Toyota Jidosha Kabushiki Kaisha

Toyota Jidosah Kabushki Kaisha

Hidenori Yabushita

Kazuhiro Mima

Yoshiaki Asahara

Akihiro Kimura

Fukashi Andoh

Yoshihiro Okumatsu

Fuminori Saito

Nobuyuki Matsuno

Takeshi Nishida

Akihito Goto

Reoto Uetake

Atsunori Kobayashi

Shintaro Yoshizawa

Takashi Ogura

Takemitsu Mori

Kazuhito Tanaka

Souichi Oobayashi

A movement amount detection system capable of accurately detecting a movement amount at a reference point of a moving body is provided. A movement amount detection system calculates a second movement amount at the reference point by using first movement amounts each of which is detected based on image data acquired by a respective one of the plurality of optical sensors, and inversely calculates a third movement amount at each of the plurality of places where a respective one of the plurality of optical sensors is disposed from the second movement amount, and the arithmetic processing unit determines an optical sensor that should be excluded in the calculation of the movement amount at the reference point of the moving body based on a difference between the first movement amount and the third movement amount at each of the plurality of optical sensors.

Movement amount detection system, movement amount detection method and non-transitory computer readable medium

A conveyance robot system according to the present disclosure includes a conveyance robot, and a robot control unit configured to control an operation of picking up an object performed by the conveyance robot, wherein the robot control unit determines that a movable range area, which is an area outside a safety cover where a robot arm is operated, satisfies a safety ensuring condition that can regard safety of the movable range area as equivalent to the safety inside the safety cover and allow the robot arm to perform a work while projecting toward the shelf.

Conveyance robot system, method for controlling conveyance robot and non-transitory computer readable storage medium storing a robot control program

A conveyance robot system according to the present disclosure includes an intrusion detection sensor that detects an intrusion of an object into the arm opening, and a distance sensor that measures a clearance distance indicating a distance between an arm entry/exit surface and a shelf, the arm entry/exit surface being a surface of the conveyance robot in which the arm opening is provided from among surfaces of the conveyance robotconstituting the safety cover, and the object being stored in the shelf. The distance sensor is disposed at a fixed height of the shelf in a horizontal direction and at a height of the shelf corresponding to a part to be measured.

Conveyance robot system, method of controlling a conveyance robot and non-transitory computer readable storage medium storing a robot control program

A movement planning apparatus includes: an acquiring unit configured to acquire an environmental map in which a no-entry area is indicated for each of turning angles that a moving robot may have; and a planning unit configured to search for a moving path that allows at least one search branch to be extended from a departure point to a destination point based on the environmental map without making a change in the turning angle become discontinuous and without passing the no-entry area, and determine the turning angle on the moving path to the destination point based on a predetermined condition.

Movement planning apparatus, moving robot, and movement planning program

An environment arrangement robot includes a map creation unit that divides the target space into a plurality of cell spaces and provides an evaluation value to each of the cell spaces, in which the evaluation value indicates a probability of whether or not there is an object in the corresponding cell space, and an environment change unit that changes, among the plurality of cell spaces, a specific cell space having the evaluation value within a range evaluated that the probability of whether or not there is an object in the specific cell is low in such a way that the probability that the object is present will become greater or change a surrounding cell space in such a way that the specific cell space will be excluded from the measurement by the distance sensor.

Environment arrangement robot and control program thereof

To improve the accuracy of the self position estimation of a mobile robot. A robot measures a distance to an object in the mobile environment by using a range sensor. An environmental map storage unit stores an environmental map containing a plurality of map data each corresponding to a respective one of a plurality of measurement directions from which a point in the mobile environment is to be observed. A self position estimation unit selects a map data corresponding to a measurement direction in which a distance to the object is measured by the range sensor from the plurality of map data. Then, the self position estimation unit estimates a self position of the mobile robot based on the selected map data and range data obtained by the range sensor.

Autonomous mobile robot, self position estimation method, environmental map generation method, environmental map generation apparatus, and data structure for environmental map

To provide an autonomous moving body capable of moving with efficiency along a path toward a travel end point while avoiding a collision with a moving obstacle, its control method, and its control system. An autonomous moving body in accordance with the present invention includes means to create a traveling path of the autonomous moving body that extends from a travel start point to a travel end point, means to calculate a point at which a moving obstacle located within the moving area crosses the created traveling path of the autonomous moving body as a collision prediction point, means to calculate a first passage time period during which the moving obstacle passes through the collision prediction point, and means to calculate a second passage time period during which the autonomous moving body passes through the collision prediction point. Further, if at least a part of the second passage time period overlaps the first passage time period, the traveling speed of the autonomous moving body is adjusted so that the second passage time period does not overlap the first passage time period.

Autonomous moving body, its control method, and control system

To enable stable collision avoidance operation without the need to install an infrastructure or the like even in a dangerous area where running out is likely to occur. An autonomous moving body according to the present invention includes: a distance measuring sensor that measures a distance to an object existing in an environment; a distance information acquisition unit that acquires a distance measurement value of the distance measuring sensor as distance information on a measurement point; and a dangerous area extraction unit that categorizes adjacent measurement points as an identical object according to a distance difference between the measurement points, and extracts an endpoint of the object as a dangerous area when the categorized object itself has a size equal to or larger than a predetermined threshold and when an opening formed between endpoints of the objects has a width equal to or larger than a predetermined threshold, in which the autonomous moving body travels so as to avoid a collision in the extracted dangerous area.

Autonomous moving body and control method thereof

A trajectory tracking control system according to the invention controls a robot () to track a target path (). In this system, the target path () is approximated to an arc, and the curvature of the arc is calculated. At this time, the curvature is calculated in accordance with the moving speed of the robot (). Then, the control of the robot () is set in accordance with the calculated curvature.

Trajectory tracking control system and method for mobile unit

To generate an optimal path in a search space represented by a grid. A path search device includes: an edge generation section that generates edges extending to neighboring nodes located at least forward and diagonally forward right and left of a focus node, assuming that each grid point is a node and that a minimum cost node among end nodes each located at an end of the edges is the focus node, when a cost from a start point to a given node is a cost of the given node; an edge cost calculation/readout section that reads out a shortest distance from a reference node to the neighboring node (first distance) and a shortest distance from the reference node to the focus node (second distance) from a database, assuming that a node obtained by tracing back a predetermined number of nodes from the focus node in a direction toward the start point along the path is the reference node; a path cost calculation section that calculates a cost of a path from the start point to the neighboring node as a sum of costs of edges constituting the path; and a path determination section that selects a path having a minimum cost from the start point to the end point.

Growing community of inventors

Toyota, Japan

Hidenori Yabushita