Method for measuring distance for cleaning robot, for household applications, involves performing pulse change during receipt of reflection signal outside of tolerance range for achieving reflection signal within tolerance range

摘要

The method involves transmitting light pulses (L) in a preset of rotational angle by a light transmitter (S) e.g. LED. A receiving sensor (E) is formed for detecting a reflection signal caused by the light pulses. A tolerance range for strength of the reflection signal is provided, and pulse change is performed during receipt of the reflection signal outside of the tolerance range for achieving a reflection signal within the tolerance range. The pulse change is achieved by change of intensity of light, pulse width and/or number of pulses per time. The receiving sensor is formed as position sensitive device (PSD)-, charge coupled device (CCD)- and complementary MOS (CMOS) elements.