# US 12,515,328 B2 · Conveyance system, conveyance 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 12,515,328 B2 - Document ID: US12515328B2 - Status: Granted - Kind: B2 - Application number: 18/337,779 - Filed: 2023-06-20 - Published: 2023-12-21 - Granted: 2026-01-06 - Earliest claimed: 2022-06-21 - Assignees: Toyota Jidosha Kabushiki Kaisha - Applicants: Toyota Jidosha Kabushiki Kaisha - Inventors: Junya Ota; Kunihiro Iwamoto; Yutaro Takagi; Takatoshi Morimitsu; Uori Koike - Web page: https://patentgrep.com/patent/US12515328B2 ## CPC - B25J 9/1651: {acceleration, rate control} - B25J 9/1679: {characterised by the tasks executed} - B65G 1/026: {Racks equipped with a displaceable load carrying surface to facilitate loading or unloading} - B65G 2203/025: Speed of the article - B65G 2207/40: Safety features of loads, equipment or persons - G05B 2219/40078: Sort objects, workpieces - G05B 2219/40252: Robot on track, rail moves only back and forth - G05B 2219/40607: Fixed camera to observe workspace, object, workpiece, global - G05B 2219/45047: Sorting - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - 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) - 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) ## Abstract A conveyance system, a conveyance method, and a program reducing the possibility that an object that is accommodated in a box and is being conveyed is damaged are provided. A conveyance system conveys a box accommodating an object by conveyance robots. The conveyance system includes a first calculation unit configured to calculate, based on a kind and an arrangement of the object, a first maximum allowable acceleration indicating a maximum value of an allowable acceleration of the box in a width direction and a second maximum allowable acceleration indicating a maximum value of an allowable acceleration of the box in a depth direction. ## Claims ### Claim 1 A conveyance system for conveying a box accommodating an object by a conveyance robot, the conveyance system comprising a processing unit configured to: calculate, based on a kind and an arrangement of the object, a first maximum allowable acceleration indicating a maximum value of an allowable acceleration of the box in a width direction and a second maximum allowable acceleration indicating a maximum value of an allowable acceleration of the box in a depth direction; and change, when the first maximum allowable acceleration is small, a method for accommodating the object in such a way that the first maximum allowable acceleration becomes equal to or larger than a first reference value and the second maximum allowable acceleration becomes equal to or larger than a second reference value which is different from the first reference value, wherein the method for accommodating the object is changed based on information regarding a shape and a material of the object and includes arranging another object or a partitioning member that limits the movement of the object in the box or changes an orientation in which the object is arranged. ### Claim 2 (depends on 1) The conveyance system according to claim 1, wherein the conveyance robot conveys a plurality of boxes, and the processing unit is further configured to calculate, based on the first maximum allowable acceleration and the second maximum allowable acceleration of each of the plurality of boxes, a third maximum allowable acceleration, which is an allowable acceleration of the conveyance robot in a horizontal direction, and a fourth maximum allowable acceleration, which is an allowable acceleration of the conveyance robot in a traveling direction. ### Claim 3 (depends on 1) The conveyance system according to claim 1, wherein the processing unit is further configured to determine a first damage risk indicating a risk that the object might be damaged when the object has moved in the width direction of the box and a second damage risk indicating a risk that the object might be damaged when the object has moved in the depth direction of the box and calculate the first maximum allowable acceleration which is based on the first damage risk and the second maximum allowable acceleration which is based on the second damage risk. ### Claim 4 A conveyance system for conveying a box accommodating an object by a conveyance robot, the conveyance system comprising: a processing unit configured to: calculate, based on a kind and an arrangement of the object, a first maximum allowable acceleration indicating a maximum value of an allowable acceleration of the box in a width direction and a second maximum allowable acceleration indicating a maximum value of an allowable acceleration of the box in a depth direction; and change, when the first maximum allowable acceleration is small, a method for accommodating the object in such a way that the first maximum allowable acceleration becomes equal to or larger than a first reference value and the second maximum allowable acceleration becomes equal to or larger than a second reference value which is different from the first reference value; and a rack that accommodates the box, wherein the rack comprises a sorting robot that accommodates the object in the box by the accommodation method being changed. ### Claim 5 A conveyance method for conveying a box accommodating an object by a conveyance robot, comprising: determining, based on a kind and an arrangement of the object, a first maximum allowable acceleration indicating a maximum value of an allowable acceleration of the box in a width direction and a second maximum allowable acceleration indicating a maximum value of an allowable acceleration of the box in a depth direction; and changing, when the first maximum allowable acceleration is small, a method for accommodating the object in such a way that the first maximum allowable acceleration becomes equal to or larger than a first reference value and the second maximum allowable acceleration becomes equal to or larger than a second reference value which is different from the first reference value, wherein the method for accommodating the object is changed based on information regarding a shape and a material of the object and includes arranging another object or a partitioning member that limits the movement of the object in the box or changes an orientation in which the object is arranged. ### Claim 6 (depends on 5) A non-transitory computer readable medium storing a program for causing a computer to execute the conveyance method according to claim 5.