| 摘要 |
<p>PURPOSE:To accurately travel an unmanned car by inputting environmental information by a range finder mounted on the unmanned car and discriminating a reference plane from the information. CONSTITUTION:A reference plane deciding device is constituted of a range finder I mounted on a prescribed position of the unmanned car to continuously measure a distance up to a reference plane including an environmental substance and a reference plane deciding processing means II. The processing means II is constituted of a flatness arithmetic means 21 for finding out flatness by calculating a changing value of a distance based on a measured distance signal, the 1st comparator 22 for deciding whether the measured surface is flat or not, a flat distance arithmetic means 23 for finding out a distance continuing a flat face based on the decided result, and the 2nd comparing means 24 for deciding whether the measured face is a reference face or not. The flat distance signal found out by the means 21-23 is compared with a prescribed distance longer than a supposed environmental substance by the means 24, and when the signal is continued for a long distance, the flat distance is decided as the reference plane and a reference plane deciding signal is outputted.</p> |
