Surroundings monitoring device, mobile body, surroundings monitoring method, and program

Abstract

A surroundings monitoring device (100, 101, 102) comprises: a setting unit (5) that sets a plurality of regions (50a) by dividing a detection region (50) on a travel surface (20) on which a mobile body (1000) is traveling on the basis of at least one of the speed of the mobile body (1000) or the arrangement, on the mobile body (1000), of a plurality of transmission and reception units (1) that transmit sensing waves at mutually different points in time toward the travel surface (20) and receive reflected waves from the travel surface (20); and a generation unit (6) that generates travel surface information indicating at least the type of the travel surface (20) for each of the plurality of regions (50a) on the basis of waveform information indicating changes over time in the intensity of the reflected waves received by the plurality of transmission and reception units (1). This makes it possible to provide the surroundings monitoring device (100, 101, 102) capable of determining the difference in the type of the travel surface (20) even when the type of the travel surface (20) on which the mobile body (1000) is traveling changes within the detection region (50) for the transmission and reception units (1).

Description

Periphery monitoring device, mobile body, periphery monitoring method, and program

[0001] The present disclosure relates to a perimeter monitoring device, a mobile object, a perimeter monitoring method, and a program.

[0002] A technology is known for monitoring the situation around a mobile body by transmitting a search wave from a transmitter / receiver provided in the mobile body toward the area around the mobile body and receiving the reflected wave from the road surface around the mobile body by the transmitter / receiver.

[0003] For example, in the invention described in Patent Document 1, a transmitter / receiver transmits a search wave from a mobile object traveling on a road surface and receives a reflected wave from the road surface. A generator then generates road surface information relating to changes in road surface frictional resistance based on the difference between waveform information indicating changes over time in the intensity of the reflected wave received by the transmitter / receiver and reference waveform information indicating changes over time in the intensity of the reflected wave from a preset road surface. This allows the invention described in Patent Document 1 to use the road surface information for controlling the mobile object, such as for acceleration / deceleration control and steering control, by generating road surface information indicating a decrease in road surface frictional resistance or an increase in road surface frictional resistance.

[0004] Japanese Patent Application Laid-Open No. 2022-122197

[0005] However, the invention described in Patent Document 1 does not take into consideration cases where the type of road surface changes around the mobile body within the detection area, which is the reception range of the reflected wave by the transmitter / receiver. Therefore, even if the type of road surface around the mobile body for which road surface information is generated changes within the detection area of ​​the transmitter / receiver, the invention described in Patent Document 1 cannot generate road surface information for each different type of road surface included in the detection area. Therefore, the invention described in Patent Document 1 has a problem in that it cannot distinguish between different road surface types when the type of road surface around the mobile body changes within the detection area of ​​the transmitter / receiver. Furthermore, even when multiple transmitters / receivers are used, the invention described in Patent Document 1 uses an average value of the reception strength of the reflected wave acquired by the multiple transmitters / receivers when generating road surface information based on multiple waveform information acquired by each of the multiple transmitters / receivers. Therefore, in the invention described in Patent Document 1, if the reception strength of the reflected wave is averaged when the type of road surface around the mobile body changes, the waveform information cannot accurately reflect the difference in the reception strength of the reflected wave depending on the road surface type, making it impossible to distinguish between different road surface types.

[0006] The present disclosure has been made to solve the above-mentioned problems, and aims to provide a perimeter monitoring device that is capable of distinguishing between different types of surfaces on which a moving object is traveling, even when the type of surface changes within the detection area of ​​the transmitter / receiver.

[0007] The surroundings monitoring device of the present disclosure is characterized by comprising: a setting unit that divides the detection area on the traveling surface into multiple regions based on at least one of the arrangement on the traveling body of multiple transmitter / receivers that transmit search waves at different times toward the traveling surface on which the traveling body is traveling and receive reflected waves from the traveling surface, and the speed of the traveling body; and a generation unit that generates traveling surface information that indicates at least the type of traveling surface for each of the multiple regions based on waveform information that indicates the change over time in the intensity of the reflected waves received by the multiple transmitter / receivers.

[0008] In addition, the mobile body according to the present disclosure is characterized by comprising the above-mentioned surroundings monitoring device and a control unit that performs travel control of the mobile body, including at least one of stopping, avoidance, torque control, and acceleration / deceleration, based on travel surface information.

[0009] In addition, the surrounding area monitoring method disclosed herein is characterized by having the steps of: transmitting search waves at different times toward the traveling surface on which the moving body is traveling, and dividing the detection area on the traveling surface into multiple regions based on at least one of the arrangement of multiple transmitter / receivers on the moving body that receive reflected waves from the traveling surface and the speed of the moving body; and generating traveling surface information indicating at least the type of traveling surface for each of the multiple regions based on waveform information indicating the change over time in the intensity of the reflected waves received by the multiple transmitter / receivers.

[0010] In addition, the program of the present disclosure is characterized in that it causes a computer to execute the following steps: transmitting search waves at different times toward a traveling surface on which a moving body is traveling, and dividing the detection area on the traveling surface into multiple regions based on at least one of the arrangement of multiple transmitter / receivers on the moving body that receive reflected waves from the traveling surface and the speed of the moving body; and generating traveling surface information indicating at least the type of traveling surface for each of the multiple regions based on waveform information indicating the change over time in the intensity of the reflected waves received by the multiple transmitter / receivers.

[0011] According to the present disclosure, the perimeter monitoring device, the mobile body, the perimeter monitoring method, and the program are capable of distinguishing between different types of traveling surfaces even when the type of traveling surface on which the mobile body is traveling changes within the detection area of ​​the transmitter / receiver.

[0012] 1 is a configuration diagram of a moving body according to a first embodiment. FIG. 1 is a side view showing an example of the field of view of the transmitting and receiving unit 1 as seen from the side of the moving body according to the first embodiment. FIG. 2 is a top view showing an example of the field of view of the transmitting and receiving unit 1 as seen from the top of the moving body according to the first embodiment. FIG. 3 is a diagram showing an example of waveform information relative to the time of flight of a directly received wave as seen from the side of the moving body according to the first embodiment. FIG. 4 is a diagram showing an example of waveform information relative to the time of flight of an indirectly received wave as seen from the top of the moving body according to the first embodiment. FIG. 5 is a top view showing an example of a detection area on a road surface or floor surface detected by the transmitting and receiving unit according to the first embodiment. FIG. 6 is a top view showing an example of a detection area set up by dividing into a plurality of areas according to the first embodiment. FIG. 7 is a diagram showing an example of waveform information of a directly received wave as a function of the distance between the moving body and a reflection point as seen from the top of the moving body according to the first embodiment. FIG. 8 is a top view showing an example of stop control of a moving body by a control unit according to the first embodiment. FIG. 9 is a top view showing an example of avoidance control of a moving body by a control unit according to the first embodiment. FIG. 10 is a block diagram showing an example of the hardware configuration of each component of the first embodiment. FIG. 11 is a flowchart showing the processing flow of the periphery monitoring device and the control unit according to the first embodiment. FIG. 11 is a configuration diagram of a moving body according to a second embodiment. 10 is a diagram showing an example of waveform information with respect to the time of flight of a directly received wave when an obstacle is present in the detection area of ​​embodiment 2. FIG. 11 is a diagram showing an example of waveform information with respect to the time of flight of an indirectly received wave when an obstacle is present in the detection area of ​​embodiment 2. FIG. 12 is a top view showing a positional relationship with a moving body when an obstacle is present in the detection area of ​​embodiment 2. FIG. 13 is a top view showing an example of an obstacle area in the detection area of ​​embodiment 2. FIG. 14 is a top view showing an example of an obstacle area in the detection area of ​​embodiment 2. FIG. 15 is a top view showing an example of an area behind the obstacle in the detection area of ​​embodiment 2. FIG. 16 is a top view when the detection area of ​​embodiment 2 is set by dividing it into a plurality of areas by left-right dividing boundary lines. FIG. 17 is a top view showing an example of avoidance control of a moving body by a control unit of embodiment 2. FIG. 18 is a flowchart showing the processing flow of a periphery monitoring device and a control unit of embodiment 2. FIG. 19 is a top view showing an example of a detection area set by dividing it into a plurality of areas of embodiment 3.

[0013] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. The following embodiments are merely examples, and the embodiments can be appropriately combined and modified. In the drawings, similar components are designated by the same reference numerals.

[0014] Embodiment 1. A perimeter monitoring device 100 and a mobile object 1000 according to embodiment 1 will be described with reference to FIG. 1. FIG. 1 is a configuration diagram of the mobile object 1000 according to embodiment 1. When the mobile object 1000 travels on an outdoor road surface, it is, for example, a vehicle. When the mobile object 1000 travels on an indoor floor surface, it is, for example, an autonomous mobile robot. The mobile object 1000 is not limited to the above, and may travel on a road surface 20a or a floor surface 20b. The road surface 20a and the floor surface 20b are examples of a traveling surface 20 on which the mobile object 1000 travels. The traveling surface 20 may be any surface on which the mobile object 1000 can travel, such as a wall surface. The traveling surface 20 may be a flat surface, a curved surface, an uneven surface, or the like.

[0015] As shown in FIG. 1 , a mobile object 1000 includes a perimeter monitoring device 100 and a control unit 200. The perimeter monitoring device 100 monitors at least the type of road surface 20a or floor surface 20b around the mobile object 1000. The control unit 200 controls the traveling of the mobile object 1000 based on the road surface information or floor surface information received from the perimeter monitoring device 100. The perimeter monitoring device 100 is connected to a computer network within the mobile object 1000 and can appropriately acquire mobile object information, which is various information related to the mobile object 1000. The road surface information and floor surface information are examples of traveling surface information. The mobile object information includes, for example, information indicating the speed, yaw rate, and steering angle of the mobile object 1000. The computer network is not shown.

[0016] The surroundings monitoring device 100 of the first embodiment includes a transceiver unit 1, an input / output unit 2, a signal processing unit 3, a storage unit 4, a setting unit 5, and a generation unit 6. A plurality of transceivers 1 are provided, and for the sake of simplicity, a first transceiver unit 1a and a second transceiver unit 1b are illustrated in FIG. 1, but the number of transceivers 1 is not limited to the above. Hereinafter, when it is not necessary to distinguish between the plurality of transceivers 1, they will be abbreviated as transceiver unit 1.

[0017] The transmitter / receiver 1 is disposed on the exterior of the mobile body 1000, and transmits a search wave toward the road surface 20a or floor surface 20b on which the mobile body 1000 is traveling. The transmitter / receiver 1 then receives a reflected wave, which is the search wave reflected from the road surface 20a or floor surface 20b around the mobile body 1000. Furthermore, a point on the road surface 20a or floor surface 20b around the mobile body 1000 at which a reflected wave occurs is called a reflection point 22.

[0018] The transmitter / receiver 1 of the first embodiment will be described as an ultrasonic sensor equipped with a vibrator that uses ultrasonic waves as search waves and reflected waves, but is not limited to this. For example, the transmitter / receiver 1 may be a distance measuring sensor such as a millimeter-wave radar or a laser radar. Furthermore, the transmitter / receiver 1 may be a scanning distance measuring sensor that scans with multiple laser beams.

[0019] The transmitter / receiver 1 is connected to the input / output unit 2. The input / output unit 2 outputs a drive signal, which is a signal for driving the transducer, to the transmitter / receiver 1, causing the transmitter / receiver 1 to transmit a search wave. The transmitter / receiver 1 then receives a reflected wave from the road surface 20a or floor surface 20b around the mobile body 1000. At this time, the transmitter / receiver 1 detects vibrations of the transducer caused by the reflected wave, converts the vibrations into electrical signals, and transmits them to the input / output unit 2. The input / output unit 2 transmits the electrical signals received from the transmitter / receiver 1 to the signal processing unit 3.

[0020] The signal processing unit 3 performs amplification, filtering, envelope processing, etc. on the electrical signal received from the input / output unit 2, and generates waveform information that indicates the change over time in the intensity of the reflected wave received by the transmitting / receiving unit 1.

[0021] The input / output unit 2 also outputs drive signals to the multiple transceivers 1 at different output sequences. That is, the input / output unit 2 outputs a drive signal to the first transceiver 1a and does not output a drive signal to the second transceiver 1b until the search wave transmitted by the first transceiver 1a is received by the transceiver 1 as a reflected wave. By transmitting search waves at different timings from the first transceiver 1a and the second transceiver 1b in this manner, mutual interference between the search waves of the first transceiver 1a and the second transceiver 1b can be easily prevented when the sensor fields of view of the first transceiver 1a and the second transceiver 1b overlap. Here, the sensor field of view refers to the transmission range within which the transceiver 1 transmits search waves and the reception range within which the reflected waves are received. The input / output unit 2 may also randomize the output sequence of the drive signals or encode the search wave to identify the transceiver 1 that transmitted the search wave. This allows the input / output unit 2 to prevent search wave interference with other moving objects. In addition, when the input / output unit 2 is composed of two units, such as the first transceiver unit 1a and the second transceiver unit 1b as in this embodiment, the first transceiver unit 1a and the second transceiver unit 1b may alternately transmit search waves.

[0022] The storage unit 4 stores the above-mentioned drive signal output method performed by the input / output unit 2. The input / output unit 2 receives the drive signal output method from the storage unit 4 and outputs the drive signal to the transmitting / receiving unit 1.

