Patent ID: 11932261
Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 11:
12. A delivery method for conveying an article to be delivered inside a transportation vehicle by using a manipulator comprising a base part, a link base part, a first link, a second link, and an end effector, the transportation vehicle being configured to transport the article, wherein
the delivery method makes a computer perform processes including:
acquiring information about an acceleration of the transportation vehicle from the transportation vehicle; and
predicting a displacement occurring in the manipulator due to the acceleration of the transportation vehicle based on the information about the acceleration;
when the predicted displacement is less than a first threshold, causing the first link and the second link to extend in a direction parallel to a floor surface of the transportation vehicle; and
when the predicted displacement is greater than or equal to the first threshold, causing the first link and the second link to be folded to align with each other and extend in a direction parallel with a rotation shaft of the link base part.