US 12,140,956 B2
Safety device, self-propelled robot system, and controlling method
Hiroki Kokushi, Kobe (JP); Takayuki Iga, Kobe (JP); Takuya Ichise, Kobe (JP); Ryota Sakai, Kobe (JP); and Risa Momota, Kobe (JP)
Assigned to KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
Appl. No. 17/791,921
Filed by KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
PCT Filed Dec. 28, 2020, PCT No. PCT/JP2020/049187
§ 371(c)(1), (2) Date Jul. 11, 2022,
PCT Pub. No. WO2021/145220, PCT Pub. Date Jul. 22, 2021.
Claims priority of application No. 2020-005801 (JP), filed on Jan. 17, 2020.
Prior Publication US 2023/0048039 A1, Feb. 16, 2023
Int. Cl. G05D 1/00 (2024.01); B25J 5/00 (2006.01)
CPC G05D 1/0214 (2013.01) [B25J 5/007 (2013.01); G05D 1/0248 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A safety device, comprising:
a sensor that is attached to a self-propellable travel device or a robot provided to the travel device, is set with a given detection area on the basis of a position of the sensor, and detects an object existing within the given detection area;
a motion suppressing device that suppresses motions of the travel device and the robot, when the existence of the object within the given detection area is detected by the sensor; and
an area changing device that changes the given detection area according to operating states of the travel device and the robot, wherein
the area changing device is changeable between:
a first detection area as the given detection area extending from the travel device at least in a traveling direction of the travel device, when the robot does not operate and the travel device travels, and
a second detection area as the given detection area extending from the robot at least toward a movable area where the robot is operable, when the travel device does not travel and the robot operates.