# US 2017/0285643 A1 · Mobile apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2017/0285643 A1 - Document ID: US20170285643A1 - Status: Published application - Kind: A1 - Application number: 15/469,960 - Filed: 2017-03-27 - Published: 2017-10-05 - Earliest claimed: 2016-03-30 - Assignees: Kabushiki Kaisha Toyota Jidoshokki - Applicants: Kabushiki Kaisha Toyota Jidoshokki - Inventors: Makoto ICHINOSE; Mitsuo KOIDE; Yuuji TSUSAKA; Minoru TANAKA; Akinobu FUJII - Web page: https://patentgrep.com/patent/US20170285643A1 ## CPC - B66F 9/0755: {Position control; Position detectors} - G05D 1/242: Means based on the reflection of waves generated by the vehicle (using passive navigation aids external to the vehicle G05D1/244; using signals provided by artificial sources external to the vehicle G05D1/247) - B66F 9/24: Electrical devices or systems - G01S 7/4808: {Evaluating distance, position or velocity data} - G01S 17/08: for measuring distance only (indirect measurement G01S17/46; active triangulation systems G01S17/48) - G01S 17/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46) - G01S 17/87: Combinations of systems using electromagnetic waves other than radio waves - G01S 17/931: of land vehicles - G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00) - G05D 1/0225: {involving docking at a fixed facility, e.g. base station or loading bay (parking aids B62D15/027)} - G05D 1/024: {in combination with a laser (lasers per se H01S)} - 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) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES ## Abstract A mobile apparatus includes a main body, a range sensor, an operation device, and a mobile mechanism, The operation device includes a wide route data generation unit that generates a wide route data according to which the main body is moved from a first specified location to a second specified location, a determination unit that determines a location and a posture of a reference object, an approaching route data generation unit that generates an approaching route data according to which the main body is moved from the second specified location to a target location, and a route data switching unit that switches traveling route from the wide rote data to the approaching route data after the approaching route data is generated, The approaching route data generation unit generates the approaching route data while the main body is traveling according to the generated wide route data, ## Claims ### Claim 1 A mobile apparatus that moves in a specified range, comprising: a main body; a range sensor that is mounted to the main body and measures a distance between the main body and an object that is present at a position in a specified direction with respect to the main body; an operation device configured to generate a route data according to which the main body is moved; and a mobile mechanism that moves the main body according to the route data generated by the operation device, wherein the operation device includes: a wide route data generation unit that generates a wide route data according to which the main body is moved from a first specified location to a second specified location, the first specified location and the second specified location being set in the specified range, a determination unit that determines a location and a posture of a reference object that is located in the vicinity of the second specified location based on the measured distance received from the range sensor, an approaching route data generation unit that generates, based on the determination of the determination unit, an approaching route data according to which the main body is moved from the second specified location to a target location at which the main body is placed in a specified location and a specified posture with respect to the reference object, and a route data switching unit that, after the approaching route data is generated, switches traveling route for the main body from the wide route data to the approaching route data, and wherein the approaching route data generation unit generates the approaching route data while the main body is traveling according to the generated wide route data. ### Claim 2 (depends on 1) The mobile apparatus according to claim 1, wherein the route data switching unit switches the traveling route for the main body from the wide route data to the approaching route data without causing the main body to stop, ### Claim 3 (depends on 1) The mobile apparatus according to claim 1, wherein the approaching route data generation unit generates the approaching route data in which a same speed is set for a terminal speed of the main body traveling according to the wide route data and an initial speed of the main body traveling according to the approaching route data. ### Claim 4 (depends on 1) The mobile apparatus according to claim 1, wherein the approaching route data generation unit corrects the approaching route data sequentially based on the determination of the determination unit while the main body is moving from the second specified location to the target location. ### Claim 5 (depends on 1) The mobile apparatus according to claim 1, wherein the mobile apparatus is a forklift truck having a fork assembly mounted to the main body, a specified angular range is provided in the specified direction with respect to the forklift truck, and the range sensor detects an object that is present in a space specified in front of the fork assembly and within the specified angular range.