[0023] FIG. 2 is a side view showing an example of the field of view of the transmitter / receiver 1 as seen from the side of the moving body 1000 of the first embodiment. FIG. 2 shows coordinate axes of an XYZ Cartesian coordinate system. In FIG. 2, the direction of travel of the moving body 1000 is the Y-axis direction, the direction in which the moving body 1000 moves forward is the +Y-axis direction, and the direction in which the moving body 1000 moves backward is the -Y-axis direction. The left-right direction intersecting the moving body 1000's direction of travel is the X-axis direction, the right direction toward the moving body 1000's forward direction in the moving body's direction of travel is the +X-axis direction, and the left direction toward the moving body 1000's forward direction in the moving body's direction of travel is the -X-axis direction. The height direction of the moving body 1000 is the Z-axis, the direction from the road surface 20a or floor surface 20b toward the moving body 1000 is the +Z-axis direction, and the direction from the moving body 1000 toward the road surface 20a or floor surface 20b is the -Z-axis direction. The coordinate axes of the XYZ Cartesian coordinate system are the same in the following figures. The traveling direction and the left-right direction do not necessarily have to be perpendicular to each other, but may intersect.

[0024] As shown in Fig. 2, the transceiver 1 is placed at a height of 0.4 m from the road surface 20a or the floor surface 20b. The transceiver 1 has a field of view of ±30°, and is set so that the road surface 20a or the floor surface 20b that is 0.5 m or more away from the front of the moving body 1000 falls within the field of view. This allows the transceiver 1 to have a field of view 30, and to transmit a search wave into the field of view 30 and receive a reflected wave from within the field of view 30. The search wave transmitted from the transceiver 1 is reflected at a reflection point 22 and received by the transceiver 1 as a reflected wave. The above setting values ​​are merely examples and are not limiting.

[0025] FIG. 3 is a top view showing an example of the field of view of the transceiver 1 as seen from above the moving body 1000 of the first embodiment. As shown in FIG. 3 , the first transceiver 1a has a field of view 32. The second transceiver 1b has a field of view 34. The first transceiver 1a and the second transceiver 1b are disposed so that the road surface 20a or the floor surface 20b in front of the moving body 1000 is included in each other's field of view. That is, the first transceiver 1a and the second transceiver 1b have an overlapping region 36 where the field of view 32 and the field of view 34 overlap. In FIG. 3 , the first transceiver 1a and the second transceiver 1b are disposed on the front side of the moving body 1000, but the position at which the transceiver 1 is disposed is not limited as long as it can transmit a search wave to the road surface 20a or the floor surface 20b in the traveling direction of the moving body 1000.

[0026] When the first transmitter / receiver 1a transmits a search wave, the search wave propagates through space and is irradiated onto the hatched reflection area 38 on the road surface 20a or floor surface 20b in FIG. 3 . In other words, the area onto which the search wave is irradiated is the reflection area 38. A reflected wave is generated from the reflection point 22 of the reflection area 38 on the road surface 20a or floor surface 20b. The first transmitter / receiver 1a and the second transmitter / receiver 1b receive the reflected wave from the reflection point 22 of the reflection area 38. When the search wave transmitted from the first transmitter / receiver 1a is reflected off the reflection area 38 and the first transmitter / receiver 1a receives the reflected wave, the reflected wave is called a directly received wave 40. When the search wave transmitted from the first transmitter / receiver 1a is reflected off an area of ​​the reflection area 38 that overlaps with the overlap area 36 and the second transmitter / receiver 1b receives the reflected wave, the reflected wave is called an indirectly received wave 42. The indirectly received wave 42 also includes a search wave from the first transmitting / receiving unit 1a that is received by the second transmitting / receiving unit 1b without passing through the road surface 20a or the floor surface 20b.

[0027] In the first embodiment, a case will be mainly described in which the first transceiver 1a transmits a search wave, the first transceiver 1a receives a directly received wave 40, and the second transceiver 1b receives an indirectly received wave 42, but the same applies to a case in which the second transceiver 1b transmits a search wave, the second transceiver 1b receives a directly received wave 40, and the first transceiver 1a receives an indirectly received wave 42. Furthermore, as mentioned above, the number of transceivers 1 is not limited to the above number, and any number can be used.

[0028] As described above, the signal processing unit 3 generates waveform information that indicates changes over time in the intensity of the reflected wave received by the transceiver unit 1. At this time, the signal processing unit 3 generates the waveform information based on both the directly received wave 40 and the indirectly received wave 42. That is, when the first transceiver unit 1a transmits a search wave, the signal processing unit 3 generates waveform information based on both the reflected wave received by the first transceiver unit 1a and the reflected wave received by the second transceiver unit 1b.

[0029] FIG. 4 is a diagram showing an example of waveform information relative to the time of flight of the directly received wave 40 in the first embodiment. That is, FIG. 4 shows waveform information when the first transceiver 1a receives the search wave transmitted by the first transceiver 1a as the directly received wave 40. Also, FIG. 5 is a diagram showing an example of waveform information relative to the time of flight of the indirectly received wave 42 in the first embodiment. That is, FIG. 5 shows waveform information when the second transceiver 1b receives the search wave transmitted by the first transceiver 1a as the indirectly received wave 42. FIGS. 4 and 5 illustrate envelope waveforms showing the change over time in the intensity of the reflected wave received by the transceiver 1. In FIGS. 4 and 5, the horizontal axis represents the time of flight t. Also, the vertical axis represents the intensity of the search wave and the reflected wave transmitted and received by the transceiver 1.

[0030] 4, Peak A represents the search wave transmitted by the first transceiver 1a and the reverberation of the search wave. That is, Peak A indicates that the first transceiver 1a is driven to vibrate, transmitting the search wave, and that the vibration continues while attenuating due to the reverberation. Furthermore, Peak B, observed after Peak A, represents the reception intensity of the direct reception wave 40 that is received by the first transceiver 1a after the search wave transmitted by the first transceiver 1a is reflected by the road surface 20a or floor surface 20b.

[0031] 5, peak C indicates the search wave transmitted by the first transceiver 1a that is received by the second transceiver 1b without passing through the road surface 20a or the floor surface 20b. That is, peak C indicates the reception intensity of the indirectly received wave 42 that is received by the second transceiver 1b directly from the first transceiver 1a. Furthermore, peak D observed after peak C indicates the reception intensity of the indirectly received wave 42 that is the search wave transmitted by the first transceiver 1a that is reflected by the road surface 20a or the floor surface 20b and received by the second transceiver 1b.

[0032] FIG. 6 is a top view showing an example of a detection area 50 on the road surface 20a or floor surface 20b detected by the transceiver 1 according to the first embodiment. As shown in FIG. 6 , the moving body 1000 includes a first transceiver 1a and a second transceiver 1b. Therefore, the detection area 50 on the road surface 20a or floor surface 20b where the transceiver 1 detects reflected waves is set based on the field of view of the first transceiver 1a and the field of view of the second transceiver 1b. The transceiver 1 receives reflected waves reflected from the detection area 50. The detection area 50 on the road surface 20a or floor surface 20b is an area surrounded by a right-end side line 52a, a left-end side line 52b, a near side line 52c, and a far side line 52d. The right-end side line 52a, the left-end side line 52b, the near side line 52c, and the far side line 52d that form the periphery of the detection area 50 may be collectively referred to as lines 52. The lines 52 are imaginary lines used to indicate the detection area 50. The right-end side line 52a is the line on the right side of the lines 52 forming the periphery of the detection area 50 when viewed in the direction in which a search wave is transmitted from the second transmitter / receiver 1b of the mobile body 1000, i.e., the line in the +X-axis direction when viewed in the direction of travel from the mobile body 1000. The left-end side line 52b is the line on the left side of the lines 52 forming the periphery of the detection area 50 when viewed in the direction in which a search wave is transmitted from the first transmitter / receiver 1a of the mobile body 1000, i.e., the line in the −X-axis direction when viewed in the direction of travel from the mobile body 1000. The near side line 52c is the line on the near side of the lines 52 forming the periphery of the detection area 50 when viewed in the direction in which a search wave is transmitted from the transmitter / receiver 1b of the mobile body 1000, i.e., the line in the −Y-axis direction when viewed in the direction of travel from the mobile body 1000. Furthermore, the rear side line 52d is the line 52 that forms the outer periphery of the detection area 50, which is the line that is on the rear side when viewed in the direction in which the search wave is transmitted from the transmitter / receiver unit 1 in the moving body 1000, that is, the line that is in the +Y-axis direction when viewed in the direction of travel from the moving body 1000.

[0033] 7 is a top view showing an example of a detection area 50 set into a plurality of areas 50a according to the first embodiment. The setting unit 5 sets the detection area 50 on the road surface 20a or floor surface 20b detected by the transceiver unit 1 by dividing it into a plurality of areas 50a based on at least one of the arrangement of the transceiver unit 1 on the mobile object 1000 and the speed of the mobile object 1000. The storage unit 4 stores information on the positional relationship between the mobile object 1000 and the detection area 50, transceiver unit information including at least information on the arrangement of the transceiver unit 1 on the mobile object 1000, and information on the maximum speed of the mobile object 1000, and transmits this information to the setting unit 5. The information on the positional relationship between the mobile object 1000 and the detection area 50 is information indicating, for example, the distance from the mobile object 1000 to the detection area 50 set based on the arrangement of the transceiver unit 1 on the mobile object 1000. The setting unit 5 identifies the position of the detection area 50 based on information regarding the positional relationship between the moving object 1000 and the detection area 50, and divides and sets the detection area 50 into a plurality of areas 50a. That is, the setting unit 5 divides the detection area 50, whose position has been identified, into a plurality of areas 50a by dividing the detection area 50 with boundary lines, which will be described later. The information regarding the placement of the transceiver 1 in the moving object 1000 includes information such as the placement positions of the transceivers 1, the number of transceivers 1, and the placement angle. The transceiver information may also include information such as the model number, drive frequency, drive time, drive sequence, directivity of the distance measurement sensor, the minimum detection distance of the distance measurement sensor, and the maximum detection distance of the distance measurement sensor of the transceiver 1.

[0034] As shown in Fig. 7 , the setting unit 5 divides the detection area 50 on the road surface 20a or the floor surface 20b into a plurality of areas 50a using boundary lines extending in the Y-axis direction and the X-axis direction. That is, the setting unit 5 divides the detection area on the road surface 20a or the floor surface 20b into a plurality of areas 50a using a left-right dividing boundary line 60 extending in the traveling direction of the moving object 1000 and a traveling direction dividing boundary line 62 extending in the left-right direction intersecting the traveling direction of the moving object 1000 and intersecting with the left-right dividing boundary line 60. The left-right dividing boundary line 60 extends in the traveling direction of the moving object 1000, but may be any boundary line extending from the front side line 52c to the back side line 52d in Fig. 6 , excluding the right end side line 52a and the left end side line 52b. The traveling direction dividing boundary line 62 extends in the left-right direction intersecting the traveling direction of the moving object 1000, but may be any boundary line extending from the right end side line 52a to the left end side line 52b in FIG. 6 , excluding the front side line 52c and the rear side line 52d. The left-right dividing boundary line 60 and the traveling direction dividing boundary line 62 do not need to be straight lines and may be curved lines. That is, the setting unit 5 is not limited to the division shown in FIG. 7 , and can divide the detection area 50 into multiple areas 50a in any desired division manner. The left-right dividing boundary line 60 and the traveling direction dividing boundary line 62 are virtual lines that indicate that the detection area 50 has been divided into multiple areas 50a.

[0035] In FIG. 7 , the setting unit 5 divides the detection area 50 on the road surface 20a or floor surface 20b of the first transceiver 1a and the second transceiver 1b into three areas in the traveling direction and three areas in the left-right direction using two left-right dividing boundaries 60 and two traveling direction dividing boundaries 62, for a total of nine areas. The intersections of the left-right dividing boundary 60 and the near side line 52c of the detection area 50 are, for example, 0.25 m in the +X-axis direction and 0.25 m in the −X-axis direction, as viewed from a line 54 extending from the center of the main body of the moving body 1000 in the Y-axis direction. The traveling direction dividing boundary 62 is set, for example, at distances of 1.0 m and 1.5 m from the moving body 1000. The setting positions of the left-right dividing boundary 60 and the traveling direction dividing boundary 62 are not limited to the above example. That is, the setting unit 5 may set the number and positions of the left-right dividing boundary 60 based on placement conditions, such as the placement positions and number of the transceivers 1. For example, the setting unit 5 may set a larger number of left-right direction dividing boundaries 60 as the number of transmitter-receivers 1 arranged increases, thereby enabling more accurate discrimination between the types of road surface 20a or floor surface 20b. Furthermore, the setting unit 5 may set the number and setting positions of the traveling direction dividing boundaries 62 based on the maximum speed of the moving body 1000 and the current speed of the moving body 1000 acquired from the computer network of the moving body 1000. For example, the setting unit 5 may set a larger number of traveling direction dividing boundaries 62 as the current speed of the moving body 1000 decreases, thereby enabling more accurate discrimination between the types of road surface 20a or floor surface 20b.

[0036] The setting unit 5 transmits boundary line information relating to information on the left-right dividing boundary lines 60 and the traveling direction dividing boundary lines 62 that set how to divide the detection area 50 to the generation unit 6. The boundary line information includes position information of the detection area 50, which is the range of the road surface 20a or floor surface 20b that can be detected by the transmission / reception unit 1, relative to the moving object 1000, the number of left-right dividing boundary lines 60 and the traveling direction dividing boundary lines 62, and the set positions of each of the left-right dividing boundary lines 60 and the traveling direction dividing boundary lines 62.

[0037] The road surface information generation unit generates road surface information indicating at least the type of road surface for each of the multiple regions 50 a in the detection area 50 set by the setting unit 5, based on the boundary information received from the setting unit 5 and the waveform information received from the signal processing unit 3. Furthermore, the floor surface information generation unit generates floor surface information indicating at least the type of floor for each of the multiple regions 50 a in the detection area 50 set by the setting unit 5, based on the boundary information received from the setting unit 5 and the waveform information received from the signal processing unit 3. In the first embodiment, for ease of explanation, the road surface information generation unit and the floor surface information generation unit are collectively referred to as generation unit 6. Furthermore, the road surface information generation unit may generate road surface information indicating the state of the road surface for each of the multiple regions 50 a in the detection area 50 set by the setting unit 5, based on the boundary information received from the setting unit 5 and the waveform information received from the signal processing unit 3. The floor surface information generation unit may generate floor surface information indicating the state of the floor for each of the multiple regions 50 a in the detection area 50 set by the setting unit 5, based on the boundary information received from the setting unit 5 and the waveform information received from the signal processing unit 3. That is, the generation unit 6 generates the traveling surface information.

