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1. 发明公开

US20240317307A1 MOBILE VEHICLE, METHOD OF CONTROLLING MOBILE VEHICLE, AND PROGRAM 审中-公开
公开(公告)号：US20240317307A1
公开(公告)日：2024-09-26
申请号：US18455740
申请日：2023-08-25
申请人： Kabushiki Kaisha Toshiba
发明人： Takafumi SONOURA , Daisuke YAMAMOTO , Hideki OGAWA
IPC分类号： B62D7/15
CPC分类号： B62D7/159
摘要： A mobile vehicle includes: a vehicle body unit; a plurality of vehicle wheel parts; a first driving part configured to be connected to the vehicle wheel parts, and be able to rotate the vehicle wheel parts around a first rotation axis as its rotation center in a first rotation direction; a second driving part configured to connect the vehicle body unit and the first driving part, and be able to rotate the vehicle wheel parts and the first driving part around a second rotation axis as its rotation center in a second rotation direction; and a control unit configured to be disposed in the vehicle body unit and be able to control the first driving part and the second driving part. The vehicle wheel part includes a plurality of sub-vehicle wheel parts that are able to rotate in a third rotation direction different from the first rotation direction.

2. 发明申请

US20210170589A1 WORK SUPPORT DEVICE, WORK SUPPORT METHOD, COMPUTER PROGRAM PRODUCT, AND WORK SUPPORT SYSTEM 有权
公开(公告)号：US20210170589A1
公开(公告)日：2021-06-10
申请号：US17005365
申请日：2020-08-28
申请人： KABUSHIKI KAISHA TOSHIBA
发明人： Hideichi NAKAMOTO , Akihito OGAWA , Junichiro OOGA , Hideki OGAWA , Haruna ETO , Ryosuke HIGO
IPC分类号： B25J9/16 , B25J19/00 , B25J17/02 , B25J13/08 , B25J9/04
摘要： According an embodiment, a work support device includes an arm unit, a brake unit, a state determination unit, and a brake control unit. The arm unit includes a grasping part configured to grasp an object, a plurality of joint parts, and a plurality of link parts actuatably coupled through each joint part. The brake unit is provided to at least one of the joint parts to restrict actuation of the arm unit. The state determination unit determines the state of the arm unit. The brake control unit controls the brake unit to restrict actuation of the arm unit in accordance with the state of the arm unit.

3. 发明申请

US20210061629A1 AUTOMATIC GUIDED VEHICLE 有权
公开(公告)号：US20210061629A1
公开(公告)日：2021-03-04
申请号：US16795685
申请日：2020-02-20
申请人： Kabushiki Kaisha Toshiba
发明人： Hideki OGAWA , Daisuke Yamamoto , Takafumi Sonoura
IPC分类号： B66F9/06 , B66F9/075 , B60W30/08 , G05D1/00
摘要： In embodiments, an automatic guided vehicle includes a vehicle, a lift unit, a bumper, an extension detector, and a bumper controller. The vehicle is movable in at least a first direction. The lift unit is provided in the vehicle and lifts an object from below the object. The bumper is provided in the vehicle and is extendable and contractible in the first direction. The extension detector detects that the bumper has extended outward from the object in the first direction. The bumper controller controls a state of the bumper according to a conveyance state of the object by the vehicle.

4. 发明申请

US20220297992A1 UNMANNED TRANSPORT VEHICLE, UNMANNED TRANSPORT METHOD, AND COMPUTER-READABLE STORAGE MEDIUM 有权
公开(公告)号：US20220297992A1
公开(公告)日：2022-09-22
申请号：US17446182
申请日：2021-08-27
申请人： Kabushiki Kaisha Toshiba
发明人： Takafumi SONOURA , Daisuke YAMAMOTO , Hideki OGAWA
IPC分类号： B66F9/06 , B66F9/075 , G05D1/02 , G01S17/08
摘要： According to one embodiment, an unmanned transport vehicle includes: a moving body capable of autonomously traveling on a floor surface and having a docking portion connecting to the object; a detection sensor capable of detecting an approach side support leg, wherein, of the plurality of support legs in the object, a pair of support legs located on a docking side of the moving body are designated as approach side support legs, and a pair of support legs located on a side opposite to a docking side in a traveling direction of the moving body is used as depth side support legs; and a control device connected to the moving body and a first detection sensor. The moving body has a height capable of entering a bottom space surrounded by a lower surface of the load plate of the object, the plurality of support legs, and the floor surface.

5. 发明申请

US20210373169A1 MOVABLE OBJECT, DISTANCE MEASUREMENT METHOD, AND DISTANCE MEASUREMENT PROGRAM 有权
公开(公告)号：US20210373169A1
公开(公告)日：2021-12-02
申请号：US17183234
申请日：2021-02-23
申请人： KABUSHIKI KAISHA TOSHIBA
发明人： Seiji TOKURA , Daisuke YAMAMOTO , Takafumi SONOURA , Junya TANAKA , Hideki OGAWA
IPC分类号： G01S17/931 , G01S17/89 , G01C9/02
摘要： A movable object includes: a vehicle body; a distance measurement part configured to measure a distance to a physical object; an orientation measurement part configured to measure an orientation angle of the vehicle body; and a control device connected to the distance measurement part and the orientation measurement part. The control device acquires a measurement value of a detection range from the distance measurement part, calculates a valid range of the detection range on the basis of the orientation angle acquired from the orientation measurement part, and invalidates the measurement value of an invalid range not included in the valid range.

