Vorwerk Kobold VR300, Руководство пользователя

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36 Operation
4.5.2 Sensors
In order to recognise and take account of obstacles when navigating the area to
be cleaned, the Kobold VR300 Robot Vacuum Cleaner is equipped with the fol-
lowing:
- 3 floor sensors 1 ,
- 1 wall following sensor 2 ,
- 2 contact sensors on the top bumper (LDS)
3
,
- 4 contact sensors on the front bumper 4 ,
- 3 ultrasonic sensors 5 ,
- 1 laser scanner 6 ,
- 2 magnetic strip sensors
7
.
The
laser scanner
6 rotates 360° five times per second, covering a radius of ap-
proximately four metres around the robot vacuum cleaner. Transparent or high-
ly reflective objects (glass, acrylic, mirrors etc.) that are not recognised by the
rotating laser scanner are captured by the
ultrasonic sensors
5 . As soon as the
ultrasonic sensors detect obstacles at a distance of 15 cm, the robot vacuum
cleaner reduces its driving speed.
As long as the robot vacuum cleaner is driving alongside an obstacle (e.g. a wall),
the ultrasonic beam is deactivated to permit correct edge cleaning.
In rare cases, obstacles are not recognised by the ultrasonic sensors. Such
obstacles are detected through contact with the front bumpers
4 or the LDS
bumper
3
.
VR300
6
1
2
7
4
3
5
Figure 4.10 Sensors on the robot vacuum
cleaner