The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jul. 16, 2019
Filed:
Jun. 14, 2017
Applicant:
Toyota Jidosha Kabushiki Kaisha, Toyota-shi, Aichi-ken, JP;
Inventor:
Koji Terada, Nagakute, JP;
Assignee:
TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota, JP;
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
G01C 22/00 (2006.01); G05D 1/02 (2006.01); B25J 5/00 (2006.01); B62D 61/08 (2006.01);
U.S. Cl.
CPC ...
G05D 1/021 (2013.01); B25J 5/007 (2013.01); B62D 61/08 (2013.01);
Abstract
Provided is an autonomous moving body that controls driving wheels by allowing a trailing caster to be located on a front side with respect to a traveling direction when it is recognized that there is no step in a traveling direction and controls the driving wheels to change the orientation of a base body in which the driving wheels and the trailing caster are arranged and approach the step so that at least one of two driving wheels contacts the step before the trailing caster contacts the step when it is recognized that there is a step in the traveling direction.