DEVICE AND METHOD FOR DETECTING POSITION OF MOVING ROBOT BY MEASURING DISTANCE BETWEEN CHARGE BAR AND ROBOT ACCURATELY WITH INFRARED SIGNAL AND ULTRASONIC SIGNAL

摘要

PURPOSE: A device for detecting the position of a moving robot and a method thereof are provided to measure the distance from the charge bar to the robot precisely by using the ultrasonic signals with the time lag from the infrared signals. CONSTITUTION: A position detecting device of a moving robot is composed of a charge bar(100) having an infrared signal generating unit(101) radiating infrared signals as the time reference, a first ultrasonic oscillator(102) oscillating the first ultrasonic wave with the infrared signal from the infrared signal generating unit and a second ultrasonic oscillator(103) oscillating the second ultrasonic wave after generating the first ultrasonic wave from the first ultrasonic oscillator, and a moving robot(200) calculating the distance between the moving robot and the first ultrasonic oscillator by receiving the infrared signal from the infrared signal generating unit and measuring receiving time of the first ultrasonic wave from the first ultrasonic oscillator and the distance between the moving robot and the second ultrasonic oscillator by measuring the receiving time of the second ultrasonic wave from the second ultrasonic oscillator, and detecting the position of the moving robot by measuring the distance and the angle from the charge bar based on the calculation result by a microcomputer(201).