| 摘要 |
PROBLEM TO BE SOLVED: To accurately detect disturbance light and controlled light when source of the disturbance light exists such as an incandescent lamp. SOLUTION: A robot 5 comprises a detecting means for detecting a spot (6) repeating a high luminance light emitting period (ON period) and either of a low luminance light emitting period and a turned-off period (OFF period) in a predetermined cycle, a setting means for setting a first sampling time (tON) synchronizing with the high luminance emitting light period and a second sampling time (tOFF) synchronizing with either of the low luminance emitting light period and the turned-off period, a sampling means for sampling the output of the detection means in response to the set first and second sampling times, a calculating means for calculating the difference between a sampling value corresponding to the first sampling time and a sampling value corresponding to the second sampling time, and a deciding means for deciding the output of the detection means as the spot (6). COPYRIGHT: (C)2003,JPO
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