Cleaning robot

摘要

A floor-cleaning robot having a chassis for moving the floor-cleaning robot in a direction of travel over a surface to be cleaned, a cleaning implement, a control unit and first and second measuring devices for three-dimensional distance measurement. Each of the first and second measuring devices is configured to sense distance between the measuring device and a plurality of surface elements within a respective solid angle that is spanned from the measuring device. The first and second measuring devices are aligned in such a manner that the direction of travel runs through the first solid angle. The second solid angle is offset in relation to the first solid angle. The control unit is designed to generate and/or update a representation of the surface to be cleaned, on the basis of the distances from surface elements sensed by first and second measuring devices.

主权项

1. A floor-cleaning robot comprising:
a housing; a chassis with a drive for moving the floor-cleaning robot in a direction of travel over a surface to be cleaned, a cleaning implement that is adapted to engage with the surface to be cleaned, a first three-dimensional distance measuring device that is configured to measure distance within a first volume that is defined in part by a first solid angle, the first solid angle spanning from the first three-dimensional distance measuring device, the first three-dimensional distance measuring device being adapted to sense distances between the first three-dimensional distance measuring device and each of a plurality of first surface elements within the first solid angle, a second three-dimensional distance measuring device that is configured to measure distance within a second volume that is defined in part by a second solid angle, the second solid angle spanning from the second three-dimensional distance measuring device, the second three-dimensional distance measuring device being adapted to sense distances between the second three-dimensional distance measuring device and each of a plurality of second surface elements within the second solid angle, and a controller that is configured to at least one of generate and update a representation of the surface to be cleaned based on the distances from the first and second surface elements sensed by the first and second three-dimensional distance measuring devices, respectively, the controller guiding the floor-cleaning robot over the surface to be cleaned based at least partly on the representation of the surface to be cleaned, wherein the first three-dimensional distance measuring device and the second three-dimensional distance measuring device are aligned in such a manner that the direction of travel runs through the first solid angle, and the second solid angle is offset in relation to the first solid angle, and wherein the first and second solid angles are horizontally adjacent to one another.