Title:
MOVING ROBOT
Document Type and Number:
Japanese Patent JPH02222808
Kind Code:
A
Abstract:
PURPOSE:To enable detection of a position moved easily and accurately by calculating a linear movement of a robot from a sum of rotations of a pair of measuring rings adapted to turn in the same direction of a drive ring when it is moved. CONSTITUTION:A pair of measuring rings 6 and 6 are provided rotatably on both sides of a robot body so that they turn in the same direction of a pair of drive rings 5 and 5 when the robot body is moved and rotation values of the measuring rings 6 and 6 are detected by a pair of encoders 8 and 8 through sensors 7 and 7. A movement value measuring means 10 determines a sum of rotations of the measuring rings 6 and 6 from output signals of the encoders 8 and 8 to measure a linear movement of a truck section and inputs a signal thereof into a position coordinates discriminating means 26. In addition, an angle theta of displacement of the measuring rings 6 and 6 in direction of movement thereof is detected by a moving direction angle detection means 25, a detection signal of which is inputted into the means 26. This enables the learning of position coordinates with respect to a reference point at the moment by the means 26 from the movements of the measuring rings 6 and 6 and the angle thetaof displacement in the direction of movement, thereby calculating the position.
Inventors:
KANO KAZUYUKI
HIROSHIMA KEIZO
HOSAKA MOTOHIKO
HIROSHIMA KEIZO
HOSAKA MOTOHIKO
Application Number:
JP4343389A
Publication Date:
September 05, 1990
Filing Date:
February 23, 1989
Export Citation:
Assignee:
SONY CORP
International Classes:
G01C22/00; (IPC1-7): G01C22/00
Attorney, Agent or Firm:
Fujiya Shiga (1 person outside)
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