Kabushiki Kaisha Toyota Jidoshokki

Akinobu Fujii

Yuuji Tsusaka

Minoru Tanaka

Makoto Ichinose

Makoto Hayakawa

Mitsuo Koide

Shingo Hattori

A path generation device is configured to generate a path along which a mobile object is to travel. The device comprises a planner module configured to plan a steering angle and a steering angular velocity for the mobile object to travel from a start position to a goal position by generating first and second isosceles triangles connecting the start position and the goal position based on the start position of the mobile object, a start position traveling direction being a traveling direction of the mobile object at the start position, the goal position of the mobile object, and a goal position traveling direction being a traveling direction of the mobile object at the goal position. The device comprises a curved path applying module configured to apply a first curved path along legs of the first isosceles triangle and apply a second curved path along legs of the second isosceles triangle.

Path generation device

A forklift includes: a fork, a moving mechanism configured to move the fork in a first direction; a laser sensormounted on the fork, configured to scan laser light in a second direction intersecting the first direction, and measure a distance from the laser sensor to a surrounding object based on reflection of the scanned laser light; and a processor configured to generate a three-dimensional range image within an emission range to which the laser light is emitted based on distance data acquired when the laser sensor scans the laser light in the second direction while the moving mechanism moves the fork in the first direction.

Forklift

A forklift includes a vehicle body, a forkmounted on the vehicle body, a controller configured to adjust a position and an orientation of the vehicle body, a laser sensorconfigured to measure distance data from the laser sensor to an object existing in a space set forward of the fork, and a control commander configured to, when the distance data measured by the laser sensor includes a load or a palletto be lifted, generate track data for moving the vehicle body to a loading position of the load or the pallet based on the distance data, and provide a command to the controller using the generated track data.

A mobile apparatus includes a main body, a range sensor, an operation device, and a mobile mechanism. The operation device includes a wide route data generation unit that generates a wide route data according to which the main body is moved from a first specified location to a second specified location, a determination unit that determines a location and a posture of a reference object, an approaching route data generation unit that generates an approaching route data according to which the main body is moved from the second specified location to a target location, and a route data switching unit that switches traveling route from the wide rote data to the approaching route data after the approaching route data is generated. The approaching route data generation unit generates the approaching route data while the main body is traveling according to the generated wide route data.

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Nagakute, Japan

Akinobu Fujii