JP6464410B2 - Obstacle determination device and obstacle determination method - Google Patents

Description

  The present invention relates to an obstacle determination device and an obstacle determination method, and more particularly, to prevent erroneous detection of the ground as an obstacle when determining an obstacle using an optical distance measuring device. The present invention relates to an obstacle determination device and an obstacle determination method.

  An automatic traveling device that determines its own operation using sensor information and acts autonomously has been developed. For example, an optical distance measuring device (ranging sensor) can measure a distance from an object existing in the measurement range and can acquire a one-dimensional or two-dimensional distance data map, so that it can automatically travel. The device is used as a safety device for detecting and avoiding obstacles.

  Regarding a configuration for a moving body such as an automatic traveling device to detect an obstacle, for example, Patent Document 1 discloses an obstacle on a road surface on which the moving body travels even if the depth sensor fluctuates and the depression angle fluctuates during traveling of the moving body An obstacle detection device for detecting an object is disclosed. The obstacle detection device includes a depth sensor, a depression angle estimation unit that estimates a depression angle α of the depth sensor based on a distance image acquired by the depth sensor, a depression angle α, a height h of the depth sensor, and a distance r of the distance image. And a detecting unit for detecting an obstacle present on the road surface.

  Further, Patent Document 2 discloses a mobile robot control method for performing laser sensing in a wide range in the height direction using a laser range sensor having only a two-dimensional detection capability. The vehicle body of the mobile robot is provided with a laser range sensor provided to emit a laser in a substantially horizontal direction from the vehicle body in the inverted control state. The mobile robot control method includes a step of changing the tilt angle of the vehicle body, a step of detecting the tilt angle of the vehicle body, a step of sampling a detection value by the laser range sensor, a laser emission angle, and a sensor value of the laser range sensor. And a merge process so as to associate them with each other.

JP 2013-254474 A JP 2010-218508 A

  In the configuration in which an obstacle is detected using an optical distance measuring device, the distance to the object can be measured by the distance measuring device, but it is detected when the ground is included in the measurement range of the distance measuring device. The obstacle that should be detected cannot be detected separately from the ground. In order to distinguish and detect the obstacle and the ground, it is necessary to determine whether or not the measurement point is the ground based on the relative angle between the distance measuring device and the ground and the measurement distance. However, in this method, when the vehicle body and the distance measuring device are shaken, the relative angle between the distance measuring device and the ground fluctuates, making it difficult to distinguish and detect the obstacle and the ground.

As a configuration for distinguishing and detecting the ground and the obstacle, for example, it is conceivable to install a distance measuring device so that the ground does not enter the viewing angle. However, in this case, it is necessary to set the viewing angle in advance by adding a margin exceeding the pitching width of the distance measuring device. In addition, there is a case where a great pitching occurs in an application used outdoors. If the viewing angle is set in consideration of such pitching, the measurement range becomes narrow, which is not practical.
In addition, it is conceivable to perform data processing based on the output data of the distance measuring device and correctly recognize the ground as an object different from the obstacle, but in this case, the data processing load increases. Further, in order to correct the pitching due to the impact by data processing, the algorithm becomes more complicated and the load of data processing further increases. In order to perform data processing with a heavy load, a high-performance and high-cost processing system is required.

The invention of Patent Document 1 estimates the relative angle between the ground and the sensor by data processing, so that an obstacle on the road surface can be detected even if the depression angle at which the depth sensor sways during the movement of the moving body fluctuates. . However, in order to obtain the relative angle between the ground and the sensor, it is necessary to perform a large amount of arithmetic processing based on a complicated algorithm, and a high-performance processing device is required.
Further, the invention of Patent Document 2 requires a mechanism for changing the angle of the vehicle body of the mobile robot, and the configuration is complicated. By a complicated algorithm, the obstacle is determined from the inclination angle of the vehicle body and the detection value by the laser range sensor. Need to be detected.

  The present invention has been made in view of the above circumstances, and is an obstacle determination device that can distinguish and detect a ground and an obstacle with a simple algorithm without requiring a complicated configuration and algorithm. It is another object of the present invention to provide an obstacle determination method.

In order to solve the above problems, the first technical means of the present invention is based on a distance measuring device that measures a distance to an object, and a measurement result of the distance to the object detected by the distance measuring device. An obstacle determination device having an obstacle determination unit that determines that there is an obstacle within the measurement range of the distance measuring device, the acceleration sensor detecting downward acceleration of the obstacle determination device, A data removal unit that removes at least a part of the measurement result by the distance measuring device while the acceleration detected by the acceleration sensor is equal to or greater than a predetermined threshold;
The obstacle determination unit determines the obstacle using the measurement result after being removed by the data removal unit, sets a direction orthogonal to gravity as a horizontal direction, and moves forward in the horizontal direction from the distance measuring device. When the axis extending to the horizontal axis is the horizontal axis, the data removal unit passes through the center of the measurement range of the distance measuring device, and the obstacle determination device is placed on the horizontal installation surface within the measurement range. A reference axis that coincides with the horizontal axis is stored in advance, and when the acceleration detected by the acceleration sensor is equal to or greater than the predetermined threshold, the acceleration detected by the acceleration sensor is shifted downward from the reference axis relative to the horizontal axis. The displacement angle is calculated, and the measurement result of the area below the reference axis is removed from the measurement result obtained by the distance measuring device while the acceleration equal to or greater than the threshold is detected, and the upper direction from the reference axis is removed. Above It is obtained by, and removing the measurement result of the position angle by the displaced region.

