| 摘要 |
PROBLEM TO BE SOLVED: To simplify the device structure of a robot recognizing its own position by making communications with external fixed stations. SOLUTION: This cleaning work robot 1 is provided with ultrasonic transmission sections 21a, 21b transmitting directive ultrasonic waves, light reception sections 22a, 22b limited with light reception angles, and rotary sections rotatively controlling the ultrasonic transmission sections 21a, 21b and the light reception sections 22a, 22b. The ultrasonic transmission section 21a transmits ultrasonic waves to a fixed station 102a, and the ultrasonic transmission section 21b transmits ultrasonic waves to a fixed station 102b, respectively. When the fixed stations 102a, 102b receive the ultrasonic waves, they transmit light signals. The light signal from the fixed station 101a is received by the light reception section 22a, and the light signal from the fixed station 102b is received by the light reception section 22b respectively. The cleaning work robot 1 recognizes the distances to the fixed stations 102a, 102b, based on the time until the cleaning work robot 1 receives the light signals after it transmits the ultrasonic waves.
|
