METHOD AND DEVICE FOR DETECTING OBSTACLE USING PLURAL SENSORS FOR SELECTIVE DISTANCE DETECTION

摘要

PROBLEM TO BE SOLVED: To detect an obstacle by using near- and far-distance obstacle sensor systems, by weighting scanning data received from a plurality of obstacle sensor systems, and finding one characteristic of the obstacle as the function of the weighted scanning data. SOLUTION: An obstacle discriminating system 202 is set up on a mobile machine. The system 202 incorporates a near-distance obstacle sensor system 204 and a far-distance obstacle sensor system 208. The system 202 receives the data detected by means of near- and far-distance obstacle sensors 206A-206M and 210A-210N and transmits the data to a control system 212. The control system 212 discriminates whether the detected data exist at near distances or far distances and weights the data. The system 212 calculates the average value of the weighted scanning data and defines the average as a function containing the location, orientation, and size of a discriminated obstacle.