The second technical means includes a distance measuring device that measures the distance to the object, and an obstacle within the measurement range of the distance measuring device based on the measurement result of the distance to the object detected by the distance measuring device. An obstacle determination apparatus having an obstacle determination unit for determining whether there is an acceleration sensor that detects acceleration in a downward direction of the obstacle determination apparatus, and an acceleration detected by the acceleration sensor is equal to or greater than a predetermined threshold value A data removal unit that removes at least a part of a measurement result obtained by the distance measuring device while an acceleration equal to or greater than the threshold is detected, and the obstacle determination unit includes the data removal unit. Using the measurement result after being removed by the above, the obstacle is determined, the direction orthogonal to gravity is defined as the horizontal direction, and the axis extending in the horizontal direction forward from the distance measuring device is defined as the horizontal axis, The data removing unit includes the distance measuring device. Passing through the center of the measurement range, when the obstacle determination device is installed on a horizontal installation surface, a reference axis that coincides with the horizontal axis in the measurement range is stored in advance, and the obstacle placed on the horizontal plane When the maximum range in which the distance measuring device of the determination device does not detect the installation surface is indicated by an angle γ with respect to the horizontal axis, the acceleration detected by the acceleration sensor is equal to or greater than a predetermined threshold, and the reference axis with respect to the horizontal axis Among the measurement results obtained by the distance measuring device while the acceleration equal to or greater than the threshold is detected when the displacement angle is equal to or less than the angle γ, the measurement results of the area below the prestored reference axis It is characterized by removing.

The third technical means includes a distance measuring device that measures the distance to the object, and an obstacle within the measurement range of the distance measuring device based on the measurement result of the distance to the object detected by the distance measuring device. An obstacle determination apparatus having an obstacle determination unit for determining whether there is an acceleration sensor that detects acceleration in a downward direction of the obstacle determination apparatus, and an acceleration detected by the acceleration sensor is equal to or greater than a predetermined threshold value A data removal unit that removes at least a part of a measurement result obtained by the distance measuring device while an acceleration equal to or greater than the threshold is detected, and the obstacle determination unit includes the data removal unit. Using the measurement result after being removed by the above, the obstacle is determined, the direction orthogonal to gravity is defined as the horizontal direction, and the axis extending in the horizontal direction forward from the distance measuring device is defined as the horizontal axis, The data removing unit includes the distance measuring device. Passes through the center of the measurement range, the obstacle determining unit wherein the pre-stores a reference axis which coincides with the horizontal axis in a measurement range when is placed on a horizontal installation surface, the obstacle placed in the horizontal plane When the distance measuring device of the determination device indicates the maximum range in which the horizontal plane is not detected by an angle γ with respect to the horizontal axis, when the acceleration detected by the acceleration sensor is equal to or greater than a predetermined threshold, the acceleration detected by the acceleration sensor A displacement angle β in the downward direction of the reference axis with respect to the horizontal axis, and an angle γ−displacement angle β = angle α (α> 0) are calculated, and the region is displaced downward from the reference axis by an angle α. When the region above the reference axis, the measurement results with the exception of one in which was characterized by removing from the measurement result of the distance measuring device during the threshold acceleration or more is detected.

According to a fourth technical means, in any one of the first to third technical means, a driving unit that causes the obstacle determination device to travel, a drive control unit that controls driving of the driving unit, and the obstacle determination unit based on the determination result by the main operation control unit for controlling the precursor drive control unit so as to perform an operation for avoiding the determined obstacle is obtained by, characterized in that have a.

The fifth technical means is an obstacle determination method for determining that there is an obstacle within the measurement range of the distance measuring device based on the measurement result of the distance measuring device that measures the distance to the object, When an acceleration sensor detects the downward acceleration of the obstacle determination device including the distance measuring device and the acceleration detected by the acceleration sensor is equal to or greater than a predetermined threshold, while the acceleration equal to or greater than the threshold is measured Removing at least a part of the measurement result of the distance measuring device, determining the obstacle using the measurement result after the removal, and setting the direction orthogonal to gravity as the horizontal direction, and the distance measuring device When the axis extending in the horizontal direction from the front to the horizontal axis is the horizontal axis, it passes through the center of the measurement range of the distance measuring device, and the horizontal position within the measurement range when the obstacle determination device is placed on a horizontal installation surface. prestores reference axis which coincides with the axial, When the acceleration detected by the acceleration sensor is equal to or greater than the predetermined threshold, a displacement angle in the downward direction of the reference axis with respect to the horizontal axis is calculated from the acceleration detected by the acceleration sensor, and the acceleration equal to or greater than the threshold is calculated. Among the measurement results obtained by the distance measuring device during detection, the measurement results in the region below the reference axis are removed, and the measurement results in the region displaced from the reference axis by the displacement angle are removed. It is characterized by doing.

The sixth technical means is an obstacle determination method for determining that there is an obstacle within the measurement range of the distance measuring device based on the measurement result of the distance measuring device that measures the distance to the object, When an acceleration sensor detects the downward acceleration of the obstacle determination device including the distance measuring device and the acceleration detected by the acceleration sensor is equal to or greater than a predetermined threshold, while the acceleration equal to or greater than the threshold is measured Removing at least a part of the measurement result of the distance measuring device, determining the obstacle using the measurement result after the removal, and setting the direction orthogonal to gravity as the horizontal direction, and the distance measuring device When the axis extending in the horizontal direction forward from the horizontal axis is the horizontal axis within the measurement range when passing through the center of the measurement range of the distance measuring device and the obstacle determination device is installed on a horizontal installation surface The reference axis that matches the axis is stored in advance. The acceleration detected by the acceleration sensor is greater than or equal to a predetermined threshold when the maximum range in which the distance measuring device of the obstacle determination device placed on the horizontal plane does not detect the installation surface is indicated by an angle γ with respect to the horizontal axis. When the displacement angle of the reference axis with respect to the horizontal axis is equal to or less than the angle γ, the reference value stored in advance among the measurement results by the distance measuring device while the acceleration equal to or greater than the threshold is detected. The measurement result of the area below the axis is removed .

