Self-propelled working robot

  • US 20070032904A1
  • Filed: 10/05/2004
  • Published: 02/08/2007
  • Est. Priority Date: 10/08/2003
  • Status: Active Grant
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First Claim
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1. A self-propelled working robot, comprising a first distance sensor for measuring a distance to an obstacle in a front direction of the robot, and a second distance sensor for measuring a distance to the obstacle in a diagonally forward direction of the robot, the robot comprising:

  • first determination means for comparing a first measured distance to the obstacle obtained by the first distance sensor with a predetermined first threshold value (SHc) to determine proximity to the obstacle;

    second determination means for comparing a second measured distance to the obstacle obtained by the second distance sensor with a predetermined second threshold value (SHr) to determine proximity to the obstacle; and

    changing means for changing the first or second threshold value based on information regarding an inclination angle of the obstacle obtained from the first and second measured distances.

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