公开(公告)号：US12032384B2

公开(公告)日：2024-07-09

申请号：US17542633

申请日：2021-12-06

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: G05D1/00

CPC classification number: G05D1/0253 ,  G05D1/0274

Abstract: A robot control system according to an embodiment is a robot control system that controls a mobile robot configured to be able to move autonomously inside a facility. When the mobile robot moves from a first area inside the facility to a second area through a partition configured to be openable and closable, a moving route of the mobile robot is set based on the mobile robot that is determined from an image captured by a first camera that photographs the first area and an obstacle that is determined from an image captured by a second camera that photographs the second area.

公开(公告)号：US12025980B2

公开(公告)日：2024-07-02

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

CPC classification number: G05D1/0055 ,  G05D1/0088 ,  G05D1/0246 ,  G05D1/0276

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：US20230368517A1

公开(公告)日：2023-11-16

申请号：US18122419

申请日：2023-03-16

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Kei Yoshikawa ,  Shiro Oda ,  Susumu Shimizu ,  Takeshi Matsui

IPC: G06V10/70 ,  G06V10/764 ,  G06V40/10 ,  G06V10/147

CPC classification number: G06V10/87 ,  G06V10/764 ,  G06V40/10 ,  G06V10/147

Abstract: A control system according to the present disclosure executes system control that controls a system including a mobile robot that autonomously moves. The control system executes a group classification process of recognizing a feature of a person present around the mobile robot and classifying, based on the feature, the person into a preset first group or second group. The control system above selects a first operation mode when the person belonging to the first group is present around the mobile robot and selects a second operation mode that is different from the first operation mode when the person belonging to the first group is not present around the mobile robot. The control system above controls, when the second operation mode is selected, the group classification process so as to execute a process with a smaller processing load than a processing load when the first operation mode is selected.

公开(公告)号：US11656621B2

公开(公告)日：2023-05-23

申请号：US17096171

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: G05D1/00 ,  G05D1/02 ,  G01C21/20 ,  G05B19/4155

CPC classification number: G05D1/0088 ,  G01C21/206 ,  G05B19/4155 ,  G05D1/0011 ,  G05D1/0212 ,  G05B2219/50391 ,  G05D1/0231 ,  G05D1/0255 ,  G05D2201/0211

Abstract: The present disclosure provides a conveyance control system and the like that enable a scheduled recipient of a conveyance object to reliably receive the conveyance object even when a destination of a conveyance robot is changed for any reason. The conveyance control system is a conveyance control system configured to control a conveyance robot to autonomously move and convey a conveyance object to a destination, including: a change unit configured to change the destination after the conveyance robot starts conveying the conveyance object; and a notification unit configured to notify an information terminal of a scheduled recipient of the conveyance object about destination information regarding the destination that has been changed by the change unit.

公开(公告)号：US20220204268A1

公开(公告)日：2022-06-30

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

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：US20220203551A1

公开(公告)日：2022-06-30

申请号：US17494386

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: B25J11/00 ,  B25J5/00 ,  B25J9/16

Abstract: A luggage transport system includes: a transport robot that transports luggage to a destination while moving such that a distance from an obstacle does not become equal to or smaller than a predetermined value; and a predetermined value changing unit for changing the predetermined value according to at least one of the luggage, a moving speed of the transport robot, and a state of a road surface on which the transport robot moves.

公开(公告)号：US12111660B2

公开(公告)日：2024-10-08

申请号：US17530590

申请日：2021-11-19

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: G05D1/00 ,  B66B5/00

CPC classification number: G05D1/0212 ,  B66B5/0012 ,  G05D1/0088

Abstract: An autonomous movement system according to an embodiment is an autonomous movement system that performs autonomous movement in a facility including an elevator, in which the autonomous movement system moves a waiting position in a car of the elevator, based on a person that gets on the car or an object that gets on the car. The autonomous movement system may determine the person or the object before the car stops at a floor or before a car door opens.

公开(公告)号：US11926067B2

公开(公告)日：2024-03-12

申请号：US17524727

申请日：2021-11-11

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

CPC classification number: B25J9/1697

Abstract: In a robot control system, the operation of a mobile robot that moves autonomously inside a facility is controlled based at least on an image captured by a photographing device that photographs a blind area located at a blind angle to the mobile robot. When entry of the mobile robot into a predetermined area corresponding to the blind area is detected, the amount of information obtainable from an image captured by the photographing device is increased.

公开(公告)号：US11919168B2

公开(公告)日：2024-03-05

申请号：US17523016

申请日：2021-11-10

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: B25J9/16 ,  G05D1/00

CPC classification number: B25J9/1653 ,  B25J9/1682 ,  G05D1/0291 ,  G05D2201/0216

Abstract: A robot control system according to the present embodiment is a robot control system that controls a plurality of transport robots that is travelable autonomously 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：US11914397B2

公开(公告)日：2024-02-27

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: G05D1/00 ,  B25J9/16

CPC classification number: G05D1/0287 ,  B25J9/1666 ,  G05D2201/0206

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.