The invention provides a control method of a moving body, the moving body, and a computer readable storage medium. The moving body is appropriately moved to a destination position. A method for controlling a moving body, which automatically moves, includes: causing a sensor provided on the moving body to detect an object a plurality of times, and acquiring a detection result of each detection by the sensor as a point group; estimating the position and orientation of the target object for each detection by the sensor on the basis of the point group; a reliability calculation unit that calculates, for each detection by the sensor, a degree of reliability with respect to the accuracy of the estimation result of the position and orientation of the target object; selecting, on the basis of the reliability of each detection by the sensor, an estimation result for setting an approach path to a target position at a predetermined position and orientation with respect to the target object from among the estimation results of each detection by the sensor; setting an approach path on the basis of the selected estimation result; and moving the moving body along the approach path.

    一种移动体的控制方法、移动体以及计算机可读取的存储介质,使移动体适当地移动至目的位置。移动体的控制方法是自动地移动的移动体的控制方法,包括如下步骤:使设置于移动体的传感器多次检测目标物,取得传感器的每次检测的检测结果作为点群;基于点群,针对传感器的每次检测来推定目标物的位置及姿态;针对传感器的每次检测,计算针对目标物的位置及姿态的推定结果的精度而言的可靠度;基于传感器的每次检测的可靠度,从传感器的每次检测的推定结果中,选择用于设定到相对于目标物成为规定的位置及姿态的目标位置为止的接近路径的推定结果;基于所选择的推定结果来设定接近路径;以及使移动体沿着接近路径移动。


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    Title :

    Method for controlling moving body, moving body, and computer-readable storage medium


    Additional title:

    移动体的控制方法、移动体以及计算机可读取的存储介质


    Contributors:

    Publication date :

    2022-08-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last