| 摘要 |
The mobile robot comprises a vision system having a camera 24 and at least one light source 4 providing illumination to an area surrounding the robot, wherein the light source is arranged on the mobile robot to emit a cone 31, 32 of light that illuminates an area to a side of the robot that is orthogonal to a forward direction of travel of the robot. The cone angle of the light emitted from the light source can be between 90 and 160 degrees preferably 120 degrees; the cone can also be circular or elliptical. The camera can be an omni-directional camera or a panoramic annular lens camera (PAL). This vision system can be used in a robotic vacuum cleaner, preferably with feature detection using simultaneous localisation and mapping techniques (SLAM). |
