| 摘要 |
PURPOSE:To facilitate maintenance and inspection, to improve the response of a robot, and to obtain excellent position shift detection accuracy by providing linear sensors which differ in detection direction from one another at least three work measurement positions. CONSTITUTION:Image sensors 1-3 are provided at one side part of a line and detect light beams emitted by light sources 5-7 provided opposite the sensors 1-3 across the line to measure the position of the front pillar 4a of a car body 4 in the line moving direction, the position of the lower end part of a front wheel house 4b in an up/down direction, and the position of the lower end part of a rear wheel house 4c in an up/down direction. Further, ultrasonic distance sensors 8 and 9 measure the distance to the car boy at two distant positions in front of and behind the car body. Further, an ultrasonic distance sensor 10 for correcting obtains a correcting signal for correcting measurement errors of the sensors 8 and 9. Then, the outputs of the sensors 1-3 are inputted to and operated by an arithmetic device 17 through converters 11-13 and the outputs of the sensors 8-10 are also inputted through converters 14-16, thereby detecting the position shift.
|
