US 12,304,079 B2
Robot control system, robot control method, and robot control program
Yuya Yasui, Toyota (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Apr. 13, 2022, as Appl. No. 17/719,910.
Claims priority of application No. 2021-083861 (JP), filed on May 18, 2021.
Prior Publication US 2022/0371191 A1, Nov. 24, 2022
Int. Cl. B25J 9/16 (2006.01); B25J 9/00 (2006.01); B25J 13/08 (2006.01); B25J 15/00 (2006.01); B25J 19/02 (2006.01); G01S 17/08 (2006.01)
CPC B25J 9/1653 (2013.01) [B25J 9/0009 (2013.01); B25J 13/089 (2013.01); B25J 15/0009 (2013.01); B25J 19/022 (2013.01); B25J 19/023 (2013.01); G01S 17/08 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A robot control system comprising:
a mobile robot configured to control movement of an object, the mobile robot including
a wheel or tracked treads,
a first sensor installed on the wheel or the tracked treads,
an end effector that controls the movement of the object, and
a second sensor that is installed on the end effector and that is configured to detect a distance to the object; and
a processor configured to
estimate a position of the object based on detection information of the object acquired by the first sensor,
move the end effector to the estimated position of the object, and
control the end effector to control the movement of the object, when a distance between the object and the second sensor, acquired by the second sensor, is equal to or less than a threshold distance, wherein
the threshold distance is equal to or less than a range of motion of the end effector when the end effector pushes down the object.