The seventh technical means is an obstacle determination method for determining that there is an obstacle within the measurement range of the distance measuring device based on the measurement result of the distance measuring device that measures the distance to the object, When an acceleration sensor detects the downward acceleration of the obstacle determination device including the distance measuring device and the acceleration detected by the acceleration sensor is equal to or greater than a predetermined threshold, while the acceleration equal to or greater than the threshold is measured Removing at least a part of the measurement result of the distance measuring sensor, determining the obstacle using the measurement result after the removal, and setting the direction orthogonal to gravity as the horizontal direction, and the distance measuring device When the axis extending in the horizontal direction from the front to the horizontal axis is the horizontal axis, it passes through the center of the measurement range of the distance measuring device, and the horizontal position within the measurement range when the obstacle determination device is placed on a horizontal installation surface. The reference axis that matches the axis is stored in advance. The acceleration detected by the acceleration sensor is greater than or equal to a predetermined threshold when the distance measuring device of the obstacle determination device placed on the horizontal plane indicates a maximum range in which the horizontal plane is not detected by an angle γ with respect to the horizontal axis. From the acceleration detected by the acceleration sensor, a downward displacement angle β of the reference axis with respect to the horizontal axis and an angle γ−displacement angle β = angle α (α> 0) are calculated, and from the reference axis and displaced to the lower angle α region, the measurement result, except for the region above the reference axis, to the removal from the measurement result of the distance measuring device during the threshold acceleration or more is detected It is a feature.

  According to the present invention, it is possible to provide an obstacle determination device and an obstacle determination method that can distinguish and detect the ground and an obstacle with a simple algorithm without requiring a complicated configuration and algorithm. .

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 explaining the example of a distance measurement by the ranging device of an obstacle judging device. It is a figure for demonstrating the state from which the measurement range of a distance measuring device changes with the unevenness | corrugation etc. of a road surface. It is a figure for demonstrating the removal process of the measurement result of 1st Embodiment by this invention. It is a figure for demonstrating an example of an obstacle determination when an obstacle determination apparatus inclines ahead. It is a figure for demonstrating the other example of an obstacle determination when an obstacle determination apparatus inclines ahead. It is a figure for demonstrating the further another example of an obstacle determination when an obstacle determination apparatus inclines ahead.

FIG. 1 is a block diagram illustrating a configuration example of an obstacle determination apparatus according to the present invention. The obstacle determination device of this example is configured as an automatic travel device that automatically travels while avoiding an obstacle while detecting 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 object using an optical measurement mechanism.
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 apparatus 2 measures the distance to the object 11 within a certain measurement range by scanning the measurement light two-dimensionally in the vertical and horizontal directions and receiving the reflected light.
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 of 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 reflected light to the light receiving unit 25, an optical window 26 through which the measurement light emitted from the light emitting unit 22 and the reflected light pass, 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 adjustment 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 data removal unit 32 of the distance information calculation unit 31 of the main body unit 3. The main body 3 is provided with an acceleration sensor 34 and detects at least an acceleration in the downward direction of the main body 3. As the acceleration sensor 34, a known measurement type acceleration sensor such as a mechanical displacement measurement method, a method using vibration, an optical method, and a semiconductor method can be appropriately employed.

  When the acceleration detected by the acceleration sensor 34 is equal to or greater than a predetermined threshold, the data removal unit 32 removes at least a part of the measurement result obtained by the distance measuring device 2 while the acceleration equal to or greater than the threshold is measured. That is, when the obstacle determination device 1 receives an impact or the like and an acceleration of a predetermined level or more occurs in the downward direction, at least a part of the distance measurement result output from the distance calculation unit 24 is removed, and the obstacle in the subsequent stage Do not use for object judgment. When the acceleration in the downward direction is large, the ground that should not be determined as an obstacle may be measured. Therefore, it is removed so that the measurement result of the distance at this time is not used. Specific data processing examples of the data removal unit 32 will be described in detail in the following embodiments.

  The obstacle determination unit 33 receives the distance measurement result output from the data removal unit 32 and 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 within a predetermined distance range from the obstacle determination device 1, the object is determined as an obstacle.

The main body unit 3 is provided with a drive unit 37 that causes the obstacle determination device 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. Further, the main body operation control unit 35 controls the drive control unit 36 so as to perform an operation for avoiding the obstacle based on the determination result by the obstacle determination unit 33. Here, when an obstacle is determined by the obstacle determination unit 33, the information is output to the main body operation control unit 35, and the main body operation control unit 35, for example, a traveling obstacle so as to avoid the obstacle. Control is performed such that the traveling direction of the determination apparatus 1 is changed or stopped before an obstacle. Based on this control, the drive control unit 36 can control the drive unit 37 to perform operations such as changing or stopping the traveling direction.

FIG. 2 is a diagram illustrating an external configuration example of the obstacle determination device. As described above, the obstacle determination device can be configured as an automatic traveling device that automatically travels while avoiding obstacles.
In the example illustrated in FIG. 2, the obstacle determination device 1 includes a main body 3 and a distance measuring device 2 attached to 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. An acceleration sensor 34 is provided inside the main body 3 and measures acceleration generated in the obstacle determination device 1 that automatically travels. When the obstacle determination device 1 determines an obstacle based on the output of the acceleration sensor 34, the operation of the wheel 4 is controlled so as to avoid the obstacle.
Hereinafter, an embodiment will be described in which an obstacle is detected by appropriately removing the measurement result of the distance measuring device by the obstacle determination device having the above-described configuration.

