transmission / reception units 31, 32 and exists only at the height between the transmission / reception units 31, 32. When there is an obstacle 11 in the shape, the obstacle detection device 1 of the second embodiment has the following problems. That is, in this case, in the obstacle detection device 1 according to the second embodiment, since there is no reflected wave from the front direction of the transmission / reception units 31 and 32 and the vicinity of the road surface 12, a reflected wave having a large amplitude from the obstacle 11 is obtained. There is a risk of not being able to. In this case, not only the height of the obstacle 11 but also the detection of the obstacle 11 itself cannot be performed, and therefore the distance to the obstacle 11 cannot be measured. In this case, as shown by the solid line in FIG. 8, the obstacle detection apparatus 1 receives the reflected wave by the transmission / reception unit 32 other than the transmission / reception unit 31 that transmits the pulse wave, and transmits / receives the reflected wave. Based on the received signal output from the unit 32, the distance to the obstacle 11 is measured and the height of the obstacle 11 is detected. Thereby, distance measurement and height detection are performed for the obstacle 11 that exists only at the height between the transmission / reception unit 31 and the transmission / reception unit 32 that cannot be measured by the obstacle detection device 1 of the second embodiment. Can do.

より詳しく言うと、障害物検知装置１の距離計測部５は、送受信部３１からの送波の開始時と、障害物１１からの反射波に対応する（送受信部３２からの）受信信号の検出時との時間差を求め、この時間差に基づいて、障害物１１までの距離を計測する。この距離計測を行うことができたときには、障害物検知装置１の高さ検出制御部２１（図５参照）は、制御部２から、距離計測を行うことができたという情報と、複数の送受信部３１〜３ｎのうち、どの送受信部を使用して距離計測を行ったかという情報を受信する。図８の例では、高さ検出制御部２１は、制御部２から、距離計測を行うことができたという情報と、送受信部３１、３２を使用して距離計測を行ったという情報を受信する。高さ検出制御部２１は、これらの情報を受信すると、送受信部３１と送受信部３２の中間の高さに障害物１１があると判断する。そして、高さ検出制御部２１は、この中間の高さ（送受信部３１の高さと送受信部３２の高さの平均値）を、障害物１１の高さとして、装置内部の他の回路又は装置外部に出力する。 More specifically, the distance measurement unit 5 of the obstacle detection device 1 detects a reception signal (from the transmission / reception unit 32) corresponding to the start of transmission from the transmission / reception unit 31 and the reflected wave from the obstacle 11. A time difference from the time is obtained, and the distance to the obstacle 11 is measured based on the time difference. When the distance measurement can be performed, the height detection control unit 21 (see FIG. 5) of the obstacle detection device 1 receives information indicating that the distance measurement can be performed from the control unit 2 and a plurality of transmission / receptions. Information indicating which transmission / reception unit is used to measure distance among the units 31 to 3n is received. In the example of FIG. 8, the height detection control unit 21 receives from the control unit 2 information that distance measurement has been performed and information that distance measurement has been performed using the transmission / reception units 31 and 32. . Upon receiving these pieces of information, the height detection control unit 21 determines that the obstacle 11 is at an intermediate height between the transmission / reception unit 31 and the transmission / reception unit 32. Then, the height detection control unit 21 uses the intermediate height (the average value of the height of the transmission / reception unit 31 and the height of the transmission / reception unit 32) as the height of the obstacle 11, and other circuits or devices inside the device. Output to the outside.

例えば、送受信部３１の高さが、１００ｃｍであり、送受信部３２の高さが、８０ｃｍである場合には、高さ検出制御部２１は、送受信部３１と送受信部３２の中間の高さである９０ｃｍを、障害物１１の高さとして、装置内部の他の回路又は装置外部に出力する。 For example, when the height of the transmission / reception unit 31 is 100 cm and the height of the transmission / reception unit 32 is 80 cm, the height detection control unit 21 has an intermediate height between the transmission / reception unit 31 and the transmission / reception unit 32. A certain 90 cm is output as the height of the obstacle 11 to another circuit inside the device or outside the device.

なお、図８では、複数の送受信部３１〜３ｎのうち、２つの送受信部３１、３２しか示していないが、本障害物検知装置１によれば、複数の送受信部３１〜３ｎのうち、垂直方向に沿って隣接する２つの送受信部を用いて、上記と同様な方法で障害物検知を行うことにより、複数の送受信部３１〜３ｎの間の高さにしか存在しない障害物１１についての距離計測と高さ検出を行うことができる。 In FIG. 8, only two transmission / reception units 31 and 32 are shown among the plurality of transmission / reception units 31 to 3n. However, according to the obstacle detection device 1, the vertical transmission / reception unit 31 to 3n is vertical. The distance about the obstacle 11 that exists only at the height between the plurality of transmission / reception units 31 to 3n by performing the obstacle detection in the same manner as described above using two transmission / reception units adjacent in the direction. Measurement and height detection can be performed.

