Disposition of range detection sensor for obstacle detection and attitude correction of mobile robot

摘要

The present invention relates to a plurality of distance measuring movement using the sensor for a robot an obstacle is detected and the position correcting method, and its object is over the sensor for more than one range measurement to measure the distance data, the data corresponding to a contrast of these measures increase the reliability, to use the measurement data identifying the position of the robot, and provide the mobile with the sensor for a plurality of distance measurement that can detect the position and posture detecting robot an obstacle correction method.; The present invention includes the steps of installing a plurality of distance-measuring sensor to the running direction of the mobile robot; Valid values ​​recognition step of determining whether or not the effective value of the distance data measured by the plurality of distance measuring sensor; Angle measuring step of measuring the angle of the mobile robot and the obstacle from the distance data measured by the effective value is determined; Wherein according to the measured angle is a plurality of distance measuring mobile robot using the sensor for obstacle detection and position correction method for recognizing the position of the robot includes a position correcting step for correcting the position of a mobile robot according to the angle to provide.