Mobile robot, positioning system of mobile robot, and positioning method of mobile robot

A positioning method of robot, comprising:

• starting a mobile robot comprising:
• a seating part;
• a moving apparatus configured to move the seating part;
• and
• a robot part having
• a base part attached to the seating part;
• a body capable of rotating around a vertical axis normal to an attaching surface through which the seating part is attached to the base part;
• a plurality of arms connected to the body, the arms having a plurality of joints;
• a plurality of operation parts, each of which is mounted on each of the plurality of arms, in order to operate the work placed on a fixed base;
• and
• a plurality of detecting parts, each of which is mounted on each of the plurality of arms, in order to detect the positions of a plurality of benchmark indexes, each of which is arranged on the fixed base,
• wherein the seating part has a first surface facing a work that is operated on by the robot part and a second surface that is different from the first surface,
• wherein the arms are formed such that a positional relationship between the arms and the first surface is substantially identical to the positional relationship between the arms and the second surface according to the rotation of the body around the vertical axis, wherein the arms are configured to rotate around an orthogonal axis that extends orthogonally relative to the vertical axis, and the orthogonal axis is offset from the vertical axis by a specific offset amount, and
• wherein the offset amount is no less than the shortest distance between the vertical axis and the first surface,
• detecting one benchmark index among the plurality of benchmark indexes by one detecting part among the plurality of detecting parts,
• detecting an other benchmark index different from the one benchmark index by an other detecting part different from the one detecting part, and
• detecting further benchmark index further different from neither the one benchmark index nor the other benchmark index by a detecting part different from the other detecting part.