[0038] FIG. 8 is a diagram showing an example of waveform information of the directly received wave 40 versus the distance between the moving body 1000 and the reflection point 22 in embodiment 1. That is, FIG. 8 shows waveform information when the first transceiver unit 1a receives the search wave transmitted by the first transceiver unit 1a as the directly received wave 40. FIG. 9 is a diagram showing an example of waveform information of the indirectly received wave 42 versus the distance between the moving body 1000 and the reflection point 22 in embodiment 1. That is, FIG. 9 shows waveform information when the second transceiver unit 1b receives the search wave transmitted by the first transceiver unit 1a as the indirectly received wave 42. In FIGS. 8 and 9 , the horizontal axis represents the distance d from the moving body 1000 to the reflection point 22. The vertical axis represents the intensity of the search wave and the reflected wave transmitted and received by the transceiver unit 1.

[0039] The signal processing unit 3 generates the waveform information shown in Figures 8 and 9 using the waveform information shown in Figures 4 and 5. That is, the signal processing unit 3 converts the intensity of the reflected wave received by the transceiver unit 1 relative to the time of flight into an intensity relative to the distance from the mobile object 1000. A known method such as the time of flight method is used as the conversion method. The time of flight method is a method of measuring the distance from the transceiver unit 1 to the reflection point 22 based on the time of flight from when a search wave is transmitted until it is received by the transceiver unit 1 as a reflected wave and the speed at which the search wave propagates through space. Since this is a known technique, detailed description thereof will be omitted. The signal processing unit 3 transmits waveform information of the intensity of the reflected wave relative to the distance from the mobile object 1000 shown in Figures 8 and 9 to the generation unit 6.

[0040] Furthermore, since the reflection efficiency of the road surface 20a or the floor surface 20b varies depending on the type and condition of the road surface 20a or the floor surface 20b, the flight time t of the search wave may vary depending on the type and condition of the road surface 20a or the floor surface 20b even if the distance is the same. In this case, the memory unit 4 may store the flight time t of the search wave and the distance between the transmitter / receiver 1 and the reflection point 22 in advance, corresponding to each type or condition of the road surface 20a or the floor surface 20b, as data, and transmit this data to the signal processing unit 3. The signal processing unit 3 generates waveform information of the directly received wave 40 and the indirectly received wave 42 relative to the distance between the moving body 1000 and the reflection point 22, as shown in Figures 8 and 9, based on this data and waveform information relative to the flight times of the directly received wave 40 and the indirectly received wave 42 shown in Figures 4 and 5.

[0041] The generation unit 6 generates road surface information or floor surface information based on the received waveform information shown in FIGS. 8 and 9 . That is, the generation unit 6 generates road surface information or floor surface information for each of the multiple regions 50 a within the detection region 50 set by the setting unit 5 based on the waveform information of the directly received wave 40 and the indirectly received wave 42. At this time, the generation unit 6 needs to identify peaks corresponding to each of the multiple regions 50 a in the waveform information shown in FIGS. 8 and 9 . That is, the generation unit 6 identifies which of the multiple regions 50 a the peaks in the waveform information shown in FIGS. 8 and 9 indicate the peaks of the reflected waves from. A method by which the generation unit 6 identifies which of the multiple regions 50 a the peaks in the waveform information shown in FIGS. 8 and 9 indicate the peaks of the reflected waves from will be described below.

[0042] First, a method will be described in which the generation unit 6 identifies, in the waveform information, ranges corresponding to the regions divided in the traveling direction by the traveling direction dividing boundary lines 62 among the multiple regions 50a within the detection region 50. For example, when the generation unit 6 receives information from the setting unit 5 that two traveling direction dividing boundary lines 62 have been set, with distances from the moving body 1000 of 1.0 m and 1.5 m, as shown in FIG. 7 , the generation unit 6 identifies the portions corresponding to the distances from the moving body 1000 of 1.0 m and 1.5 m in the waveform information shown in FIG. 8 and FIG. 9 . Furthermore, the generation unit 6 identifies the portions corresponding to the distance between the front side line 52c and the moving body 1000 in the detection region 50 and the distance between the rear side line 52d and the moving body 1000 in the waveform information shown in FIG. 8 . The generation unit 6 then defines the waveform range 70 from the portion of the detection area 50 corresponding to the distance between the front side line 52c and the moving body 1000 to the portion corresponding to a distance of 1.0 m from the moving body 1000 as a first waveform range 70a, the waveform range 70 from the portion corresponding to a distance of 1.0 m from the moving body 1000 to the portion corresponding to a distance of 1.5 m as a second waveform range 70b, and the waveform range 70 from the portion corresponding to a distance of 1.5 m from the moving body 1000 to the portion corresponding to the distance between the rear side line 52d in the detection area 50 and the moving body 1000 as a third waveform range 70c. Hereinafter, when it is not necessary to distinguish between the multiple waveform ranges 70, they will be abbreviated as waveform range 70.

[0043] 9 , the generation unit 6 similarly identifies a waveform range 70 corresponding to each of the plurality of regions 50a. That is, the generation unit 6 defines the waveform range 70 from a portion of the detection region 50 corresponding to the distance between the near side line 52c and the moving body 1000 to a portion corresponding to a distance of 1.0 m from the moving body 1000 as a fourth waveform range 70d, the waveform range 70 from a portion corresponding to a distance of 1.0 m from the moving body 1000 to a portion corresponding to a distance of 1.5 m from the moving body 1000 as a fifth waveform range 70e, and the waveform range 70 from a portion corresponding to a distance of 1.5 m from the moving body 1000 to a portion corresponding to the distance between the far side line 52d and the moving body 1000 in the detection region 50 as a sixth waveform range 70f. In this way, the generation unit 6 can identify a plurality of regions divided into the detection region 50 in the traveling direction. That is, the generation unit 6 can identify the waveform range 70 in the waveform information for the area divided into three in the traveling direction by two traveling direction dividing boundary lines 62 among the multiple areas 50a shown in Figure 7.

[0044] Next, a method will be described in which the generator 6 identifies, in the waveform information, peaks corresponding to reflected waves from regions divided into multiple regions in the left-right direction by the left-right dividing boundary line 60, among the multiple regions 50a within the detection region 50. The generator 6 can identify the multiple regions divided into multiple regions in the left-right direction by comparing the peak intensities of the waveform information shown in Figures 8 and 9. Here, a comparison between the first waveform range 70a and the fourth waveform range 70d will be described, but the same applies to a comparison between the second waveform range 70b and the fifth waveform range 70e, and a comparison between the third waveform range 70c and the sixth waveform range 70f.

[0045] 7, for example, the angle of the transceiver 1 relative to the road surface 20a or floor surface 20b on the left front and left side of the moving body 1000 in the traveling direction is different between the first transceiver 1a and the second transceiver 1b. Therefore, the reflection intensity of the wave reflected from the road surface 20a or floor surface 20b on the left front and left side of the moving body 1000 in the traveling direction is different between the directly received wave 40 to the first transceiver 1a and the indirectly received wave 42 to the second transceiver 1b. Therefore, for example, in the region between the near side line 52c of the detection area 50 and the traveling direction division boundary line 62 at a distance of 1.0 m from the moving body 1000, the intensity of the peak characteristic of the road surface 20a or floor surface 20b on the left front and left side of the moving body 1000 in the traveling direction is higher in the first waveform range 70a shown in FIG. 8 than in the fourth waveform range 70d shown in FIG. 9.

[0046] 7, the angle seen from the transmitter / receiver 1 with respect to the road surface 20a or floor surface 20b to the right front and right in the direction of travel as seen from the moving body 1000 also differs between the first transmitter / receiver 1a and the second transmitter / receiver 1b. Therefore, for example, in the region between the near side line 52c of the detection area 50 and the traveling direction dividing boundary line 62 at a distance of 1.0 m from the moving body 1000, the intensity of the peak indicating the characteristics of the road surface 20a or floor surface 20b to the right front and right in the direction of travel as seen from the moving body 1000 is higher in the fourth waveform range 70d shown in FIG. 9 than in the first waveform range 70a shown in FIG.

[0047] 7, the angle as seen from the transmitter / receiver 1 with respect to the road surface 20a or floor surface 20b in front of the moving body 1000 in the direction of travel is equivalent between the first transmitter / receiver 1a and the second transmitter / receiver 1b. Therefore, for example, in the region between the near side line 52c of the detection area 50 and the traveling direction division boundary line 62 at a distance of 1.0 m from the moving body 1000, the intensity of the peaks characteristic of the road surface 20a or floor surface 20b in front of the moving body 1000 in the direction of travel is equivalent in the first waveform range 70a shown in FIG. 8 and the fourth waveform range 70d shown in FIG. 9.

[0048] The correspondence between the difference in peak intensity indicating the characteristics of the road surface 20a or the floor surface 20b in the waveform information of FIGS. 8 and 9 and the distance to the road surface or the floor surface from the line 54 extending from the center of the body of the moving body 1000 in the Y-axis direction is experimentally measured in advance and stored as data in the storage unit 4. That is, the generation unit 6 measures the difference in peak intensity indicating the characteristics of the road surface 20a or the floor surface 20b in the waveform information of FIGS. 8 and 9 and compares it with the data received from the storage unit 4, thereby determining which of the multiple regions 50a in the detection area 50 in the left-right direction includes the road surface or the floor surface 20b. This allows the generation unit 6 to identify the multiple regions divided into the detection area 50 in the left-right direction. That is, the generation unit 6 can identify waveform peaks indicating each of the three regions divided into the left-right direction by the two left-right dividing boundary lines 60 among the multiple regions 50a shown in FIG. 7.

[0049] Next, another method will be described in which the generator 6 identifies, in the waveform information, peaks corresponding to reflected waves from regions divided horizontally by the horizontal dividing boundary line 60 among the multiple regions 50a within the detection region 50. For example, in the region between the near side line 52c of the detection region 50 shown in Fig. 7 and the traveling direction dividing boundary line 62 at a distance of 1.0 m from the moving body 1000, if the road surface 20a or floor surface 20b to the left front of the moving body 1000 in the traveling direction is outside the field of view of the second transmitter / receiver 1b, the intensity of the peak indicating the characteristics of the road surface or floor surface will be observed in the first waveform range 70a shown in Fig. 8 but will not be observed in the fourth waveform range 70d shown in Fig. 9. In this case, the generation unit 6 may determine, based on the fact that a peak indicating the characteristics of the road surface 20a or floor surface 20b is observed in the first waveform range 70a shown in Fig. 8 but not in the fourth waveform range 70d shown in Fig. 9, that the peak corresponds to a peak from the road surface 20a or floor surface 20b on the left front side in the traveling direction as seen from the moving body 1000, in the region between the near side line 52c of the detection area 50 shown in Fig. 7 and the traveling direction division boundary line 62 at a distance of 1.0 m from the moving body 1000. That is, in this case, the generation unit 6 generates road surface information or floor surface information for the road surface 20a or floor surface 20b on the left front side in the traveling direction as seen from the moving body 1000, based on the peaks in the first waveform range 70a, the second waveform range 70b, and the third waveform range 70c.

[0050] Furthermore, for example, in the area between the near side line 52c of the detection area 50 shown in Figure 7 and the traveling direction dividing boundary line 62 at a distance of 1.0 m from the moving body 1000, if the road surface 20a or floor surface 20b to the right front of the traveling direction as seen from the moving body 1000 is outside the field of view of the first transceiver unit 1a, the intensity of the peak indicating the characteristics of the road surface or floor surface will be observed in the fourth waveform range 70d shown in Figure 9, and will not be observed in the first waveform range 70a shown in Figure 8. In this case, the generation unit 6 may determine, based on the fact that a peak indicating the characteristics of the road surface 20a or the floor surface 20b is observed in the fourth waveform range 70d shown in Fig. 9 but not in the first waveform range 70a shown in Fig. 8, that the peak corresponds to a peak from the road surface 20a or the floor surface 20b to the right front in the traveling direction as seen from the moving body 1000, in the region between the near side line 52c of the detection area 50 shown in Fig. 7 and the traveling direction division boundary line 62 at a distance of 1.0 m from the moving body 1000. That is, in this case, the generation unit 6 generates road surface information or floor surface information for the road surface 20a or the floor surface 20b to the right front in the traveling direction as seen from the moving body 1000, based on the peaks in the fourth waveform range 70d, the fifth waveform range 70e, and the sixth waveform range 70f.

[0051] Furthermore, for example, in the area between the near side line 52c of the detection area 50 shown in Figure 7 and the traveling direction dividing boundary line 62 at a distance of 1.0 m from the moving body 1000, the first transmitting / receiving unit 1a and the second transmitting / receiving unit 1b share a field of view for the road surface 20a or floor surface 20b directly in front of the moving body 1000 in the traveling direction, and therefore, in the first waveform range 70a shown in Figure 8 and the fourth waveform range 70d shown in Figure 9, the intensity of the peak indicating the characteristics of the road surface or floor surface is observed. In this case, based on the fact that a peak indicating the characteristics of the road surface 20a or floor surface 20b is observed in both the first waveform range 70a shown in Fig. 8 and the fourth waveform range 70d shown in Fig. 9, the generation unit 6 may determine that the peak corresponds to a peak from the road surface 20a or floor surface 20b directly in front of the moving body 1000 in the traveling direction, in the region between the near side line 52c of the detection area 50 shown in Fig. 7 and the traveling direction division boundary line 62 at a distance of 1.0 m from the moving body 1000. That is, in this case, the generation unit 6 generates road surface information or floor surface information for the road surface 20a or floor surface 20b directly in front of the moving body 1000 in the traveling direction, based on the peaks in the first waveform range 70a, the second waveform range 70b, the third waveform range 70c, the fourth waveform range 70d, the fifth waveform range 70e, and the sixth waveform range 70f.

