| 摘要 |
FIELD: movable robots. ^ SUBSTANCE: robot includes image pickup; apparatus for registering images and making photos of lower surface in certain time intervals according to movement of robot; memory for storing images fed from apparatus for registering images; device for comparing image received from apparatus for registering images with previous image stored in memory; device for measuring shift value relative to registered image; microcomputer for outputting real distance walked by robot and calculated at detecting direction and motion value of robot according to measured shift value. Method of measuring distance comprises steps of measuring shift and judging for such case when all registered images are the same that robot does not move and judging that robot moves when all registered images are different according to their comparison. ^ EFFECT: enhanced accuracy of determining distance walked by robot, improved design, simplified maintenance and restoration of apparatus. ^ 12 cl, 5 dwg |
