Obstacle detection device

Abstract

To prevent the system from determining that no obstacles exist. [Solution] The obstacle detection device comprises a sensor and a detection device. The sensor detects the distance and direction to a point representing a part of an object. The object includes obstacles that obstruct the movement of a forklift and objects that do not obstruct the movement of a forklift. The detection device acquires the detection result from the sensor. The detection result is information indicating multiple points. The detection device counts the time the obstacle is located within a predetermined range. The detection device resets the time the obstacle is no longer located within the predetermined range. The detection device determines that an obstacle is present within a predetermined range if the time the obstacle is present exceeds a predetermined time threshold. The detection device determines that no obstacle is present within a predetermined range if the time the obstacle is present does not exceed the time threshold.

Claims

1. An obstacle detection device mounted on a mobile vehicle, A sensor that detects the distance and direction to a point representing a part of an object, An acquisition unit that acquires detection results from the aforementioned sensor, A detection unit that detects an obstacle based on the aforementioned detection results, A timing unit that counts the existence time, which is the time the obstacle is located within a predetermined range, A reset unit that resets the existence time when the obstacle is no longer located within the range, An obstacle detection device comprising: a determination unit that determines that the obstacle is present in the range if the existence time exceeds a predetermined time threshold, and determines that the obstacle is not present in the range if the existence time does not exceed the time threshold.

2. The obstacle detection device according to claim 1, wherein the predetermined range comprises a plurality of ranges.

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