Object detection device and object detection system

Abstract

To provide an object detection device which has a wide detection range.SOLUTION: An object detection device has an exciter 10, an excitation electrode 11, a detection electrode 12, and a detector 13. The excitation electrode 11 is provided on a surface outside a front bumper 2 of an automobile 1. The front bumper 2 is made of a resin and an insulator. The detection electrode 12 is provided at a distance from the excitation electrode 11 on the surface outside the front bumper 2 of the automobile 1. The detector 13 is connected to the detection electrode 12 and the exciter 10. The detector 13 is a device for multiplying an electric signal from the detection electrode 12 and an electric signal from the exciter 10, and generating and outputting a difference frequency signal.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an object detection device that detects an object by an electromagnetic field.

Background Art

[0002] As a means for detecting obstacles around a vehicle, ultrasonic sensors are widely used (Patent Documents 1 to 3). Patent Document 1 describes that a plurality of ultrasonic sensors are provided at the bumper portions in the front and rear of an automobile to detect obstacles in the front and rear of the automobile when parking or the like. Patent Document 2 describes that ultrasonic sensors are further provided in the lateral direction of the front wheels of the vehicle to expand the detection area. Patent Document 3 describes that ultrasonic sensors are attached to the front, rear, left, and right side surfaces of an automated guided vehicle operating in a factory or the like and used for detecting obstacles and avoiding collisions.

[0003] Also, there are Patent Documents 4 and 5 as technologies for detecting a person using an electromagnetic field. Patent Document 4 describes that a person is excited by an excitation electrode, an electromagnetic field wrapped by the person is detected by two detection electrodes, and the position of the person is detected by the phase difference between two detection signals detected by the detection electrodes. Patent Document 5 describes that a plurality of detection electrodes are arranged around an output electrode that generates an electromagnetic field, the phase difference between signals from the plurality of detection electrodes is obtained, and a person is detected by the change in the phase difference when a finger or the like of a person approaches near the detection electrodes.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

Patent Document 5

[0005] However, detecting obstacles using ultrasonic sensors had the following problems: The ultrasonic waves emitted from ultrasonic sensors have a directional, flaring shape and spread out in a cone-like fashion. As a result, the detection area for obstacles was localized and narrow, and blind spots were easily created in the area between adjacent ultrasonic sensors. In particular, blind spots were likely to occur in the vicinity of the ultrasonic sensors.

[0006] While installing numerous ultrasonic sensors could reduce blind spots, this would increase the number of sensors, signal lines, and power consumption, making the system more complex. Furthermore, installing many ultrasonic sensors would create an unsightly surface due to their unevenness.

[0007] Furthermore, ultrasonic sensors had difficulty detecting obstacles when they were wire mesh fences with a high aperture ratio, thin poles, sharp-angled obstacles, or in environments with strong winds or extremely high or low temperatures.

[0008] It is conceivable that Patent Documents 4 and 5 could be used for object detection. However, since Patent Documents 4 and 5 detect the phase difference using the signal of one of the two detection electrodes as a reference signal, there was a concern that the phase difference detection would become unstable if both detection signals were weak or if there was noise interference.

[0009] Therefore, the objective of the present invention is to realize an object detection device with a wide detection range. [Means for solving the problem]

[0010] In an object detection device for detecting surrounding objects, Multiple electrical signals that generate electrical signals of different frequencies Exciter and Each of the aforementioned exciters is connected to the following: The aforementioned exciter is excited by an electrical signal from the exciter and generates an electromagnetic field. multiple An excitation electrode and a detection electrode that detects an electromagnetic field and outputs an electrical signal, From one of the aforementioned exciters The detector has an electrical signal and an electrical signal from the detection electrode that multiplies the electrical signal from the detection electrode and outputs a detection signal which is a difference frequency signal, and at least one of the excitation electrode and the detection electrode is provided in an insulator, and the detection signal From the frequency components The object Location This object detection device is characterized by its ability to detect [something].

[0011] In the present invention, the excitation electrode or the detection electrode may be composed of two or more separate conductors, and these conductors may be electrically coupled to each other in a non-contact manner.

[0012] In the present invention, the system may have a plurality of detection electrodes and a plurality of detectors connected to each of the detection electrodes, and the position of the object may be detected from the detection signals of each of the detectors.

