US 12,421,838 B2
Wall detection device, transport vehicle, and wall detection method
Kenzo Isogawa, Tokyo (JP); and Toshiyuki Ono, Kawasaki (JP)
Assigned to KABUSHIKI KAISHA TOSHIBA, Tokyo (JP); and Toshiba Infrastructure Systems & Solutions Corporation, Kawasaki (JP)
Filed by KABUSHIKI KAISHA TOSHIBA, Tokyo (JP); and Toshiba Infrastructure Systems & Solutions Corporation, Kawasaki (JP)
Filed on Feb. 28, 2022, as Appl. No. 17/682,212.
Claims priority of application No. 2021-150413 (JP), filed on Sep. 15, 2021.
Prior Publication US 2023/0083322 A1, Mar. 16, 2023
Int. Cl. E21B 47/002 (2012.01); E21B 47/085 (2012.01)
CPC E21B 47/0025 (2020.05) [E21B 47/085 (2020.05); E21B 2200/20 (2020.05)] 13 Claims
OG exemplary drawing
 
1. A self-propelled transport vehicle comprising:
a wall detection device; and
a controller,
the wall detection device comprising
an acquirer configured to acquire a point cloud, which includes a series of coordinates of a plurality of points corresponding to a first wall and a second wall that oppose each other; and
processing circuitry configured to detect a first detected wall and a second detected wall based on a model and the acquired point cloud, the model representing a first plane which corresponds to the first detected wall and indicates a surface of the first wall and a second plane which corresponds to the second detected wall and indicates a surface of the second wall, and the model representing the first plane and the second plane being parallel to each other, wherein
the processing circuitry is configured to:
modify the first detected wall by moving the first detected wall in parallel toward a side of the second detected wall to obtain a first modified wall; and
modify the second detected wall by moving the second detected wall in parallel toward a side of the first detected wall to obtain a second modified wall,
a number of points in the point cloud between the first modified wall and the second modified wall is smaller than a number of points in the point cloud between the first detected wall and the second detected wall, and
the controller is configured to control, based on the first modified wall and the second modified wall obtained by the wall detection device, orientation of a wheel corresponding to a traveling direction so as to avoid contact with a wall surface.