Mobile robot, positioning system of mobile robot, and positioning method of mobile robot

摘要

A mobile robot has a seating part, a moving apparatus to move the seating part, and a robot part with a base part to be attached to the seating part, a body capable of rotating around a vertical axis normal to an attaching surface which the seating part to be attached to the base part, and an arm connected to the body having a plurality of joints. The seating part has a first surface facing a work that is subject to the operation by the robot part and a second surface that is different from the first surface, and the arms are formed such that the positional relationship between the arms and the first surface is substantially identical to the positional relationship between the arms and the second surface according to the rotation of the body around the vertical axis.

主权项

1. A mobile robot, comprising:
a seating part; a moving apparatus configured to move the seating part; and a robot part having
a base part attached to the seating part;a body capable of rotating around a vertical axis normal to an attaching surface through which the seating part is attached to the base part; anda plurality of arms connected to the body, the arms having a plurality of joints; wherein the seating part has a first surface facing a work that is operated on by the robot part and a second surface that is different from the first surface, wherein the arms are formed such that a positional relationship between the arms and the first surface is substantially identical to the positional relationship between the arms and the second surface according to the rotation of the body around the vertical axis, wherein the arms are configured to rotate around an orthogonal axis that extends orthogonally relative to the vertical axis, and the orthogonal axis is offset from the vertical axis by a specific offset amount, wherein the offset amount is no less than the shortest distance between the vertical axis and the first surface, and wherein the offset amount is no less than the shortest distance between the vertical axis and the second surface when the body is rotated such that the arms are disposed above the second surface.