[0013] In the present invention, the detector may have a plurality of exciters that generate electrical signals of different frequencies from each other, and a plurality of excitation electrodes connected to each of the exciters, and the detector may output a detection signal which is a difference frequency signal by multiplying the electrical signal from one of the exciters with the electrical signal from the detection electrode, and detect the position of the object from the frequency components of the detection signal.

[0014] In the present invention, the object detection device is mounted on a vehicle having a bumper, and the excitation electrode and the detection electrode may be provided on the bumper of the vehicle.

[0015] In the present invention, the object detection device is mounted on an automated guided vehicle, the automated guided vehicle has a base for placing cargo, and the excitation electrode and the detection electrode may be provided on the side of the base or on the outer casing of the automated guided vehicle.

[0016] In the present invention, the object detection device is mounted on a robot arm, and the excitation electrode and the detection electrode may be provided on the arm of the robot arm.

[0017] Another aspect of the present invention is an object detection system including the object detection device of the present invention and a conductive member provided on the object to be detected.

[0018] In the present invention, the conductive member may be an Al tape.

Advantages of the Invention

[0019] According to the object detection device of the present invention, the detection range of an object can be widened.

Brief Description of the Drawings

[0020] [Figure 1] A diagram showing the configuration of the object detector according to the first embodiment. [Figure 2] A diagram showing the front bumper 2 of the automobile 1. [Figure 3] A diagram showing the configuration of the excitation electrode 11. [Figure 4] A diagram showing the range of the electromagnetic field. [Figure 5] A diagram showing an example of guiding the automobile 1 into the garage 3. [Figure 6] A diagram showing an example of installing the object detection device according to the first embodiment on the wall 4. [Figure 7] A diagram showing an example of mounting the object detection device of the present invention on the automatic guided vehicle 100. [Figure 8] A diagram showing an example of mounting the object detection device of the present invention on the automatic guided vehicle 100. [Figure 9] A diagram showing an example of mounting the object detection device of the present invention on the robot arm 200. [Figure 10] A diagram showing the configuration of the object detector according to the second embodiment. [Figure 11] A diagram showing the configuration of the object detector according to the third embodiment.

Modes for Carrying Out the Invention

[0021] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0022] (First Embodiment) Figure 1 shows the configuration of the object detection device according to the first embodiment. As shown in Figure 1, the object detection device according to the first embodiment includes an exciter 10, an excitation electrode 11, a detection electrode 12, and a detector 13. The object detection device according to the first embodiment is mounted on an automobile 1 and detects objects such as people and obstacles around the automobile 1.

[0023] The exciter 10 is a device that outputs an electrical signal of a predetermined frequency. The frequency of the electrical signal can be any frequency that can form an electromagnetic field around the vehicle, for example, 1 to 100 MHz. The exciter 10 is connected to the detector 13 and the excitation electrode 11. A portion of the electrical signal output from the exciter 10 is input to the detector 13, and the other portion is input to the excitation electrode 11.

[0024] The excitation electrode 11 generates an electromagnetic field from its vicinity to the vicinity of the detection electrode 12 based on an electrical signal from the exciter 10. As shown in Figure 2, the excitation electrode 11 is installed on the outer surface of the front bumper 2 of the automobile 1. The front bumper 2 is made of resin and is an insulator.

[0025] The material of the excitation electrode 11 can be any conductive material. For example, it may be a tape made of aluminum, a transparent electrode made of ITO, or a conductive paint.

[0026] The excitation electrode 11 is strip-shaped (a long rectangle), and is positioned so that its longitudinal direction aligns with the longitudinal direction of the front bumper 2. The shape of the excitation electrode 11 is not limited to a rectangle; it can be any shape that can form an electromagnetic field and is suitable for detecting objects in a specific area. In the first embodiment, the area near the bumper 2 is designated as the object detection area, so the excitation electrode 11 is shaped like a rectangle aligned with the longitudinal direction of the bumper 2. When the excitation electrode 11 is rectangular, it is preferable that its longitudinal length be 1 / 6 or less of the wavelength of the electrical signal output by the exciter 10. This suppresses electromagnetic wave radiation and efficiently forms a non-radiative electromagnetic field.

[0027] The detection electrode 12 detects the electromagnetic field in its vicinity and outputs it as an electrical signal. As shown in Figure 2, the detection electrode 12 is provided on the outer surface of the front bumper 2 of the automobile 1, spaced apart from the excitation electrode 11.

