Object size determination method, object size determination device, distance detection method, and distance detection device using laser radar

摘要

PROBLEM TO BE SOLVED: To make the control of running accurate by avoiding the detection of floating materials such as raindrops, snow, dust and insects as obstacles in the unmanned running control of an unmanned running vehicle, which is running in a plant and the like with the obstacle being detected by the laser beam from a sweeping-type laser radar. SOLUTION: A laser-beam transmitting means 30 is made to sweep along a specified plane, and a laser beam 14 is transmitted at an equal-angle interval. A range (r) to a reflected beam 28 and a number (n) of the angle positions, where the reflected beams 28 from an object body 26 are located, are detected, based on the reflected beam 28 from the object body 26. Then, dimensions (d) of the object body 26 are computed, based on (r) and (n). When d = specified value d1, the object body 26 is excluded from an obstacle 16, by determining the fact that the object body 26 is not an obstacle 16.