| 摘要 |
PROBLEM TO BE SOLVED: To provide a tool pressing method and a tool pressing device that enable a machine such as a robot to press a tool such as a cleaning tool safely against a structure wall surface such as a building wall surface. SOLUTION: Form data on a wall surface are acquired, an obstruction is separated from the acquired form data, reconstructed form data are created from the form data with the obstruction separated, and a working area is set according to the reconstructed form data. The separated obstruction is approximated to a hexahedron, the approximated obstruction is plotted on the working area, a moving plan for the tool 10 is formulated to the working area with the approximated obstruction plotted, and the tool is moved to the wall surface according to the moving plan. The moving speed of the tool 10 is decelerated upon a detection signal from a first detecting part 13a, and the movement of the tool 10 is stopped upon a detection signal from a second detecting part 13b. COPYRIGHT: (C)2003,JPO
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