[0028] The material of the detection electrode 12 can be any conductive material, similar to the material of the excitation electrode 11, and may be the same as or different from the material of the excitation electrode 11.

[0029] The detection electrode 12 is strip-shaped, similar to the excitation electrode 11, and is positioned so that its longitudinal direction aligns with the longitudinal direction of the front bumper 2. The distance between the excitation electrode 11 and the detection electrode 12 can be any distance as long as the detection electrode 12 is located within the range of the electromagnetic field formed by the excitation electrode 11. This distance between the excitation electrode 11 and the detection electrode 12 should be such that a certain amount of electrical resistance can be ensured, for example, an electrical resistance of 100 kΩ or more is preferable. Note that the shape of the detection electrode 12 is not limited to a rectangle; it can be any shape as long as it can detect the electromagnetic field and is suitable for the area where an object is to be detected. In the first embodiment, since the area near the front bumper 2 is used as the object detection area, the shape of the detection electrode 12 is also a rectangle along the longitudinal direction of the front bumper 2. When the detection electrode 12 is rectangular, it is preferable that its length in the longitudinal direction be 1 / 6 or less of the wavelength of the electrical signal output by the exciter 10. This suppresses the radiation of electromagnetic waves and efficiently forms a non-radiative electromagnetic field.

[0030] The excitation electrode 11 and the detection electrode 12 may be composed of multiple conductors, and these multiple conductors may be configured to perform non-contact electrical coupling such as capacitive coupling or magnetic field coupling. This increases the degree of freedom in the arrangement of the excitation electrode 11 and the detection electrode 12, and makes it easier to control the electromagnetic field formation region. For example, as shown in Figure 3, a first excitation electrode 110 connected to the exciter 10 may be provided on the inner surface of the front bumper 2, and a second excitation electrode 111 and a third excitation electrode 112 may be provided on the outer surface, and the first excitation electrode 110, the second excitation electrode 111, and the third excitation electrode 112 may be electrically connected by capacitive coupling. Figure 3(a) is a cross-section of the front bumper 2, and (b) is a view of the surface side of the front bumper 2.

[0031] The detector 13 is connected to the detection electrode 12 and the exciter 10. The detector 13 is a device that generates and outputs a difference frequency signal (hereinafter referred to as the detection signal) by multiplying the electrical signal from the detection electrode 12 and the electrical signal from the exciter 10. Here, the detection electrode 12 detects the electromagnetic field formed by the exciter 11, and since this electromagnetic field is formed by the electrical signal from the exciter 10, the frequency of the electrical signal from the detection electrode 12 is the same as the frequency of the electrical signal from the exciter 10. Since the difference frequency between the electrical signal from the detection electrode 12 and the electrical signal from the exciter 10 is 0, the detection signal is a DC signal.

[0032] In the object detection device of the first embodiment, the excitation electrode 11 and detection electrode 12 are provided on the front bumper of the automobile 1, but they may be provided at any position on the insulating part of the automobile 1. For example, they may be provided on the rear bumper to enable detection of objects behind the automobile. Furthermore, by using a transparent conductive material for the excitation electrode 11 and detection electrode 12, the excitation electrode 11 and detection electrode 12 can also be provided on glass such as the rear window. Alternatively, the heating element itself, which may be provided on the rear window, can be used as the excitation electrode 11 and detection electrode. The insulator on which the excitation electrode 11 and detection electrode 12 are provided preferably has a resistivity of 1 MΩ·m or more.

[0033] Furthermore, it is not necessary to provide both the excitation electrode 11 and the detection electrode 12 on an insulator; one may be provided on an insulator and the other on a conductor. However, providing both on an insulator makes it easier to limit the electromagnetic field formation region to a desired range, thereby improving the accuracy of object detection.

[0034] Next, the operation of the object detection device of the first embodiment will be described.

[0035] In the object detection device of the first embodiment, an electromagnetic field is formed in the vicinity of the excitation electrode 11 to the detection electrode 12 by an electrical signal output from the exciter 10. The electromagnetic field is formed in front of the automobile 1, along the front bumper 2, for a certain distance (see Figure 4). The detection electrode 12 detects this electromagnetic field as an electrical signal. The detector 13 then multiplies the electrical signal from the detection electrode 12 and the electrical signal from the exciter 10 to generate and output a detection signal.

