US 12,116,253 B2
Method of controlling movable body, movable body and program
Hiroki Kawashima, Tokyo (JP); Kenji Takao, Tokyo (JP); and Katsumasa Kitajima, Tokyo (JP)
Assigned to MITSUBISHI HEAVY INDUSTRIES, LTD., Tokyo (JP)
Filed by MITSUBISHI HEAVY INDUSTRIES, LTD., Tokyo (JP)
Filed on Mar. 7, 2022, as Appl. No. 17/688,199.
Claims priority of application No. 2021-041650 (JP), filed on Mar. 15, 2021.
Prior Publication US 2022/0289538 A1, Sep. 15, 2022
Int. Cl. B66F 9/06 (2006.01); B66F 9/075 (2006.01); G01S 17/89 (2020.01); G01S 17/931 (2020.01); G05D 1/00 (2024.01)
CPC B66F 9/063 (2013.01) [B66F 9/0755 (2013.01); G01S 17/89 (2013.01); G01S 17/931 (2020.01); G05D 1/0214 (2013.01); G05D 1/024 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A method of controlling a movable body that moves automatically, the method comprising:
a step of causing a sensor provided on the movable body to detect an obstacle;
a step of determining a position and an attitude of a front surface, of the obstacle, opposite to a travel direction of the movable body based on a detection result of the obstacle;
a step of generating an avoidance path that avoids the obstacle while heading toward a side of a first direction intersecting the travel direction based on the position and the attitude of the front surface;
a step of causing the movable body to move along the avoidance path;
a step of detecting the obstacle while the movable body is moving along the avoidance path;
a step of determining a position and an attitude of a side surface of the obstacle on the side of the first direction based on a detection result obtained during movement along the avoidance path; and
a step of updating the avoidance path to return to a side of a second direction opposite to the first direction while avoiding the obstacle based on the position and the attitude of the side surface,
wherein in the step of causing the sensor to detect the obstacle, the sensor is caused to perform detection of the obstacle a plurality of times, and detection results of the plurality of times of the detection by the sensor are obtained as a point cloud, and
wherein in the step of determining the position and the attitude of the front surface, the point cloud corresponding to the detection results of the plurality of times of the detection by the sensor is superimposed in a same coordinate system, an approximate line of the point cloud superimposed is calculated, the point cloud superimposed is projected onto the approximate line to convert the point cloud in the same coordinate system into a point cloud in a coordinate system of the approximate line, the position of the front surface is determined based on a position of the point cloud in the coordinate system of the approximate line, and the attitude of the front surface is determined based on the approximate line.