The discriminative apparatus and method of ground/obstacle for autonomous mobile vehicle

The present invention relates to a two floors / obstacle determination apparatus and determination method of an autonomous moving vehicles using 2D laser radar, and more specifically a different angle orientation, but the orientation of the front is disposed vertically on the same axis, respectively the on the basis of the distance data obtained from the two 2D laser radar calculates the measured tilt of the detected object, and calculated by Nancy determines whether the detected object is the ground obstacle according to the actually measured slope, the detected object is determined to be ground case, and taking that as the distance data of the 2D laser radar arbitrary virtual 2D laser radar hypothesized that place the maximum value in the same position as the lower side 2D laser radar for the distance, which may have as well, is to be detected on the object It characterized in that it does not recognize the obstacle. Autonomous mobile vehicle ground / obstacle detection method according to the invention, using the above provided on the front of the autonomous mobile vehicle-2D laser radar (1) and the lower side of the 2D laser radar (2), the upper side 2D laser radar (1) and the lower side from the distance data of the 2D laser radar (2) to the detected object (r The vertical distance between the distance data (r Measured gradient (g) is ground / obstruction of the reference is greater than the operating unit 10, the slope determination processing section 13 is less determining the detected object as an obstacle, and the measured gradient (g) is than the reference slope calculation unit (10) ground / obstacle judgment processing unit 13 is the ground for determining the detected object to be ground / obstacle determining step; And it is characterized in that is configured including a. Autonomous mobile vehicle, 2D laser radar, when the obstacle slope