An autonomous moving system according to the present disclosure is an autonomous moving system including an autonomous moving body that moves autonomously. The autonomous moving system includes a control unit that executes control of movement of the autonomous moving body including collision control, a setting unit that sets a defense space around the autonomous moving body, for executing the collision control, a detecting unit that detects obstructions in a vicinity of the autonomous moving body, and a classifying unit that classifies obstructions that are detected. The setting unit changes a range of the defense space, based on the obstructions that are classified by the classifying unit, and the control unit executes control of movement of the autonomous moving body including the collision control in at least one of when the obstruction is inside the defense space and when the obstruction is predicted to enter the defense space.

A delivery system includes a storage shelf, a delivery robot capable of moving to the storage shelf and delivering an article to the storage shelf, a detection unit that detects an obstacle present near the storage shelf, and a control unit that controls an operation of the delivery robot. The control unit is configured to, when the detection unit detects an obstacle present in a predetermined area near the storage shelf and the control unit determines that the delivery robot can deliver an article to the storage shelf, determine a stop position and a stop direction of the delivery robot relative to the storage shelf based on a position of the detected obstacle and a position of the storage shelf.

A control system controls a conveyance system including a transfer robot capable of autonomously moving and capable of conveying an article to be conveyed. The control system acquires conveyance destination information from a wagon capable of accommodating the article. The conveyance destination information indicates a destination of conveyance of the article. The control system causes the transfer robot to autonomously move such that the transfer robot conveys the wagon to the destination of conveyance indicated by the acquired conveyance destination information.

A mobile robot and a safety control system therefor. The safety control system includes a first monitoring circuit to movement data of the mobile robot; a second monitoring circuit to monitor whether the mobile robot collides with an obstacle; a third monitoring circuit to monitor whether an obstacle exists within a preset range of the mobile robot; a safety control circuit to generate a first safety instruction based on the movement data, a second safety instruction based on the collision signal, a third safety instruction based on the alarm signal, and a fourth safety instruction based on state information of the safety input device; a servo circuit to receive and execute a corresponding safety instruction; and a main control board to output a drive control signal to the servo circuit, for causing the servo circuit to control a motor of the mobile robot based on the drive control signal.

A method of loading and/or unloading a loading space is provided having a loading vehicle that drives into the loading space at least once to place down and/or to collect at least one load object, wherein an access zone of the loading space is safeguarded by at least one first sensor and the loading vehicle is safeguarded by at least one second sensor, In this respect, on driving into the loading space, the loading vehicle first drives to a first position that is so close to the safeguarded access zone that no person fits between the loading vehicle and the safeguarded access zone and the safeguarding of the access zone is then adapted by the first sensor such that a drive-through corridor for the loading vehicle is created.

The present invention relates to a monitoring sensor for the spatially resolved detection of objects in a monitored zone in accordance with the principle of triangulation, comprising a light transmitter for transmitting transmitted light into the monitored zone, wherein the light transmitter comprises a light source and a transmission optics that has an optical axis; a light receiver that has a plurality of receiver elements for receiving light from the monitored zone that is remitted by an object to be detected; and a reception optics arranged upstream of the light receiver.

The invention further relates to a floor-bound vehicle having a monitoring sensor.

A method of determining priority among a plurality of mobile robots is provided. The method includes detecting a second mobile robot that shares a space with a first mobile robot, exchanging a first consensus policy of the first mobile robot for a second consensus policy of the second mobile robot, and controlling movement of the first mobile robot according to a moving method determined based on the first consensus policy and the second consensus policy.

The delivery system of the present disclosure is a delivery system configured to deliver an article, the delivery system including an automatic transfer device including a detection section configured to detect surroundings, a drive section, and a control section configured to control the drive section, the automatic transfer device being configured to automatically move the article in a specific space, a standby space where the automatic transfer device is on standby is provided in the specific space, and the delivery system further includes a cleaning device disposed in the standby space, the cleaning device being configured to clean the automatic transfer device while the automatic transfer device is on standby.

An autonomous transport robot for transporting a payload is provided and includes a frame with an integral payload support, a transfer arm connected to the frame for autonomous transfer of payload to and from the frame, and a drive section with at least a pair of traction drive wheels astride the drive section, the drive section being connected to the frame. The at least the pair of traction drive wheels have a fully independent suspension coupling each traction drive wheel of the at least the pair of traction drive wheels to the frame, with at least one intervening pivot link between at least one traction drive wheel and the frame configured to maintain a substantially steady state traction contact patch between the at least one traction drive wheel and a rolling surface over rolling surface transients throughout traverse of the at least one traction drive wheel over the rolling surface.

A control device for a moving body according to the present disclosure is a control device for a moving body capable of recognizing and supporting a cargo handling device on which a package is placed and moving while estimating a self-location, and the control device is configured to, when causing the moving body to align and arrange multiple cargo handling devices at an arrangement location, acquire a position of a previous cargo handling device placed in advance at the arrangement location and control the moving body to place a next cargo handling device at a position determined based on the acquired position of the previous cargo handling device. Accordingly, it is possible to align and arrange multiple cargo handling devices at an arrangement location so that a gap is as small as possible by using a moving body capable of moving while estimating a self-location.