[0052] As described above, the generation unit 6 identifies which of the multiple regions 50a a peak in the waveform information shown in Figures 8 and 9 comes from. That is, the generation unit 6 sets multiple waveform ranges 70 based on the distance from the moving body 1000 to the front side line 52c and the back side line 52d of the detection region 50 and the distance from the moving body 1000 to the traveling direction division boundary line 62 set by the setting unit 5, thereby identifying, in the waveform information, a range corresponding to one of the multiple regions 50a in the detection region 50 divided into multiple regions in the traveling direction by the traveling direction division boundary line 62. Furthermore, the generation unit 6 identifies, based on the correspondence between the difference in peak intensity indicating the characteristics of the road surface 20a or the floor surface 20b in the waveform information shown in Figures 8 and 9 and the distance from the line 54 extending from the body center of the moving body 1000 in the Y-axis direction to the road surface or the floor surface, a peak in the waveform information comes from which of the multiple regions 50a in the detection region 50 divided into multiple regions in the left-right direction by the left-right division boundary line 60 a reflected wave.

[0053] The method by which the generator 6 identifies the peaks corresponding to the multiple regions 50 a is not limited to the above example, and any method may be used as long as it can identify peaks corresponding to the reflected waves from each of the multiple regions 50 a in the waveform information. The number of waveform ranges 70 shown in Figures 8 and 9 is merely an example and is not limited to the above. That is, the generator 6 identifies the number of waveform ranges 70 corresponding to the number of travel direction division boundaries 62.

[0054] The generator 6 generates road surface information or floor surface information for each peak in the waveform information that is identified as corresponding to a reflected wave from each of the multiple regions 50 a. That is, the generator 6 generates road surface information or floor surface information for each of the multiple regions 50 a set by the setting unit 5.

[0055] The reflection efficiency of the search wave transmitted from the transmitter / receiver 1 when reflected by the road surface 20a or floor surface 20b depends on the temperature and humidity of the road surface 20a or floor surface 20b. Generally, the reflection efficiency is higher when the road surface 20a or floor surface 20b is hard and lower when the road surface 20a or floor surface 20b is soft. Furthermore, the number of reflection points 22 increases when the road surface 20a or floor surface 20b is rough, while the number of reflection points 22 decreases when the road surface 20a or floor surface 20b is smooth. Therefore, the intensity of the reflected wave scattered at the reflection points 22 also changes depending on the roughness of the road surface 20a or floor surface 20b. For example, the more reflection points 22 there are, the higher the intensity of the reflected wave, and the fewer reflection points 22 there are, the lower the intensity of the reflected wave. Therefore, it can be seen that the reception intensity of the reflected wave from the road surface 20a or floor surface 20b represents the characteristics of each road surface or floor surface.

[0056] The generator 6 extracts a feature of the reception intensity of the reflected wave for each of the plurality of regions 50a based on the waveform information, and generates road surface information or floor surface information by inputting the extracted feature to a classifier that has previously learned the relationship between the feature and at least one of the road surface information and the floor surface information. That is, the generator 6 extracts a feature for each peak identified in the waveform information as corresponding to each of the plurality of regions 50a. The feature is at least one of the number of peaks of the reflected wave, the average value of the peak intensity of the reflected wave, the standard deviation of the peak intensity, the average value of the peak positions in the waveform information, the standard deviation of the peak positions, and the integral value of the waveform for each of the plurality of regions 50a.

[0057] The storage unit 4 stores a pre-trained classifier and causes the generation unit 6 to acquire the classifier. The generation unit 6 inputs the extracted feature amounts into the classifier, and determines at least the road surface type and floor surface type for each of the multiple regions 50a, and also determines the state of the road surface 20a or the floor surface 20b. Examples of road surface types include concrete, puddles, sand, mud, grass, asphalt, etc. Examples of floor surface types include floor tiles, carpet, and mats. The state of the road surface 20a or the floor surface 20b includes the state of the road surface 20a or the floor surface 20b compared to a standard road surface 20a or floor surface 20b, such as high viscosity, wet, or dry. The classifier learns feature amounts for each road surface type, each floor surface type, or each state of the road surface 20a or the floor surface 20b based on a data set collected in advance, and the generation unit 6 inputs the extracted feature amounts into the classifier to at least determine the road surface type and floor surface type for each of the multiple regions 50a, and can also determine the state of the road surface 20a or the floor surface 20b. That is, the generation unit 6 determines at least the road surface type for each of the multiple regions 50a, and also determines the state of the road surface 20a, thereby generating the road surface type and the state of the road surface 20a as road surface information for each of the multiple regions 50a. The generation unit 6 also determines the floor surface type for each of the multiple regions 50a, and also determines the state of the floor surface 20b, and generates the floor surface type and the state of the floor surface 20b as floor surface information for each of the multiple regions 50a. Note that, since the type of the running surface 20 greatly contributes to the characteristics of the running surface 20, the generating unit 6 only needs to generate road surface information or floor surface information (i.e., running surface information) that indicates at least the road surface type or floor surface type. It is preferable that the state of the road surface 20a or floor surface 20b (i.e., the running surface 20) is included in the road surface information or floor surface information (i.e., running surface information), since this enables the moving body 1000 to be controlled with higher accuracy.

[0058] The generation unit 6 transmits the generated road surface information or floor surface information to the input / output unit 2. The input / output unit 2 transmits the received road surface information or floor surface information to the control unit 200. The road surface information generated by the generation unit 6 may include information that the road surface is a travel-impeding road surface, such as a puddle or mud, that impedes travel of the mobile object 1000. Furthermore, the floor surface information generated by the generation unit 6 may include information that the floor surface is a travel-impeding floor surface that impedes travel of the mobile object 1000, such as a carpet that may be turned up, causing the mobile object 1000 to fall over.

[0059] The control unit 200 controls the traveling of the mobile object 1000 based on the road surface information or floor surface information received from the input / output unit 2. The traveling control of the mobile object 1000 includes, for example, at least one of stopping, avoidance, torque control, and acceleration / deceleration.

[0060] FIG. 10 is a top view showing an example of stop control of the moving body 1000 by the control unit 200 according to the first embodiment. In FIG. 10 , the hatched area, i.e., the area between the near side line 52 c of the detection area 50 and the traveling direction dividing boundary line 62 at a distance of 1.0 m from the moving body 1000, is determined to be a traveling obstruction area 80 consisting of a traveling obstruction road surface or a traveling obstruction floor surface. The generation unit 6 includes information indicating that the area is a traveling obstruction area 80 in road surface information or floor surface information, and transmits the information to the input / output unit 2. The input / output unit 2 transmits the road surface information or floor surface information to the control unit 200. Since the area between the near side line 52 c of the detection area 50 and the traveling direction dividing boundary line 62 at a distance of 1.0 m from the moving body 1000 is a traveling obstruction area 80, the control unit 200 determines that the moving body 1000 cannot pass through the area, and controls the moving body 1000 to stop in front of the near side line 52 c of the detection area 50 in the traveling direction. In this case, the control unit 200 may issue a notification to the driver of the mobile body 1000 urging the driver to stop, thereby causing the driver to perform stop control of the mobile body 1000. The notification method by the control unit 200 is not particularly limited, and may be a voice, a character, an alarm, or the like.

[0061] 11 is a top view showing an example of avoidance control performed by the control unit 200 of the first embodiment when the moving body 1000 is traveling. In FIG. 11 , in the hatched area, i.e., the area between the near side line 52c of the detection area 50 and the traveling direction dividing boundary line 62 at a distance of 1.0 m from the moving body 1000, the area in front of and to the right of the moving body 1000 is a traveling obstruction area 80. The generation unit 6 includes in the road surface information or floor surface information a notification that the area in front of and to the right of the moving body 1000 in the traveling direction is a traveling obstruction area 80, and transmits the information to the input / output unit 2. The input / output unit 2 transmits the road surface information or floor surface information to the control unit 200. In the area between the near side line 52c of the detection area 50 and the traveling direction dividing boundary line 62 at a distance of 1.0 m from the moving body 1000, the area located to the left front of the moving body 1000 in the traveling direction is an area in which the moving body 1000 can travel, so the control unit 200 controls the traveling of the moving body 1000 to avoid the traveling-impeding road surface or traveling-impeding floor surface located in front of and to the right front of the moving body 1000, and travel through the area located to the left front of the moving body 1000, as shown by the arrow in Figure 11.

[0062] Furthermore, when the road surface 20 a or the floor surface 20 b is vehicular and the road surface type and floor surface type vary for each of the multiple regions 50 a, the control unit 200 may perform torque control so that the torque becomes an optimal value depending on the road surface type and floor surface type when the mobile object 1000 travels on the boundary between the multiple regions 50 a. Furthermore, when the road surface 20 a or the floor surface 20 b is vehicular and the road surface information or floor surface information includes information indicating the state of the road surface 20 a or the floor surface 20 b, and the road surface type, floor surface type, and state of the road surface 20 a or the floor surface 20 b vary for each of the multiple regions 50 a, the control unit 200 may perform torque control so that the torque becomes an optimal value depending on the road surface type, floor surface type, and state of the road surface 20 a or the floor surface 20 b when the mobile object 1000 travels on the boundary between the multiple regions 50 a. For example, when the mobile body 1000 moves from a hard road surface 20a or floor surface 20b to a smoother, slippery road surface 20a or floor surface 20b, the control unit 200 performs torque control to a value suitable for traveling on the smooth road surface or floor surface, thereby preventing the mobile body 1000 from slipping and falling over. Furthermore, the control unit 200 may accelerate or decelerate the mobile body 1000, for example, by reducing the speed of the mobile body 1000 when the mobile body 1000 travels on the road surface 20a or floor surface 20b on which there is a possibility of the mobile body 1000 slipping and then increasing the speed of the mobile body 1000 when the mobile body 1000 has finished traveling on the road surface or floor surface.

[0063] Next, an example of the hardware configuration of each component in the first embodiment, namely, the transmitter / receiver 1, the input / output unit 2, the signal processing unit 3, the storage unit 4, the setting unit 5, the generation unit 6, and the control unit 200, will be described. Fig. 12 is a block diagram showing an example of the hardware configuration of each component in the first embodiment. The following description also applies to the obstacle detection unit 7 and the obstacle information generation unit 8 described later. Each component in the first embodiment may be a processing circuit 90 that is dedicated hardware as shown in Fig. 12A, or may be a processor 92 that executes a program stored in a memory 94 as shown in Fig. 12B.

[0064] 12A, when each component in the first embodiment is dedicated hardware, the processing circuit 90 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination thereof. The functions of each component in the first embodiment may be realized by the processing circuit 90, or the functions of each unit may be realized by a single processing circuit 90.

[0065] As shown in FIG. 12B , when each component in the first embodiment is a processor 92, the function of each unit is realized by software, firmware, or a combination of software and firmware. The software or firmware is written as a program and stored in memory 94. The processor 92 realizes each function of each component in the first embodiment by reading and executing the program stored in memory 94. That is, each component in the first embodiment includes memory 94 for storing a program that, when executed by the processor 92, results in the execution of each step shown in FIGS. 13 , 22 , and 24 , which will be described later. It can also be said that these programs cause a computer to execute the procedure or method of each component in the first embodiment.

[0066] Here, the processor 92 refers to, for example, a CPU (Central Processing Unit), processing device, arithmetic device, processor, microprocessor, microcomputer, or DSP (Digital Signal Processor). The memory 94 may be, for example, a non-volatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable ROM), or EEPROM (Electrically EPROM), a magnetic disk such as a hard disk or a flexible disk, or an optical disk such as a minidisc, CD (Compact Disc), or DVD (Digital Versatile Disc).

[0067] Note that the functions of the components in the first embodiment may be partially implemented by dedicated hardware and partially implemented by software or firmware. In this way, the processing circuitry 90 in the first embodiment can implement the above-described functions by hardware, software, firmware, or a combination thereof.

[0068] Next, a description will be given of the processing flow of the periphery monitoring device 100 and the control unit 200 in the embodiment 1. Fig. 13 is a flowchart showing the processing flow of the periphery monitoring device 100 and the control unit 200 in the embodiment 1.

[0069] In step S101, the setting unit 5 divides the detection area 50 on the road surface 20a or the floor surface 20b into multiple areas 50a using the left-right dividing boundary line 60 and the traveling direction dividing boundary line 62 based on at least one of the arrangement of the transmitter-receiver 1 on the moving object 1000 and the speed of the moving object 1000. The setting unit 5 also transmits boundary line information relating to the set left-right dividing boundary line 60 and the traveling direction dividing boundary line 62 to the generation unit 6. Note that the order of step S101 is not limited to this, and it may be performed before the generation unit 6 generates the road surface information or the floor surface information in step S105.

[0070] In step S102 , the input / output unit 2 receives the drive signal output method stored in the storage unit 4 and outputs the drive signal to the transmission / reception unit 1 .

[0071] In step S103, the transmitter / receiver 1 transmits a search wave to the road surface 20a or floor surface 20b on which the mobile object 1000 is traveling, based on the drive signal received from the input / output unit 2. The transmitter / receiver 1 also receives a reflected wave from the road surface 20a or floor surface 20b on which the mobile object 1000 is traveling. The transmitter / receiver 1 then detects vibrations of the transducer caused by the reflected wave, converts the vibrations into electrical signals, and transmits them to the input / output unit 2. The input / output unit 2 transmits the electrical signals received from the transmitter / receiver 1 to the signal processing unit 3.

[0072] In step S104, the signal processing unit 3 performs amplification, filtering, envelope processing, etc. on the electrical signal received from the input / output unit 2 to generate waveform information indicating changes over time in the intensity of the reflected wave received by the transmitter / receiver 1. At this time, the signal processing unit 3 generates the waveform information based on both the directly received wave 40 and the indirectly received wave 42. The signal processing unit 3 transmits the waveform information to the generator 6.

