| 摘要 |
PROBLEM TO BE SOLVED: To provide a mobile entity which, when the position and/or posture of an object has changed due to contact between the object and the mobile entity, is able to reach the same object again targeting the changed position and/or posture.SOLUTION: A mobile entity comprises: a carriage for transporting an article to an object targeting a landmark that is set in the object; storage means 53 for storing the position and posture of the landmark of the object; control means 54 for autonomously controlling the carriage toward the object and making the carriage transport the article on the basis of the position and posture of the landmark of the object stored in the storage means; and detection means 4 for detecting the position and posture of the landmark of the object after the carriage and the object come in contact and the article is delivered. The storage means stores the position and posture of the landmark detected by the detection means.SELECTED DRAWING: Figure 3 |
