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1.发明授权公开(公告)号：US11584017B2
公开(公告)日：2023-02-21
申请号：US17097476
申请日：2020-11-13
发明人： Tomohisa Takai , Yuhei Yamaguchi , Satoshi Toyoshima , Yuta Watanabe , Tetsuya Taira , Mikio Honda , Shiro Oda , Nobuhisa Otsuki
摘要： The present disclosure provides a conveyance system and the like capable of preferably conveying a conveyed object in accordance with a state of the conveyed object. The conveyance system includes a conveyance robot, a drive controller, which is a controller, an image data acquisition unit, and a setting unit. The conveyance robot conveys the conveyed object. The drive controller controls an operation of the conveyance robot. The image data acquisition unit acquires image data obtained by capturing images of the conveyed object. The setting unit sets an operation parameter of the conveyance robot in the drive controller based on the acquired image data.
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公开(公告)号：US11407124B2
公开(公告)日：2022-08-09
申请号：US17093760
申请日：2020-11-10
发明人： Tomohisa Takai , Yoshihiko Takeuchi
摘要： A rotary joint according to an aspect of the present disclosure includes a first microstrip line, a second microstrip line, a transmitting circuit connected to one end of the first microstrip line and configured to output a communication signal, a transmitting-side terminator connected to the other end of the first microstrip line, a receiving-side terminator connected to one end of the second microstrip line, and a receiving circuit connected to the other end of the second microstrip line and configured to receive the communication signal, in which the first and second microstrip lines and are set along at least a part of a circular ring having a circumferential length equal to an integral multiple of a wavelength of a traveling wave with which the communication signal propagates through the microstrip lines.
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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
发明人： Tomohisa Takai , Yuhei Yamaguchi , Satoshi Toyoshima , Yuta Watanabe , Mikio Honda , Shiro Oda , Tetsuya Taira , Nobuhisa Otsuki
摘要： 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：US11264820B2
公开(公告)日：2022-03-01
申请号：US16544086
申请日：2019-08-19
发明人： Tomohisa Takai
摘要： A facility server manages battery charge of a plurality of robots in an environment where a charging device is shared by the plurality of robots. A waiting information acquisition unit acquires waiting information related to whether there is a robot which cannot use the charging device and is waiting, because another robot is charging a battery using the charging device. A charge suspension control unit controls, when there is a robot which cannot use the charging device and is waiting, control the other robot to suspend charging a battery.
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公开(公告)号：US11815883B2
公开(公告)日：2023-11-14
申请号：US17095956
申请日：2020-11-12
发明人： Tomohisa Takai , Yuhei Yamaguchi , Satoshi Toyoshima , Yuta Watanabe , Tetsuya Taira , Mikio Honda , Shiro Oda , Nobuhisa Otsuki
IPC分类号： G05B19/418 , B65G1/04 , B66F9/06 , G06T7/00 , B65G1/137
CPC分类号： G05B19/41895 , B65G1/0492 , B65G1/1375 , B66F9/063 , G06T7/0002
摘要： 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.
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公开(公告)号：US11607812B2
公开(公告)日：2023-03-21
申请号：US16952740
申请日：2020-11-19
发明人： Tomohisa Takai , Yuhei Yamaguchi , Satoshi Toyoshima , Yuta Watanabe , Mikio Honda , Shiro Oda , Tetsuya Taira , Nobuhisa Otsuki
摘要： A conveyance control system according to the present disclosure is a conveyance control system configured to control a conveyance robot to autonomously move and convey a conveyance object to a destination, including: a reception unit configured to receive, from a scheduled recipient of the conveyance object, an instruction that the conveyance object is to be collected halfway through conveyance of the conveyance object; and an execution unit configured to execute a predetermined process for enabling collection of the conveyance object halfway through conveyance of the conveyance object when the reception unit receives the instruction.
