公开(公告)号：US20220066455A1

公开(公告)日：2022-03-03

申请号：US17392568

申请日：2021-08-03

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Tomohisa TAKAI ,  Yuhei YAMAGUCHI ,  Satoshi TOYOSHIMA ,  Yuta WATANABE ,  Tetsuya TAIRA ,  Mikio HONDA ,  Shiro ODA ,  Nobuhisa OTSUKI

IPC: G05D1/02 ,  G05D1/00 ,  B60W60/00

Abstract: To effectively prevent an autonomous mobile robot from interfering with the flow of people, an autonomous mobile robot control system includes an autonomous mobile robot, a host management device that manages the autonomous mobile robot on the basis of a route plan defining a moving route of the autonomous mobile robot, and a plurality of environmental cameras that capture images of a moving range of the autonomous mobile robot and transmit the captured images to the host management device. The host management device estimates transition of a degree of congestion in a period later than present time in each of a plurality of management areas defined by dividing an operating range of the autonomous mobile robot on the basis of environmental information acquired using the plurality of environmental cameras, and updates the route plan on the basis of an estimated result of transition of the degree of congestion.

公开(公告)号：US20210356960A1

公开(公告)日：2021-11-18

申请号：US17306007

申请日：2021-05-03

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Tomohisa TAKAI ,  Yuhei YAMAGUCHI ,  Satoshi TOYOSHIMA ,  Yuta WATANABE ,  Tetsuya TAIRA ,  Mikio HONDA ,  Shiro ODA ,  Nobuhisa OTSUKI

IPC: G05D1/00 ,  G05D1/02

Abstract: When an autonomous mobile robot is acquires enters a stuck state in which the autonomous mobile robot cannot autonomosly move, an autonomous mobile apparatus control system according to the present disclosure transmits an autonomous cancel notification for notifying the higher-level management apparatus that the autonomous mobile robot cannot autonomosly move, waits for an operation instruction from the higher-level management apparatus after the transmission of the autonomous cancel notification. The higher-level management apparatus gives an operation instruction to the autonomous mobile robot in response to receiving the autonomous cancel notification based on information acquired from at least one of the plurality of environment cameras. The autonomous mobile robot is configured to resume autonomous driving in response to safety confirmation based on a proximity sensor provided in the autonomous mobile robot after operating in accordance with the operation instruction.

公开(公告)号：US20230202814A1

公开(公告)日：2023-06-29

申请号：US17984337

申请日：2022-11-10

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Satoshi TOYOSHIMA ,  Daiki FUKUNAGA ,  Shiro ODA ,  Nobuyuki TOMATSU ,  Keisuke FUKUNAGA ,  Zixun MEI ,  Takeshi MATSUI ,  Toshiyuki KAWABE

IPC: B66F9/075 ,  B66F9/06

CPC classification number: B66F9/07513 ,  B66F9/063 ,  B25J5/007

Abstract: A transport robot is configured to transfer a transported article to and from an installed shelf by passing the installed shelf. A shelf portion that holds the transported article is configured to pass the installed shelf by the transport robot traveling. A chassis is configured to support the shelf portion. A stand is disposed on a first end portion side in a right-left direction of the transport robot, and extends upward from the chassis. An operating unit is configured to be installed on the stand.

公开(公告)号：US20220339779A1

公开(公告)日：2022-10-27

申请号：US17696331

申请日：2022-03-16

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

IPC: B25J9/00 ,  B25J9/16

Abstract: A robot control system according to the present embodiment includes a plurality of mobile robots that moves autonomously in a facility and a control device that controls the mobile robots. When the control device detects that two or more of the mobile robots are in a recovery requiring state, the control device notifies that the two or more mobile robots are in the recovery requiring state, together with priorities of the two or more mobile robots.

