Figure 10
From: Washing operation of a road surface washing mechanism for decontaminating radioactive substances
Concept of the measurement of the unevenness of the ground from multiple points. The robot measures the unevenness of the ground using a laser range finder attached on the washing nozzle. In the upper right figure, the robot measures the ground from a single position, and the opposite side of the unevenness is occluded from the sensor. To obtain information about the opposite side, as shown in the lower left figure, the robot takes the measurement from another position. By combining the measurement data obtained from the two positions, the complete shape of the ground can be determined.