| 摘要 |
<P>PROBLEM TO BE SOLVED: To recognize the position of an obstacle by scanning the measurement light in two dimensional directions different from the moving direction of a mobile unit, using a small-sized, low-cost one-dimensional laser scanner. <P>SOLUTION: Arms 71, 73 of a traveling wheel arm 7 connecting a main unit 3 and a traveling wheel 5 of a mobile robot 1 moving on a mobile surface A are bent and stretched appropriately and independently by the rotation of a rotary actuator 75 to oscillate the main unit 3 in a tilt direction, thereby scanning the measurement light, which is output from an external sensor 13 for recognizing obstacles on the mobile surface A and is scanned in the lateral direction of the mobile robot 1, in the vertical direction as well. From a deviation angle between the direction of a vertical coordinate axis in the local coordinate system of the coordinate value group of the mobile surface A which is calculated from reflected light from the mobile surface A received by the external sensor 13 by oscillating the main unit 3 downward in the tilt direction and a gravity direction calculated from the output of an acceleration sensor 153, calibration data for coordinate value conversion from the local coordinate system to the global coordinate system are obtained. <P>COPYRIGHT: (C)2009,JPO&INPIT |
