# US 10,503,173 B2 · Moving device, non-transitory computer-readable medium, and control system

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- Number: US 10,503,173 B2
- Document ID: US10503173B2
- Status: Granted
- Kind: B2
- Application number: 15/583,621
- Filed: 2017-05-01
- Published: 2018-06-21
- Granted: 2019-12-10
- Earliest claimed: 2016-12-19
- Assignees: Fuji Xerox Co., Ltd.
- Applicants: Fuji Xerox Co., Ltd.
- Inventors: Hirokazu Tsubota; Yasuharu Sakurai; Kunitoshi Yamamoto
- Web page: https://patentgrep.com/patent/US10503173B2

## CPC

- G05D 1/639: Resolving or avoiding being stuck or obstructed
- G05B 19/41895: {using automatic guided vehicles [AGV] (control of position or course of AGV's G05D1/00)}
- G05B 2219/31005: Detect obstacles on path of vehicle
- G05B 2219/50393: Floor conveyor, AGV automatic guided vehicle
- Y02P 90/02: Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
- Y02P 90/60: Electric or hybrid propulsion means for production processes
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)
- Y02P: CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS

## Abstract

A moving device includes a transportation mechanism, a detector, and a controller. The transportation mechanism moves from a departure point to a destination point. The detector detects an obstacle existing on a path to the destination point. When the detector detects that the obstacle exists on the path to the destination point, and another path to the destination point does not exist, the controller controls the transportation mechanism to move to a location that does not impede traffic, and stand by.

## Claims

### Claim 1

A moving device, comprising:
a transportation mechanism that moves from a departure point to a destination point;
a detector that detects an obstacle existing on a path to the destination point;
a setting unit that sets a refuge location on a basis of traffic information accumulated in the past; and
a controller that is configured to:
when the detector detects that the obstacle exists on the path to the destination point, and another path to the destination point does not exist, control the transportation mechanism to move to a location that does not impede traffic, and stand by, and
control the transportation mechanism to move to the refuge location set by the setting unit, and stand by.

### Claim 2 (depends on 1)

The moving device according to claim 1, wherein
when the detector detects that the obstacle exists on the path to the destination point, and another path to the destination point does not exist, the controller controls the transportation mechanism to move to a preset standby location and stand by.

### Claim 3 (depends on 1)

The moving device according to claim 1, wherein
when the detector detects that the obstacle exists on the path to the destination point, and another path to the destination point does not exist, the controller controls the transportation mechanism to make space allowing people to pass by on the current path, and stand by.

### Claim 4 (depends on 1)

The moving device according to claim 1, wherein
the setting unit sets the refuge location in an order of priority on a basis of at least one of information about surroundings and time of day.

### Claim 5 (depends on 1)

The moving device according to claim 1, further comprising:
a selector that, when the detector detects that the obstacle exists on the path to the destination point, and another path to the destination point does not exist, selects the path in which the obstacle on the path is a dynamic obstacle, wherein
the controller controls the transportation mechanism to move slowly on the path selected by the selector, and after the dynamic obstacle is cleared, move at a normal speed.

### Claim 6 (depends on 5)

The moving device according to claim 5, wherein
if the dynamic obstacle is not cleared within a certain amount of time, the controller controls the transportation mechanism to move to a preset standby location and stand by.

### Claim 7 (depends on 1)

The moving device according to claim 1, further comprising:
a service providing mechanism that provides a service by moving via the transportation mechanism.

### Claim 8 (depends on 7)

The moving device according to claim 7, further comprising:
a reporting unit that reports information about a standby location to a user who requests a service to be provided by the service providing mechanism.

### Claim 9

A non-transitory computer readable medium storing a program causing a computer to execute a process for moving, the process comprising:
moving from a departure point to a destination point;
detecting an obstacle existing on a path to the destination point;
setting a refuge location on a basis of traffic information accumulated in the past;
controlling, when the obstacle existing on the path to the destination point is detected, and another path to the destination point does not exist, to move to a location that does not impede traffic, and stand by; and
controlling to move to the refuge location set by the setting unit, and stand by.

### Claim 10

A control system, comprising:
a transportation mechanism that moves from a departure point to a destination point;
a detector that detects an obstacle existing on a path to the destination point;
a setting unit that sets a refuge location on a basis of traffic information accumulated in the past; and
a controller that is configured to:
when the detector detects that the obstacle exists on the path to the destination point, and another path to the destination point does not exist, control the transportation mechanism to move to a location that does not impede traffic, and stand by, and
control the transportation mechanism to move to the refuge location set by the setting unit, and stand by.

### Claim 11 (depends on 2)

The moving device according to claim 2, wherein the controller is further configured to, when it is determined that enough space for passersby may not be ensured and the transportation mechanism is determined to be possibly unable to move to the standby location, extract a space where there is little movement of people and objects on the basis of the traffic information accumulated in the past, and set the extracted space as the refuge location, and the controller controls the transportation mechanism to move to the refuge location and stand by.