Obstacle detector

Abstract

To provide an obstacle detector that can prevent a detection unit for detecting obstacles from facing the ground as the posture of a moving vehicle changes.SOLUTION: An obstacle detector equipped with a detection unit 4 for detecting an obstacle on the forward side in the travel direction of a moving vehicle 1 and an obstacle determination unit 6 for determining the presence or absence of the obstacle based on the detection data of the detection unit 4 includes: a movable support mechanism 7 that supports the detection unit to enable a detection direction by the detection unit 4 to be changed in the vertical direction; and limiting mechanisms 9 and 10 that support the detection unit 4 so that a detection angle of the detection unit 4 relative to the road surface on the forward side in the travel direction of the moving vehicle 1 becomes a predetermined angle or greater.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a device for detecting an obstacle on the front side in the traveling direction of a moving body such as a vehicle or a robot.

Background Art

[0002] Patent Document 1 includes a distance measuring device that is fixed to a moving body and detects an obstacle within a measurement space region in front of the moving body, and an inclination detection unit that detects the inclination angle of the distance measuring device. When the inclination angle of the distance measuring device changes as the posture of the moving body changes, the position of the bottom surface of the measurement space region is changed according to the depth in the front direction or the width direction of the measurement space region, thereby suppressing the misjudgment of the ground as an obstacle. An obstacle determination device is described.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the obstacle determination device described in Patent Document 1, since the distance measuring device for detecting an obstacle is fixed to the moving body, the region detected by the distance measuring device also changes according to the posture of the moving body. Therefore, the obstacle determination device described in Patent Document 1 is configured to change the region for determining an obstacle among the regions detected by the distance measuring device according to the inclination of the distance measuring device. Therefore, the obstacle determination device described in Patent Document 1 needs to change the region for determining an obstacle based on the data detected by the distance measuring device and the data detected by the inclination detection unit each time the posture of the moving body changes, and the control for determining the presence or absence of an obstacle may become complicated.

[0005] The present invention has been made paying attention to the above technical problems, and an object thereof is to provide an obstacle detection device capable of suppressing a detection unit for detecting an obstacle from facing the ground as the posture of a moving body changes.

Means for Solving the Problems

[0006] In order to achieve the above object, the present invention provides an obstacle detection device including a detection unit that detects an obstacle on the front side in the traveling direction of a moving body, and an obstacle determination unit that determines the presence or absence of the obstacle based on the detection data of the detection unit. The device is characterized by comprising a movable support mechanism that supports the detection unit so that the detection direction by the detection unit can be changed in the vertical direction, and a restriction mechanism that supports the detection unit so that the detection angle of the detection unit with respect to the road surface on the front side in the traveling direction of the moving body is equal to or greater than a predetermined angle.

Effects of the Invention

[0007] According to the present invention, the detection unit for detecting an obstacle on the front side in the traveling direction of the moving body is supported by the movable support mechanism so that its detection direction can be changed in the vertical direction, and is supported by the restriction mechanism so that the detection angle of the detection unit with respect to the road surface on the front side in the traveling direction of the moving body is equal to or greater than a predetermined angle. Therefore, even when the posture of the moving body changes, it is possible to suppress the detection direction of the detection unit from facing the road surface side more than the intended direction with respect to the road surface on the front side. As a result, it is possible to suppress misjudgment of the ground as an obstacle.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Embodiments for Carrying Out the Invention

[0009] The present invention will be described based on the embodiments shown in the drawings. Note that the embodiments described below are merely examples when the present invention is embodied, and do not limit the present invention.

[0010] FIG. 1 schematically shows an example of a moving body equipped with an obstacle detection device according to an embodiment of the present invention. The moving body 1 shown in FIG. 1 may be a moving body such as a transport robot that moves indoors in factories, public facilities, commercial facilities, restaurants, etc., or an automobile that moves outdoors on public roads. Further, the obstacle detection device is for detecting an obstacle on the front side in the traveling direction of the moving body 1, and based on the detection result, the moving body 1 automatically turns to avoid the obstacle, or decelerates or stops and waits for the obstacle to pass, that is, a so-called self-driving moving body (for example, a robot), or it may be a manually driven moving body that notifies the driver that there is an obstacle and the driver performs a turning operation, a deceleration operation, etc.

