US 11,987,446 B2
Opening-closing control device, opening-closing control system, task system, opening-closing control method, and computer-readable medium
Yuta Itozawa, Nagoya (JP); Kunihiro Iwamoto, Nagakute (JP); Hirotaka Komura, Tokyo (JP); Yutaro Takagi, Tokyo (JP); Yoshiaki Nakamoto, Nisshin (JP); and Junya Ota, Tokyo (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Nov. 1, 2021, as Appl. No. 17/515,965.
Claims priority of application No. 2021-011916 (JP), filed on Jan. 28, 2021.
Prior Publication US 2022/0234828 A1, Jul. 28, 2022
Int. Cl. B65G 1/137 (2006.01); B65G 47/90 (2006.01)
CPC B65G 1/137 (2013.01) [B65G 47/905 (2013.01); B65G 2203/0283 (2013.01)] 11 Claims
OG exemplary drawing
 
1. An opening-closing control device that is a device for controlling opening and closing of a plurality of doors of an accommodating portion when a robot executes a task of loading or unloading an object to and from the accommodating portion, the opening-closing control device comprising:
a door opening information acquisition unit that acquires information indicating a door to be opened in order to execute the task;
a determination unit that determines whether a mounting portion of the robot has reached a height at which the object is arranged, and whether the mounting portion of the robot has started descending; and
a control unit that controls, based on the information indicating the door to be opened in order to execute the task, a lock unit that is arranged corresponding to each of the plurality of doors and that is configured to restrict a door other than the door to be opened in order to execute the task in a closed state;
wherein the control unit further opens the door to be opened when the determination unit determines that the mounting portion of the robot has reached the height at which the object is arranged, and closes the door when the determination unit determined that the mounting portion of the robot has started descending.