US 12,405,612 B2
Area recognition system, using magnetic sensors, area recognition method, using magnetic sensors, and program for executing area recognition method using magnetic sensors
Yuta Itozawa, Nagoya (JP); and Kunihiro Iwamoto, Nagakute (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Apr. 28, 2023, as Appl. No. 18/308,999.
Claims priority of application No. 2022-080178 (JP), filed on May 16, 2022.
Prior Publication US 2023/0367329 A1, Nov. 16, 2023
Int. Cl. G05D 1/02 (2020.01); G05D 1/00 (2006.01)
CPC G05D 1/0259 (2013.01) [G05D 1/0223 (2013.01)] 5 Claims
OG exemplary drawing
 
1. An area recognition system for recognizing a travel area of a robot, the area recognition system comprising:
a first magnetic member;
a second magnetic member; and
a third magnetic member, wherein
the first magnetic member and the second magnetic member are disposed between different travel areas,
the third magnetic member is disposed between the different travel areas at a first distance from the first magnetic member or the second magnetic member,
polarities on upper surface sides of the first magnetic member and the second magnetic member are different from each other,
the robot comprises:
a first magnetic sensor provided at a center portion of a bottom surface of the robot;
a second magnetic sensor provided at the center portion of the bottom surface of the robot and at a position different from a position where the first magnetic sensor is provided along a traveling direction of the robot;
a plurality of third magnetic sensors comprising one or more front magnetic sensors provided at front corners of the bottom surface of the robot and one or more rear magnetic sensors provided at rear corners of the bottom surface of the robot, a distance between the one or more front magnetic sensors and the one or more rear magnetic sensors being a second distance;
a memory storing at least one instruction; and
at least one processor configured to execute the at least one instruction stored in the memory to cause the robot to:
recognize a movement of the robot between the different travel areas by the first magnetic sensor detecting one of the first magnetic member and the second magnetic member and the second magnetic sensor detecting another of the first magnetic member and the second magnetic member; and
control a moving speed of the robot based on the movement of the robot between the different travel areas, and
the first distance is at least half of the second distance, wherein
the plurality of third magnetic sensors are configured to detect one of an N-pole and an S-pole,
the robot further comprises a safety apparatus configured to operate based on a result of the detection by the plurality of third magnetic sensors,
the third magnetic member is disposed between the different travel areas so as to switch a state of the safety apparatus between a stopped state and an operable state, and
a polarity of the third magnetic member on an upper surface side thereof is another one of the N-pole and the S-pole.