[0011] In the example shown in FIG. 1, a detection unit 4 for detecting an obstacle is provided on the front side in the traveling direction of the moving body 1. This detection unit 4 may be a radar, a lidar, etc. provided in a conventional vehicle that outputs a signal such as radio waves or light, measures the reflected wave or reflected light, and measures the distance to the object, or it may be an in-vehicle camera provided in a conventional vehicle that generates image data for measuring the distance to the object by image analysis. That is, the detection unit 4 may be any device that can measure the distance to an object on the front side in the traveling direction of the moving body 1.

[0012] This detection unit 4 is electrically connected to a controller 5 provided in the moving body 1. Similar to the controller provided in a conventional vehicle, this controller 5 can be mainly composed of a microcomputer, and is configured to determine whether there is an obstacle in front in the traveling direction of the moving body 1 based on the signal (detection data) input from the detection unit 4. Specifically, the controller 5 is provided with an obstacle determination unit 6 for determining the presence or absence of an obstacle, and is configured to determine whether there is an obstacle that obstructs the travel of the moving body 1 within a predetermined distance based on the signal input from the detection unit 4. In other words, when there is any object within the predetermined distance, it is configured to determine that there is an obstacle.

[0013] Therefore, for example, when starting to drive on an uphill road, such as when the front wheels 2 are approaching the uphill road and the rear wheels 3 are on a flat road, the gradient angle of the road surface on the front side in the traveling direction becomes larger with respect to the inclination angle of the moving body 1, and there is a possibility of false determination as an obstacle due to the road surface intervening in the detection direction of the detection unit 4. Also, when finishing driving on a downhill road, such as when the front wheels 2 are on a flat road and the rear wheels 3 are on a downhill road, although the moving body 1 is tilted, since the road surface on the front side in the traveling direction is flat, there is a possibility of false determination as an obstacle due to the road surface intervening in the detection direction of the detection unit 4.

[0014] Therefore, the obstacle detection device according to the embodiment of the present invention supports the detection unit 4 so that the detection direction of the detection unit 4 can be changed in the vertical direction, and supports the detection unit 4 so that the detection angle of the detection unit with respect to the road surface on the front side in the traveling direction of the moving body 1 is equal to or greater than a predetermined angle. In the example shown in FIG. 1, a connecting member 7 formed in a shaft shape or a plate shape having a predetermined length in the traveling direction of the moving body 1 is provided, and the detection unit 4 is fixed to the front end portion of the connecting member 7 in the traveling direction of the moving body 1.

[0015] The connecting member 7 is supported so as to be swingable (rotatable) at any position of the moving body 1. In the example shown in FIG. 1, the rear portion (the rear side of the moving body 1) in the longitudinal direction of the connecting member 7 is rotatably supported by the link 8. That is, the connecting member 7 corresponds to the "movable support mechanism" in the embodiment of the present invention.

[0016] In the example shown in FIG. 1, a wheel 9 different from the front wheels 2 and the rear wheels 3 of the moving body 1 is provided, and the detection unit 4 is provided above a holding member (not shown) that rotatably supports the wheel 9.

[0017] Therefore, as shown in FIG. 1, when the moving body 1 is traveling on a flat road, the detection angle of the detection unit 4 with respect to the road surface of the traveling road is maintained at a predetermined angle at which the ground is not determined as an obstacle. Further, as shown in FIG. 2(a), when the moving body 1 starts traveling on an uphill road, since the wheel 9 is located on the uphill road, the orientation of the detection unit 4 changes following the inclination angle of the uphill road. That is, the detection angle of the detection unit 4 with respect to the road surface on the front side in the traveling direction of the moving body 1 becomes the same angle as when the moving body 1 is traveling on a flat road.

[0018] Similarly, as shown in FIG. 2(b), when the moving body 1 finishes traveling on a downhill road, although the moving body 1 is inclined, the wheel 9 is located on a flat road. Therefore, the detection angle of the detection unit 4 with respect to the road surface on the front side in the traveling direction of the moving body 1 becomes the same angle as when the moving body 1 is traveling on a flat road.

[0019] As described above, the connecting member 7 supports the detection direction of the detection unit 4 so as to be changeable in the vertical direction, and the wheel 9 supports the detection angle of the detection unit 4 with respect to the road surface on the front side in the traveling direction of the moving body 1 to be a predetermined angle or more. Therefore, even when the posture of the moving body 1 changes, it is possible to suppress the detection direction of the detection unit 4 from facing the road surface side more than the intended direction with respect to the road surface on the front side, and it is possible to suppress misjudgment of the ground as an obstacle.

