US 12,111,660 B2
Autonomous movement system, autonomous movement method, and autonomous movement program
Shiro Oda, Anjo (JP); Tetsuya Taira, Nagakute (JP); Satoshi Toyoshima, Okazaki (JP); Yuta Watanabe, Toyota (JP); Takeshi Matsui, Nisshin (JP); Takayoshi Nasu, Okazaki (JP); Kei Yoshikawa, Nagoya (JP); Yusuke Ota, Nagakute (JP); Yutaro Ishida, Toyota (JP); Yuji Onuma, Nagoya (JP); and Kyosuke Arai, Toyota (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Nov. 19, 2021, as Appl. No. 17/530,590.
Claims priority of application No. 2021-015378 (JP), filed on Feb. 3, 2021.
Prior Publication US 2022/0244730 A1, Aug. 4, 2022
Int. Cl. G05D 1/00 (2024.01); B66B 5/00 (2006.01)
CPC G05D 1/0212 (2013.01) [B66B 5/0012 (2013.01); G05D 1/0088 (2013.01)] 14 Claims
OG exemplary drawing
 
1. An autonomous movement system that performs autonomous movement in a facility including an elevator, wherein the autonomous movement system moves an autonomous movement device to a waiting position in a car of the elevator, based on a person that gets on the car or an object that gets on the car;
the autonomous movement system determines the person or the object before the car stops at a floor or before a door of the car opens, and
the autonomous movement system
(i) moves the autonomous movement device in the car to the waiting position such that the autonomous movement devices array along a direction in which the object extends before the car stops at the floor or before the door of the car opens, the object being a stretcher, or
(ii) in the case where the autonomous movement system determines the person uses a handrail in the car, moves the autonomous movement device in the car to the waiting portion positioning at a predetermined distance away from the handrail before the car stops at the floor or before the door of the car opens.