SENSORS ARRANGEMENT

摘要

An autonomous vehicle (100), such as a robotic cleaning device, comprises wheels (104) for supporting the vehicle and for allowing the vehicle to traverse a surface. Downward looking wheel sensors (274, 276) are provided for sensing the presence of a surface in front of the wheels and a further sensor (272) is provided at or near a leading edge of the vehicle for sensing the presence of a surface beneath the leading edge of the vehicle. The vehicle is arranged so that movement of the vehicle is possible if the leading edge sensor (272) detects the absence of a surface beneath the leading edge of the vehicle providing the wheel sensors (274, 276) indicate the presence of a surface adjacent the wheel. When the leading edge sensor (272) detects the absence of a surface beneath the leading edge of the vehicle, the vehicle performs an edge following routine.