[0073] In step S105, the generation unit 6 generates road surface information indicating at least the type of road surface, or floor surface information indicating at least the type of floor surface, for each of the multiple regions 50a within the detection region 50 set by the setting unit 5, based on the boundary information received from the setting unit 5 and the waveform information received from the signal processing unit 3. At this time, the generation unit 6 identifies which of the multiple regions 50a a peak in the waveform information corresponds to. Then, the generation unit 6 extracts feature amounts for each of the multiple regions 50a based on the waveform information, and inputs the feature amounts to a pre-trained classifier to generate road surface information or floor surface information. The generation unit 6 transmits the generated road surface information or floor surface information to the input / output unit 2. Furthermore, the input / output unit 2 transmits the road surface information or floor surface information to the control unit 200.

[0074] In step S106, the control unit 200 controls the traveling of the moving object 1000 based on the road surface information or floor surface information received from the input / output unit 2. The traveling control of the moving object 1000 includes, for example, at least one of stopping, avoidance, torque control, and acceleration / deceleration. This concludes the description of the processing flow of the periphery monitoring device 100 and the control unit 200 in the first embodiment.

[0075] As described above, the periphery monitoring device 100 in the first embodiment includes a setting unit 5 that divides the detection area 50 on the traveling surface 20 into a plurality of areas 50a based on at least one of the speed of the mobile body 1000 and the arrangement, on the mobile body 1000, of a plurality of transmitting / receiving units 1 that transmit search waves at different timings toward the traveling surface 20 on which the mobile body 1000 is traveling and receive reflected waves from the traveling surface 20, and a generation unit 6 that generates traveling surface information indicating at least the type of the traveling surface 20 for each of the plurality of areas 50a based on waveform information that indicates changes over time in the intensity of the reflected waves received by the plurality of transmitting / receiving units 1. With the above configuration, the periphery monitoring device 100 in the first embodiment can generate road surface information or floor surface information of the detection area 50 for each of the plurality of areas 50a, and therefore can generate road surface information or floor surface information for each of different types of areas even if the type and condition of the road surface or the type and condition of the floor surface changes between each of the plurality of areas 50a. As a result, the periphery monitoring device 100 in the first embodiment can distinguish between the types and conditions of the road surface 20a or the floor surface 20b, which is the traveling surface 20 around the mobile object 1000, even when the type or condition of the road surface 20a or the floor surface 20b changes. Furthermore, the periphery monitoring device 100 in the first embodiment generates road surface information or floor surface information for each of the multiple regions 50a based on waveform information indicating changes over time in the intensity of the reflected wave received by the transmitter / receiver 1. This eliminates the need for additional sensors such as imaging devices, and allows for a simpler configuration to distinguish between the types and conditions of the road surface 20a or the floor surface 20b. The generating unit 6 in the first embodiment is only required to generate road surface information or floor surface information indicating at least the type of the road surface 20a or the floor surface 20b. Therefore, the periphery monitoring device 100 in the first embodiment is configured to be able to distinguish between the types of at least the road surface 20a or the floor surface 20b, even when the type of at least the road surface 20a or the floor surface 20b around the mobile object 1000 changes. In other words, the perimeter monitoring device 100 in embodiment 1 can distinguish the difference in the type of at least the road surface 20a or floor surface 20b around the moving body 1000, even if the type of at least the road surface 20a or floor surface 20b changes within the detection area 50 of the transmitter / receiver 1.

[0076] Furthermore, the multiple transmitter / receivers 1 of the first embodiment include a first transmitter / receiver 1a and a second transmitter / receiver 1b, and the reflected waves include a directly received wave 40 that is a search wave transmitted by the first transmitter / receiver 1a and received by the first transmitter / receiver 1a, which is a reflected wave from the traveling surface 20, and an indirectly received wave 42 that is a search wave transmitted by the first transmitter / receiver 1a and received by the second transmitter / receiver 1b, which is a reflected wave from the traveling surface 20, and the generator 6 generates traveling surface information that indicates at least the type of the traveling surface 20 for each of the multiple regions 50a based on waveform information of the directly received wave 40 and the indirectly received wave 42. With the above configuration, the periphery monitoring device 100 of the first embodiment can suppress mutual interference between the search waves of the first transmitter / receiver 1a and the second transmitter / receiver 1b when the fields of view of the first transmitter / receiver 1a and the second transmitter / receiver 1b overlap. Furthermore, because the perimeter monitoring device 100 of the first embodiment uses waveform information of both the directly received wave 40 and the indirectly received wave 42, the amount of information obtained per transmission of a search wave can be increased compared to when only waveform information of the directly received wave 40 is used. Furthermore, the perimeter monitoring device 100 of the first embodiment can capture not only changes in the reflection characteristics of the reflected wave in the transmission direction in which the search wave is transmitted as seen from the transmitter / receiver 1, i.e., the traveling direction of the mobile object 1000 in FIG. 3 , but also changes in the reflection characteristics of the reflected wave in a direction perpendicular to the transmission direction in which the search wave is transmitted as seen from the transmitter / receiver 1, i.e., the left / right direction intersecting the traveling direction of the mobile object 1000 in FIG. 3 . As a result, the perimeter monitoring device 100 of the first embodiment can identify peaks in the waveform information that correspond to multiple regions divided in the left / right direction by the left / right dividing boundary line 60 out of the multiple regions 50 a within the detection area 50 set by the setting unit 5, and can generate road surface information or floor surface information of the detection area 50 for each of the multiple regions 50 a.

[0077] Furthermore, the setting unit 5 of the first embodiment sets the detection area on the travel surface 20 into a plurality of regions 50a using a left-right dividing boundary line 60 extending in the traveling direction of the moving body 1000 and a traveling direction dividing boundary line 62 extending in the left-right direction intersecting the traveling direction of the moving body 1000 and intersecting the left-right dividing boundary line 60. With the above configuration, the periphery monitoring device 100 of the first embodiment can set the detection area 50 into a plurality of regions 50a in the traveling direction of the moving body 1000 and in the left-right direction intersecting the traveling direction of the moving body 1000. This allows the detection area 50 to be divided more finely than when the detection area 50 is set into a plurality of regions 50a only in the traveling direction of the moving body 1000 or only in the left-right direction intersecting the traveling direction of the moving body 1000. As a result, the periphery monitoring device 100 of the first embodiment can more accurately distinguish between the types and conditions of the road surface 20a or the floor surface 20b because the number of regions 50a increases.

[0078] Furthermore, the generating unit 6 in the first embodiment extracts feature quantities from the reception intensity data for each of the plurality of regions 50a in the detection region 50 set by the setting unit 5 based on the waveform information, and inputs the feature quantities into a classifier that has previously learned the relationship between the feature quantities and the traveling surface information, thereby generating road surface information or floor surface information. With the above configuration, the periphery monitoring device 100 in the first embodiment can generate road surface information or floor surface information for each of the plurality of regions 50a based on the feature quantities for each of the plurality of regions 50a, thereby generating road surface information or floor surface information for each of the regions of different types or conditions. This allows the periphery monitoring device 100 in the first embodiment to distinguish between the types and conditions of the road surface 20a or the floor surface 20b around the mobile object 1000, even when the types and conditions of the road surface 20a or the floor surface 20b change. In addition, the generation unit 6 in embodiment 1 only needs to generate road surface information or floor surface information indicating the type of at least the road surface 20a or floor surface 20b, and the periphery monitoring device 100 in embodiment 1 is configured to be able to determine the type of at least the road surface 20a or floor surface 20b even if the type of at least the road surface 20a or floor surface 20b around the moving body 1000 changes.

[0079] Furthermore, the feature quantity in the first embodiment is at least one of the number of peaks of the reflected wave, the average value of the peak intensity of the reflected wave, the standard deviation of the peak intensity, the average value of the peak positions in the waveform information, the standard deviation of the peak positions, and the integral value of the waveform, for each of the multiple regions 50a. With the above configuration, the periphery monitoring device 100 in the first embodiment can generate road surface information or floor surface information for each of the multiple regions 50a based on the features of each of the multiple regions 50a, thereby generating road surface information or floor surface information for each of the regions of different types or conditions. This allows the periphery monitoring device 100 in the first embodiment to distinguish between different types or conditions of the road surface 20a or the floor surface 20b around the mobile object 1000, even when the type or condition of the road surface 20a or the floor surface 20b changes. In addition, the generation unit 6 in embodiment 1 only needs to generate road surface information or floor surface information indicating the type of at least the road surface 20a or floor surface 20b, and the periphery monitoring device 100 in embodiment 1 is configured to be able to determine the type of at least the road surface 20a or floor surface 20b even if the type of at least the road surface 20a or floor surface 20b around the moving body 1000 changes.

[0080] Furthermore, the mobile body 1000 of the first embodiment includes the periphery monitoring device 100 and a control unit 200 that performs travel control of the mobile body 1000, including at least one of stopping, avoidance, torque control, and acceleration / deceleration, based on the road surface information and floor surface information generated for each of the plurality of regions 50 a. With the above configuration, the mobile body 1000 of the first embodiment can stop before entering a travel-obstructing road surface or a travel-obstructing floor surface, and can avoid the travel-obstructing road surface or floor surface in a direction in which it can travel. Furthermore, in a case where the road surface 20 a or the floor surface 20 b is vehicular, the road surface information or the floor surface information includes information indicating the state of the road surface 20 a or the floor surface 20 b, and the road surface type, the floor surface type, and the state of the road surface 20 a or the floor surface 20 b vary for each of the plurality of regions 50 a, the control unit 200 of the first embodiment may perform torque control or acceleration / deceleration of the mobile body 1000 to achieve optimal values ​​according to the road surface type, the floor surface type, and the state of the road surface 20 a or the floor surface 20 b when the mobile body 1000 travels across the boundary between the plurality of regions 50 a. As a result, for example, when the mobile body 1000 of the first embodiment moves from a hard road surface 20 a or a floor surface 20 b to a smoother, slippery road surface 20 a or a floor surface 20 b, the control unit 200 may perform torque control or acceleration / deceleration of the mobile body 1000 to achieve values ​​suitable for traveling on the smooth road surface or the smoother floor, thereby preventing the mobile body 1000 from slipping and tipping over. The generation unit 6 in embodiment 1 is only required to generate road surface information or floor surface information indicating at least the type of road surface 20a or floor surface 20b, and the control unit 200 in embodiment 1 may perform torque control so that, when the road surface 20a or floor surface 20b is drivable and the road surface type and floor surface type vary for each of the multiple regions 50a, the torque is optimally controlled according to the road surface type and floor surface type when the mobile body 1000 travels on the boundary between the multiple regions 50a.

[0081] The periphery monitoring method of the first embodiment also includes the steps of: transmitting search waves at different timings toward a traveling surface 20 on which the mobile object 1000 is traveling, and dividing a detection area 50 on the traveling surface 20 into a plurality of areas 50a based on at least one of the speed of the mobile object 1000 and an arrangement, on the mobile object 1000, of a plurality of transmitting and receiving units 1 that receive reflected waves from the traveling surface 20; and generating, for each of the plurality of areas 50a, traveling surface information that indicates at least the type of the traveling surface 20, based on waveform information that indicates a change over time in the intensity of the reflected waves received by the plurality of transmitting and receiving units 1. As a result, the periphery monitoring method of the first embodiment can distinguish between the types and conditions of the road surface 20a or floor surface 20b around the mobile object 1000, even when the types and conditions of the road surface 20a or floor surface 20b change. In addition, the perimeter monitoring method of embodiment 1 only needs to include a step of generating road surface information or floor surface information that indicates at least the type of road surface 20a or floor surface 20b, and the perimeter monitoring method of embodiment 1 is configured to be able to determine at least the type of road surface 20a or floor surface 20b even if the type of at least the road surface 20a or floor surface 20b around the moving body 1000 changes within the detection area 50 of the transmitter / receiver 1.

[0082] The program of the first embodiment also causes a computer to execute the following steps: transmitting search waves at different timings toward the traveling surface 20 on which the mobile object 1000 is traveling, and dividing the detection area 50 on the traveling surface 20 into multiple areas 50a based on at least one of the arrangement of multiple transmitter / receivers 1 on the mobile object 1000 that receive reflected waves from the traveling surface 20 and the speed of the mobile object 1000; and generating traveling surface information that indicates at least the type of the traveling surface 20 for each of the multiple areas 50a based on waveform information that indicates changes over time in the intensity of the reflected waves received by the multiple transmitter / receivers 1. As a result, the program of the first embodiment can distinguish between the types and conditions of the road surface 20a or the floor surface 20b around the mobile object 1000 even when the types and conditions of the road surface 20a or the floor surface 20b change. In addition, the program of embodiment 1 only needs to cause a computer to execute a step of generating road surface information or floor surface information that indicates at least the type of road surface 20a or floor surface 20b in the step of generating road surface information or floor surface information, and the program in embodiment 1 is configured to be able to determine the type of at least the road surface 20a or floor surface 20b even if the type of at least the road surface 20a or floor surface 20b around the moving body 1000 changes within the detection area 50 of the transmitter / receiver 1.

[0083] The setting unit 5 divides the detection area 50 on the road surface 20a or the floor surface 20b into multiple areas 50a using the left-right dividing boundary line 60 and the traveling direction dividing boundary line 62, but this is not limited to this, and the same effect can be achieved by dividing the detection area 50 on the road surface 20a or the floor surface 20b into multiple areas 50a using only the left-right dividing boundary line 60 or only the traveling direction dividing boundary line 62.

