SELF-PROPELLED ROBOT AND SELF-PROPELLED ROBOT CONTROL METHOD

摘要

SELF-PROPELLED ROBOT AND SELF-PROPELLED ROBOT CONTROL METHOD There was a problem of requiring a relatively expensive distance measurement sensor in order to detect obstacles with high accuracy. A shape change of an external border line of a radiation area is detected based on images captured chronologically continuously. Specifically speaking, if the shape change of light in the time series in an edge image of the external border line is equal to or more than a specified height direction, it is determined that there is an obstacle (an object or a wall surface) on a traveling route of the self-propelled robot. Fig. 5