| 摘要 |
PROBLEM TO BE SOLVED: To provide an autonomous cleaning robot capable of appropriately detecting the presence/absence of a cliff, such as stairs, on a floor surface to avoid a fall when coming to the cliff while moving.SOLUTION: An autonomous coverage robot includes a chassis, a drive system mounted on the chassis and configured to maneuver the autonomous cleaning robot, a plurality of floor proximity sensors each held by the chassis and configured to detect a cliff on a floor surface. Each of the floor proximity sensors includes a beam emitter configured to direct a beam toward the floor surface, a beam receiver responsive to a reflection of the directed beam from the floor surface, a holding portion including a front portion and a rear portion for holding the beam emitter and the beam receiver inside, respectively, and a beam-transparent cover attached to the holding portion for covering the beam emitter and the beam receiver, each beam-transparent cover having a surface angled to the floor surface so that a forward edge positions higher than a rearward edge with respect to the floor surface. |