[0084] Furthermore, in the first embodiment, the first transceiver 1a transmits a search wave, and the reflected wave received by the first transceiver 1a is referred to as the directly received wave 40, and the reflected wave received by the second transceiver 1b is referred to as the indirectly received wave 42. However, this is not limited to this. That is, for example, the same effect can be achieved if the second transceiver 1b transmits a search wave, and the reflected wave received by the second transceiver 1b is referred to as the directly received wave 40, and the reflected wave received by the first transceiver 1a is referred to as the indirectly received wave 42. Furthermore, the number of transceivers 1 is not limited to the above example. In this case, the reflected wave directly received by the transceiver 1 that transmitted the search wave may be referred to as the directly received wave 40, and the reflected wave indirectly received by another transceiver 1 that did not transmit the search wave may be referred to as the indirectly received wave 42.

[0085] Furthermore, although the transmitter / receiver 1 is illustrated as being arranged on only one surface of the moving body 1000, this is not limiting. That is, the periphery monitoring device 100 may be configured such that the transmitter / receiver 1 is provided on multiple surfaces of the moving body 1000 and generates road surface information or floor surface information for directions around the moving body 1000 other than the forward direction. Even in this case, the periphery monitoring device 100 of the first embodiment sets the detection area 50 on the road surface 20a or the floor surface 20b as multiple areas 50a and generates road surface information or floor surface information for each of the multiple areas 50a, thereby being able to distinguish between different types of the road surface 20a or the floor surface 20b around the moving body 1000 when the type of the road surface 20a or the floor surface 20b changes.

[0086] Embodiment 2. A perimeter monitoring device 101 and a mobile object 1000 according to embodiment 2 will be described with reference to FIG. 14 . FIG. 14 is a configuration diagram of the mobile object 1000 according to embodiment 2. The perimeter monitoring device 101 according to embodiment 2 includes an obstacle detection unit 7 that detects the presence or absence of an obstacle 82 on the road surface 20 a or floor surface 20 b in the detection area 50, and an obstacle information generation unit 8 that generates position information indicating the position of the obstacle 82 when the obstacle 82 is present in the detection area 50. The generation unit 6 differs from the perimeter monitoring device 100 according to embodiment 1 in that it does not generate road surface information or floor surface information for an obstacle area 84 among the multiple areas 50 a where the obstacle 82 is present. Components similar to those in embodiment 1 are denoted by the same reference numerals. Further, detailed descriptions of components similar to those in embodiment 1 will be omitted, and components different from those in embodiment 1 will be mainly described.

[0087] As shown in FIG. 14 , the perimeter monitoring device 101 of the second embodiment includes an obstacle detection unit 7 and an obstacle information generation unit 8. The signal processing unit 3 transmits the generated waveform information to the obstacle detection unit 7. The storage unit 4 stores threshold information for the reception strength of reflected waves used by the obstacle detection unit 7 when detecting the presence or absence of an obstacle 82 in the detection area 50, and transmits the threshold information to the obstacle detection unit 7. The obstacle detection unit 7 detects the presence or absence of an obstacle 82 in the detection area 50 based on the waveform information received from the signal processing unit 3 and the threshold information received from the storage unit 4. The threshold information includes a preset threshold based on the reception strength of reflected waves from a standard obstacle 82, such as a 75 cm pole. The threshold may be, for example, the maximum value of the reception strength of reflected waves from a 75 cm pole, which is the standard obstacle 82. The obstacle detection unit 7 determines that an obstacle 82 is present when the peak intensity in the waveform information is higher than the threshold. When the obstacle detection unit 7 detects the presence of an obstacle 82 in the detection area 50 , it transmits information about the obstacle type indicating the type of the obstacle 82 to the obstacle information generation unit 8 .

[0088] Obstacle types include, for example, traveling obstacles, road surface obstacles, floor surface obstacles, and moving obstacles. Traveling obstacles are obstacles 82 that have a height equal to or greater than the height of the transceiver 1 disposed on the mobile body 1000 from the road surface 20a or floor surface 20b, such as walls, poles, pillars, desks, shelves, chairs, and sofas. Road surface obstacles and floor surface obstacles are obstacles 82 that are lower in height than the height of the transceiver 1 disposed on the mobile body 1000 from the road surface 20a or floor surface 20b but that impede the traveling of the mobile body 1000, such as steps, Braille tiles, and lost items. Moving obstacles are obstacles 82 that move themselves, such as pedestrians, bicycles, wheelchairs, and strollers.

[0089] The obstacle detection unit 7 detects whether the waveform information contains a reflected wave from an obstacle 82 by comparing the intensity of the reflected wave in the waveform information received from the signal processing unit 3 with a preset intensity threshold for determining an obstacle 82 in the threshold information received from the memory unit 4.

[0090] Fig. 15 is a diagram showing an example of waveform information relative to the flight time of the directly received wave 40 when an obstacle 82 is present in the detection area of ​​embodiment 2. Fig. 16 is a diagram showing an example of waveform information relative to the flight time of the indirectly received wave 42 when an obstacle 82 is present in the detection area of ​​embodiment 2. Peak E in Fig. 15 and peak F in Fig. 16 indicate waves reflected from the obstacle 82. The obstacle detection unit 7 compares peak E and peak F with preset thresholds, and determines that an obstacle 82 is present in the detection area 50 when the peak intensities of peak E and peak F are equal to or greater than the thresholds.

[0091] The threshold information may also include two or more thresholds. Reflected waves from traveling obstacles have higher peak intensities than reflected waves from road surface obstacles or floor obstacles. Therefore, the obstacle detection unit 7 may be able to distinguish between traveling obstacles and road surface obstacles or floor obstacles using a first threshold for determining the presence of a road surface obstacle or floor obstacle and a second threshold higher than the first threshold for determining the presence of a traveling obstacle.

[0092] Furthermore, when the obstacle detection unit 7 detects the presence of an obstacle 82 in the detection area 50 based on the waveform information, it calculates the distance values ​​from each of the first transmission / reception unit 1a and the second transmission / reception unit 1b to the obstacle 82 using the ToF (Time of Flight) method. Hereinafter, these distance values ​​will be referred to as measured distance values. The obstacle detection unit 7 transmits the calculated measured distance values ​​to the obstacle information generation unit 8. Furthermore, the storage unit 4 pre-stores the distances from the first transmission / reception unit 1a and the second transmission / reception unit 1b and transmits them to the obstacle information generation unit 8.

[0093] When an obstacle 82 is present in the detection area 50, the obstacle information generation unit 8 generates position information regarding the position of the obstacle 82. FIG. 17 is a top view showing the positional relationship between the obstacle 82 and the moving body 1000 when the obstacle 82 is present in the detection area of ​​the second embodiment. In FIG. 17 , the obstacle information generation unit 8 is able to calculate, by triangulation, the coordinate values ​​of the point where the obstacle 82 is present on the XY plane of the XYZ Cartesian coordinate system, because the measured distances to the obstacle 82 from each of the first transceiver unit 1a and the second transceiver unit 1b and the distances between the first transceiver unit 1a and the second transceiver unit 1b are known. The obstacle information generation unit 8 transmits the calculated coordinate values ​​to the generation unit 6 and the setting unit 5 as position information regarding the position of the obstacle 82.

[0094] Based on the boundary information received from the setting unit 5 and the position information of the obstacle 82 received from the obstacle information generation unit 8, the generation unit 6 determines in which of the multiple areas 50a in the detection area 50 set by the setting unit 5 the obstacle 82 exists.

[0095] FIG. 18 is a top view showing an example of an obstacle region 84 in the detection region of the second embodiment. In FIG. 18 , the generation unit 6 identifies an obstacle 82 in the region between the traveling direction division boundary line 62 where the distance from the moving body 1000 is 1.0 m and the traveling direction division boundary line 62 where the distance from the moving body 1000 is 1.5 m, that is, the region to the left front in the traveling direction as seen from the moving body 1000, i.e., the hatched region in FIG. 18 , and designates this region as an obstacle region 84. Because the moving body 1000 cannot travel through the obstacle region 84, the generation unit 6 does not need to generate road surface information or floor surface information for the obstacle region 84. Therefore, the generation unit 6 does not generate road surface information or floor surface information for the obstacle region 84 where the obstacle 82 exists, among the multiple regions 50 a. That is, in Figure 18, the generation unit 6 does not generate road surface information or floor surface information for the hatched obstacle area 84, but generates road surface information or floor surface information for areas other than the obstacle area 84 among the multiple areas 50a in the detection area 50.

[0096] 19 is a top view showing an example of an obstacle-back region 86 in the detection region of the second embodiment. In FIG. 19 , as in FIG. 18 , within the region between the traveling direction division boundary line 62 at a distance of 1.0 m from the moving body 1000 and the traveling direction division boundary line 62 at a distance of 1.5 m from the moving body 1000, the region to the left front in the traveling direction as seen from the moving body 1000 is assumed to be an obstacle region 84. In this case, if the moving body 1000 travels toward the obstacle region 84, it is highly likely that the moving body 1000 will not travel through the obstacle-back region 86, which is located on the traveling direction side of the obstacle region 84 as seen from the moving body 1000. Therefore, the generation unit 6 does not generate road surface information or floor surface information for the obstacle-back region 86 among the multiple regions 50 a. That is, in Figure 19, the generation unit 6 does not generate road surface information or floor surface information for the hatched obstacle area 84 and the area behind the obstacle 86, but generates road surface information or floor surface information for areas of the multiple areas 50a in the detection area 50 other than the obstacle area 84 and the area behind the obstacle 86.

[0097] 20 is a top view of the detection area 50 according to the second embodiment, divided into multiple areas 50a by left-right dividing boundaries 60. As described above, in FIG. 18 , an obstacle 82 is present in the area between the traveling direction dividing boundary line 62 where the distance from the moving body 1000 is 1.0 m and the traveling direction dividing boundary line 62 where the distance from the moving body 1000 is 1.5 m, in the area to the left front of the moving body 1000 in the traveling direction. The obstacle 82 is also present in a similar position in FIG. 20 . In this case, in FIG. 18 , the moving body 1000 is likely not to travel in the area between the near side line 52c of the detection area 50 and the traveling direction dividing boundary line 62 where the distance from the moving body 1000 is 1.0 m, or in the area between the traveling direction dividing boundary line 62 where the distance from the moving body 1000 is 1.5 m and the far side line 52d of the detection area 50. Therefore, in Fig. 20 , the setting unit 5 sets the detection area on the road surface 20a or the floor surface 20b by dividing it into multiple areas 50a using the left-right dividing boundary line 60, rather than using the traveling direction dividing boundary line 62 as shown in Fig. 18 . The area to the left front of the moving object 1000 in the traveling direction, i.e., the hatched area in Fig. 20 , is the obstacle area 84 where the obstacle 82 exists. Even in this case, the generation unit 6 does not generate road surface information or floor surface information for the obstacle area 84 where the obstacle 82 exists among the multiple areas 50a in the detection area 50, but generates road surface information or floor surface information for the areas other than the obstacle area 84. As a result, in Fig. 20 , the setting unit 5 can also regard the area in Fig. 18 where the moving object 1000 is likely not to travel as the obstacle area 84, eliminating the need to generate road surface information or floor surface information for the area where the moving object 1000 is likely not to travel.

[0098] The generation unit 6 transmits the generated road surface information or floor surface information, obstacle region 84, and information relating to the region behind the obstacle 86 to the input / output unit 2. The input / output unit 2 transmits the received road surface information or floor surface information, obstacle region 84, and information relating to the region behind the obstacle 86 to the control unit 200.

[0099] The control unit 200 controls the traveling of the mobile object 1000 based on the road surface information or floor surface information, the obstacle area 84, and the area behind the obstacle 86 received from the input / output unit 2. The traveling control of the mobile object 1000 includes, for example, at least one of stopping, avoidance, torque control, and acceleration / deceleration.

[0100] FIG. 21 is a top view showing an example of obstacle avoidance control of the moving body 1000 by the control unit 200 according to the second embodiment. In FIG. 21 , the generation unit 6 identifies, as obstacle regions 84, the following regions: a region to the right front and in front of the moving body 1000 in the direction of travel, as seen from the moving body 1000, within the region between the near side line 52 c of the detection area 50 and the traveling direction dividing boundary line 62, at a distance of 1.0 m from the moving body 1000; and a region to the left front of the moving body 1000 in the direction of travel, as seen from the moving body 1000, within the region between the traveling direction dividing boundary line 62 and the far side line 52 d of the detection area 50, at a distance of 1.5 m from the moving body 1000. The obstacle regions 84 are hatched regions in FIG. 21 . The control unit 200 then controls the moving body 1000 to travel along a route that avoids the obstacle region 84, as indicated by the arrow in FIG. 21 .

[0101] Next, a description will be given of the processing flow of the periphery monitoring device 101 and the control unit 200 in embodiment 2. Fig. 22 is a flowchart showing the processing flow of the periphery monitoring device 101 and the control unit 200 in embodiment 2. Note that, since steps S202 and S203 are similar to steps S102 and S103 in embodiment 1, detailed description thereof will be omitted.

[0102] In step S201, the setting unit 5 divides the detection area 50 on the road surface 20a or the floor surface 20b into multiple areas 50a using the left-right dividing boundary line 60 and the traveling direction dividing boundary line 62 based on at least one of the arrangement of the transmitter-receiver 1 on the moving object 1000 and the speed of the moving object 1000. At this time, the setting unit 5 may divide the detection area 50 on the road surface 20a or the floor surface 20b into multiple areas 50a using the left-right dividing boundary line 60 without using the traveling direction dividing boundary line 62. The setting unit 5 also transmits boundary line information related to the information on the set left-right dividing boundary line 60 and the traveling direction dividing boundary line 62 to the generation unit 6. Note that the order of step S201 is not limited to this, and it may be performed before the generation unit 6 generates the road surface information or the floor surface information in step S209.

[0103] In step S204, the signal processing unit 3 performs amplification, filtering, envelope processing, etc. on the electrical signal received from the input / output unit 2 to generate waveform information indicating changes over time in the intensity of the reflected wave received by the transmitter / receiver unit 1. At this time, the signal processing unit 3 generates the waveform information based on both the directly received wave 40 and the indirectly received wave 42. The signal processing unit 3 transmits the waveform information to the obstacle detection unit 7.

