公开(公告)号：KR101049155B1

公开(公告)日：2011-07-14

申请号：KR1020110010339

申请日：2011-02-01

Applicant: 국방과학연구소

Inventor： 김종희 ,  주상현 ,  이호주 ,  고정호 ,  김홍봉

IPC: G05D1/02

CPC classification number: G05D1/0246 ,  G05D1/0248 ,  G05D1/0251 ,  G06T7/13 ,  G06T2207/10012

Abstract: PURPOSE: An automatic moving device and an obstacle determining method of the device are provided to make more accurate decision if an obstacle is a human. CONSTITUTION: An obstacle determining method of an automatic moving device is as follows. An obstacle is detected from a front area. It is determined whether an obstacle is a moving obstacle or a fixed obstacle. It is determined what object the obstacle is. The contour of the obstacle is detected. The detected contour is changed into a defined shape of a figure. The changed data is compared with a shape of an object predefined as a figure. It is determined whether the changed data corresponds to a specific kind of an obstacle if being matched with the predefined shape of object.

Abstract translation: 目的：提供设备的自动移动设备和障碍物确定方法，以便在障碍物是人类时做出更准确的决策。 构成：自动移动装置的障碍物确定方法如下。 从前方区域检测障碍物。 确定障碍物是移动障碍物还是固定障碍物。 确定障碍物是什么物体。 检测障碍物的轮廓。 检测到的轮廓变成图形的限定形状。 将改变的数据与预定义为图形的对象的形状进行比较。 如果与预定形状的对象匹配，则确定改变的数据是否对应于特定类型的障碍物。