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1. WO2019054277 - OBSTACLE DETECTION DEVICE

Publication Number WO/2019/054277
Publication Date 21.03.2019
International Application No. PCT/JP2018/033057
International Filing Date 06.09.2018
IPC
G01S 7/526 2006.01
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
7Details of systems according to groups G01S13/, G01S15/, G01S17/127
52of systems according to group G01S15/58
523Details of pulse systems
526Receivers
G01S 15/93 2006.01
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
15Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
88Sonar systems specially adapted for specific applications
93for anti-collision purposes
CPC
G01S 15/101
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
15Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
02using reflection of acoustic waves
06Systems determining the position data of a target
08Systems for measuring distance only
10using transmission of interrupted pulse-modulated waves
101Particularities of the measurement of distance
G01S 15/93
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
15Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
88Sonar systems specially adapted for specific applications
93for anti-collision purposes
G01S 15/931
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
15Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
88Sonar systems specially adapted for specific applications
93for anti-collision purposes
931of land vehicles
G01S 3/8083
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
3Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
80using ultrasonic, sonic or infrasonic waves
802Systems for determining direction or deviation from predetermined direction
808using transducers spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems
8083determining direction of source
G01S 7/526
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
7Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
52of systems according to group G01S15/00
523Details of pulse systems
526Receivers
G01S 7/527
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
7Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
52of systems according to group G01S15/00
523Details of pulse systems
526Receivers
527Extracting wanted echo signals
Applicants
  • 株式会社クボタ KUBOTA CORPORATION [JP]/[JP]
Inventors
  • 新海敦 SHINKAI Atsushi
  • 松崎優之 MATSUZAKI Yushi
  • 大村知也 OMURA Tomoya
  • 福永智章 FUKUNAGA Tomofumi
Agents
  • 特許業務法人R&C R&C IP LAW FIRM
Priority Data
2017-17593213.09.2017JP
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) OBSTACLE DETECTION DEVICE
(FR) DISPOSITIF DE DÉTECTION D’OBSTACLE
(JA) 障害物検出装置
Abstract
(EN)
This obstacle detection device comprises: an ultrasonic sensor; an obstacle detection unit that detects an obstacle when the intensity of a received ultrasonic wave exceeds a threshold value; and a threshold value setting unit that sets a short distance threshold value as the threshold value used for obstacle detection in a short distance detection area located in the vicinity of the ultrasonic sensor, and sets a long distance threshold value lower than the short distance threshold value as the threshold used for obstacle detection in a long distance detection area farther removed from the ultrasonic sensor in comparison to the short distance detection area. The short distance detection area is an area wherein the dispersion of the sound pressure distribution of transmitted ultrasonic waves is at least a prescribed value, and the long distance detection area is an area wherein the dispersion of the sound pressure distribution of transmitted ultrasonic waves is less than the prescribed value.
(FR)
La présente invention concerne un dispositif de détection d’obstacle qui comprend : un capteur ultrasonore ; une unité de détection d’obstacle qui détecte un obstacle lorsque l’intensité d’une onde ultrasonore reçue dépasse une valeur de seuil ; et une unité de réglage de valeur de seuil qui règle une valeur de seuil de distance courte en tant que valeur de seuil utilisée pour la détection d’obstacle dans une zone de détection de distance courte située à proximité du capteur ultrasonore, et définit une valeur de seuil de distance longue inférieure à la valeur de seuil de distance courte en tant que seuil utilisé pour la détection d’obstacle dans une zone de détection de distance longue plus éloignée du capteur ultrasonore par rapport à la zone de détection de distance courte. La zone de détection de distance courte est une zone dans laquelle la dispersion de la distribution de pression sonore des ondes ultrasonores émises est au moins une valeur prescrite, et la zone de détection de distance longue est une zone dans laquelle la dispersion de la distribution de pression sonore des ondes ultrasonores émises est inférieure à la valeur prescrite.
(JA)
障害物検出装置は、超音波センサと、受信した超音波の強度がしきい値を超えた場合に障害物検出を行う障害物検出部と、超音波センサの近傍に位置する短距離検出区域における障害物検出に用いられるしきい値として短距離しきい値を設定するとともに、短距離検出区域より超音波センサから遠く離れた長距離検出区域における障害物検出に用いられるしきい値として短距離しきい値より低い長距離しきい値を設定するしきい値設定部とを備える。短距離検出区域は送信超音波の音圧分布のばらつきが所定値以上である区域であり長距離検出区域は送信超音波の音圧分布のばらつきが所定値未満である区域である。
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