# US 12,111,660 B2 · Autonomous movement system, autonomous movement method, and autonomous movement program > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,111,660 B2 - Document ID: US12111660B2 - Status: Granted - Kind: B2 - Application number: 17/530,590 - Filed: 2021-11-19 - Published: 2022-08-04 - Granted: 2024-10-08 - Earliest claimed: 2021-02-03 - 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/US12111660B2 ## CPC - G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)} - G05D 1/0214: {in accordance with safety or protection criteria, e.g. avoiding hazardous areas (monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13)} - B66B 5/0012: {Devices monitoring the users of the elevator system} - G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)} - G05D 1/0282: {generated in a local control room} - G05D 1/227: Handing over between remote control and on-board control; Handing over between remote control arrangements - G05D 1/646: Following a predefined trajectory, e.g. a line marked on the floor or a flight path - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B66B: ELEVATORS; ESCALATORS OR MOVING WALKWAYS ({apparatus for raising or lowering persons on theatrical stages or the like A63J5/12} ; funicular railbound systems with rigid ground-supported tracks and cable traction, e.g. cliff railways, B61B9/00; arrangements of ammunition handlers in vessels B63G3/00; hoists, lifts, or conveyors for loading or unloading in general B65G; braking or detent devices controlling normal movements of winding drums or barrels B66D; ship-lifting devices E02C; garages for many vehicles with mechanical means for lifting vehicles E04H6/12; hoists for feeding ammunition or projectiles to launching apparatus or to loading mechanisms F41A9/00) ## Abstract An autonomous movement system according to an embodiment is an autonomous movement system that performs autonomous movement in a facility including an elevator, in which the autonomous movement system moves 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 may determine the person or the object before the car stops at a floor or before a car door opens. ## Claims ### Claim 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. ### Claim 2 (depends on 1) The autonomous movement system according to claim 1, wherein in a case where the car arrives at a destination floor for the autonomous movement system before the car arrives at a destination floor for the person or the object, the autonomous movement system once gets off the car on a floor where the person or the object gets on the car, and gets on the car after the person or the object gets on the car. ### Claim 3 (depends on 1) The autonomous movement system according to claim 1, wherein: the object is another autonomous movement system; and the autonomous movement system acquires information about a destination floor for the other autonomous movement system, before the car stops at a floor or before a door of the car opens. ### Claim 4 (depends on 1) The autonomous movement system according to claim 1, wherein the autonomous movement system moves the autonomous movement device in the car to the waiting position to provide a space in a front of a destination switch such that a person can push the destination switch, before the car stops at the floor or before the door of the car opens. ### Claim 5 (depends on 1) The autonomous movement system according to claim 1, wherein the autonomous movement system 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. ### Claim 6 (depends on 1) The autonomous movement system according to claim 1, wherein in the case where the autonomous movement system determines the person uses a handrail in the car, the autonomous movement system moves the autonomous movement device in the car to the waiting position from a vicinity of the handrail to the front of a car door before the car stops at the floor or before the door of the car opens. ### Claim 7 (depends on 1) The autonomous movement system according to claim 1, wherein in the case where the handrail is provided at a back of the car and the autonomous movement system determines the person uses the handrail in the car, moves the autonomous movement device in the car to the front of a car door before the car stops at the floor or before the door of the car opens. ### Claim 8 (depends on 1) The autonomous movement system according to claim 1, wherein the autonomous movement system acquires image data about an elevator hall, and determines whether the person is an old person or a patient, or whether the object is a stretcher. ### Claim 9 (depends on 1) The autonomous movement system according to claim 1, wherein the autonomous movement system determines: an object that gets on the car is a stretcher with a destination of an intensive-care unit, and acquires information about a destination floor for the stretcher from a server or a storage unit; an object that gets on the car is a container that contains waste, and acquires information about a destination floor for the container from the server or the storage unit; or a person that gets on the car is a patient that uses a particular patient room, and acquires information about a destination floor for the patient from the server or the storage unit. ### Claim 10 An autonomous movement system comprising: an autonomous movement device that performs autonomous movement in a facility including an elevator; and a server device that exchanges traveling information with the autonomous movement device, wherein the server device moves a waiting position of the autonomous movement device in a car of the elevator, based on a person that gets on the car or an object that gets on the car; the server device transmits, to the autonomous movement device, a signal to (i) move the autonomous movement device in the car to the waiting position such that the autonomous movement devices are arrayed 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 server device determines the person uses a handrail in the car, move 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; the autonomous movement device in the car moves the waiting position before the car stops at the floor or before the door of the car opens. ### Claim 11 (depends on 10) The autonomous movement system according to claim 10, wherein in a case where the car arrives at a destination floor for the autonomous movement device before the car arrives at a destination floor for the person or the object, the server device causes the autonomous movement device to once get off the car on a floor where the person or the object gets on the car, and causes the autonomous movement device to get on the car after the person or the object gets on the car. ### Claim 12 (depends on 10) The autonomous movement system according to claim 10, wherein: as the autonomous movement device, there is a plurality of autonomous movement devices including a first autonomous movement device and a second autonomous movement device; the autonomous movement device in the car is the first autonomous movement device; the object is the second autonomous movement device; and the server device sends information about a destination floor for the second autonomous movement device to the first autonomous movement device, before the car stops at a floor or before a door of the car opens. ### Claim 13 An autonomous movement method for an autonomous movement device that performs autonomous movement in a facility including an elevator, the autonomous movement method comprising: a step of determining, in a car of the elevator, a person that gets on the car or an object that gets on the car; a step of moving a waiting position in the car, based on the person or the object; a step of determining the person or the object before the car stops at a floor or before a door of the car opens; and a step of: (i) moving the autonomous movement device in the car to the autonomous movement device such that the autonomous movement devices are arrayed 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) moving 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, in the case where it is determined that the person uses the handrail in the car. ### Claim 14 A non-transitory storage medium storing instructions that are executable by one or more processors and that cause the one or more processors to perform functions comprising: determining, in a car of the elevator, a person that gets on the car or an object that gets on the car; determining the person or the object before the car stops at a floor or before a door of the car opens; and (i) moving the autonomous movement device in the car to the waiting position such that the autonomous movement devices is are arrayed 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 it is determined that the person uses a handrail in the car, moving the autonomous movement device in the car to the waiting position from a vicinity of the handrail to the front of a car door before the car stops at the floor or before the door of the car opens.