| 摘要 |
PROBLEM TO BE SOLVED: To provide a moving robot capable of preventing erroneous recognition of a robot arm as an obstacle, even when the robot arm passes through a detectable range of an area sensor, by simultaneously operating a moving carriage and the robot arm. SOLUTION: A control means 5 of the moving robot 1 has an arm position calculating part 505 for calculating a position of an area A2 where the robot arm 3 crosses an area A1 when the robot arm 3 passes through the detectable area A1 of the area sensor 4, a detecting area setting part 501 for setting a range of excluding the area A2 from the area A1 as a detecting area, an obstacle map making part 502 for making a distribution map of the obstacle based on a distance and direction information acquired by the area sensor 4, an obstacle detecting part 503 for detecting the existence of the obstacle by comparing the detecting area with the obstacle distribution map, and an obstacle avoiding planning part 504 for transmitting an avoiding command to the moving robot 1 when the obstacle exists. COPYRIGHT: (C)2005,JPO&NCIPI
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