6. 发明申请

US20210292088A1 OBJECT TO BE TRANSPORTED AND AUTOMATIC GUIDED TRANSPORTATION SYSTEM 有权
公开(公告)号：US20210292088A1
公开(公告)日：2021-09-23
申请号：US17004077
申请日：2020-08-27
申请人： KABUSHIKI KAISHA TOSHIBA
发明人： Junya TANAKA , Hideki OGAWA , Daisuke YAMAMOTO , Takafumi SONOURA , Seiji TOKURA
IPC分类号： B65G1/06 , B25J5/00 , B25J9/16 , B25J11/00
摘要： According to one embodiment, an object to be transported by an automatic guided transportation vehicle includes: a housing having an entry route through which the automatic guided transportation vehicle enters; a marker that can be recognized by a sensor provided in the automatic guided transportation vehicle; and a marker holder configured to hold the marker retractably at an initial position where the marker contacts with the automatic guided transportation vehicle in the entry route.

7. 发明申请

US20220144609A1 AUTONOMOUS MOBILE ROBOT, TRANSPORTER, AUTONOMOUS MOBILE ROBOT CONTROL METHOD, AND TRANSPORTER CONTROL METHOD 有权
公开(公告)号：US20220144609A1
公开(公告)日：2022-05-12
申请号：US17520269
申请日：2021-11-05
申请人： Kabushiki Kaisha Toshiba , Toshiba Infrastructure Systems & Solutions Corporation
发明人： Daisuke YAMAMOTO , Hideki OGAWA , Takafumi SONOURA , Seiji TOKURA , Akihiro MORI , Yusuke ITO , Yasunori MAKI , Hideto YUI , Nobuyuki KISHI
IPC分类号： B66F9/06 , G05D1/02 , B66F9/075 , G06K9/00
摘要： According to one embodiment, an autonomous mobile robot has a driver, a first detector, a second detector, a localization estimation part, a route-generating part, and a control part. The localization estimation part is configured to calculate an estimated position of the autonomous mobile robot in a predetermined region in accordance with first data. The route-generating part is configured to calculate a position of an object present around the autonomous mobile robot in accordance with second data. The route-generating part is configured to calculate a route to a target position in accordance with the estimated position and the position of the object. The control part is configured to control the driver in accordance with the route. The control part is configured to cause the autonomous mobile robot to travel to the target position.

8. 发明申请

US20200086484A1 ARTICLE POSTURE CHANGING DEVICE AND ARTICLE POSTURE CHANGING METHOD 审中-公开
公开(公告)号：US20200086484A1
公开(公告)日：2020-03-19
申请号：US16288329
申请日：2019-02-28
申请人： KABUSHIKI KAISHA TOSHIBA
发明人： Daisuke YAMAMOTO , Takafumi SONOURA , Junji OAKI , Hideki OGAWA , Junya TANAKA , Hiroshi OHTSU , Kohei NARA , Keisuke KAMATA , Rie KATSUKI , Kazuhide SAWA
IPC分类号： B25J9/16 , B25J15/08
摘要： According to an embodiment, an article posture changing device includes: a first end effector configured to grasp a projected tag of an article by adsorption; an arm unit configured to support the first end effector and move the first end effector along at least a vertical direction; and a controller configured to control the arm unit and the first end effector to grasp the tag, lift the article upward, separate the article from a placement surface, change an angle of the article by weight thereof, move the article downward, place the article on the placement surface, and release the grasp of the tag.

9. 发明申请

US20150142249A1 COORDINATED TRANSPORT ROBOT SYSTEM 有权
标题翻译：协调运输机器人系统
公开(公告)号：US20150142249A1
公开(公告)日：2015-05-21
申请号：US14522973
申请日：2014-10-24
申请人： KABUSHIKI KAISHA TOSHIBA
发明人： Junichiro OOGA , Hideki OGAWA
IPC分类号： B60P3/40
CPC分类号： B66F9/07577 , B66F9/063 , Y10S901/01
摘要： A coordinated transport robot system according to an embodiment includes: first and second robots each including a mobile unit and a movement control unit; first and second position error absorption mechanisms provided on the first and second robots; an impedance model estimating an external force from the amount of displacement detected by the passive element unit; an external force estimating unit estimating respective external forces acting on the first and second robots based on external forces estimated with a dynamics model and estimated by the impedance model; a compliance model calculating respective position correction amounts of the first and second robots to make an external force zero; and a movement command calculating unit calculating movement commands to the first and second robots based on the position correction amounts. Each of the movement control units control the respective mobile units based on the respective movement commands.
摘要翻译：根据实施例的协调传送机器人系统包括：第一和第二机器人，每个包括移动单元和移动控制单元; 设置在第一和第二机器人上的第一和第二位置误差吸收机构; 阻抗模型，从由无源元件单元检测到的位移量估计外力; 外力估计单元，基于通过动力学模型估计出的外力并估计出由阻抗模型估计的各个外力来估计作用在第一和第二机器人上的各个外力; 计算第一和第二机器人的相应位置校正量以使外部力为零的顺应性模型; 以及移动指令计算单元，基于位置校正量来计算向第一和第二机器人的移动指令。每个移动控制单元基于相应的移动命令控制各个移动单元。

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