Granted Patent B2

US 12,747,565 · App. 18/872,283 · Granted Sep 29, 2026

Inventor: Hayami Kawate (Atsugi, JP)

Assignee: Sony Olympus Medical Solutions Inc.

E02F9/264G05D1/622G06T7/60G05D2105/05G05D2111/10

Abstract

Claims (33)

1 . A system that detects a traveling obstacle region that is a region that obstructs traveling of a work machine, the system comprising:

processing circuitry configured to

detect an angle of a traveling surface based on a distance image around the work machine;

detect a height of the traveling surface based on the distance image;

detect an angle obstacle region that is an obstacle region based on the detected angle;

detect a height obstacle region that is an obstacle region based on the detected height;

detect a traveling obstacle region based on the detected angle obstacle region and the detected height obstacle region,

wherein the processing circuitry is further configured to detect the traveling obstacle region by excluding a region having a predetermined height in the detected angle obstacle region and by excluding a region having a predetermined width in the detected height obstacle region; and

output the detected traveling obstacle region to an external device, the detected traveling obstacle region being a region that obstructs traveling of the work machine; and

control the work machine based on the detected traveling obstacle region.

2 . The system according to claim 1 , wherein the processing circuitry is further configured to

detect the angle obstacle region based on a threshold of the angle.

3 . The system according to claim 2 , wherein processing circuitry is further configured to

detect the angle obstacle region based on the threshold adjusted according to information concerning the work machine.

4 . The system according to claim 2 , wherein processing circuitry is further configured to

detect the angle obstacle region based on the threshold adjusted according to information concerning a surrounding environment.

5 . The system according to claim 1 , wherein the processing circuitry is further configured to

detect the height obstacle region based on a threshold of the height.

6 . The system according to claim 1 , wherein the processing circuitry is further configured to

detect an object placed on the traveling surface, and

detect a region of the detected object as the traveling obstacle region.

7 . The system according to claim 1 , wherein the processing circuitry is further configured to

detect an occlusion region that is a region where the angle and the height on the traveling surface cannot be detected, and

detect the detected occlusion region as the traveling obstacle region.

8 . A non-transitory computer-readable storage medium storing computer-readable instructions for detecting a traveling obstacle region that is a region that obstructs traveling of a work machine thereon which, when executed by a computer, cause the computer to perform a method, the method comprising:

detecting an angle of a traveling surface based on a distance image around the work machine;

detecting height of the traveling surface based on the distance image;

detecting an angle obstacle region that is an obstacle region based on the detected angle;

detecting a height obstacle region that is an obstacle region based on the detected height; and

detecting the traveling obstacle region based on the detected angle obstacle region and the detected height obstacle region;

wherein the detected traveling obstacle region, excluding a region having a predetermined height in the detected angle obstacle region and excluding a region having a predetermined width in the detected height obstacle region; and

outputting the detected traveling obstacle region to an external device, the detected traveling obstacle region being a region that obstructs traveling of the work machine; and

controlling the work machine based on the detected traveling obstacle region.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (75)