| 摘要 |
The present invention therefore relates to a method and the use of a method for position determination of an automatic apparatus on wheels 1, such as a robotic vaccum cleaner. At least one wheel on the apparatus comprises at least one wheel sensor not shown that recognizes the rotation of said wheel. The apparatus also comprises at least one room sensor 2, 3a-3e. 4a-4d detecting objects in the space surrounding the apparatus. The position determination is accomplished at least by using one wheel sensor and estimate the substantial horizontal extension direction 14 of substantially vertical planes 13 on the objects 10 -12, which planes 13 are defined by the apparatus, whereby the substantial, actual position of the apparatus is determined using at least one predetermined assumption on the relationship between the extension direction of different planes 13. |
