| 摘要 |
PROBLEM TO BE SOLVED: To accurately detect the position of a robot used in an underfloor inspection system, or the like. SOLUTION: The robot 10 includes a remotely controlled running body 11, and a camera assembly 30 turnably mounted on the running body 11. A camera 34 of the camera assembly 30 can rotate in the horizontal and the vertical directions. An ultrasonic range finder 40 is provided on the camera 34 and can turn together with the camera 34. In an underfloor space, the ultrasonic range finder 40 is turned in the vertical direction, and the maximum value of a measuring distance in the vertical turning range is determined as a practical distance, up to a continuous footing wall face 100a. Furthermore, the current position of the robot 10 is calculated, based on the actual distance up to the continuous footing wall face 100a in a plurality of directions, found by accompanying horizontal turning of the ultrasonic range finder 40. COPYRIGHT: (C)2009,JPO&INPIT
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