| 摘要 |
The invention relates to a robotic cleaning device (10) and a method at the robotic cleaning device of detecting a structure of a surface (31) over which the robotic cleaning device moves. The method for a robotic cleaning device (10) of detecting a structure of a surface (31) over which the robotic cleaning device moves comprises illuminating (S101) the surface with structured vertical light (30), capturing (S102) an image (37) of the surface, detecting (S103) at least one luminous section in the captured image, and determining (S104), from an appearance of the at least one luminous section, the structure of the surface. |