[0104] In step S205, the obstacle detection unit 7 detects the presence or absence of an obstacle 82 in the detection area 50 based on the waveform information received from the signal processing unit 3 and the threshold information received from the storage unit 4.

[0105] In step S206, if an obstacle 82 is present in the detection area (step S205: YES), the obstacle detection unit 7 calculates the distances to the obstacle 82 from each of the first transmission / reception unit 1a and the second transmission / reception unit 1b, and transmits the calculated distances to the obstacle information generation unit 8. Then, the obstacle information generation unit 8 generates position information on the position of the obstacle 82 by triangulation, and transmits the position information to the generation unit 6 and the setting unit 5. On the other hand, if an obstacle 82 is not present in the detection area (step S205: NO), the process proceeds to step S209.

[0106] In step S207, the generation unit 6 identifies in which of the multiple regions 50a in the detection region 50 set by the setting unit 5 the obstacle 82 exists, based on the boundary line information received from the setting unit 5 and the position information of the obstacle 82 received from the obstacle information generation unit 8. Then, the generation unit 6 determines not to generate road surface information or floor surface information for the obstacle region 84 in which the obstacle 82 exists, among the multiple regions 50a in the detection region 50 set by the setting unit 5.

[0107] In step S208, the generation unit 6 determines not to generate road surface information or floor surface information for an obstacle-behind region 86, which is present in the traveling direction of the moving object 1000 relative to the obstacle region 84 when the moving object 1000 travels toward the obstacle region 84, among the multiple regions 50a. Note that the generation unit 6 may omit step S208 and proceed from step S207 to step S209. Also, if the setting unit 5 does not use the traveling direction division boundary line 62 but sets the detection region on the road surface 20a or the floor surface 20b by dividing it into multiple regions 50a using the left-right direction division boundary line 60, the obstacle-behind region 86 does not exist, and therefore the generation unit 6 omits step S208 and proceeds from step S207 to step S209.

[0108] In step S209, the generation unit 6 generates road surface information indicating at least the type of road surface or floor surface information indicating at least the type of floor surface for each of the multiple regions 50a within the detection region 50 set by the setting unit 5, based on the boundary information received from the setting unit 5 and the waveform information received from the signal processing unit 3, for regions other than the obstacle region 84 and the obstacle behind region 86. At this time, the generation unit 6 identifies which of the multiple regions 50a a peak in the waveform information corresponds to. Then, the generation unit 6 extracts feature amounts of the reception intensity of the reflected wave for each of the multiple regions 50a based on the waveform information, and inputs the feature amounts to a pre-trained classifier to generate road surface information or floor surface information. The generation unit 6 transmits the generated road surface information or floor surface information, information regarding the obstacle region 84, and information regarding the obstacle behind region 86 to the input / output unit 2. The input / output unit 2 transmits the received road surface information or floor surface information, information regarding the obstacle region 84, and information regarding the obstacle behind region 86 to the control unit 200.

[0109] In step S210, the control unit 200 controls the traveling of the mobile object 1000 based on the road surface information or floor surface information, the obstacle area 84, and the area behind the obstacle 86 received from the input / output unit 2. The traveling control of the mobile object 1000 includes, for example, at least one of stopping, avoidance, torque control, and acceleration / deceleration. This concludes the description of the processing flow of the periphery monitoring device 100 and the control unit 200 in the second embodiment.

[0110] Similar to the first embodiment, the periphery monitoring device 101 in the second embodiment includes a setting unit 5 that divides a detection area 50 on the traveling surface 20 into a plurality of areas 50a based on at least one of the speed of the mobile body 1000 and the arrangement, on the mobile body 1000, of a plurality of transmitting / receiving units 1 that transmit search waves at different timings toward the traveling surface 20 on which the mobile body 1000 is traveling and receive reflected waves from the traveling surface 20, and a generation unit 6 that generates traveling surface information indicating at least the type of the traveling surface 20 for each of the plurality of areas 50a based on waveform information that indicates changes over time in the intensity of the reflected waves received by the plurality of transmitting / receiving units 1. With the above configuration, the periphery monitoring device 101 in the second embodiment can generate road surface information or floor surface information of the detection area 50 for each of the plurality of areas 50a. Therefore, even if the type and condition of the road surface or the type and condition of the floor surface change between each of the plurality of areas 50a, it is possible to generate road surface information or floor surface information for each of different types of areas. As a result, the periphery monitoring device 101 in the second embodiment can distinguish between the types and conditions of the road surface 20a or the floor surface 20b, which is the traveling surface 20 around the mobile object 1000, even when the type or condition of the road surface 20a or the floor surface 20b changes. Furthermore, the periphery monitoring device 101 in the second embodiment generates road surface information or floor surface information for each of the multiple regions 50a based on waveform information indicating changes over time in the intensity of the reflected wave received by the transmitter / receiver 1. This eliminates the need for an additional sensor such as an imaging device, and allows for a simpler configuration to distinguish between the types of the road surface 20a or the floor surface 20b. Similarly to the first embodiment, the generating unit 6 in the second embodiment only needs to generate road surface information or floor surface information indicating at least the type of the road surface 20a or the floor surface 20b. Therefore, the periphery monitoring device 101 in the second embodiment is configured to be able to distinguish between the types of at least the road surface 20a or the floor surface 20b even when the type of at least the road surface 20a or the floor surface 20b around the mobile object 1000 changes. In other words, the perimeter monitoring device 101 in embodiment 2 can distinguish the difference in the type of at least the road surface 20a or floor surface 20b around the moving body 1000, even if the type of at least the road surface 20a or floor surface 20b changes within the detection area 50 of the transmitter / receiver 1.

[0111] Furthermore, the generation unit 6 in the second embodiment does not generate road surface information or floor surface information for obstacle regions 84 where obstacles 82 exist, among the multiple regions 50a in the detection region 50. By adopting the above configuration, the periphery monitoring device 101 in the second embodiment does not generate road surface information or floor surface information for obstacle regions 84 where the mobile object 1000 cannot travel, thereby reducing the amount of calculation when generating road surface information or floor surface information for each of the multiple regions 50a and shortening the calculation processing time.

[0112] Furthermore, the generation unit 6 in the second embodiment does not generate road surface information or floor surface information for an obstacle behind region 86, which is present in the traveling direction of the moving body 1000 relative to the obstacle region 84 when the moving body 1000 travels toward the obstacle region 84, among the multiple regions 50a. By adopting the above configuration, the periphery monitoring device 101 in the second embodiment does not generate road surface information or floor surface information for the obstacle behind region 86, where it is highly likely that the moving body 1000 cannot travel, thereby reducing the amount of calculations required to generate road surface information or floor surface information for each of the multiple regions 50a and shortening the calculation processing time.

[0113] Furthermore, the setting unit 5 of the second embodiment does not use the traveling direction dividing boundary line 62, but sets the detection area 50 on the traveling surface 20 to divide into multiple areas 50a in the left-right direction intersecting the traveling direction by the left-right dividing boundary line 60 extending in the traveling direction of the mobile object 1000, and the generation unit 6 does not generate traveling surface information for an obstacle area 84 in which an obstacle 82 exists among the multiple areas 50a. With the above configuration, the periphery monitoring device 101 of the second embodiment does not generate road surface information or floor surface information for the obstacle area 84 where the mobile object 1000 cannot travel, thereby reducing the amount of calculation when generating road surface information or floor surface information for each of the multiple areas 50a and shortening the calculation processing time.

[0114] Note that the obstacle information generating unit 8 in the second embodiment specifies the position of the obstacle 82 as coordinate values ​​by triangulation, and therefore can be applied to a two-dimensional point cloud map or the like, but is not limited thereto, and may be applied to, for example, a two-dimensional occupancy grid map or the like. In other words, even if the position information of the obstacle 82 generated by the obstacle information generating unit 8 is not a form in which the position is accurately specified as a two-dimensional point cloud, but a form in which the obstacle is included among a plurality of preset cells, the effect on the detection area 50 is achieved.

[0115] Embodiment 3. A perimeter monitoring device 102 of embodiment 3 includes an obstacle detection unit 7 that detects the presence or absence of an obstacle 82 in the detection area 50, and an obstacle information generation unit 8 that generates position information indicating the position of the obstacle 82 when the obstacle 82 is present in the detection area 50, and differs from the perimeter monitoring device 100 of embodiment 1 in that, when the obstacle 82 is present in the detection area 50, the setting unit 5 changes the shape of the detection area 50 so that the obstacle 82 is present outside the detection area 50. Components similar to those of embodiment 1 are assigned the same reference numerals. Further, detailed description of components similar to those of embodiment 1 will be omitted, and components different from those of embodiment 1 will be mainly described.

[0116] As described above, when an obstacle 82 is present in the detection area 50 as shown in FIG. 17 , the obstacle information generation unit 8 transmits the calculated coordinate values ​​of the obstacle 82 to the setting unit 5 as position information indicating the position of the obstacle 82.

[0117] 23 is a top view showing an example of a detection area set up by dividing it into a plurality of areas 50a according to embodiment 3. As shown in Fig. 23 , the setting unit 5 changes the shape of the detection area 50 so that the obstacle 82 is outside the detection area 50, based on the position information indicating the position of the obstacle 82 received from the obstacle information generating unit 8 and the information relating to the positional relationship between the moving object 1000 and the detection area 50 received from the storage unit 4.

[0118] The setting unit 5 divides the detection area 50, the shape of which has been changed, into a plurality of areas 50a based on at least one of the arrangement of the transmitting / receiving unit 1 on the moving object 1000 and the speed of the moving object 1000. The order in which the setting unit 5 changes the shape of the detection area 50 is not particularly limited, and the setting unit 5 may change the shape of the detection area 50 that has already been divided into a plurality of areas 50a and set.

[0119] 23 , the setting unit 5 sets the detection area 50 on the road surface 20a or the floor surface 20b by dividing it into multiple areas 50a using the left-right dividing boundary line 60 without using the traveling direction dividing boundary line 62, but this is not limited to this. That is, even if the setting unit 5 changes the shape of the detection area 50 so that the obstacle 82 is outside the detection area 50, the setting unit 5 may set the detection area 50 on the road surface 20a or the floor surface 20b by dividing it into multiple areas 50a using the traveling direction dividing boundary line 62 and the left-right dividing boundary line 60.

[0120] The setting unit 5 transmits boundary line information relating to the set left-right dividing boundary line 60 and travel direction dividing boundary line 62 to the generation unit 6. In this case, the boundary line information includes position information of the detection area 50 whose shape has been changed by the setting unit 5 relative to the moving object 1000, the number of left-right dividing boundary lines 60 and travel direction dividing boundary lines 62, and the set positions of the left-right dividing boundary line 60 and travel direction dividing boundary line 62.

[0121] Next, a description will be given of the processing flow of the periphery monitoring device 102 and the control unit 200 in embodiment 3. Fig. 24 is a flowchart showing the processing flow of the periphery monitoring device 102 and the control unit 200 in embodiment 3. Note that steps S301 to S305 and step S308 are similar to steps S202 to S206 and step S209 in embodiment 2, and step S309 is similar to step S106 in embodiment 1, so detailed description thereof will be omitted.

[0122] In step S306, the setting unit 5 changes the shape of the detection area 50 so that the obstacle 82 is located outside the detection area 50, based on the position information indicating the position of the obstacle 82 received from the obstacle information generation unit 8 and the information regarding the positional relationship between the moving body 1000 and the detection area 50 received from the storage unit 4. At this time, it is desirable that the setting unit 5 changes the shape of the detection area 50 so that the obstacle 82 is located outside the detection area 50 and the range of the detection area 50 is larger.

[0123] In step S307, the setting unit 5 divides the detection area 50, whose shape has been changed, into a plurality of areas 50a, based on at least one of the arrangement of the transmitter / receiver 1 on the moving object 1000 and the speed of the moving object 1000. The order in which the setting unit 5 changes the shape of the detection area 50 is not limited to this. The setting unit 5 may divide the detection area 50 into a plurality of areas 50a and set it before step S306, and then change the shape of the detection area 50 that has been divided into a plurality of areas 50a. The setting unit 5 transmits boundary information regarding the set left / right dividing boundary line 60 and the travel direction dividing boundary line 62 to the generation unit 6. In this case, the boundary information includes position information of the detection area 50, whose shape has been changed by the setting unit 5, relative to the moving object 1000, the number of left / right dividing boundary lines 60 and the travel direction dividing boundary line 62, and the set positions of each of the left / right dividing boundary lines 60 and the travel direction dividing boundary line 62. This concludes the description of the processing flow of the periphery monitoring device 102 and the control unit 200 in embodiment 3.

[0124] Similar to the first embodiment, the periphery monitoring device 102 in the third embodiment includes a setting unit 5 that divides a detection area 50 on the traveling surface 20 into a plurality of areas 50a based on at least one of the speed of the mobile body 1000 and the arrangement, on the mobile body 1000, of a plurality of transmitting / receiving units 1 that transmit search waves at different timings toward the traveling surface 20 on which the mobile body 1000 is traveling and receive reflected waves from the traveling surface 20, and a generation unit 6 that generates traveling surface information indicating at least the type of the traveling surface 20 for each of the plurality of areas 50a based on waveform information that indicates changes over time in the intensity of the reflected waves received by the plurality of transmitting / receiving units 1. With the above configuration, the periphery monitoring device 102 in the third embodiment can generate road surface information or floor surface information of the detection area 50 for each of the plurality of areas 50a. Therefore, even if the type and condition of the road surface or the type and condition of the floor surface change between each of the plurality of areas 50a, it is possible to generate road surface information or floor surface information for each of different types of areas. As a result, the periphery monitoring device 102 in the third embodiment can distinguish between the types of the road surface 20a or the floor surface 20b, which is the traveling surface 20 around the mobile object 1000, even when the type of the road surface 20a or the floor surface 20b changes. Furthermore, the periphery monitoring device 102 in the third embodiment generates road surface information or floor surface information for each of the multiple regions 50a based on waveform information indicating a time-dependent change in the intensity of the reflected wave received by the transmitter / receiver 1, and therefore can distinguish between the types of the road surface 20a or the floor surface 20b with a simpler configuration without requiring an additional sensor such as an imaging device. Similarly to the first and second embodiments, the generating unit 6 in the third embodiment only needs to generate road surface information or floor surface information indicating at least the type of the road surface 20a or the floor surface 20b. Therefore, the periphery monitoring device 102 in the third embodiment is configured to be able to distinguish between the types of at least the road surface 20a or the floor surface 20b, even when the type of at least the road surface 20a or the floor surface 20b around the mobile object 1000 changes. In other words, the perimeter monitoring device 102 in embodiment 3 can distinguish the difference in the type of at least the road surface 20a or floor surface 20b around the moving body 1000, even if the type of at least the road surface 20a or floor surface 20b changes within the detection area 50 of the transmitter / receiver 1.

