To properly transport a target object.SOLUTION: A method for controlling a mobile body having a pair of claws for holding a target object to be transported includes steps of inserting the claws into holes formed in the target object (S10), detecting an inclination angle of the claws inserted into the holes relative to the target object (S13), and detecting the amount of deviation of the claws inserted into the holes (S18). In the step (S13) of detecting the inclination angle, the inclination angle is calculated based on a difference of time points when respective base ends of the claws come into contact with the target object and a speed at which the claws are inserted into the opening.SELECTED DRAWING: Figure 6

    【課題】目標物を適切に搬送する。【解決手段】移動体の制御方法は、搬送対象となる目標物を保持する一対のツメを備える移動体の制御方法であって、目標物に形成された穴にツメを挿し込むステップ(S10)と、目標物に対する穴に挿し込まれたツメの傾斜角度を検出するステップ(S13)と、穴に挿し込まれたツメのずれ量を検出するステップ(S18)と、を含む。傾斜角度を検出するステップ(S13)においては、ツメの各基端部と目標物とが接触する時間差と、ツメが開口部に挿し込まれる速度とに基づいて、傾斜角度を算出する。【選択図】図6


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    Title :

    MOBILE BODY CONTROL METHOD, MOBILE BODY, AND PROGRAM


    Additional title:

    移動体の制御方法、移動体及びプログラム


    Contributors:

    Publication date :

    2024-10-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    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 , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last



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