[0036] In the object detection device of the first embodiment, the electromagnetic field formation region near the front bumper 2 becomes the object detection range. When an object such as a person or obstacle approaches the front bumper 2 and enters the electromagnetic field formation region, the electromagnetic field fluctuates, changing the amplitude and phase of the electrical signal detected by the detection electrode 12, and changing the output of the detection signal from the detector 13. Therefore, by measuring the fluctuation in the output of the detection signal, an object in front of the automobile 1 can be detected. Furthermore, since the electrical signal from the exciter 10 is used as a reference, the amplitude is large and stable, and even slight phase changes in the electrical signal from the detection electrode 12 can be captured with high sensitivity. In particular, by extracting the same frequency component as the output frequency of the exciter 10 from the electrical signal from the detection electrode 12 using a bandpass filter or the like, and applying a process to binarize the extracted signal from a sine wave to a square wave immediately after inputting it to the detector 13, the phase change from the detection electrode 12 can be detected with even higher sensitivity. As a result, objects can be detected stably and with high sensitivity. Furthermore, since the detection signal fluctuates significantly when an object comes into contact with the excitation electrode 11 or the detection electrode 12, it is possible to detect contact with an object. Also, the object detection range is the range in which the electromagnetic field is formed, and this range can be easily set by the range of the excitation electrode 11 and the detection electrode 12. Therefore, the object detection range can be widened, and blind spots can be reduced.

[0037] As described above, the object detection device of the first embodiment can detect objects over a wide area and reduce blind spots. It can also detect objects stably and with high sensitivity. Furthermore, it can detect objects that were difficult to detect with conventional object detection devices such as ultrasonic sensors, such as wire mesh fences with large aperture ratios, thin poles, and sharp-angled objects. Moreover, it can detect objects regardless of the surrounding environment, for example, in windy environments or environments with extremely high or low temperatures.

[0038] (Variation 1) When detecting an object using the object detection device of the first embodiment, a conductive member may be provided at the location of the object to be detected. For example, a metal tape such as Al can be attached to the object to be detected, or conductive paint can be applied. In the object detection device of the first embodiment, the detection sensitivity of metal is high, so by providing a conductive member to the object, object detection becomes more reliable. For example, by attaching Al tape to an obstacle, the approach of the obstacle can be detected with greater accuracy, and a collision between the car 1 and the obstacle can be avoided. Specifically, as shown in Figure 5, this is an example of guiding a car 1 equipped with the object detection device of the first embodiment, which is capable of detecting objects in front of and behind, into a garage 3 surrounded by a U-shaped wall. In this case, by attaching Al tape 14 to the wall surface of the garage 3, the wall surface of the garage 3 can be detected with high sensitivity, and the car 1 can be guided into the garage 3 without coming into contact with the wall surface of the garage 3.

[0039] (Modification 2) In the first embodiment, an object detection device is mounted on the automobile 1 to detect obstacles around the automobile 1. However, the opposite may be true: an object detection device may be mounted on an obstacle around the automobile 1 to detect the automobile 1. For example, as shown in Figure 6, an object detection device 5 of the first embodiment is installed on a wall 4 which is an obstacle. When the object detection device 5 detects the automobile 1, an alarm device 6 alerts the automobile 1 to the approaching wall 4, thereby preventing a collision with the wall 4. In this case, by providing the automobile 1 with a conductive material such as Al tape 14, the automobile 1 can be detected with high sensitivity, similar to the first modification.

[0040] (Variation 3) In the first embodiment, the object detection device was installed on the automobile 1, but the object detection device of the present invention can be installed on any moving or stationary object.

[0041] Figure 7 shows an example of an automated guided vehicle (AGV) 100 equipped with the object detection device of the present invention. As shown in Figure 7, the AGV 100 has a flat base 102 on which a load 101 is placed, wheels 104 are provided on the lower surface of the base 8, and a control unit 103 for controlling the movement of the AGV 100 is provided at the upper end of the base 102. The AGV 100 is also equipped with four object detection devices, and an excitation electrode 11 and a detection electrode 12 are provided on each of the four sides of the base 102. The excitation electrode 11 and detection electrode 12 on the sides of the base 102 can form electromagnetic fields in all four directions (front, rear, right, and left) of the AGV 100, allowing for the detection of obstacles present in all four directions and the detection of the general direction of the obstacle (whether it is in the front, rear, right, or left).

