Method of treating an object by means of equipement having at least one treatment unit

摘要

Described is a method of treating an object by means of equipment having at least one treatment unit, the equipment being positioned with respect to the object by scanning with a range sensor at least part of the surface of the object facing the sensor, comparing the scan pattern thus obtained with a stored reference model of the object and hence determining the distance and orientation of the equipment relative to the object. The invention calls for comparison of the scan pattern generated by the range sensor with the stored reference model of the object to be preceded by an additional operation in which the object is scanned by an at least range-resolving sensor, for the scan pattern of the object generated by this sensor to be compared with its reference model and the differences between the scan pattern and the stored reference model to be determined, and for at least part of the stored reference model of the object to be modified on the basis of the differences determined and the modified reference model thus generated to be used to determine the position of the equipment relative to the object.