| 摘要 |
PURPOSE: A method for checking a position of a pretreatment robot in a double hull is provided to confirm the separation of a pretreatment robot from a working path on a real time basis by a user, thereby easily controlling the robot. CONSTITUTION: A method for checking a position of a pretreatment robot(100) in a double hull is as follows. A current location of the pretreatment robot is initialized by using a laser sensor(101) mounted in the pretreatment robot before starting a task. The task information of a section number including the information of a transverse direction is included in a task file and a transversal distance of the pretreatment robot is obtained by using the information of the section number when the pretreatment robot performs a task while moving to a longitudinal direction according to the task file. A vertical distance of the pretreatment robot is obtained by using the encoder information of a traveling motor mounted in the pretreatment robot so that a final location of the pretreatment robot is grasped.
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