The initial position of the autonomous mobile unit measuring device and method

The initial position of the autonomous mobile unit measuring device and method. The moving platform and including a plurality of wires, and as an initial location determining apparatus of an autonomous moving device that moves the moving platform in the work defined by the structural space, at least six distance measuring means distributed disposed on a moving platform and, at least It is identified by a six distance measuring unit data and 3 identify the location of the at least three fixed points on the structure by the respective cheukryangbeop, and the initial position of the mobile platform using the transformation matrix between the coordinate system and the moving platform coordinate system on the on the structure and by providing an initial position measuring apparatus and method of the autonomous mobile apparatus comprising a data processor for calculating the position, blocks the measurement of initial position for accurate positioning of an autonomous mobile unit without having to install separate measuring equipment in the operation of the internal space this can be realized. Autonomous mobile device, a mobile platform, the initial position