(Embodiment 1)
FIG. 3 is a diagram for explaining an example of distance measurement by the distance measuring device of the obstacle determination device, and FIG. 3 (A) is a diagram for explaining the state of the obstacle and the ground existing in the measurement range of the distance measuring device, FIG. 4B is a diagram for explaining a distance measurement result in the distance measuring apparatus in the state of FIG.
In FIG. 3A, the distance measuring device 2 performs distance measurement by scanning measurement light in the horizontal direction (X-axis) and the vertical direction (Y-axis). The measurement range R has a vertical and horizontal fan shape centered on the optical mechanism 23 of the distance measuring device 2. FIG. 3A shows the measurement range R in the vertical direction. In the distance measuring device 2, a normal measurement limit distance is set, and it is impossible to accurately measure the distance of an object at a position farther than the measurement limit distance.

In FIG. 3A, the distance measuring device 2 stores the position of the reference axis Z that is orthogonal to the X axis and the Y axis and passes through the center of the measurement range of the distance measuring device 2. When the direction orthogonal to the gravity is the horizontal direction and the axis extending in the horizontal direction forward from the distance measuring device 2 is the horizontal axis, the reference axis Z places the obstacle determination device 1 on the horizontal ground (installation surface) 12. Sometimes coincides with the horizontal axis.
It is assumed that the distance measuring device 2 can measure the distance of the measurement range R in six steps of 1 to 6, and can measure the measurement range in seven steps every 10 ° C. from −30 to 30 °. Here, it is assumed that the distance closest to the distance measuring device 2 is “1”, the distance increases in order as the distance increases, and the distance farthest is “6”. Further, the position coincident with the reference axis Z is set to an angle “0 °”, the angle increases sequentially from “10 °” to “30 °” downward, and conversely “−10 °” Assume that the angle decreases to “−30 °”. Although not shown in the figure, it is assumed that measurement is performed in seven stages from “−10 °” to “30 °” also in the horizontal direction.
The distance measurement and angle measurement resolution (measurement accuracy) of the actual distance measuring device 10 is sufficiently higher than this, but here, for simplicity, the distance measurement and the angle measurement will be simplified as described above. The same applies to the following embodiments.

In the example of FIG. 3A, since the ground 12 is included in the measurement range R, the distance measuring apparatus measures the distance to the ground 12. In addition, since the obstacle 13 is included in the measurement range R, the distance is also measured for the obstacle 13.
The distance measurement result in the state of FIG. 3A is as shown in FIG. FIG. 3B shows the measurement results of the distance to the object at each of the seven stages (-30 to 30 degrees) in the horizontal direction and the seven stages (-30 to 30 degrees) in the vertical direction. . The measurement result is one of the distance data of 1 to 6 or infinity (“−”). Infinite indicates that there is no measurement object such as the obstacle 13 within the measurement limit distance of the distance measuring device 2.

As shown in FIG. 3B, the distance “4” is measured at all the measurement positions in the horizontal direction at the position of 30 ° in the vertical direction, and the horizontal direction at the position of 20 ° in the vertical direction. The distance “6” is measured at all positions except the angle −10 °. These are all measured based on the reflected light reflected by the ground 12.
On the other hand, the distance of the obstacle 13 is measured at a position at a lateral angle of −10 ° C. and at a position of −10 to 20 ° in the vertical direction. The measurement result at this time is “4” or “5” depending on the angle.
In the case of the measurement result as described above, since the ground 12 and the obstacle 13 are measured without distinction, the obstacle determination device 1 determines that there is an obstacle at the position from the measurement result of the ground 12, and Unnecessary obstacle avoidance operations such as change and travel stop will be performed.

Hereinafter, an embodiment will be described in which the obstacle determination device having the above-described configuration removes the measurement result of the distance measuring device and appropriately detects the obstacle.
(Embodiment 1)
FIG. 4 is a diagram for explaining a state where the measurement range of the distance measuring device varies due to road surface unevenness or the like. In FIG. 4A, the road surface on which the obstacle determination device 1 travels is in a horizontal state, the measurement range R of the distance measuring device 2 is in a predetermined range in front of the obstacle determination device 1, and its reference axis Z Corresponds to the horizontal axis H.

  In this case, the distance to the ground 12 is measured at vertical angles of 20 ° and 30 °. If there is an obstacle 13, the distance to the obstacle 13 is measured. Since this state is a normal state, a threshold value is provided at a measurement position corresponding to the ground surface during normal driving so that the ground surface 12 is not measured. Ignore the measurement results. For example, when the measurement result of the distance of the region G in FIG. 4A is obtained at an angular position where the region G should exist, the measurement result is regarded as the ground and ignored.

FIG. 4B is a diagram illustrating a state in which the obstacle determination device rides on the convex portion of the ground.
When there is a convex portion 14 on the horizontal ground 12 and the obstacle determination device 1 rides on the convex portion 14, for example, as shown in FIG. 4B, the reference axis Z of the distance measuring device 2 is the horizontal axis H. The measurement range R is also directed upward from the normal time. In this case, the measurement result of the distance measuring device 2 can determine an obstacle in the measurement range R because the measurement result of a distance shorter than the ground region G is not measured unless there is another obstacle. .

  FIG. 4C is a diagram illustrating a state immediately after the obstacle determination device gets over the convex portion. Immediately after the obstacle determination device 1 rides on the convex portion 14 of the ground 12 and gets over the top, the obstacle determination device 1 tilts forward, and the reference axis Z of the distance measuring device 2 is below the horizontal axis H. Facing. In this case, since the ground 12 is also present in the area D within the measurement range of the distance measuring device 2, a measurement result at a distance closer to the measurement result detected from the original area G is measured. In this case, the region D is erroneously determined as an obstacle, and an operation for avoiding the obstacle is performed.

