Position determining apparatus and control method of robot

DETAILED DESCRIPTION The present invention has been made in view of the above-described problem occuring in the prior art and an object of the invention is to provide a position discriminating apparatus and control method of the robot which is capable of correctly moving to a target position based on a present position which is correctly discriminated during an initial operation.
In accordance with the present invention, the above object can be accomplished by providing a position determining apparatus of a robot comprising: control means for controlling an overall operation of a robot; driving control means for controlling movement the robot under the control of the control means; travel distance detecting means for detecting a travel distance of the robot; turning angle detecting means for detecting a turning angle when the robot is turned in left or right; obstacle detecting means for detecting a presence of an obstacle on a travel range and for detecting a distance to walls.
Further, the above object can be accomplished by providing a control method of robot comprising steps of: calculating an angle between a front wall and the robot in response to a distance to the front wall from the robot, setting up the robot parallel to the front wall by turning in the angle; moving the robot to a central point on a travel range by turning the robot in response to distances to left and right walls from the robot; searching a special point changing distances to the left and right walls during movement of the robot to the walls from the central point; determining a present position and a present direction of the robot on the basis of distances to the left and right walls from the robot, coordinates and direction of the robot according to the special point; and performing a predetermined operation of the robot in response to the present position and the present direction of the robot.