To provide a road surface detection system, a personal mobility and an obstacle detection method for properly detecting a recessed portion from a road surface as an obstacle.SOLUTION: A plane on which a personal mobility 100 is running is detected from point groups detected by a three-dimensional positioning sensor 21 as a plane-during-running. Protruding obstacles 531, 532 which protrude upwardly relative to the plane-during-running are detected from the point groups above the plane-during-running. Moreover, an area on the plane in which the point group overlapping vertically does not exist, regions in which the plane-during-running is stopped are overlapped vertically, and the plane-during-running is included, is extracted as recessed obstacle candidates 701, 702. When the protruding obstacle does not exist between the recessed obstacle candidate and the three-dimensional positioning sensor 21, the recessed obstacle which is recessed downwardly relative to the plane-during-running is detected (b1, b2). When the protruding obstacle exists, the recessed obstacle is not detected (c1, c2).SELECTED DRAWING: Figure 7
【課題】路面から凹んだ箇所を障害物として適正に検出する「路面検出システム、パーソナルモビリティ及び障害物検出方法」を提供する。【解決手段】三次元測位センサ21で検出した点群からパーソナルモビリティ100が走行中の平面を走行中平面として検出し、走行中平面よりも上方の点群から、走行中平面に対して上方に突出した凸障害物531、532を検出する。また、上下方向に重なる点群が存在しない、走行中平面が途切れている領域に上下方向に重なる、走行中平面が包含される平面上の区域を凹障害物候補701、702として抽出し、凹障害物候補と三次元測位センサ21の間に凸障害物が存在しない場合には、走行中平面に対して下方に凹んだ凹障害物を検出し(b1、b2)、存在する場合には凹障害物を検出しない(c1、c2)。【選択図】図7
ROAD SURFACE DETECTION SYSTEM, PERSONAL MOBILITY AND OBSTACLE DETECTION METHOD
路面検出システム、パーソナルモビリティ及び障害物検出方法
2020-12-10
Patent
Elektronische Ressource
Japanisch
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
PERSONAL MOBILITY, OBSTACLE DETECTION SYSTEM AND WHEELCHAIR
Europäisches Patentamt | 2020
|Obstacle Detection Notification Device Installed in Personal Mobility
Europäisches Patentamt | 2021
|Obstacle Detection Notification Device Installed in Personal Mobility
Europäisches Patentamt | 2021
Europäisches Patentamt | 2020
|Europäisches Patentamt | 2022
|