本発明は、上記の各実施形態の構成に限られず、発明の趣旨を変更しない範囲で種々の変形が可能である。例えば、上記第２の実施形態では、複数の送受信部３１〜３ｎのうち、最も高い位置に配置された送受信部から順番に、各送受信部を用いて、判定部６による高さ判定処理を行った。けれども、最も低い位置に配置された送受信部から順番に、各送受信部を用いて、判定部による高さ判定処理を行って、判定部が、障害物の高さが、使用中の送受信部の高さ未満であると判定したときに、その直前の（１つ前の）高さ判定処理で用いた送受信部の高さを、障害物の高さとして（出力して）もよい。 The present invention is not limited to the configuration of each of the embodiments described above, and various modifications can be made without departing from the spirit of the invention. For example, in the said 2nd Embodiment, the height determination process by the determination part 6 is performed using each transmission / reception part in order from the transmission / reception part arrange | positioned in the highest position among several transmission / reception parts 31-3n. It was. However, in order from the transmitting / receiving unit arranged at the lowest position, each transmitting / receiving unit performs height determination processing by the determining unit, and the determining unit determines that the height of the obstacle is that of the transmitting / receiving unit in use. When it is determined that the height is less than the height, the height of the transmission / reception unit used in the immediately preceding (previous) height determination processing may be set (output) as the height of the obstacle.

また、第３の実施形態では、判定部６によって、障害物１１の高さが、送受信部３の高さ以上であると判定されるまで、送受信部３を、最大の高さの位置から、順次、低い位置に移動させた。けれども、上記と同様に、送受信部を、最も低い高さ位置から、順次、高い位置に移動させて、判定部が、障害物の高さが、送受信部の高さ未満であると判定したときに、その直前の高さ位置における送受信部の高さを、障害物の高さとして（出力して）もよい。 Moreover, in 3rd Embodiment, until the determination part 6 determines with the height of the obstruction 11 being more than the height of the transmission / reception part 3, the transmission / reception part 3 is taken from the position of the maximum height. Sequentially moved to a lower position. However, when the transmitter / receiver is moved sequentially from the lowest height position to a higher position in the same manner as described above, the determination unit determines that the height of the obstacle is less than the height of the transmitter / receiver. In addition, the height of the transmission / reception unit at the height position immediately before it may be set (output) as the height of the obstacle.

また、上記の各実施形態では、制御部２、極大点検出部４、距離計測部５、判定部６等の回路を、一つのマイコン１０により構成した。けれども、これらの回路を複数の（マイコン等の）プロセッサやＦＰＧＡ（ＦｉｅｌｄＰｒｏｇｒａｍｍａｂｌｅＧａｔｅＡｒｒａｙ）で構成してもよい。 Further, in each of the above-described embodiments, circuits such as the control unit 2, the maximum point detection unit 4, the distance measurement unit 5, and the determination unit 6 are configured by one microcomputer 10. However, these circuits may be constituted by a plurality of processors (such as a microcomputer) or an FPGA (Field Programmable Gate Array).

１障害物検知装置
３、３１〜３ｎ送受信器
４極大点検出部
５距離計測部
６判定部
１１障害物
２１高さ検出制御部
４１高さ変更検出制御部
４２移動部
Ｐ１、Ｐ２極大点 DESCRIPTION OF SYMBOLS 1 Obstacle detection apparatus 3, 31-3n Transmitter / receiver 4 Maximum point detection part 5 Distance measurement part 6 Determination part 11 Obstacle 21 Height detection control part 41 Height change detection control part 42 Moving part P1, P2 Maximum point

Claims

In the obstacle detection device that detects obstacles,
And pulse wave transmitting propagating through space, to the pulse wave transmitting, by performing a reception of the reflected wave from the obstacle, a transceiver unit for outputting a received signal corresponding to the received wave reflected wave A plurality of transmission / reception units arranged along a direction perpendicular to the road surface ;
Based on the reception signal output from the transmission / reception unit, a maximum point detection unit for detecting a maximum point of amplitude in the reception signal corresponding to each reflected wave received by the transmission / reception unit;
A determination unit for determining whether or not the obstacle exists at a height of the transmission / reception unit based on the number of maximum points of the amplitude detected by the maximum point detection unit ;
A height detection control unit that controls to detect the height of the obstacle, based on the determination result of the determination unit when using each of the plurality of transmission and reception units;
With
When the determination unit determines that there is no obstacle at the height of any of the plurality of transmission / reception units, the pulse wave is transmitted among the plurality of transmission / reception units. The reflected wave is received by a transmission / reception unit different from the transmission / reception unit, and the height detection control unit transmits the pulse wave based on the reception signal output from the other transmission / reception unit. It is determined that the obstacle exists at an intermediate height between the performed transmission / reception unit and the other transmission / reception unit that has received the reflected wave .

Based on the reception signal output from the transmission / reception unit, further comprising a distance measurement unit for measuring the distance to the obstacle,
The determination unit determines whether the height of the obstacle is the transmission / reception based on the number of maximum points of the amplitude detected by the maximum point detection unit and the distance to the obstacle measured by the distance measurement unit. 2. The obstacle detection device according to claim 1, wherein it is determined whether or not the height is equal to or higher than a height of the portion.

The determination unit uses any of the plurality of transmission / reception units when any of the plurality of transmission / reception units is used and the number of maximum points detected by the maximum point detection unit does not become two. The obstacle detection device according to claim 1 , wherein it is determined that the obstacle is not present at a height of the transmission / reception unit .