| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an obstacle detection device having high resistance with respect to environmental noise. Ž<P>SOLUTION: This obstacle detection device 1 is equipped with: ultrasonic sensors 3a, 3b, 3c, 3d having wave transmission/reception means 11, 13 capable of transmitting/receiving an ultrasonic wave in a plurality of kinds of frequencies; and a control means 5 for commanding transmission/reception of the ultrasonic wave to the ultrasonic sensors 3a, 3b, 3c, 3d, acquiring a reception result of the ultrasonic wave from the ultrasonic sensors 3a, 3b, 3c, 3d, and detecting an obstacle based on the reception result. Each of the ultrasonic sensors 3a, 3b, 3c, 3d is equipped with a frequency-setting means 9 for setting the frequency of the transmitted/received ultrasonic wave, based on the ultrasonic wave received, when the transmission/reception means 11, 13 do not transmit ultrasonic waves. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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