| 摘要 |
PROBLEM TO BE SOLVED: To provide an apparatus which can correctly measure a position of a robot, i.e., a direction angle of a reflecting mirror and a sensor head. SOLUTION: The tracking apparatus consists of (A) a laser light-generating device 50 for outputting a laser light to a sensor head 51, (B) a reflecting mirror 2 set to an end part of a reactor vessel-inspecting robot 1 for reflecting the laser light 9 projected from the sensor head 51, (C) a vertical shaft 4 and a rotary shaft 3 set below the sensor head 51 and operating following the reflecting mirror 2 as a target, (D) a measuring device 6 to which a laser reflecting returning light 10 from the reflecting mirror 2 is inputted from the sensor head 51, (E) a control device 7 for controlling the vertical shaft 4 and rotary shaft 4 on the basis of a signal from the measuring device 6, and (F) a computer 8 for obtaining a three-dimensional position of the robot 1 from distance data obtained by the sensor head 51 and angle values obtained from the vertical shaft 4 and rotary shaft 3.
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