  The same applies when the obstacle determination device enters the recess 15 of the ground 12 as shown in FIG. Also in this case, the obstacle determination device 1 tilts forward, the reference axis Z of the distance measuring device 2 faces downward with respect to the horizontal axis H, and a measurement result at a distance closer to the measurement result detected by the original region G is obtained. It is measured and misjudged.

FIG. 5 is a diagram for explaining the measurement result removal processing according to the first embodiment of the present invention. The vertical axis indicates an output indicating the acceleration a [m / s ² ] in the downward direction of the acceleration sensor, and the horizontal direction indicates the output. It shows time t [s].
In the present embodiment, the data removal unit 32 of the obstacle determination device 1 performs distance measurement while acceleration exceeding the threshold is measured when the downward acceleration detected by the acceleration sensor 34 is greater than or equal to a predetermined threshold. All the measurement results by the apparatus 2 are removed. When the obstacle determination device 1 gets over the convex portion or enters the concave portion and the reference axis Z of the distance measuring device 2 faces downward with respect to the horizontal axis H, the acceleration in the downward direction increases. Accordingly, when downward acceleration equal to or greater than a predetermined threshold is detected, the distance measurement result output from the distance measuring device 2 is removed while the acceleration equal to or greater than the threshold is detected, and the obstacle is determined. Don't use it.

  In the example of FIG. 5, a threshold value Th of acceleration in the downward direction is set in advance. When the obstacle determination device 1 rides on the convex portion 14 of the ground 12, a negative acceleration (upward acceleration) is measured in the downward direction (S1). Immediately after the obstacle determination device 1 gets over the convex portion 14, a large acceleration is measured in the downward direction (S2). Further, when the vehicle enters the recess 15 of the ground 12, a large acceleration is measured in the downward direction (S3). In this case, in S2 and S3 in which the acceleration equal to or greater than the threshold Th is detected, the distance measurement result during the period in which the acceleration equal to or greater than the threshold Th is detected is removed from the measurement result used for the obstacle determination. As a result, the reference axis Z of the distance measuring device 2 faces downward and the ground 12 is measured, so that erroneous determination as an obstacle can be avoided. If the acceleration that is equal to or greater than the threshold value is smaller than the threshold value, the obstacle determination process is immediately resumed, so that it is possible to prevent erroneous determination while reducing the risk of contact with the obstacle.

(Embodiment 2)
FIG. 6 is a diagram for explaining an example of obstacle determination when the obstacle determination device is tilted forward. In FIG. 6A, the obstacle determination device 1 is tilted forward due to the unevenness of the ground 12, and the reference axis Z set in the distance measuring device 2 is tilted downward with respect to the horizontal axis H.
FIG. 6B is a diagram showing a detection result of the distance measuring device in the state of FIG. As shown here, the distance between the obstacle 13 and the ground 12 is measured without distinction in the measurement result of the distance measuring device 2.

  In the first embodiment, when the downward acceleration equal to or higher than the predetermined threshold is detected, the distance measurement result output from the distance measuring device 2 is removed while the acceleration equal to or higher than the threshold is detected. It was not used for judging obstacles. On the other hand, in the second embodiment, when the downward acceleration equal to or greater than the predetermined threshold is measured, the measurement result of the distance in the region below the horizontal axis H is removed, and the obstacle is determined. Don't use it.

  In order to perform this processing, the data removal unit 32 stores in advance a reference axis Z that coincides with the horizontal axis H within the measurement range when the obstacle determination device 1 is placed on the horizontal ground (installation surface) 12. . When the downward acceleration detected by the acceleration sensor 34 is equal to or greater than a predetermined threshold, the downward displacement angle β of the reference axis Z with respect to the horizontal axis H is calculated from the acceleration detected by the acceleration sensor 34. Here, based on the magnitude of the acceleration, the downward displacement angle β and the reference axis Z are calculated.

  Then, the data removal unit 32 removes the measurement result of the region below the reference axis Z from the measurement result by the distance measuring device 2 while the acceleration equal to or higher than the threshold is detected, and further upwards from the reference axis Z. In addition, the measurement result of the region displaced by the calculated displacement angle β is removed. That is, while the acceleration equal to or greater than the threshold is being measured, the obstacle determination is performed without using the measurement result in the region below the position regarded as the horizontal axis H.

In the example of FIG. 6B, the reference axis Z is at a position of (X, Y) = (0 °, 0 °). Here, assuming that the displacement angle β in the Y direction of the reference axis Z with respect to the horizontal axis H is 10 °, the measurement result in the region displaced upward by 10 ° from the position of the reference axis Z is removed. That is, the measurement result up to the region below Y = −10 ° (Y = 0 ° to 30 °) is removed from the measurement result from the distance measuring device 2, and the region of Y = −10 ° to −30 ° is removed. Obstacle detection is performed using only the measurement results. In this case, the obstacle detection can be performed by removing the measurement result of the angle 10 ° to 30 ° detecting the ground 12.
As described above, when acceleration equal to or greater than the threshold value occurs in the downward direction and the obstacle determination device 1 tilts forward, the measurement result below the horizontal axis is not used, so that the ground is used as an obstacle. It is possible to prevent erroneous determination.

(Embodiment 3)
FIG. 7 is a diagram for explaining another example of the obstacle determination when the obstacle determination device is tilted forward. In FIG. 7, as in the second embodiment, the obstacle determination device 1 is tilted forward due to road surface unevenness and the like, and the reference axis Z set in the distance measuring device 2 is tilted downward with respect to the horizontal axis H. .
In the second embodiment, when a downward acceleration equal to or greater than a threshold value is detected, the horizontal axis H position is calculated from the magnitude of the acceleration while the acceleration is detected, and an area above the horizontal axis H is calculated. Obstacles were determined using. On the other hand, in the third embodiment, when an acceleration equal to or higher than the threshold is detected, the measurement result in the region below the reference axis Z is not used while the acceleration is detected.

