Movable Apparatus Path-Based Obstacle Detection Range Control

The patent applies local quality by differentiating the detection strategy based on spatial location. Objects within the passing region (where the movable apparatus actually travels) are detected with high priority, while objects outside this region are excluded from triggering collision avoidance processing. This selective detection approach maintains detection capability for relevant objects while avoiding unnecessary processing for irrelevant objects, thus resolving the contradiction between detection capability and arrival time.

The patent implements local quality by defining a passing region based on the movable apparatus's travel path and detecting objects only within this specific spatial zone. This approach ensures safety by detecting all objects that could potentially obstruct the path, while simultaneously improving operation efficiency by excluding objects outside the passing region from triggering collision avoidance maneuvers. The passing region is calculated considering the apparatus's position, orientation, and dimensions, creating a precise detection zone that balances safety and efficiency.

The patent reduces false alarms by applying local quality through spatial filtering. Objects are detected and evaluated based on their position relative to the passing region. Only objects located within or intersecting the passing region are considered valid obstacles that require collision avoidance processing. Objects outside this region, even if detected by the sensor, are excluded from triggering avoidance maneuvers. This spatial discrimination maintains comprehensive detection coverage for relevant areas while eliminating false alarms from irrelevant detections.