| 摘要 |
<p>The autonomous mobile robot (R) having an openable and closable gripper (71) for gripping goods, cameras, an autonomous mobile means (e.g. a combination of 150, R4, R3, and Rl), and a control means (150, 160, 200) for making the robot carry the goods to a destination from an acquisition source, the control means comprising: a grip position recognition means (261) configured to recognize a predetermined position suitable for gripping a carrier container (M) of a predetermined specification configured to place the goods to carry, based on an image of the acquisition source taken by the cameras; a grip control means (262) configured to drive the gripper to the predetermined position of the carrier container and to control gripping the predetermined position; and a grip-success-or-not determination means (245) configured to determine whether or not the gripping is successful, based on an external force acting on the gripper.</p> |
