# US 11,299,146 B2 · Mobile body, control device, surrounding object detector, and monitoring device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,299,146 B2 - Document ID: US11299146B2 - Status: Granted - Kind: B2 - Application number: 16/551,017 - Filed: 2019-08-26 - Published: 2020-09-17 - Granted: 2022-04-12 - Earliest claimed: 2019-08-26 - Assignees: Kabushiki Kaisha Toshiba - Applicants: Kabushiki Kaisha Toshiba - Inventors: Atsushi Sadamoto; Takafumi Sonoura; Daisuke Yamamoto - Web page: https://patentgrep.com/patent/US11299146B2 ## CPC - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60W 30/143: {Speed control (B60W30/16 takes precedence)} - G05D 1/2427: {for monitoring a zone of adjustable size or form} - G05D 1/622: Obstacle avoidance (predicting or avoiding probable or impending collision of road vehicles B60W30/08) - B60B 19/003: {Multidirectional wheels} - B60W 2520/10: Longitudinal speed - B60W 2520/28: Wheel speed - B60W 2554/00: Input parameters relating to objects - G05D 2105/28: of freight - G05D 2107/70: Industrial sites, e.g. warehouses or factories - G05D 2109/18: Holonomic vehicles, e.g. with omni wheels - G05D 2111/17: {Coherent light, e.g. laser signals} - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B60B: VEHICLE WHEELS (making wheels or wheel parts by rolling B21H1/00, by forging, hammering or pressing B21K1/28); CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION ## Abstract A mobile body, a control device, a surrounding object detector, and a monitoring device capable of controlling a safety system of a mobile body having an omnidirectional movement mechanism with a simple configuration are provided. A mobile body according to an embodiment includes drive wheels, a rotational velocity detector, an object detector, a controller, and a changer. The drive wheels are three or more drive wheels that allows the mobile body to move in all directions, and the respective drive wheels are driven independently. The rotational velocity detector detects respective rotational velocities of the drive wheels. The object detector detects an object around the mobile body. The controller decelerates or stops the mobile body when an object is detected in a monitoring area by the object detector. The changer changes a range of the monitoring area on the basis of the respective rotational velocities of the drive wheels detected by the rotational velocity detector. ## Claims ### Claim 1 A mobile body comprising: three or more drive wheels that allows a mobile body to move in all directions, the respective drive wheels being driven independently; a rotational velocity detector that detects respective rotational velocities of the drive wheels; an object detector that detects objects around the mobile body; a controller that decelerates or stops the mobile body if any object is detected in a monitoring area by the object detector; and a changer that changes a range of the monitoring area on the basis of the respective rotational velocities of the drive wheels detected by the rotational velocity detector, wherein the changer determines whether or not the respective rotational velocities of the drive wheels are equal to or lower than a predetermined value, and changes the range of the monitoring area on the basis of a logical product of results of the determination. ### Claim 2 (depends on 1) The mobile body according to claim 1, wherein the changer determines whether or not the respective rotational velocities of the drive wheels are equal to or higher than a predetermined value, and changes the range of the monitoring area on the basis of a logical sum of a logical product of the results of the determination and a calculation value indicating a movement velocity of the mobile body calculated using the respective rotational velocities of the drive wheels. ### Claim 3 (depends on 1) The mobile body according to claim 1, wherein the changer determines whether or not the respective rotational velocities of the drive wheels are equal to or higher than a predetermined value, and changes the range of the monitoring area on the basis of a logical product of a logical product of the results of the determination and an operation signal for switching an operation of the mobile body generated using a movement plan of the mobile body. ### Claim 4 (depends on 1) The mobile body according to claim 1, wherein the controller decelerates or stops the mobile body when a calculation value indicating a state of the drive wheels calculated using the respective rotational velocities of the drive wheels are equal to or greater than a threshold value indicating an abnormality. ### Claim 5 (depends on 1) The mobile body according to claim 1, wherein the controller decelerates or stops the mobile body on the basis of a difference between the respective rotational velocities indicated by respective velocity command values of the drive wheels and the respective rotational velocities of the drive wheels detected by the rotational velocity detector. ### Claim 6 (depends on 1) The mobile body according to claim 1, wherein the changer changes the range of the monitoring area on the basis of whether or not a state indicated by a calculation value calculated using the respective rotational velocities of the drive wheels has continued for a certain time. ### Claim 7 (depends on 1) The mobile body according to claim 1, wherein the drive wheels are four mecanum wheels. ### Claim 8 (depends on 1) The mobile body according to claim 1, wherein the drive wheels are four omni wheels. ### Claim 9 (depends on 1) The mobile body according to claim 1, wherein the drive wheels are three omni wheels. ### Claim 10 A control device that is used for a moving device including three or more drive wheels that allows a mobile body to move in all directions, the respective drive wheels being driven independently, a rotational velocity detector that detects respective rotational velocities of the drive wheels, and an object detector that detects an object around the mobile body, the control device comprising: a controller that decelerates or stops the mobile body when an object is detected in a monitoring area by the object detector; and a changer that changes a range of the monitoring area on the basis of the respective rotational velocities of the drive wheels detected by the rotational velocity detector, wherein the changer determines whether or not the respective rotational velocities of the drive wheels are equal to or lower than a predetermined value, and changes the range of the monitoring area on the basis of a logical product of results of the determination. ### Claim 11 A control device that is used in connection with a surrounding object detector having an output for decelerating or stopping an operation of a machine when a surrounding object is detected in a monitoring area, and used to change a range of the monitoring area of the surrounding object detector, wherein the control device receives movement velocity signals from three or more independent movement velocity detectors and outputs a signal for changing the range of the monitoring area on the basis of the respective received movement velocity signals, wherein the control device determines whether or not respective rotational velocities of drive wheels are equal to or lower than a predetermined value, and changes the range of the monitoring area on the basis of a logical product of results of the determination. ### Claim 12 A surrounding object detector comprising output for decelerating or stopping an operation of a machine when a surrounding object is detected in a monitoring area, wherein a range of the monitoring area is changed on the basis of respective movement velocity signals output from three or more independent movement velocity amount detection means, wherein there is made a determination on whether or not respective rotational velocities of drive wheels are equal to or lower than a predetermined value, to change the range of the monitoring area on the basis of a logical product of results of the determination. ### Claim 13 A monitoring device comprising: a surrounding object detector having an output for decelerating or stopping an operation of a machine when a surrounding object is detected in a monitoring area; and a control device that is used in connection with the surrounding object detector and used to change a range of the monitoring area of the surrounding object detector, wherein the control device receives movement velocity signals from three or more independent movement velocity detectors and outputs a signal for changing the range of the monitoring area on the basis of the movement velocity signals, wherein the control device determines whether or not respective rotational velocities of drive wheels are equal to or lower than a predetermined value, and changes the range of the monitoring area on the basis of a logical product of results of the determination. ### Claim 14 A mobile body comprising: three or more drive wheels that allows a mobile body to move in all directions, the respective drive wheels being driven independently; a rotational velocity detector that detects respective rotational velocities of the drive wheels; an object detector that detects objects around the mobile body; a controller that decelerates or stops the mobile body if any object is detected in a monitoring area by the object detector; and a changer that changes a range of the monitoring area on the basis of the respective rotational velocities of the drive wheels detected by the rotational velocity detector, wherein the controller decelerates or stops the mobile body when a calculation value indicating a state of the drive wheels calculated using the respective rotational velocities of the drive wheels are equal to or greater than a threshold value indicating an abnormality.