AUTONOMOUS COVERAGE ROBOT

摘要

A mobile floor cleaning robot (100) includes a robot body (110) supported by a drive system (120) configured to maneuver the robot over a floor surface (10). The robot also includes a cleaning system (160) supported by the robot body, an imaging sensor (510) disposed on the robot body, and a controller (150) in communication with the drive system and the imaging sensor. The controller receives a sequence of images (514b) of the floor surface. The controller segments each image into color blobs (23) by color quantizing pixels (514) of the image, determines a spatial distribution of each color of the image based on corresponding pixel locations (517), and identifies areas of the image having a threshold spatial distribution for that color. The controller then tracks a location (12a) of the color blobs with respect to the imaging sensor across the sequence of images.