SELF-TRAVELING ROBOT AND SELF-TRAVELING ROBOT CONTROL METHOD

摘要

To solve the problem that a relatively expensive distance measuring sensor is required to detect an obstacle with high accuracy.SOLUTION: A change in the shape of an outer boundary line of a radiation range is detected based on images continuously imaged in time series. Concretely, when edge image of the outer boundary line are in time series and the light-shape change is greater than or equal to a prescribed height from the floor, it is determined that an obstacle (object or wall surface) exists in the path of a self-traveling robot.SELECTED DRAWING: Figure 1