Obstacle detection device, platform door system provided with the same, and obstacle detection method

摘要

PROBLEM TO BE SOLVED: To detect a prescribed three-dimensional detecting space by a single optical sensor and detect an obstacle stably to a disturbance in an outdoor environment.SOLUTION: An obstacle detector includes a three-dimensional distance image sensor 10S for measuring a distance to an object and a quantity of reflected light from the object and a detecting and control part DC for specifying the position and size of the object in the detecting space DS in accordance with the measured results of the three-dimensional distance image sensor 10S and decides whether the object is detected as the obstacle in accordance with threshold values of the position and the size. The detecting and control part DC divides the prescribed detecting space DS into a plurality of detecting areas DSto DScorresponding to distances from the three-dimensional distance image sensor 10S and changes threshold values for detecting the obstacle respectively for the detecting areas DSto DS.