Specifically, the data removal unit 32 stores in advance a reference axis Z that coincides with the horizontal axis H within the measurement range when the obstacle determination device 1 is placed on the horizontal ground (installation surface) 12. Further, the maximum range in which the distance measuring device 2 of the obstacle determination device 1 placed on the horizontal ground 12 does not detect the ground 12 is indicated by an angle γ with respect to the horizontal axis H.
The angle γ is uniquely determined from the measurement limit distance l of the distance of the distance measuring device 2 and the height h from the ground 12 to the distance measuring device 2 (light emitting position of the distance measuring device). The height h at this time is the height when the obstacle determination device 1 is placed on the horizontal ground 12. The above measurement limit distance l is a value unique to the distance measuring device 2 and is a fixed value such as 10 m, for example. If this measurement limit distance is exceeded, the distance of the measurement object cannot be measured.

  Here, when the downward acceleration detected by the acceleration sensor 34 is equal to or greater than a predetermined threshold, the data removal unit 32 moves the acceleration detected by the acceleration sensor 34 downward from the reference axis Z with respect to the horizontal axis H. The displacement angle β is calculated. Here, based on the magnitude of the acceleration, the downward displacement angle β and the reference axis Z are calculated. When the displacement angle β of the reference axis Z with respect to the horizontal axis H is equal to or less than the angle γ, the measurement result by the distance measuring device 2 while the acceleration equal to or greater than the threshold is detected is below the reference axis Z. The measurement result of the area is removed.

  That is, when the obstacle determination apparatus 1 is tilted forward and acceleration equal to or higher than the threshold value is generated, the measurement result of the region above the reference axis Z is used without using the measurement result of the region below the reference axis Z. Check the obstacles. At this time, if the displacement angle β is larger than the angle γ, even if the measurement result of the region above the reference axis Z is used, the ground is measured in that region, and there is a possibility that erroneous determination is caused. is there. Accordingly, when the displacement angle β of the reference axis Z with respect to the horizontal axis H is equal to or less than the angle γ, the measurement result by the distance measuring device 2 while the acceleration equal to or greater than the threshold is detected is below the reference axis Z. Obstacle determination is performed by removing the measurement result of the area.

In the example of FIG. 6B shown in the second embodiment, the reference axis Z of the distance measuring device 2 is at a position of (X, Y) = (0 °, 0 °). Here, it is assumed that the displacement angle β in the Y direction of the reference axis Z with respect to the horizontal axis H is 10 °, and the angle γ is 15 °. In this case, since the displacement angle β of the reference axis Z is 15 ° or less, the measurement results in the region below the reference axis Z (Y = 10 ° to 30 °) are removed, and Y = 0 ° to −30. Obstacle detection is performed using only the measurement results in the region of °. In this case, the obstacle detection can be performed by removing the measurement result of the angle 10 ° to 30 ° detecting the ground 12.
As described above, when acceleration equal to or greater than the threshold value occurs in the downward direction and the obstacle determination apparatus 1 tilts forward, the displacement angle β of the reference axis Z is equal to or less than the angle γ indicating the maximum range in which the ground 12 is not detected. In some cases, by not using the measurement result below the reference axis Z, it is possible to prevent erroneous determination of the ground as an obstacle.

(Embodiment 4)
FIG. 8 is a diagram for explaining still another example of the obstacle determination when the obstacle determination device is tilted forward. In FIG. 8, as in the second and third embodiments, the obstacle determination device 1 is tilted forward due to road surface unevenness and the like, and the reference axis Z set in the distance measuring device 2 is tilted downward with respect to the horizontal axis H. ing.
In Embodiment 3, when the displacement angle β of the reference axis Z with respect to the horizontal axis H is equal to or less than the angle γ, among the measurement results by the distance measuring device 2 while the acceleration exceeding the threshold is detected, the reference axis Z Obstacles were determined by removing the measurement results in the lower area. On the other hand, in the present embodiment, when acceleration equal to or greater than the threshold value is detected, the angle γ−the displacement angle β = the angle α (α> 0) is calculated, and the region displaced from the reference axis Z by the angle α The obstacle is determined using the region above the reference axis Z. That is, when an acceleration equal to or greater than the threshold is detected, the measurement result of the distance to be used is extended to a range of the angle α (γ−β) further lower than that of the third embodiment, and the obstacle is determined.

  Specifically, the data removal unit 32 stores in advance a reference axis Z that coincides with the horizontal axis H within the measurement range when the obstacle determination device 1 is placed on the horizontal ground (installation surface) 12. Further, the maximum range in which the distance measuring device 2 of the obstacle determination device 1 placed on the horizontal ground 12 does not detect the ground 12 is indicated by an angle γ with respect to the horizontal axis H. The angle γ is calculated in the same manner as in the third embodiment.

