| 摘要 |
PURPOSE:To detect the running position of a self-propelling robot, by emitting two laser beams from the self-propelling robot and calculating the distance between the self-propelling robot and a vertical wall from the angle difference between the irradiation points of the two laser beams and the interval of the two laser beams. CONSTITUTION:A laser beam emitted from a laser transmitter 1 provided to a self-propelling robot is converted to two parallel laser beams by a translucent mirror 2 and a reflective mirror 3. These two laser beams are emitted in parallel toward vertical wall W beside a running passage. A television camera 4 projects two irradiation points P10, P20 on an image surface 4b through a lens 4a and the image signal of the television camera is inputted to a processing unit. In the processing unit, the distance between the self-propelling robot and the vertical wall is calculated from the angle difference between the irradiation points of two laser beams to the vertical wall W beside the running passage of the self-propelling robot and the interval between the two laser beams.
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