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11.发明授权公开(公告)号：US11776339B2
公开(公告)日：2023-10-03
申请号：US17545350
申请日：2021-12-08
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Shiro Oda , Tetsuya Taira , Satoshi Toyoshima , Yuta Watanabe , Takeshi Matsui , Takayoshi Nasu , Kei Yoshikawa , Yusuke Ota , Yutaro Ishida , Yuji Onuma , Kyosuke Arai
CPC classification number: G07C9/15 , G05D1/0217 , G05D1/0291 , G06Q10/08 , G07C9/32 , G07C9/38 , G05D2201/0216
Abstract: A control system that controls opening-closing of a security gate which is provided in a facility in which a plurality of mobile robots travels autonomously is provided. The control system performs: receiving a passing-through reservation signal for passing through the security gate; and allowing a plurality of mobile robots to consecutively pass through the security gate while the security gate opens its gate once when passing-through reservation signals are received from the plurality of mobile robots.
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公开(公告)号：US11467581B2
公开(公告)日：2022-10-11
申请号：US16844004
申请日：2020-04-09
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Tomohisa Takai , Yuhei Yamaguchi , Satoshi Toyoshima , Yuta Watanabe , Mikio Honda , Shiro Oda , Tetsuya Taira , Nobuhisa Otsuki
Abstract: An autonomous moving body includes: a determination unit configured to determine that the autonomous moving body has arrived at a waiting area on a current floor before the autonomous moving body gets on a car of the elevator; an orientation adjustment unit configured to adjust, when the determination unit determines that the autonomous moving body has arrived at the waiting area, an orientation of the autonomous moving body based on an exiting direction from the car on a destination floor; and a movement controller configured to cause, when the car arrives, the autonomous moving body to enter the car while maintaining the orientation adjusted by the orientation adjustment unit.
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公开(公告)号：US20220261004A1
公开(公告)日：2022-08-18
申请号：US17528289
申请日：2021-11-17
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Tetsuya Taira , Shiro Oda , Satoshi Toyoshima , Yuta Watanabe , Takeshi Matsui , Takayoshi Nasu , Kei Yoshikawa , Yusuke Ota , Yutaro Ishida , Yuji Onuma
Abstract: An autonomous movement system according to an embodiment is an autonomous movement system for autonomous movement in a facility, the autonomous movement system changing a movement speed for the autonomous movement depending on a cooperation mode, a connection mode and a caution mode, the cooperation mode being a mode of moving while acquiring position information inside a first range in cooperation with a facility camera, the first range being a range that the facility camera photographs to generate image data, the facility camera being fixed in the facility, the connection mode being a mode of moving inside a second range and outside the first range, the second range being a range in which connection with an access point is performed by wireless communication, the access point being fixed in the facility, the caution mode being a mode of moving outside the first range and outside the second range.
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公开(公告)号：US20220206503A1
公开(公告)日：2022-06-30
申请号：US17514676
申请日：2021-10-29
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Tetsuya Taira , Shiro Oda , Satoshi Toyoshima , Yuta Watanabe , Takeshi Matsui , Takayoshi Nasu , Kei Yoshikawa , Yusuke Ota , Yutaro Ishida , Yuji Onuma
IPC: G05D1/02
Abstract: An autonomous mobile system according to the present embodiment is an autonomous mobile system that autonomously moves in a facility provided with a corner between aisles. When the autonomous mobile system turns at the corner, the autonomous mobile system calculates a magnitude of a corner radius of turning in a traveling path based on an obstacle captured in image data of a camera that captures an image of an exit of the corner.
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公开(公告)号：US20220202266A1
公开(公告)日：2022-06-30
申请号：US17509350
申请日：2021-10-25
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Shiro Oda , Tetsuya Taira , Satoshi Toyoshima , Yuta Watanabe , Takeshi Matsui , Takayoshi Nasu , Kei Yoshikawa , Yusuke Ota , Yutaro Ishida , Yuji Onuma , Kyosuke Arai
Abstract: An autonomous mobile system according to an embodiment is an autonomous mobile system that autonomously moves in a facility provided with an area set as a clean area and an area set as an unclean area. The autonomous mobile system searches for a route along which the autonomous mobile system moves based on a rule of entry to the clean area and the unclean area. In the rule, when the autonomous mobile system is associated with a cleanliness flag, the autonomous mobile system is allowed to enter the clean area and prohibited from entering the unclean area, and when the autonomous mobile system is associated with an uncleanliness flag, the autonomous mobile system is allowed to enter the unclean area and prohibited from entering the clean area.