Here, when the downward acceleration detected by the acceleration sensor 34 is equal to or greater than a predetermined threshold, the data removal unit 32 moves the acceleration detected by the acceleration sensor 34 downward from the reference axis Z with respect to the horizontal axis H. The displacement angle β is calculated. Here, based on the magnitude of the acceleration, the downward displacement angle β and the reference axis Z are calculated.
Further, displacement angle γ−displacement angle β = angle α (α> 0) is calculated. That is, when downward acceleration equal to or greater than the threshold is detected, it is determined whether there is an angle α of (α> 0) below the reference axis Z displaced downward by the displacement angle β. The angle α indicates a range in which the distance measuring device 2 measures the ground 12 beyond this, and the range of the angle α downward from the reference axis Z is a range in which the distance measuring device 2 does not detect the ground. Accordingly, when the downward acceleration is equal to or greater than a predetermined threshold, the downward displacement angle β of the reference axis Z with respect to the horizontal axis H and the angle γ−the displacement angle β = the angle α (α> 0) are calculated. Then, the obstacle determination is performed using the region displaced from the reference axis Z by the angle α and the region above the reference axis Z. As the operation of the data removal unit 32 at this time, when the downward acceleration is equal to or greater than the threshold value, the downward displacement angle β of the reference axis Z with respect to the horizontal axis H and the angle γ−the displacement angle β = the angle α (Α> 0) is calculated, and the measurement result excluding the region displaced by the angle α from the reference axis Z and the region above the reference axis Z is calculated while the acceleration is equal to or greater than a predetermined threshold value. It removes from the measurement result by the distance measuring device 2.
Thereby, compared with Embodiment 3, it can use for an obstacle determination in the range which does not detect the ground to the area | region below the reference axis Z further.

In the example of FIG. 6B shown in the second embodiment, the reference axis Z of the distance measuring device 2 is at a position of (X, Y) = (0 °, 0 °). Here, it is assumed that the displacement angle β in the Y direction of the reference axis Z with respect to the horizontal axis H is 10 °, and the angle γ is 15 °. In this case, since angle α = angle γ−displacement angle β = 5 °, the measurement results excluding the region displaced from the reference axis Z by the angle α = 5 ° and the region above the reference axis Z are obtained. And removing from the measurement result by the distance measuring device. Since the measurement angle of this example can be measured every 10 °, the obstacle detection can be performed by removing the measurement result of the angle of 10 ° to 30 °. Actually, since the resolution of angle detection is finer, it is possible to remove the measurement result in consideration of the angle α.
As described above, when acceleration equal to or greater than the threshold value occurs in the downward direction and the obstacle determination device 1 is tilted forward, the angle γ−the displacement angle β = the angle α (α> 0) is calculated, and the reference axis Z is calculated. By removing the measurement results excluding the area displaced by the angle α on the lower side and the area above the reference axis Z from the measurement results obtained by the distance measuring device while the acceleration exceeding the threshold is detected, Can be prevented from being erroneously determined as an obstacle.

  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 part, 10 ... Distance measuring device, 11 ... Object, 12 ... Ground, 13 ... Obstacle, 14 ... Convex part, 15 ... Concave part, 21 ... Drive Control part, 22 ... Light emitting part, 23 ... Optical mechanism part, 24 ... Distance calculating part, 25 ... Light receiving part, 26 ... Optical window, 31 ... Distance information calculating part, 32 ... Data removing part, 33 ... Obstacle determining part, 34 ... Acceleration sensor, 35 ... Main body operation control unit, 36 ... Drive control unit, 37 ... Drive unit.

Claims (7)

