Moving body control method, moving body, and program
AssigneeMitsubishi Heavy Industries, Ltd.
InventorsYohei Chishiki, Kenji Takao
Life of this patent
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Abstract
A control method of a moving body that includes a pair of claws for holding a target object which is a transport target, includes: a step of inserting the claws into an opening formed in the target object; a step of detecting inclination angles of the claws inserted into the opening with respect to the target object; and a step of detecting deviation amounts of the claws inserted into the opening. In the step of detecting the inclination angles, the inclination angles are calculated based on a time difference between times when respective base end portions of the claws and the target object come into contact with each other and on a speed at which the claws are inserted into the opening.
Claims9
A control method of a moving body that includes a pair of claws for holding a target object which is a transport target, the control method comprising:
- a step of inserting the claws into an opening formed in the target object;
- a step of detecting inclination angles of the claws inserted into the opening with respect to the target object;
- and
- a step of detecting deviation amounts of the claws inserted into the opening, wherein
- in the step of detecting the inclination angles, the inclination angles are calculated based on a time difference between times when respective base end portions of the claws and the target object come into contact with each other and on a speed at which the claws are inserted into the opening.
(canceled)
A moving body that includes a pair of claws for holding a target object which is a transport target, the moving body comprising:
- a fork control unit that inserts the claws into an opening formed in the target object;
- an inclination angle detecting unit that detects inclination angles of the claws inserted into the opening with respect to the target object;
- and
- a deviation amount detecting unit that detects deviation amounts of the claws inserted into the opening, wherein
- the inclination angle detecting unit calculates the inclination angles based on a time difference between times when respective base end portions of the claws and the target object come into contact with each other and on a speed at which the claws are inserted into the opening.
A non-transitory computer-readable recording medium having stored thereon a program causing a computer to execute a control method of a moving body that includes a pair of claws for holding a target object which is a transport target, the program causing the computer to execute:
- a step of inserting the claws into an opening formed in the target object;
- a step of detecting inclination angles of the claws inserted into the opening with respect to the target object;
- and
- a step of detecting deviation amounts of the claws inserted into the opening, wherein
- in the step of detecting the inclination angles, the inclination angles are calculated based on a time difference between times when respective base end portions of the claws and the target object come into contact with each other and on a speed at which the claws are inserted into the opening.
Dependencies are inferred from the claim text.