# US 11,906,976 B2 · Mobile robot

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- Number: US 11,906,976 B2
- Document ID: US11906976B2
- Status: Granted
- Kind: B2
- Application number: 17/690,639
- Filed: 2022-03-09
- Published: 2022-10-20
- Granted: 2024-02-20
- Earliest claimed: 2021-04-14
- Assignees: Toyota Jidosha Kabushiki Kaisha
- Applicants: Toyota Jidosha Kabushiki Kaisha
- Inventors: Shiro Oda; Tetsuya Taira; Satoshi Toyoshima; Yuta Watanabe; Takeshi Matsui; Takayoshi Nasu; Kei Yoshikawa; Yusuke Ota; Yutaro Ishida; Yuji Onuma; Kyosuke Arai
- Web page: https://patentgrep.com/patent/US11906976B2

## CPC

- G05D 1/0297: {by controlling means in a control room}
- G05D 1/644: Optimisation of travel parameters, e.g. of energy consumption, journey time or distance
- G05D 1/0272: {comprising means for registering the travel distance, e.g. revolutions of wheels (measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00)}
- G05D 1/247: using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
- G05D 1/646: Following a predefined trajectory, e.g. a line marked on the floor or a flight path
- G05D 1/69: Coordinated control of the position or course of two or more vehicles
- G05D 1/692: involving a plurality of disparate vehicles
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

## Abstract

A robot control system is a robot control system that controls a plurality of mobile robots, in which: each of the mobile robots includes right and left wheels, and a sensor that detects actions of the right and left wheels; and the control system calculates abrasion degrees of right and left components for the right and left wheels, depending on a detection result of the sensor, and manages traveling of the plurality of mobile robots, depending on the abrasion degrees.

## Claims

### Claim 1

A mobile robot comprising:
right and left wheels;
a right wheel sensor configured to detect a rotation angle of the right wheel;
a left wheel sensor configured to detect a rotation angle of the left wheel;
a processor programmed to elect a movement path for the mobile robot; and
a memory, wherein
the processor is programmed to
acquire the rotation angle of the right wheel from the right wheel sensor,
acquire the rotation angle of the left wheel from the left wheel sensor,
calculate a first integrated value of the number of rotations of the right wheel based on the acquired rotation angle of the right wheel,
calculate a second integrated value of the number of rotations of the left wheel based on the acquired rotation angle of the left wheel,
set passing points of the movement path including a departure place and a destination, the passing points being set to corners where the mobile robot turns right or left,
store a plurality of the movement paths in the memory,
elect, among the plurality of the movement paths, a movement path in which the number of the passing points where the mobile robot turns right is larger than that of the other movement paths among the plurality of the movement paths, in response to the first integrated value being larger than the second integrated value, and
control the right and left wheels such that the mobile robot moves based on the elected movement path.

### Claim 2 (depends on 1)

The mobile robot according to claim 1, wherein the processor is further programmed to:
elect, among the plurality of the movement paths, a movement path in which the number of the passing points where the mobile robot turns left is larger than that of the other movement paths among the plurality of the movement paths, in response to the first integrated value being smaller than the second integrated value.

### Claim 3 (depends on 1)

The mobile robot according to claim 1, further comprising a camera, wherein
a floor map is stored in the memory,
candidates of the passing points are previously registered in the floor map, and
the processor is programmed to:
estimate a congestion situation of the movement path based on an image of the camera, and
set the passing points depending on the congestion situation.

### Claim 4 (depends on 3)

The mobile robot according to claim 3, wherein the processor is programmed to set the passing points such that the mobile robot moves in the shortest time.

### Claim 5 (depends on 3)

The mobile robot according to claim 3, wherein the processor is programmed to dynamically change the passing points depending on a change in the congestion situation.