A distance measuring device that measures the distance to the object, and an obstacle that determines that there is an obstacle within the measurement range of the distance measuring device based on the measurement result of the distance to the object detected by the distance measuring device An obstacle determination device having an object determination unit,
An acceleration sensor that detects the downward acceleration of the obstacle determination device, and the distance measuring device while the acceleration detected by the acceleration sensor is greater than or equal to a predetermined threshold when the acceleration greater than the threshold is detected A data removal unit that removes at least a part of the measurement result by
The obstacle determination unit determines an obstacle using the measurement result after being removed by the data removal unit ,
When the direction orthogonal to gravity is the horizontal direction and the axis extending in the horizontal direction forward from the distance measuring device is the horizontal axis,
The data removal unit stores in advance a reference axis that passes through the center of the measurement range of the distance measuring device and matches the horizontal axis within the measurement range when the obstacle determination device is placed on a horizontal installation surface. And
When the acceleration detected by the acceleration sensor is equal to or greater than the predetermined threshold, a displacement angle in the downward direction of the reference axis with respect to the horizontal axis is calculated from the acceleration detected by the acceleration sensor, and the acceleration equal to or greater than the threshold is calculated. Among the measurement results obtained by the distance measuring device during detection, the measurement results in the region below the reference axis are removed, and the measurement results in the region displaced from the reference axis by the displacement angle are removed. obstacle determination device, characterized in that. A distance measuring device that measures the distance to the object, and an obstacle that determines that there is an obstacle within the measurement range of the distance measuring device based on the measurement result of the distance to the object detected by the distance measuring device An obstacle determination device having an object determination unit,
An acceleration sensor that detects the downward acceleration of the obstacle determination device, and the distance measuring device while the acceleration detected by the acceleration sensor is greater than or equal to a predetermined threshold when the acceleration greater than the threshold is detected A data removal unit that removes at least a part of the measurement result by
The obstacle determination unit determines an obstacle using the measurement result after being removed by the data removal unit,
When the direction orthogonal to gravity is the horizontal direction and the axis extending in the horizontal direction forward from the distance measuring device is the horizontal axis,
The data removal unit stores in advance a reference axis that passes through the center of the measurement range of the distance measuring device and matches the horizontal axis within the measurement range when the obstacle determination device is installed on a horizontal installation surface. And
When the distance measuring device of the obstacle determination device placed on the horizontal plane indicates a maximum range where the installation surface is not detected by an angle γ with respect to the horizontal axis,
While the acceleration detected by the acceleration sensor is equal to or greater than a predetermined threshold and the displacement angle of the reference axis with respect to the horizontal axis is equal to or smaller than the angle γ, the acceleration during the period greater than the threshold is detected. An obstacle determination apparatus, wherein a measurement result in a region below the reference axis stored in advance is removed from the measurement results obtained by the distance measuring apparatus. A distance measuring device that measures the distance to the object, and an obstacle that determines that there is an obstacle within the measurement range of the distance measuring device based on the measurement result of the distance to the object detected by the distance measuring device An obstacle determination device having an object determination unit,
An acceleration sensor that detects the downward acceleration of the obstacle determination device, and the distance measuring device while the acceleration detected by the acceleration sensor is greater than or equal to a predetermined threshold when the acceleration greater than the threshold is detected A data removal unit that removes at least a part of the measurement result by
The obstacle determination unit determines an obstacle using the measurement result after being removed by the data removal unit,
When the direction orthogonal to gravity is the horizontal direction and the axis extending in the horizontal direction forward from the distance measuring device is the horizontal axis,
The data removal unit stores in advance a reference axis that passes through the center of the measurement range of the distance measuring device and matches the horizontal axis within the measurement range when the obstacle determination device is placed on a horizontal installation surface. And
When indicating the maximum range in which the distance measuring device does not detect the horizontal plane of the obstacle determination device placed in the horizontal plane at an angle γ relative to the horizontal axis,
When the acceleration detected by the acceleration sensor is equal to or greater than a predetermined threshold, the displacement angle β downward from the acceleration detected by the acceleration sensor with respect to the horizontal axis and the angle γ−displacement angle β = angle α (α> 0) is calculated, and an acceleration equal to or higher than the threshold is detected from the measurement results excluding the region displaced by the angle α from the reference axis and the region above the reference axis. An obstacle determination device that is removed from a measurement result of the distance measuring device during In the obstacle determination device according to any one of claims 1 to 3 ,
A drive unit for running the obstacle determination device;
A drive control unit for controlling the drive of the drive unit;
An obstacle determination apparatus comprising: a main body operation control unit that controls the precursor drive control unit so as to perform an operation of avoiding the determined obstacle based on a determination result by the obstacle determination unit. An obstacle determination method for determining that there is an obstacle within a measurement range of the distance measuring device based on a measurement result of a distance measuring device that measures a distance to an object,
When an acceleration sensor detects the downward acceleration of the obstacle determination device including the distance measuring device and the acceleration detected by the acceleration sensor is equal to or greater than a predetermined threshold, while the acceleration equal to or greater than the threshold is measured Removing at least a part of the measurement result of the distance measuring device, using the measurement result after the removal, determine an obstacle ,
When the direction orthogonal to gravity is the horizontal direction and the axis extending in the horizontal direction forward from the distance measuring device is the horizontal axis,
Preliminarily storing a reference axis that matches the horizontal axis within the measurement range when the obstacle determination device is placed on a horizontal installation surface through the center of the measurement range of the distance measuring device,
When the acceleration detected by the acceleration sensor is equal to or greater than the predetermined threshold, a displacement angle in the downward direction of the reference axis with respect to the horizontal axis is calculated from the acceleration detected by the acceleration sensor, and the acceleration equal to or greater than the threshold is calculated. Among the measurement results obtained by the distance measuring device during detection, the measurement results in the region below the reference axis are removed, and the measurement results in the region displaced from the reference axis by the displacement angle are removed. obstacle determining method characterized by.   An obstacle determination method for determining that there is an obstacle within a measurement range of the distance measuring device based on a measurement result of a distance measuring device that measures a distance to an object,
  When an acceleration sensor detects the downward acceleration of the obstacle determination device including the distance measuring device and the acceleration detected by the acceleration sensor is equal to or greater than a predetermined threshold, while the acceleration equal to or greater than the threshold is measured Removing at least a part of the measurement result of the distance measuring device, using the measurement result after the removal, determine an obstacle,
  When the direction orthogonal to gravity is the horizontal direction and the axis extending in the horizontal direction forward from the distance measuring device is the horizontal axis,
  Preliminarily storing a reference axis that matches the horizontal axis within the measurement range when the obstacle determination device is installed on a horizontal installation surface through the center of the measurement range of the distance measuring device,
  When the distance measuring device of the obstacle determination device placed on the horizontal plane indicates a maximum range where the installation surface is not detected by an angle γ with respect to the horizontal axis,
  While the acceleration detected by the acceleration sensor is equal to or greater than a predetermined threshold and the displacement angle of the reference axis with respect to the horizontal axis is equal to or smaller than the angle γ, the acceleration during the period greater than the threshold is detected. An obstacle determination method comprising: removing a measurement result of a region below the reference axis stored in advance from a measurement result by a distance measuring device.   An obstacle determination method for determining that there is an obstacle within a measurement range of the distance measuring device based on a measurement result of a distance measuring device that measures a distance to an object,
  When an acceleration sensor detects the downward acceleration of the obstacle determination device including the distance measuring device and the acceleration detected by the acceleration sensor is equal to or greater than a predetermined threshold, while the acceleration equal to or greater than the threshold is measured Removing at least a part of the measurement result of the distance measuring device, using the measurement result after the removal, determine an obstacle,
  When the direction orthogonal to gravity is the horizontal direction and the axis extending in the horizontal direction forward from the distance measuring device is the horizontal axis,
  Preliminarily storing a reference axis that matches the horizontal axis within the measurement range when the obstacle determination device is placed on a horizontal installation surface through the center of the measurement range of the distance measuring device,
  When the distance measuring device of the obstacle determination device placed on the horizontal plane indicates a maximum range where the horizontal plane is not detected by an angle γ with respect to the horizontal axis,
  When the acceleration detected by the acceleration sensor is equal to or greater than a predetermined threshold, the displacement angle β downward from the acceleration detected by the acceleration sensor with respect to the horizontal axis and the angle γ−displacement angle β = angle α (α> 0) is calculated, and an acceleration equal to or higher than the threshold is detected from the measurement results excluding the region displaced by the angle α from the reference axis and the region above the reference axis. An obstacle determination method comprising: removing from the measurement result of the distance measuring device while the vehicle is in the process.

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