To prevent the reduction of the position detecting accuracy of a marker by a visual sensor.
Since a marker body 10 on a working board 8 is concealed by a concealment member 17, the marker body 10 is never soiled. When an unmanned carrier 1 is stopped at an instructed position, the concealmemt member 17 is moved, and the marker body 10 concealed by the concealment member 17 is to be exposed. At that time, a visual sensor 5 installed to a multishaft robot 2 incorporates the picture images of the markers 14a and 14b of the marker body 10 on the working board 8 plural rounds, and makes them in an average value so as to calculate the positions of the markers 14a and 14b, while the position of a work 9 is calculated depending on the middle point position of the markers 14a and 14b. Consequently, the multishaft robot 2 can chuck the work 9 securely, depending on the middle point position of the markers 14a and 14b.
NAKAMOTO SATOSHI
INOUE YUTAKA
KAWAGUCHI YUJI
ICHIKAWA TADASHI
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