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Invention Publication
CN108603935A 机器人清洁设备以及机器人清洁设备进行陡壁检测的方法 无效 - 驳回

机器人清洁设备以及机器人清洁设备进行陡壁检测的方法
Abstract:
本发明涉及一种机器人清洁设备以及一种机器人清洁设备沿着所述机器人清洁设备在其上移动的表面进行陡壁检测的方法。在本发明的一个方面，提供了一种用于机器人清洁设备(100)沿着所述机器人清洁设备(100)在其上移动的表面(31)进行陡壁检测的方法。所述方法包括：用至少一个光源(127)照亮(S101)表面(31)；捕获(S102)所述表面的图像(40b)；在所捕获的图像中检测(S103)至少一个被照亮部分(30b')，并且确定(S104)距所捕获的图像(40b)中的至少一个被照亮部分(30b')中的物体的距离。进一步地，所述方法包括：比较(S105)所确定的距离中的至少两个距离；以及当所述至少两个经比较的所确定的距离之间的关系符合预定增加量标准时，将所捕获的图像(40b)中的物体检测(S106)为陡壁。
Abstract(English):

The invention relates to a robotic cleaning device and a method at the robotic cleaning device of performing cliff detection along a surface over which the robotic cleaning device moves. In an aspect of the invention a method for a robotic cleaning device (100) of performing cliff detection along a surface (31) over which the robotic cleaning device (100) moves is provided. The method comprises illuminating (S101) the surface (31) with at least one light source (127), capturing (S102) an image (40b) of the surface, detecting (S103) at least one illuminated section (30b') in the captured image, and determining (S104) distance to objects in the at least one illuminated section (30b') of the captured image (40b). Further the method comprises comparing (S105) at least two of the determined distances and detecting (S106) an object in the captured image (40b) as a cliff when cliff when a relation between the at least two compared determined distances complies with a predetermined increase criterion.

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