[0020] On the other hand, for example, when the moving body 1 finishes traveling on an uphill road or starts traveling on a downhill road, the distance between the position where the wheel 9 is provided in the front-rear direction of the moving body 1 and the road surface becomes larger than the diameter of the wheel 9. Therefore, when the connecting member 7 rotates to the position where the wheel 9 contacts the road surface, the detection direction of the detection unit 4 becomes downward (road surface direction), and there is a possibility of misjudgment with the ground as an obstacle.

[0021] Therefore, in the example shown in FIG. 1, a stopper 10 is provided to suppress the rotation of the connecting member 7 so that the detection direction of the detection unit 4 becomes downward (road surface direction). Specifically, the connecting member 7 is provided to extend to the rear side of the moving body 1 with respect to the link 8, and the stopper 10 is configured to limit the end portion of the connecting member 7 from moving upward in the vertical direction of the moving body 1.

[0022] Therefore, when the moving body 1 finishes traveling on an uphill road as shown in FIG. 3(a) or starts traveling on a downhill road as shown in FIG. 3(b), a moment acts due to the self-weights of the detection unit 4 and the wheel 9 so that the tip of the connecting member 7 swings toward the traveling road side. However, the rear end of the connecting member 7 contacts the stopper 10 and receives the reaction force. As a result, the rotation of the connecting member 7 so that the detection direction of the detection unit 4 becomes downward can be suppressed, and misjudgment with the ground as an obstacle can be suppressed. That is, the wheel 9 and the stopper 10 constitute a "limiting mechanism" that supports the detection unit 4 so that the detection angle of the detection unit 4 with respect to the road surface on the front side in the traveling direction of the moving body 1 becomes equal to or greater than a predetermined angle.

[0023] Note that the obstacle detection device in the embodiment of the present invention may be provided with a detection unit so as to detect an obstacle on the front side in the traveling direction when the moving body 1 travels backward, or when the moving body 1 can travel in the left-right direction, a detection unit may be provided so as to detect an obstacle on the front side in the traveling direction. That is, regardless of the direction in which the moving body 1 travels, it may be configured to detect an obstacle on the front side in the traveling direction.

[0024] Also, the movable support mechanism in the embodiment of the present invention only needs to be able to support the detection direction by the detection unit 4 so that it can be changed in the vertical direction. As shown in FIG. 1, it is not limited to the configuration in which the detection unit 4 moves in the vertical direction with respect to the moving body 1. For example, the detection unit 4 may be connected to the moving body 1 so as to rotate according to the gradient angle of the road surface.

[0025] Furthermore, the restriction mechanism in the embodiment of the present invention only needs to be able to maintain the detection unit 4 so that the detection angle of the detection unit 4 with respect to the road surface on the front side in the traveling direction of the moving body 1 becomes a predetermined angle or more. In the above-described example, the wheels 9 are adopted to reduce the frictional resistance with the road surface. However, for example, it may be configured by a plate member in contact with the road surface and a support shaft that is vertically formed from the plate member and supports the detection unit 4, as long as the detection unit 4 is supported so that the detection angle with respect to the road surface becomes a predetermined angle or more.

[0026] Also, in the above-described example, an example is shown in which a stopper 10 for restricting the rotation amount of the connecting member 7 is provided on the rear side of the moving body 1 with respect to the link 8. However, for example, it can be appropriately changed, such as providing a stopper for suppressing the movement of the portion between the detection unit 4 and the link 8 in the connecting member 7 downward.

Explanation of Reference Numerals

[0027] 1 Moving body 4 Detection unit 5 Controller 6 Obstacle determination unit 7 Connecting member 8 Link 9 Wheel 10 Stopper

Claims

【Claim 1】 An obstacle detection device comprising a detection unit that detects an obstacle on the front side in the traveling direction of a moving body, and an obstacle determination unit that determines the presence or absence of the obstacle based on the detection data of the detection unit, a movable support mechanism that supports the detection unit so that the detection direction by the detection unit can be changed in the vertical direction, and a restriction mechanism that supports the detection unit so that the detection angle of the detection unit with respect to the road surface on the front side in the traveling direction of the moving body is equal to or greater than a predetermined angle. It is provided with An obstacle detection device characterized by this.

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