초록 ▼

An autonomous moving apparatus moving to a destination while detecting and avoiding an obstacle includes a radar device for scanning a horizontal plane in its travelling direction to thereby detect a position of an obstacle and an obstacle sensor for detecting an obstacle in a space different from t

An autonomous moving apparatus moving to a destination while detecting and avoiding an obstacle includes a radar device for scanning a horizontal plane in its travelling direction to thereby detect a position of an obstacle and an obstacle sensor for detecting an obstacle in a space different from the scanning plane of the radar device. The apparatus moves to the destination under such control as to avoid the obstacle based on detection information from the radar device and the obstacle sensor from a detection output provided by a specific-configuration detecting element for detecting a present specific configuration from scanning information by the radar device. By providing such a specific-configuration detecting element that detects a specific configuration based on the scan information by the radar device that can accurately know about position information, it is possible to guess an obstacle having an upper structure, thus providing efficient avoidance.

대표청구항 ▼

An autonomous moving apparatus moving to a destination while detecting and avoiding an obstacle includes a radar device for scanning a horizontal plane in its travelling direction to thereby detect a position of an obstacle and an obstacle sensor for detecting an obstacle in a space different from t

An autonomous moving apparatus moving to a destination while detecting and avoiding an obstacle includes a radar device for scanning a horizontal plane in its travelling direction to thereby detect a position of an obstacle and an obstacle sensor for detecting an obstacle in a space different from the scanning plane of the radar device. The apparatus moves to the destination under such control as to avoid the obstacle based on detection information from the radar device and the obstacle sensor from a detection output provided by a specific-configuration detecting element for detecting a present specific configuration from scanning information by the radar device. By providing such a specific-configuration detecting element that detects a specific configuration based on the scan information by the radar device that can accurately know about position information, it is possible to guess an obstacle having an upper structure, thus providing efficient avoidance. n pieces of discrete data input in synchronization with a reference frequency clock with the digital data shifted by reference frequency clock; oversampling unit for sampling each input data value at a frequency clock double a level at a previous stage on the digital data generated by said combining unit, adding each obtained data value to each data value obtained by shifting the data values by a half clock, outputting a result to a subsequent stage, and repeating these steps for several stages; calculating unit for performing moving average calculation or convolution calculation at several stages by adding each data value with a value shifted by 1 clock in synchronization with a frequency clock at a final stage of said oversampling unit to each data value obtained by said oversampling unit; and D/A converting unit for converting each data value obtained by said calculating unit into an analog quantity. 4. The digital-analog converter according to claim 3, characterized in that said combining unit comprises: n delay unit for sequentially delaying discrete data sequentially input in synchronization with a reference frequency clock by the reference frequency clock; and sum-of-products unit for multiplying each data value output from said n delay unit by each gain value corresponding to a fundamental digital waveform, adding up obtained multiplication results, and outputting a result to said oversampling unit. 5. The digital-analog converter according to claim 3, characterized in that said oversampling unit comprises: first calculating unit for sampling each data value of digital data generated by said combining unit in synchronization with a frequency clock double a reference frequency, and adding each data value to a value obtained by shifting each data value by a half clock; second calculating unit for sampling each data value obtained by said first calculating unit in synchronization with the frequency clock four times as high as the reference frequency, and adding each data value to a value obtained by shifting each data value by a half clock; and third calculating unit for sampling each data value obtained by said second calculating unit in synchronization with the frequency clock eight times as high as the reference frequency, and adding each data value to a value obtained by shifting each data value by a half clock. 6. The digital-analog converter according to claim 3, characterized in that said calculating unit comprises: a plurality of delay unit for sequentially delaying the digital data obtained by said oversampling unit by a value of the frequency clock at a final stage of said oversampling unit; and adding unit for adding up output from said plurality of delay unit and outputting a result. 7. A digital-analog converting method, characterized by comprising: a combining step of combining digital data having fundamental waveforms corresponding to values of n pieces of input discrete data in moving average calculation or convolution calculation; an oversampling step of performing oversampling accompanies by the moving average calculation or the convolution calculation on the combined digital data values; a calculating step of obtaining digital interpolation values for the discrete data by performing the moving average calculation or the convolution calculation on the data values obtained by the oversampling; and a D/A converting step of converting each digital data value containing the interpolation values obtained in the calculation into an analog quantity. 8. A data interpolating device, characterized in that digital data having fundamental waveforms corresponding to values of n pieces of input discrete data is combined in moving average calculation or convolution calculation, oversampling is carried out on the combined digital data values, and the moving average calculation or the convolution calculation is performed on obtained data values to obtain digital interpolation valu