To suppress an object that could hardly obstruct the traveling of an industrial vehicle from being detected as an obstacle, and to lighten a processing load.SOLUTION: An obstacle detector acquires the coordinates of points that represent a portion of an object in a coordinate system where an axis extending in the vehicle width direction of a forklift is the axis X, an axis orthogonal to the axis X and extending along a road surface where the forklift is located is the axis Y, and an axis orthogonal to the axes X and Y is the axis Z. The obstacle detector performs down sampling to thin out some point from the points. The obstacle detector derives a surface normal vector for each point being left after down sampling. The obstacle detector extracts a point cloud that is the aggregate of points, of which the angle of surface normal vector relative to the XY plane represented by the axes X and Y is less than a first threshold, the number of points of the point cloud being greater than or equal to a second threshold, as an obstacle.SELECTED DRAWING: Figure 4

    【課題】産業車両の進行の妨げとなりにくい物体が障害物として検出されることを抑制し、かつ、処理負荷を軽減すること。【解決手段】障害物検出装置は、フォークリフトの車幅方向に延びる軸をX軸、X軸に直交する軸であってフォークリフトが位置している路面に沿う軸をY軸、X軸及びY軸に直交する軸をZ軸とする座標系において、物体の一部を表す点の座標を取得する。障害物検出装置は、点から一部の点を間引くダウンサンプリングを行う。障害物検出装置は、ダウンサンプリングが行われた後に残った点毎に面法線ベクトルを導出する。障害物検出装置は、X軸及びY軸で表されるXY平面に対する面法線ベクトルの角度が第1閾値未満となる点を集合させた点群であって、点の数が第2閾値以上の点群を障害物として抽出する。【選択図】図4


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    Titel :

    OBSTACLE DETECTOR


    Weitere Titelangaben:

    障害物検出装置


    Beteiligte:
    HATTORI SHINGO (Autor:in)

    Erscheinungsdatum :

    2021-06-03


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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