[0042] If it is not necessary to detect the direction of the obstacle, the excitation electrodes 11 and detection electrodes 12 on each side of the base portion 102 may be connected to form a continuous ring, as shown in Figure 8. Although the direction of the obstacle cannot be detected, the presence of the obstacle can be detected.

[0043] Figure 9 shows an example of a robot arm 200 equipped with the object detection device of the present invention. As shown in Figure 9, the robot arm 200 has an arm 201 on the shape of a rectangular parallelepiped, and on the four faces of the arm 201, excitation electrodes 11 are provided on two opposing faces and detection electrodes 12 are provided on the other two faces. By equipping the robot arm 200 with the object detection device of the present invention, it becomes possible to easily detect objects around the robot arm 200, making it possible to avoid collisions between the robot arm 200 and people or objects, or between robot arms 200 themselves. Furthermore, in conventional methods where ultrasonic sensors are provided on the robot arm 200, the detection range is narrow, requiring the provision of many ultrasonic sensors, which increases the weight and inertial force, raising concerns such as deterioration of the controllability of the robot arm 200 or the ultrasonic sensors falling off. However, in the present invention, since the excitation electrodes 11 and detection electrodes 12 are sheet-like and lightweight, the increase in inertial force is minimal, and such concerns are not present.

[0044] (Second Embodiment) The object detection device of the second embodiment, as shown in Figure 10, is configured such that the detection electrode 12 is divided into four detection electrodes 12A to 12D, and four corresponding detectors 13A to 13D are provided for each, while the rest is the same as the first embodiment. The detection electrodes 12A to 12D are each rectangular in shape and are arranged at predetermined intervals in the longitudinal direction of the bumper 2. The detectors 13A to 13D are connected to the detection electrodes 12A to 12D, respectively, and are commonly connected to the exciter 10.

[0045] In the object detection device of the second embodiment, the phase of the electrical signals output by the detection electrodes 12A to 12D changes according to the distance from the object to the detection electrodes 12A to 12D, and the closer the detection electrodes 12A to 12D are to the object, the greater the amount of phase change in the electrical signals output by the detection electrodes 12A to 12D. Therefore, the detection signals output from the detectors 13A to 13D become stronger the closer the corresponding detection electrodes 12A to 12D are to the object. For example, when an obstacle is closest to the detection electrode 12D, the output from the detector 13D is the strongest. In this way, in the object detection device of the second embodiment, the position of the object can be detected because the position of the object corresponds to the position of the detection electrodes 12A to 12D.

[0046] In the second embodiment, an example was shown in which there are four detection electrodes 12 and four detectors 13, but the number is not limited to four; any number of two or more is acceptable.

[0047] (Third embodiment) The third embodiment, as shown in Figure 11, is configured with four exciters 10A to 10D having different frequencies, and excitation electrodes 11A to 11D connected to each of the exciters 10A to 10D, while the rest is the same as the first embodiment. The excitation electrodes 11A to 11D are each rectangular in shape and are arranged at predetermined intervals in the longitudinal direction of the bumper 2. The detector 13 is connected to the detection electrode 12 and to one of the exciters 10A to 10D (referred to as 10D).

[0048] In the object detection device of the third embodiment, the frequencies of the electromagnetic fields output from the excitation electrodes 11A to 11D are different from each other. Hereinafter, the frequencies of the excitation electrodes 11A to 11D will be denoted as f1 to f4. Then, each frequency component (f1 to f4) of the electrical signal output by the detection electrode 12 changes according to the distance from the excitation electrodes 11A to 11D to the object, and in the potential signal output by the detection electrode 12, the output of the frequency component corresponding to the excitation electrodes 11A to 11D that are closer to the object becomes larger. For example, when the obstacle is closest to the excitation electrode 11B, of the four components of the output from the detector 13—f1-f4, f2-f4, f3-f4, and DC (f4-f4)—the frequency f2-f4 has the largest output. In this way, in the object detection device of the second embodiment, each frequency component corresponds to the position of the object to be detected, so the position of the object can be detected.

[0049] In the third embodiment, an example was shown in which there are four exciters 10 and four excitation electrodes 11, but it is not limited to four; any number of two or more is acceptable.