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公开(公告)号：US11971721B2
公开(公告)日：2024-04-30
申请号：US17392541
申请日：2021-08-03
发明人： Tomohisa Takai , Yuhei Yamaguchi , Satoshi Toyoshima , Yuta Watanabe , Tetsuya Taira , Mikio Honda , Shiro Oda , Nobuhisa Otsuki
CPC分类号： G05D1/0214 , B60W60/0011 , G05D1/0088 , G05D1/0251
摘要： To effectively enhance the operation efficiency of an autonomous mobile robot, an autonomous mobile robot control system includes a processor and a plurality of environmental cameras. The processor estimates a moving route of each of a plurality of moving bodies on the basis of characteristics of each of the plurality of moving bodies and sets a subset of the plurality of moving bodies whose moving routes overlap among the detected moving bodies as avoidance processing target moving bodies. The processor generates an avoidance procedure for the avoidance processing target moving bodies so the motion of the avoidance processing target moving bodies does not interfere with the motion of other avoidance target moving bodies.
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公开(公告)号：US11822314B2
公开(公告)日：2023-11-21
申请号：US17097118
申请日：2020-11-13
发明人： Tomohisa Takai , Yuhei Yamaguchi , Satoshi Toyoshima , Yuta Watanabe , Mikio Honda , Shiro Oda , Tetsuya Taira , Nobuhisa Otsuki
IPC分类号： G05B19/41 , G05B19/4155 , G07C9/00
CPC分类号： G05B19/4155 , G07C9/00182 , G05B2219/50391
摘要： A conveyance control system according to the present disclosure is a conveyance control system configured to control a conveyance robot to autonomously move and convey a conveyance object to a destination, the conveyance control system including: a reception unit configured to receive, from a scheduled recipient of the conveyance object, a request signal for requesting a third party to collect the conveyance object halfway through conveyance of the conveyance object; and an issuance unit configured to issue, to a terminal of the third party, a temporary electronic key for enabling the conveyance object to be taken out from the conveyance robot based on a set condition when the reception unit receives the request signal.
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公开(公告)号：US11657634B2
公开(公告)日：2023-05-23
申请号：US17096183
申请日：2020-11-12
发明人： Tomohisa Takai , Yuhei Yamaguchi , Satoshi Toyoshima , Yuta Watanabe , Tetsuya Taira , Mikio Honda , Shiro Oda , Nobuhisa Otsuki
CPC分类号： G06V40/10 , G05D1/0088 , G05D1/0223 , G05D1/0231 , G06V10/454 , G06V10/50 , G06V10/82 , G06V20/10
摘要： A control system controls an operation mode of a mobile robot that autonomously moves in a predetermined area, and includes a feature detection unit, a classifying unit, and a system controller. The feature detection unit detects features of a person who is present in the vicinity of the mobile robot. The classifying unit classifies the person into a predetermined first group or a predetermined second group based on the features. The system controller selects a first operation mode when the person who belongs to the first group is present in the vicinity of the mobile robot and selects a second operation mode that is different from the first operation mode when the person who belongs to the first group is not present in the vicinity of the mobile robot, thereby controlling the mobile robot.
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公开(公告)号：US11550332B2
公开(公告)日：2023-01-10
申请号：US16837327
申请日：2020-04-01
发明人： Tomohisa Takai , Yuhei Yamaguchi , Satoshi Toyoshima , Yuta Watanabe , Mikio Honda , Shiro Oda , Tetsuya Taira , Nobuhisa Otsuki
摘要： An autonomous moving apparatus control system including a range sensor, a reflection plate, and a control unit. The range sensor is installed in a cage of an elevator and detects a distance to an object by receiving reflected light of signal light applied to the object. The reflection plate is disposed in an elevator hall of a floor on which the elevator stops, and reflects the signal light. The control unit determines whether or not a mobile robot, which is an autonomous moving apparatus, can get on and off the elevator based on a detected distance, the detected distance being a distance to the reflection plate detected by the range sensor.
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