[0125] Furthermore, in the third embodiment, when an obstacle 82 is present in the detection area, the setting unit 5 changes the shape of the detection area so that the obstacle 82 is outside the detection area. In the second embodiment, the generation unit 6 does not generate road surface information or floor surface information for an obstacle area 84, among the multiple areas 50a in the detection area 50, in which an obstacle 82 is present. Here, for example, it may be preferable for the moving object 1000 to stop just before the point in the obstacle area 84 where the obstacle 82 actually exists and change its route to continue. In this case, if the road surface information or floor surface information for the obstacle area 84 is not generated, the moving object 1000 will not be able to enter the obstacle area 84 and will not be able to proceed to just before the point where the obstacle 82 actually exists. Therefore, with the above configuration, the perimeter monitoring device 102 in the third embodiment can generate road surface information or floor surface information when no obstacle 82 is present in the detection area 50, and therefore can generate road surface information or floor surface information without considering the influence of the obstacle 82 when it is preferable for the moving object 1000 to enter the obstacle area 84. Furthermore, the perimeter monitoring device 102 of the third embodiment can maximize the range of the detection region 50 for which road surface information or floor surface information is generated for each of the plurality of regions 50a by changing the shape of the detection region 50 so that the obstacle 82 is outside the detection region 50 and the range of the detection region 50 is larger. This allows the mobile body 1000 to proceed to just before the point where the obstacle 82 actually exists in the obstacle region 84 when it is preferable to stop just before the point where the obstacle 82 actually exists and change the route to continue. Furthermore, with the above configuration, the perimeter monitoring device 102 of the third embodiment can reduce the amount of calculations required to generate road surface information or floor surface information for each of the plurality of regions 50a, thereby shortening the calculation processing time, compared to when generating road surface information or floor surface information when the obstacle 82 is present in the detection region 50.

[0126] (Supplementary Note 1) A periphery monitoring device comprising: a setting unit that divides a detection area on a traveling surface on which a moving body is traveling into a plurality of areas and sets the detection area on the traveling surface based on at least one of an arrangement of a plurality of transmitting and receiving units on the moving body that transmit search waves at different timings and receive reflected waves from the traveling surface and a speed of the moving body, and a generation unit that generates traveling surface information that indicates at least the type of the traveling surface for each of the plurality of areas based on waveform information that indicates changes over time in the intensity of the reflected waves received by the plurality of transmitting and receiving units. (Supplementary Note 2) The periphery monitoring device according to Supplementary Note 1 further comprises: an obstacle detection unit that detects the presence or absence of an obstacle in the detection area, and an obstacle information generation unit that generates position information that indicates the position of the obstacle if the obstacle is present in the detection area, wherein the generation unit does not generate traveling surface information for an obstacle area among the plurality of areas where the obstacle is present. (Supplementary Note 3) The periphery monitoring device according to Supplementary Note 2, wherein the generation unit does not generate the driving surface information for an obstacle behind area that is present in the traveling direction of the moving body relative to the obstacle area when the moving body travels toward the obstacle area, among the plurality of areas. (Supplementary Note 4) The periphery monitoring device according to any one of Supplementary Notes 1 to 3, further comprising: an obstacle detection unit that detects the presence or absence of an obstacle in the detection area; and an obstacle information generation unit that generates position information relating to the position of the obstacle when the obstacle is present in the detection area, wherein the setting unit sets the detection area by dividing it into the plurality of areas by a left-right dividing boundary line that extends in the traveling direction of the moving body, and the generation unit does not generate the driving surface information for an obstacle area in which the obstacle is present, among the plurality of areas. (Supplementary Note 5) The periphery monitoring device according to Supplementary Note 1 further comprises: an obstacle detection unit that detects the presence or absence of an obstacle in the detection area; and an obstacle information generation unit that generates position information indicating the position of the obstacle when the obstacle is present in the detection area, wherein when the obstacle is present in the detection area, the setting unit changes the shape of the detection area so that the obstacle is present outside the detection area.(Supplementary Note 6) The periphery monitoring device according to any one of Supplementary Notes 1 to 5, wherein the plurality of transceivers include a first transceiver and a second transceiver, wherein the reflected waves include directly received waves in which the first transceiver receives the reflected waves from the traveling surface of the search waves transmitted by the first transceiver, and indirectly received waves in which the second transceiver receives the reflected waves from the traveling surface of the search waves transmitted by the first transceiver, and wherein the generation unit generates the traveling surface information for each of the plurality of regions based on waveform information of the directly received waves and the indirectly received waves. (Supplementary Note 7) The periphery monitoring device according to any one of Supplementary Notes 1 to 6, wherein the setting unit divides and sets the detection region into the plurality of regions by a left-right dividing boundary line extending in a traveling direction of the moving body, and a traveling direction dividing boundary line extending in a left-right direction intersecting the traveling direction of the moving body and intersecting with the left-right dividing boundary line. (Supplementary Note 8) The generation unit generates the traveling surface information for each of the plurality of regions based on the waveform information. The periphery monitoring device according to any one of Supplementary Notes 1 to 7, extracting a feature amount of the intensity of the reflected wave for each of the plurality of regions, and inputting the feature amount into a classifier that has previously learned the relationship between the feature amount and the traveling surface information, thereby generating the traveling surface information. (Supplementary Note 9) The periphery monitoring device according to Supplementary Note 8, wherein the feature amount is at least one of the number of peaks of the reflected wave, the average value of the peak intensity of the reflected wave, the standard deviation of the peak intensity, the average value of peak positions in the waveform information, the standard deviation of the peak positions, and an integral value of the waveform, for each of the plurality of regions. (Supplementary Note 10) A mobile body comprising: the periphery monitoring device according to any one of Supplementary Notes 1 to 9; and a control unit that performs traveling control of the mobile body, including at least one of stopping, avoidance, torque control, and acceleration / deceleration, based on the traveling surface information.(Supplementary Note 11) A periphery monitoring method comprising the steps of: transmitting search waves at different times toward a traveling surface on which a moving body is traveling, and dividing and setting a detection area on the traveling surface into a plurality of regions based on at least one of an arrangement of a plurality of transmitters and receivers on the traveling body that receive reflected waves from the traveling surface and a speed of the moving body; and generating, for each of the plurality of regions, traveling surface information that indicates at least the type of the traveling surface, based on waveform information that indicates a change over time in the intensity of the reflected waves received by the plurality of transmitters and receivers. (Supplementary Note 12) A program that causes a computer to execute the steps of: transmitting search waves at different times toward a traveling surface on which a moving body is traveling, and dividing and setting a detection area on the traveling surface into a plurality of regions based on at least one of an arrangement of a plurality of transmitters and receivers on the traveling body that receive reflected waves from the traveling surface and a speed of the moving body; and generating, for each of the plurality of regions, traveling surface information that indicates at least the type of the traveling surface, based on waveform information that indicates a change over time in the intensity of the reflected waves received by the plurality of transmitters and receivers.

[0127] 1000 Mobile body, 100, 101 Periphery monitoring device, 200 Control unit, 1 Transmitting / receiving unit, 1a First transmitting / receiving unit, 1b Second transmitting / receiving unit, 2 Input / output unit, 3 Signal processing unit, 4 Memory unit, 5 Setting unit, 6 Generation unit, 7 Obstacle detection unit, 8 Obstacle information generation unit, 20 Travel surface, 20a Road surface, 20b Floor surface, 22 Reflection point, 30, 32, 34 Field of view, 36 Overlapping area, 38 Reflection area, 40 Directly received wave, 42 Indirectly received wave, 50 Detection area, 50a Multiple areas in the detection area, 52 Lines forming the periphery of the detection area, 52a Right end side line, 52b Left end side line, 52c Front side line, 52d Back side line, 54 Straight line extending from the center of the body of the mobile body in the direction of travel, 60 Left / right direction dividing boundary line, 62 Travel direction dividing boundary line, 70 Waveform range, 70a First waveform range, 70b Second waveform range, 70c Third waveform range, 70d Fourth waveform range, 70e Fifth waveform range, 70f Sixth waveform range, 80 Travel obstruction area, 82 Obstacle, 84 Obstacle area, 86 Area behind obstacle, 90 Processing circuit, 92 Processor, 94 Memory, A, B, C, D, E, F Peak

Claims

a setting unit that sets a detection area on a traveling surface on which a moving object is traveling by dividing the detection area into a plurality of areas based on at least one of an arrangement of a plurality of transmitting and receiving units on the moving object that transmit search waves at different timings and receive reflected waves from the traveling surface, and a speed of the moving object; a generating unit that generates travel surface information indicating at least the type of the travel surface for each of the plurality of regions based on waveform information indicating a change over time in intensity of the reflected waves received by the plurality of transmitting / receiving units; A perimeter monitoring device comprising: 　 an obstacle detection unit that detects the presence or absence of an obstacle in the detection area; an obstacle information generating unit that generates position information indicating a position of the obstacle when the obstacle is present in the detection area; Furthermore, the generation unit does not generate the travel surface information for an obstacle area in which the obstacle exists among the plurality of areas. The periphery monitoring device according to claim 1 . 　 the generation unit does not generate the travel surface information for an obstacle-behind region, among the plurality of regions, that is located on a side of the obstacle region in a traveling direction as seen from the moving body when the moving body travels toward the obstacle region. The periphery monitoring device according to claim 2 . 　 an obstacle detection unit that detects the presence or absence of an obstacle in the detection area; an obstacle information generating unit that generates position information indicating a position of the obstacle when the obstacle is present in the detection area; Furthermore, the setting unit sets the detection area by dividing the detection area into the plurality of areas in a left-right direction intersecting with the traveling direction of the moving object by a left-right dividing boundary line extending in the traveling direction of the moving object; the generation unit does not generate the travel surface information for an obstacle area in which the obstacle exists among the plurality of areas. The surroundings monitoring device according to any one of claims 1 to 3. 　 an obstacle detection unit that detects the presence or absence of an obstacle in the detection area; an obstacle information generating unit that generates position information indicating a position of the obstacle when the obstacle is present in the detection area; Furthermore, When the obstacle is present in the detection area, the setting unit changes the shape of the detection area so that the obstacle is present outside the detection area. The periphery monitoring device according to claim 1 . 　 the plurality of transceivers include a first transceiver and a second transceiver; The reflected wave includes a direct reception wave in which the first transmission / reception unit receives the reflected wave from the traveling surface of the search wave transmitted by the first transmission / reception unit, and an indirect reception wave in which the second transmission / reception unit receives the reflected wave from the traveling surface of the search wave transmitted by the first transmission / reception unit, The generation unit generates the traveling surface information for each of the plurality of regions based on the waveform information of the directly received wave and the indirectly received wave. The surroundings monitoring device according to any one of claims 1 to 5. 　 the setting unit divides the detection area into the plurality of areas in the traveling direction and the left-right direction by a left-right direction dividing boundary line extending in the traveling direction of the moving object, and a traveling direction dividing boundary line extending in the left-right direction intersecting the traveling direction of the moving object and intersecting with the left-right direction dividing boundary line, and sets the detection area. The surroundings monitoring device according to any one of claims 1 to 6. 　 the generation unit extracts a feature amount of the intensity of the reflected wave for each of the plurality of regions based on the waveform information, and generates the traveling surface information by inputting the feature amount to a classifier that has previously learned the relationship between the feature amount and the traveling surface information. The periphery monitoring device according to any one of claims 1 to 7. 　 the feature amount is at least one of the number of peaks of the reflected wave, the average value of peak intensities of the reflected wave, the standard deviation of the peak intensities, the average value of peak positions in the waveform information, the standard deviation of the peak positions, and the integral value of the waveform in each of the plurality of regions; The periphery monitoring device according to claim 8. 　 The periphery monitoring device according to any one of claims 1 to 9; a control unit that performs travel control of the moving object, including at least one of stopping, avoidance, torque control, and acceleration / deceleration, based on the travel surface information; A mobile body comprising: 　 transmitting search waves at different timings toward a traveling surface on which a moving body is traveling, and dividing a detection area on the traveling surface into a plurality of areas based on at least one of an arrangement of a plurality of transmitting and receiving units on the moving body that receive reflected waves from the traveling surface and a speed of the moving body; generating travel surface information indicating at least the type of the travel surface for each of the plurality of regions based on waveform information indicating a change over time in the intensity of the reflected waves received by the plurality of transmitting / receiving units; A perimeter monitoring method comprising: 　 transmitting search waves at different timings toward a traveling surface on which a moving body is traveling, and dividing a detection area on the traveling surface into a plurality of areas based on at least one of an arrangement of a plurality of transmitting and receiving units on the moving body that receive reflected waves from the traveling surface and a speed of the moving body; generating travel surface information indicating at least the type of the travel surface for each of the plurality of regions based on waveform information indicating a change over time in the intensity of the reflected waves received by the plurality of transmitting / receiving units; A program that causes a computer to execute the following.

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