# US 12,181,875 B2 · Control system, control method, and program > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,181,875 B2 - Document ID: US12181875B2 - Status: Granted - Kind: B2 - Application number: 17/983,438 - Filed: 2022-11-09 - Published: 2023-05-18 - Granted: 2024-12-31 - Earliest claimed: 2021-11-15 - Assignees: Toyota Jidosha Kabushiki Kaisha - Applicants: Toyota Jidosha Kabushiki Kaisha - Inventors: Kunihiro Iwamoto; Yuta Itozawa; Hirotaka Komura - Web page: https://patentgrep.com/patent/US12181875B2 ## CPC - G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)} - G05D 1/0287: {involving a plurality of land vehicles, e.g. fleet or convoy travelling (traffic control systems for road vehicles G08G1/00, particularly anticollision systems G08G1/16)} - B65G 1/0492: {with cars adapted to travel in storage aisles} - B65G 1/10: with relatively movable racks to facilitate insertion or removal of articles {(cabinets with means for moving compartments up and down A47B51/00; cabinet system, e.g. consisting of cabinets arranged in a row with means to open or close passages between adjacent cabinets A47B53/02)} - B65G 65/00: Loading or unloading (of vehicles B65G67/00) - B66F 9/063: {Automatically guided} - B66F 9/0755: {Position control; Position detectors} - G05D 1/24: Arrangements for determining position or orientation - B65G 1/1375: {the orders being assembled on a commissioning stacker-crane or truck} - G05D 2101/10: using artificial intelligence [AI] techniques - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D) - B66F: HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD ({invalid lifting devices A61G7/10; } mounting artificial islands on piles or like supports E02B17/00; scaffolding combined with lifting devices E04G1/22; lifting devices for sliding forms E04G11/24; lifting of buildings E04G23/06; shores or struts E04G25/00; lifts or other hoisting devices on ladders E06C7/12; props for mining E21D15/00) ## Abstract A control system for controlling a movement of a carriage in which a load is housed includes a determination unit configured to determine whether or not an autonomous mobile robot is planned to move toward the carriage in a state in which the load is raised to a predetermined height or higher by a placement part, the autonomous mobile robot including the placement part having a changeable height and being configured to house the load placed on the placement part in the carriage, and a carriage control unit configured to control the carriage so that the carriage moves toward the autonomous mobile robot when it is determined that the autonomous mobile robot is planned to move toward the carriage in a state in which the load is raised to the predetermined height or higher by the placement part. ## Claims ### Claim 1 A control system for controlling a movement of a carriage in which a load is housed, the control system comprising a processor configured to: determine whether or not an autonomous mobile robot is planned to move toward the carriage in a state in which the load is raised to a predetermined height or higher by a placement part, the autonomous mobile robot including the placement part having a changeable height and being configured to house the load placed on the placement part in the carriage; and control the carriage so that the carriage moves toward the autonomous mobile robot when it is determined that the autonomous mobile robot is planned to move toward the carriage in the state in which the load is raised to the predetermined height or higher by the placement part, wherein: the load includes projections projecting in a horizontal direction on both sides of the load, the carriage includes an open chassis, the chassis including therein a support part for supporting the projections, the processor is configured to move the carriage so that the placement part enters the chassis, the carriage further includes a sensor and a mobile device and a pair of rails, the carriage is configured to autonomously move toward the autonomous mobile robot, and that a second state in which the placement part enters the chassis is in which the projections on both sides of the load are positioned above the pair of rails, and the processor is further configured to adjust an orientation of the carriage so that a direction in which the pair of rails are extended match a direction in which the projections are extended. ### Claim 2 (depends on 1) The control system according to claim 1, wherein the processor is configured to make the determination based on information indicating a height of the placement part detected by using the sensor or a height of the load above the placement part detected by using the sensor. ### Claim 3 (depends on 1) The control system according to claim 1, wherein the processor is configured to make the determination based on control information about the height of the placement part received from the autonomous mobile robot. ### Claim 4 (depends on 1) The control system according to claim 1, wherein the processor is configured to make the determination based on a planned housing position of the load in the carriage. ### Claim 5 (depends on 4) The control system according to claim 4, wherein the planned housing position is specified from information indicating a position where the load is housed, and the processor is further configured to specify a highest position where the load is housed as the planned housing position. ### Claim 6 (depends on 1) The control system according to claim 1, wherein the chassis is opened to a ground surface or a floor surface. ### Claim 7 A method for controlling a movement of a carriage in which a load is housed, the method comprising: determining whether or not an autonomous mobile robot is planned to move toward the carriage in a state in which the load is raised to a predetermined height or higher by a placement part, the autonomous mobile robot including the placement part having a changeable height and being configured to house the load placed on the placement part in the carriage; and controlling the carriage so that the carriage moves toward the autonomous mobile robot when it is determined that the autonomous mobile robot is planned to move toward the carriage in the state in which the load is raised to the predetermined height or higher by the placement part, wherein: the load includes projections projecting in a horizontal direction on both sides of the load, the carriage includes an open chassis, the chassis including therein a support part for supporting the projections, the method further comprising moving the carriage so that the placement part enters the chassis, the carriage further including a sensor and a mobile device and a pair of rails, the carriage is configured to autonomously move toward the autonomous mobile robot, and that a second state in which the placement part enters the chassis is in which the projections on both sides of the load are positioned above the pair of rails, and the method further comprising adjusting an orientation of the carriage so that a direction in which the pair of rails are extended match a direction in which the projections are extended. ### Claim 8 A non-transitory computer readable medium storing a program for controlling a movement of a carriage in which a load is housed and the program comprising instructions that, when executed by a processor, cause the processor to execute: determining whether or not an autonomous mobile robot is planned to move toward the carriage in a state in which the load is raised to a predetermined height or higher by a placement part, the autonomous mobile robot including the placement part having a changeable height and being configured to house the load placed on the placement part in the carriage; and controlling the carriage so that the carriage moves toward the autonomous mobile robot when it is determined that the autonomous mobile robot is planned to move toward the carriage in the state in which the load is raised to the predetermined height or higher by the placement part, wherein: the load includes projections projecting in a horizontal direction on both sides of the load, the carriage includes an open chassis, the chassis including therein a support part for supporting the projections, the instructions further causing the processing to execute moving the carriage so that the placement part enters the chassis, the carriage further including a sensor and a mobile device and a pair of rails, the carriage is configured to autonomously move toward the autonomous mobile robot, and that a second state in which the placement part enters the chassis is in which the projections on both sides of the load are positioned above the pair of rails, and the instructions further causing the processing to adjust an orientation of the carriage so that a direction in which the pair of rails are extended match a direction in which the projections are extended.