| 摘要 |
<p>Apparatus and method for determining the condition of the floor to be cleaned by a cleaning robot. The apparatus comprises an ultrasonic wave signal transmitting circuit for transmitting an ultrasonic wave signal to an ultrasonic wave signal transmitter under the control of a microcomputer, a receiving amplifying unit for amplifying the ultrasonic wave signal transmitted from the ultrasonic wave signal transmitter and received in a ultrasonic wave signal receiver, a receiving demodulating unit for smoothing the output signal from the receiving amplifying unit to demodulate it and then apply it to the microcomputer. According to the control of the microcomputer, the ultrasonic wave signal is transmitted for a predetermined period. The period from the time when the ultrasonic wave signal is transmitted to the time when the ultrasonic wave signal is received in the ultrasonic wave signal receiver is measured. Then, the distance between the position of the ultrasonic wave signal receiver and the floor to be cleaned is calculated from the measured period. Accordingly, it can be determined whether the floor to be cleaned is a normal floor, a floor covered with a carpet, or stairs, thereby enabling correct recognition of the condition of the floor to be cleaned, without being adversely affected from environment.</p> |
