Environment monitoring system for e.g. a self-propelled lawn mower, uses a combination of an automatic ground pattern as an Archimedes spiral and distance measurement sensors to obstacles

摘要

The environment monitoring system, for a self-propelled vehicle, uses a combination of ground patterns for automatic coverage of the area ahead and distance measurement sensors. The zone ahead takes obstacles into account automatically when showing the ground pattern and the start point for the next ground pattern is determined as long as one or more termination criteria are satisfied. The start point for the next ground pattern is selected so that the extension of the next pattern is maximized. The ground pattern is an Archimedes spiral especially with varying parameters e.g. reduction of offset on an increasing radius or the angle theta.