Obstruction detection system, obstacle detection methods, how to move and moving device

摘要

PROBLEM TO BE SOLVED: To precisely detect an obstacle with simple constitution by detecting the obstacle based on pictures when a light source is put out, when it is lighted and when it is put out, which are sequentially obtained. SOLUTION: An arithmetic unit 5 stores luminance picture data Ya-Yc corresponding to the pictures when LED 6 is put out, when it is lighted and when it is put out, which are sequentially obtained from a CCD camera 4, color difference picture data Ra-Rc and Ba-Bc in a main storage circuit. The arithmetic unit 5 detects picture elements whose absolute value of the difference of luminance levels is not more than a threshold and whose absolute value of the difference of color levels is not more than the threshold by using luminance picture data Ya and Yc and color difference picture data Ra and Rc. Then, the presence or absence of the reflected light of LED 6 in the respective picture elements is detected by using color difference picture data Rb and judges it to be a part of the obstacle when the picture element received reflected light.