Self-detecting apparatus for workpiece-origin, mobile machine tool having the same, and method for self-detecting workpiece-origin of mobile machine tool using the mobile machine

A mobile machine tool comprising:

• a body;
• a machining tool equipped to the body and configured to perform machining of a workpiece;
• a mover configured to move the body along a surface of the workpiece;
• a height controller disposed between the mover and the body and configured to control a distance between the mover and the body and to adjust a tilt angle of the body relative to the surface of the workpiece by controlling the distance;
• a main controller configured to control the machining of the machining tool and a movement of the mover and a height of the height controller;
• and
• a detecting apparatus having a vision sensor and configured to obtain a point image of a point marked to the workpiece and compare the obtained point image to a reference image of the point so as to determine a position of a beginning point for machining the workpiece based on whether a focus of the obtained image is coincident with a focus of a reference coordinate of the reference image, which reference image comprises a workpiece-origin,
• wherein the main controller is configured to control the mover and the height controller so that the point image obtained from the vision sensor is brought into focus and so that the vision sensor determines the position of the beginning point based on the coincidence of a focus of the obtained point image with the focus of the reference coordinate of the reference image.