| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To exert more complete autonomy by autonomously charging a driving battery. <P>SOLUTION: When electric power in a built-in battery in an autonomous mobile robot is consumed to pose a need of charging, the robot automatically moves to a charging station to execute a charging operation without manual control. For a movement to a movement target, the movement target has a light flash signal source (for example, light modulator) with an LED or the like as a light source, and the autonomous mobile robot has means for reading in the position and flash pattern of light emission by the light flash signal source, whereby a movement direction is derived. In a basic movement action, the distance to the movement target is computed on a principle of triangulation by a light section method, and a movement is made nearer to the movement target. After the movement nearer to the movement target, the form and position of the movement target are recognized in stereoscopic surface form measurement by a light section method, and an accurate movement is made to a given position on the target. <P>COPYRIGHT: (C)2004,JPO</p> |
