Patent ID: 8736820
Filing Date: 2014-05-27
Classification: G01S,G05D

Abstract:
1. Apparatus for distinguishing between ground and an obstacle for autonomous mobile vehicle, which comprises: an upper 2D laser radar installed on the front upper portion of the autonomous mobile vehicle arranged with predetermined orientation angle θ a lower 2D laser radar installed on the front lower portion of the autonomous mobile vehicle at the location vertically below the upper 2D laser radar with a predetermined vertical distance d and a processing unit installed on the autonomous mobile vehicle for carrying out predetermined data processing, the processing unit comprising a distance data receiving part which receives distance data r an inclination calculating part which calculates actual inclination g of the detected object based on the distance data r wherein g is calculated by the following formula: where, d d where d a ground and obstacle determining part determines whether the detected object is ground or an obstacle by comparing the actual inclination of the detected object received from the inclination calculating part and the predetermined reference inclination, and generates a distance data for a virtual 2D laser radar which is assumed to be arranged on the same location as the lower 2D laser radar, and a transmitting part which transmits the distance data for the virtual 2D laser radar which is assumed to be arranged on the same location as the lower 2D laser radar, generated by the ground and obstacle determining part, to a collision avoiding processing unit of the autonomous mobile vehicle.