using Net::DNS and one of the example domains you gave I was able to query the DNS servers:
You can get more information regarding Net::DNS on cpan website.

use Net::DNS;
my $res   = Net::DNS::Resolver->new;
my $query = $res->query("toyota.co.jp", "NS");
if ($query) {
    foreach $rr (grep { $_->type eq 'NS' } $query->answer) {
        print $rr->nsdname, "\n";
    }
} else {
    warn "query failed: ", $res->errorstring, "\n";
}

__output__

royal.tns.ne.jp
ns1a.toyota.co.jp
ns1b.toyota.co.jp
crown.tns.ne.jp
majesta.tns.ne.jp
[download]

Then you can query the A record for the resulting host names using Net::DNS
or use perl function gethostbyname like this:

my ($name, $aliases, $addrtype, $length, @addrs) = gethostbyname("roya
+l.tns.ne.jp");
my (@data) = unpack('C4', $addrs[0]);
my $ip = join '.', @data;
[download]

Hope that helps you