Typically as an engineer, legal will advise you to never read patents. I’d suggest you take that position in the future since it can cause you and your company a tremendous amount of pain if it were litigated you had read it and/or expressed thoughts on it (e.g. if Omron ever sued your company, this post itself is evidence for them that you willingly infringed on their IP, which comes with substantially more damages than accidental infringement). If you took an engineering ethics or patent law class in college, I’d recommend skimming those materials again or talking to your company’s legal department on their rules.
I haven’t clicked on the link (for the reasons above), but remember that just because you hold a patent doesn’t mean it’s defensible or that your understanding of the claims section fully encapsulates the field to catch every variation a company / implementation might employ. You’d need to be talking to a lawyer to determine that. If indeed it is that far reaching, its likely indefensible and would not hold up in court, especially since they didn’t prior art the field of motion planning.