| 摘要 |
PROBLEM TO BE SOLVED: To accurately detect the distance between a mobile robot and the surroundings, and a position thereof, using two optical methods. SOLUTION: When a mobile robot 1 is not in a defined region BA of an optical signal of an optical beacon 3, the position of the mobile robot 1 is determined, based on an azimuth angle determined by integrating angular velocity outputted from a gyroscope sensor 16, and on a movement distance corresponding to a counted value of a driving pulse of a stepping motor 12. Accordingly, any position can be determined. When the mobile robot 1 is located in the defined region BA of the optical signal, a moving distance LB from the optical beacon 3 is determined by performing triangulation with an optical signal. Then the position of the mobile robot 1 is determined with high accuracy for updating, based on the movement distance LB and the defined region BA. When the mobile robot 1 is not located in the defined region BA of the optical signal of the optical beacon 3, the surrounding distance is measured, by performing triangulation with an optical signal. COPYRIGHT: (C)2007,JPO&INPIT
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