| 摘要 |
A mobile robot (1), which may be in the form of an automatically guided vacuum cleaner, is capable of recognising its location within a room (30) and adjusting its direction in response to obstacles in its way. The robot has a running device (30), an obstacle detecting device (41, 43, 45) for detecting the presence of obstacles, a location recognising device (21, 23), a control system (10), and a power supply (60). The location recognising device includes a first vision camera (21) directed towards the ceiling of the room, and a first vision board (23). The first vision camera (21) detects a base mark on the ceiling. The first vision board (23) processes an image from the first camera (21) and transmits the resulting image data to the controlling portion (10). The obstacle detecting device includes a line laser (41) for emitting a linear light beam towards an obstacle, a second vision camera (43) for recognising a linear light beam reflected from the obstacle, and a second vision board (45) for processing image data captured by the second vision camera (43). The base mark on the ceiling may be two spots on a plate; the vision board may compare the image of this with a library of possible images to determine the robots position.
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