POSITION DETECTION DEVICE, POSITION DETECTION METHOD, AND PROGRAM

PROBLEM TO BE SOLVED: To calculate sound speed of a portion to be detected considering the environment around the portion to be detected, measure as accurate as possible sonic speed around a portion to be position-detected, and thereby enhance the detection accuracy of the position. SOLUTION: An ultrasonic wave transmission device is arranged at a tip portion 104 of a robot hand 101 and polyhedrons 131 to 133 which can contain the tip portion 104 are arranged, and ultrasonic wave transmitting-and-receiving devices 111 to 126 are arranged at the top points thereof. Upon the position detection of the tip portion 104, a top point that is close to the tip portion 104 is selected as a specific point, and sonic speeds from other top points to the specific point are calculated. Based on these sonic speeds, sonic speed along a route from the tip portion 104 to the specific point is calculated. Based on the sonic speed value and propagation time of ultrasonic waves, between the tip portion 104 and the specific point, the distance from the specific point to the tip portion 104 is calculated. Such a distance is determined regarding a plurality of specific points, to specify the position of the tip portion 104. COPYRIGHT: (C)2011,JPO&INPIT