公开(公告)号：US20220258349A1

公开(公告)日：2022-08-18

申请号：US17545300

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

IPC: B25J9/16 ,  B25J11/00 ,  G05B19/418 ,  G06F9/4401

Abstract: In a conveyance system, a conveyance object is conveyed by use of a plurality of mobile robots autonomously movable inside a facility. In a case where a blockade request event occurs in at least one area inside the facility, the conveyance system receives occurrence information transmitted from a facility management system configured to manage the facility and causes the mobile robots to execute an operation restriction to restrict operations of the mobile robots. In a case where a predetermined condition for the blockade request event is established after the mobile robots execute the operation restriction, the conveyance system reboots the mobile robots.

公开(公告)号：US20220244734A1

公开(公告)日：2022-08-04

申请号：US17517992

申请日：2021-11-03

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 includes: obstacle detection means for detecting an obstacle in an aisle; distance measurement means for measuring a distance from the obstacle; obstacle determination means for determining a kind of the obstacle; and storage means for storing a predetermined distance set according to the kind of the obstacle. The autonomous mobile system travels with the predetermined distance from the obstacle depending on the kind of the obstacle.

公开(公告)号：US20210155464A1

公开(公告)日：2021-05-27

申请号：US17097061

申请日：2020-11-13

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Tomohisa TAKAI ,  Yuhei YAMAGUCHI ,  Satoshi TOYOSHIMA ,  Yuta WATANABE ,  Tetsuya TAIRA ,  Mikio HONDA ,  Shiro ODA ,  Nobuhisa OTSUKI

IPC: B66F9/06 ,  B66F9/075 ,  B66F9/12 ,  G05D1/00

Abstract: A conveyance system and the like capable of preferably conveying a conveyed object is provided. The conveyance system includes a conveyance robot, which is a conveyance apparatus, a drive controller, which is a controller, an information accepting unit, and a setting unit. The conveyance robot conveys the conveyed object. The drive controller controls an operation of the conveyance robot. The information accepting unit accepts an input from a user regarding information indicating stability of the conveyed object in a conveyance state. The setting unit sets an operation parameter of the conveyance apparatus in the drive controller based on the accepted information.

公开(公告)号：US20210155410A1

公开(公告)日：2021-05-27

申请号：US17095956

申请日：2020-11-12

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Tomohisa TAKAI ,  Yuhei YAMAGUCHI ,  Satoshi TOYOSHIMA ,  Yuta WATANABE ,  Tetsuya TAIRA ,  Mikio HONDA ,  Shiro ODA ,  Nobuhisa OTSUKI

IPC: B65G1/137 ,  G06T7/00

Abstract: A conveyance system includes a plurality of conveyance robots, a storage unit, a stability information acquisition unit, a selection unit, and a system controller, which serves as a controller. The plurality of conveyance robots convey a wagon that accommodates a conveyed object. The storage unit stores robot information regarding features that the plurality of respective conveyance robots include. The stability information acquisition unit acquires stability information regarding stability when the conveyed object is conveyed. The selection unit selects one of the plurality of conveyance robots based on the robot information and the stability information that have been acquired. The system controller instructs the one conveyance robot that has been selected to convey the conveyed object.

公开(公告)号：US20210154857A1

公开(公告)日：2021-05-27

申请号：US17095995

申请日：2020-11-12

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Tomohisa TAKAI ,  Yuhei YAMAGUCHI ,  Satoshi TOYOSHIMA ,  Yuta WATANABE ,  Mikio HONDA ,  Shiro ODA ,  Tetsuya TAIRA ,  Nobuhisa OTSUKI

IPC: B25J11/00 ,  B25J9/16 ,  G05D1/02

Abstract: A management system is for managing a mobile robot as an autonomous moving apparatus and includes a cleanliness level setting unit, an instruction reception unit, a storage unit, and a control unit. The cleanliness level setting unit sets a cleanliness level of the autonomous moving apparatus. The instruction reception unit receives an instruction for a task the autonomous moving apparatus executes. The storage unit stores a database associating information about at least an operator or a destination of the autonomous moving apparatus, a place which the autonomous moving apparatus passes through, and an object to be conveyed by the autonomous moving apparatus, which are included in the task, with the cleanliness level of the autonomous moving apparatus. The control unit controls the setting of the cleanliness level of the autonomous moving apparatus or processing for the instruction.