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

IPC: B65G1/137 ,  B25J11/00 ,  G16H20/13

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.

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.

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

IPC: G06V20/00 ,  G05D1/00 ,  G06V20/10 ,  H04W4/44

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.

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

IPC: B25J9/16 ,  B25J5/00 ,  B25J19/02 ,  G05D1/02

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.

公开(公告)号：US11906976B2

公开(公告)日：2024-02-20

申请号：US17690639

申请日：2022-03-09

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: G05D1/02 ,  G05D1/00

CPC classification number: G05D1/0272 ,  G05D1/0212 ,  G05D1/0287 ,  G05D2201/0216

Abstract: A robot control system is a robot control system that controls a plurality of mobile robots, in which: each of the mobile robots includes right and left wheels, and a sensor that detects actions of the right and left wheels; and the control system calculates abrasion degrees of right and left components for the right and left wheels, depending on a detection result of the sensor, and manages traveling of the plurality of mobile robots, depending on the abrasion degrees.

公开(公告)号：US20220253072A1

公开(公告)日：2022-08-11

申请号：US17545390

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: G05D1/02 ,  B25J9/16

Abstract: A robot control system according to the present embodiment is a robot control system that controls a plurality of mobile robots that can autonomously move in a facility. The robot control system acquires error information indicating that an error has occurred in a first transport robot, acquires transported object information related to a transported object of the first transport robot, determines a second transport robot able to transport the transported object of the first transport robot among the transport robots based on the transported object information and the error information, and moves the second transport robot to a transfer location of the transported object of the first transport robot.

公开(公告)号：US20220194737A1

公开(公告)日：2022-06-23

申请号：US17494325

申请日：2021-10-05

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: B66B1/34 ,  B60W60/00 ,  B66B1/46 ,  B66B5/00 ,  B66B1/24 ,  G05D1/02

Abstract: An autonomous mobile method for an autonomous mobile device according to the present embodiment is an autonomous mobile method for an autonomous mobile device that autonomously moves in a facility provided with an elevator. When the total number of the autonomous mobile devices including other autonomous mobile devices in a car of the elevator is larger than a threshold that is a plural number, an operation mode of the car is switched from a general mode in which a human is allowed to enter the car to a dedicated mode in which the human is prohibited from entering the car.