| 摘要 |
PURPOSE:To make it possible to detect the accurate position by a robot itself in a relatively wide chamber by vertically providing three or more columns which are separated from wall surfaces, inputting the shapes and the positions of the columns, and scanning laser light from a working robot. CONSTITUTION:Vertical columns 16 are provided at four corners of a rectangular chamber which is surrounded with wall surfaces 15 at the four sides. The geometrical shapes and the positions of the columns 16 are inputted into a computer. A working robot 10 which is a moving body rotates the laser light from a mounted laser source through an optical system in the horizontal direction and performs scanning. When the laser light is cast on the edge of the column 16 and reflected, the reflection pattern which is different from the flat wall surface appears. Therefore, the reflected light of the laser light is analyzed. Thus the position of the edge of the column can be discriminated. The position of the robot can be detected with the position of the column which is inputted beforehand as a reference. |