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Patent Agency Ranking
公开(公告)号：US12246643B2
公开(公告)日：2025-03-11
申请号：US18631110
申请日：2024-04-10
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Takumi Sakamoto , Shiro Oda , Takeshi Matsui
Abstract: A control system controls a system including an autonomously movable mobile robot configured to transport a transport object. The mobile robot includes at least one light-emitting unit. The control system is configured to change a light emission pattern of the light-emitting unit according to transport object information indicating whether the mobile robot is transporting the transport object.
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公开(公告)号：US12172835B2
公开(公告)日：2024-12-24
申请号：US17507036
申请日：2021-10-21
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Shiro Oda , Tetsuya Taira , Satoshi Toyoshima , Yuta Watanabe , Takeshi Matsui , Takayoshi Nasu , Kei Yoshikawa , Yusuke Ota , Yutaro Ishida , Yuji Onuma , Kyosuke Arai
Abstract: A management system includes an autonomously movable mobile robot configured to be managed by the management system and transport a transport article. The mobile robot includes a storage locker capable of containing a transport article and being electrically locked or unlocked. The management system is configured to determine whether to unlock the storage locker according to a security level set for unlocking the storage locker. The management system is configured to, when the management system receives a notification of an emergency event, lower the security level.
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公开(公告)号：US20240353860A1
公开(公告)日：2024-10-24
申请号：US18599354
申请日：2024-03-08
Applicant: Toyota Jidosha Kabushiki Kaisha
Inventor： Yuta WATANABE , Shiro Oda , Takeshi Matsui
IPC: G05D1/622 , G05D107/60 , G05D107/70
CPC classification number: G05D1/637 , G05D2107/63 , G05D2107/65 , G05D2107/70
Abstract: An autonomous moving system according to the present disclosure includes a control unit executing control of movement of an autonomous moving body, including collision control, a setting unit setting a predetermined defense space around the autonomous moving body, for executing the collision control, and a classifying unit classifying an obstruction detected by a detecting unit installed in the autonomous moving body, and an obstruction detected by a detecting unit installed in a facility space through which the autonomous moving body moves. The setting unit changes a range of the defense space to a first range based on a result of the classifying unit classifying the obstruction detected by one of the detecting units, and changes the range of the defense space from the first range to a second range based on a result of the classifying unit classifying the obstruction detected by at least another of the detecting units.
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公开(公告)号：US12038755B2
公开(公告)日：2024-07-16
申请号：US17528289
申请日：2021-11-17
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Tetsuya Taira , Shiro Oda , Satoshi Toyoshima , Yuta Watanabe , Takeshi Matsui , Takayoshi Nasu , Kei Yoshikawa , Yusuke Ota , Yutaro Ishida , Yuji Onuma
CPC classification number: G05D1/0223 , G05D1/0276 , G06V20/10 , H04W4/44
Abstract: An autonomous movement system according to an embodiment is an autonomous movement system for autonomous movement in a facility, the autonomous movement system changing a movement speed for the autonomous movement depending on a cooperation mode, a connection mode and a caution mode, the cooperation mode being a mode of moving while acquiring position information inside a first range in cooperation with a facility camera, the first range being a range that the facility camera photographs to generate image data, the facility camera being fixed in the facility, the connection mode being a mode of moving inside a second range and outside the first range, the second range being a range in which connection with an access point is performed by wireless communication, the access point being fixed in the facility, the caution mode being a mode of moving outside the first range and outside the second range.
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20.发明公开公开(公告)号：US20240149459A1
公开(公告)日：2024-05-09
申请号：US18490282
申请日：2023-10-19
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Yukinori Kurahashi , Shiro Oda , Takeshi Matsui
CPC classification number: B25J9/1694 , B25J5/007 , B25J9/1676 , B25J19/023 , G05D1/0214
Abstract: A mobile robot control system according to an embodiment is a mobile robot control system configured to control a mobile robot, a shape of the mobile robot having long sides and short sides in a top view, and the mobile robot control system including: an area setting unit configured to set a virtual bumper area defined by a first area and a second area, the first area being defined by a plurality of circles arranged along the long-side direction and the second area being formed by moving the first area in accordance with a moving speed of the mobile robot; and a control unit configured to control the mobile robot so as to decelerate or stop when the nearby object enters the virtual bumper area. Control may be performed using a machine learning model generated by supervised learning or the like.
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