[0050] (Note) (Technical proposal 1) In an object detection device that detects surrounding objects, An exciter that generates an electrical signal of a predetermined frequency, An excitation electrode that is excited by an electrical signal from the aforementioned exciter and generates an electromagnetic field, A detection electrode that detects an electromagnetic field and outputs an electrical signal, A detector that outputs a detection signal which is a difference frequency signal by multiplying the electrical signal from the exciter and the electrical signal from the detection electrode, It has, At least one of the excitation electrode and the detection electrode is provided on an insulator. The object is detected by the fluctuation of the detection signal. An object detection device characterized by the following features. (Technical proposal 2) The object detection device according to Technical Proposal 1, characterized in that the excitation electrode or the detection electrode is composed of two or more conductors that are separated from each other, and these conductors are electrically coupled to each other in a non-contact manner. (Technical proposal 3) The system comprises a plurality of detection electrodes and a plurality of detectors connected to each of the detection electrodes, An object detection device according to Technical Proposal 1 or Technical Proposal 2, characterized in that it detects the position of the object from the detection signals of each of the detectors. (Technical proposal 4) The system comprises a plurality of exciters that generate electrical signals of different frequencies from each other, and a plurality of excitation electrodes connected to each of the exciters. The detector outputs a detection signal, which is a difference frequency signal, by multiplying the electrical signal from one of the exciters with the electrical signal from the detection electrode. An object detection device according to Technical Proposal 1 or Technical Proposal 2, characterized in that it detects the position of the object from the frequency components of the detection signal. (Technical proposal 5) The object detection device is mounted on a vehicle having a bumper, The object detection device according to any one of Technical Proposals 1 to 4, characterized in that the excitation electrode and the detection electrode are provided on the bumper of the vehicle. (Technical proposal 6) The object detection device is mounted on an automated guided vehicle. The aforementioned automated guided vehicle has a base for placing cargo, The object detection device according to any one of Technical Proposals 1 to 4, characterized in that the excitation electrode and the detection electrode are provided on the side of the base portion or on the outer casing of the automated guided vehicle. (Technical proposal 7) The object detection device is mounted on a robot arm, The object detection device according to any one of Technical Proposals 1 to 4, characterized in that the excitation electrode and the detection electrode are provided on the arm of the robot arm. (Technical proposal 8) An object detection system comprising an object detection device described in any one of Technical Proposals 1 to 7, and a conductive member provided on the object to be detected. (Technical proposal 9) The object detection system according to Technical Proposal 8, characterized in that the conductive member is an Al tape. [Industrial applicability]

[0051] This invention can be used to avoid collisions between vehicles and robotic arms. [Explanation of Symbols]

[0052] 1: Automobile 2: Front bumper 10, 10A~10D: Exciter 11, 11A~11D: Excitation electrode 12, 12A~12D: Detection electrodes 13, 13A~13D: Detectors 100: Automated Guided Vehicle 200: Robot Arm

Claims

1. In an object detection device that detects surrounding objects, Multiple exciters that generate electrical signals of different frequencies, Each of the aforementioned exciters is connected to a plurality of excitation electrodes that are excited by an electrical signal from the exciter and generate an electromagnetic field, A detection electrode that detects an electromagnetic field and outputs an electrical signal, A detector that outputs a detection signal which is a difference frequency signal by multiplying the electrical signal from one of the exciters by the electrical signal from the detection electrode, It has, At least one of the excitation electrode and the detection electrode is provided on an insulator. The position of the object is detected from the frequency components of the detection signal. An object detection device characterized by the following features.

2. The object detection device according to claim 1, characterized in that the excitation electrode or the detection electrode is composed of two or more conductors that are separated from each other, and these conductors are electrically coupled to each other in a non-contact manner.

3. The object detection device is mounted on a vehicle having a bumper, The object detection device according to claim 1, characterized in that the excitation electrode and the detection electrode are provided on the bumper of the vehicle.

4. The object detection device is mounted on an automated guided vehicle. The aforementioned automated guided vehicle has a base for placing cargo, The object detection device according to claim 1, characterized in that the excitation electrode and the detection electrode are provided on the side of the base portion or on the outer casing of the automated guided vehicle.

5. The object detection device is mounted on a robot arm, The object detection device according to claim 1, characterized in that the excitation electrode and the detection electrode are provided on the arm of the robot arm.

6. An object detection system comprising an object detection device according to any one of claims 1 to 5, and a conductive member provided on the object to be detected.

7. The object detection system according to claim 6, characterized in that the conductive member is an Al tape.

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