# US 2024/0201702 A1 · Self-Driving Device Control System > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2024/0201702 A1 - Document ID: US20240201702A1 - Status: Published application - Kind: A1 - Application number: 18/545,485 - Filed: 2023-12-19 - Published: 2024-06-20 - Earliest claimed: 2022-12-20 - Assignees: Daifuku Co., Ltd. - Applicants: Daifuku Co., Ltd. - Inventors: Haruhito Furuya - Web page: https://patentgrep.com/patent/US20240201702A1 ## CPC - G05D 1/617: Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards (arrangements for controlling the position or course of two or more vehicles for avoiding collisions therebetween G05D1/693; arrangements for reacting to or preventing system or operator failure G05D1/80) - G05D 1/6987: {by centralised control off-board any of the vehicles} - G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80) - G06V 20/52: Surveillance or monitoring of activities, e.g. for recognising suspicious objects (recognising microscopic objects G06V20/69) - G06V 40/10: Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands - G07C 9/15: with arrangements to prevent the passage of more than one individual at a time - G07C 9/22: in combination with an identity check of the pass holder - G05D 2105/20: for transportation - G05D 2105/28: of freight - G05D 2107/70: Industrial sites, e.g. warehouses or factories - G05D 2109/10: Land vehicles - G06T 2207/30196: Human being; Person - G06T 2207/30232: Surveillance - G06T 2207/30242: Counting objects in image - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - G07C: TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE ## Abstract A self-driving device control system of the present invention includes an entry restricted area, at least one entrance opened and closed by a closing member, a self-driving device, and a control device, and further includes an outside identification device, an inside identification device, and a storage device. When identification information is acquired by the outside identification device, the control device sets the self-driving device to a stopped state. If the storage device is not storing even one piece of entry identification information regarding a worker for which a corresponding piece of exit identification information regarding the same worker is not stored in the storage device, and furthermore all of the entrances are in a passage restricted state, the control device resumes the driving of the self-driving device. ## Claims ### Claim 1 A self-driving device control system, comprising: an entry restricted area surrounded by an entry restriction member configured to restrict entry of a worker; at least one entrance in a part of the entry restriction member and configured to be opened and closed by a closing member; a self-driving device in the entry restricted area; and a control device configured to control the self-driving device, and wherein: the self-driving device control system further comprises: an outside identification device at the at least one entrance, at a location outside the entry restricted area, and configured to acquire identification information regarding the worker; an inside identification device at the at least one entrance, at a location inside the entry restricted area, and configured to acquire the identification information; and a storage device configured to store information, in response to the outside identification device acquiring the identification information, the control device stores the acquired identification information as entry identification information in the storage device, sets the self-driving device to a stopped state, sets a state of the closing member to a passage permitted state, in which passage of the worker through the at least one entrance is permitted, and, after the worker passes through the at least one entrance, sets the state of the closing member to a passage restricted state, in which passage of the worker through the at least one entrance is restricted, in response to the inside identification device acquiring the identification information, the control device stores the acquired identification information as exit identification information in the storage device, sets the state of the closing member to the passage permitted state, and, after the worker passes through the at least one entrance, sets the state of the closing member to the passage restricted state, in response to the storage device storing even one piece of the entry identification information regarding the worker for which a corresponding piece of the exit identification information regarding the worker is not stored in the storage device, the control device maintains the stopped state of the self-driving device, and in response to the storage device storing even one piece of the entry identification information regarding the worker for which a corresponding piece of the exit identification information regarding the worker is not stored in the storage device, and furthermore each of the at least one entrance being in the passage restricted state, the control device resumes driving of the self-driving device. ### Claim 2 (depends on 1) The self-driving device control system according to claim 1, wherein the at least one entrance includes a plurality of entrances, and wherein the control device stores the entry identification information and the exit identification information for each of the entrances in the storage device in such a manner that the entry identification information and the exit identification information are cross-referenceable with each other. ### Claim 3 (depends on 1) The self-driving device control system according to claim 1, further comprising: an in-area detection device configured to detect whether the worker is in the entry restricted area, and wherein in response to the in-area detection device not detecting that the worker is in the entry restricted area, the control device resumes driving of the self-driving device. ### Claim 4 (depends on 1) The self-driving device control system according to claim 1, further comprising: an entrance detection device configured to detect a worker count indicating how many workers passed through the at least one entrance, and wherein in response to the worker count detected by the entrance detection device being different from how many pieces of the identification information were acquired by the outside identification device or the inside identification device, the control device gives a notification indicating an abnormality. ### Claim 5 (depends on 1) The self-driving device control system according to claim 1, wherein in response to the identification information regarding the worker being acquired a plurality of times in succession by the outside identification device, or in response to the identification information regarding the worker being acquired a plurality of times in succession by the inside identification device, the control device gives a notification indicating an abnormality. ### Claim 6 (depends on 1) The self-driving device control system according to claim 1, wherein the control device is further configured to determine an in-area worker count, which indicates how many workers are in the entry restricted area, based on the entry identification information and the exit identification information stored in the storage device, and give a notification indicating the in-area worker count. ### Claim 7 (depends on 1) The self-driving device control system according to claim 1, wherein the self-driving device is an unmanned transport vehicle, wherein in response to the identification information being acquired by the outside identification device, and furthermore the unmanned transport vehicle being at a location other than a location hindering passage of the worker, the control device sets the unmanned transport vehicle to the stopped state, and wherein in response to setting the unmanned transport vehicle to the stopped state, the control device sets the state of the closing member to the passage permitted state, in which passage of the worker through the at least one entrance is permitted.