| 摘要 |
PROBLEM TO BE SOLVED: To provide an autonomous coverage robot which avoids and/or detours encountered obstacles while it is operating, so that it can continue its operation.SOLUTION: There is provided a method of navigating an autonomous coverage robot on a floor, the method comprising: controlling movement of the robot across the floor in a cleaning mode; receiving a sensor signal indicative of an obstacle which the robot is proximate to but not yet contacting; reducing the moving speed of the robot to get closer to the obstacle; rotating the robot away from the sensed obstacle; determining a change in the received sensor signal during at least a portion of the rotation of the robot away from the sensed obstacle; and identifying the sensed obstacle based at least in part on the determined change in the received sensor signal, wherein identifying the sensed obstacle comprises determining the angular width of the sensed obstacle based at least in part on the determined change in the received sensor signal and comparing the determined angular width of the sensed obstacle with a threshold, and wherein the threshold is set based at least in part on the strength of the received sensor signal.SELECTED DRAWING: Figure 7 |
